version: 66.11
glider: 193
mission: 2
dive: 289
start: 10 30 112 1 43 47
data:
$ID,193
$MISSION,2
$DIVE,289
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,370
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,290
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1437.5256
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,149
$PITCH_MAX,3928
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,260
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,1
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2772
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.048229
$PRESSURE_SLOPE,0.0001163556
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043053469
$SEABIRD_T_H,0.00061871461
$SEABIRD_T_I,2.1533233e-05
$SEABIRD_T_J,2.1546668e-06
$SEABIRD_C_G,-9.8788214
$SEABIRD_C_H,1.1391871
$SEABIRD_C_I,-0.0018439521
$SEABIRD_C_J,0.00022276744
$GPS1,301012,013600,6643.299,-6002.019,18,0.8,18,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-69.5
$GPS2,301012,014303,6643.268,-6002.110,37,1.0,37,-33.8
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,302.3,17530,-17.3,-8.919,-19.96
$D_GRID,621
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-1.50,-136.9,0.0,0.0,0,27,0.00,0.00,-5.60,0.000,2,0.000,0.000,134,2140,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.4,0.0,1,159,11.35,2.83,-103.70,0.000,4,0.454,0.185,2339,3534,3330,0,0,0,0,0,0,14.19,14.32,14.76
$GC,394,-1.50,-136.9,46.7,-18.7,67,401,0.00,2.60,0.00,0.000,6,0.000,0.108,2339,2114,3332,0,0,0,0,0,0,28.83,14.47,28.83
$GC,712,-1.50,-136.9,99.1,-15.9,128,719,0.00,2.83,0.00,0.000,4,0.000,0.161,2329,3531,3332,0,0,0,0,0,0,28.83,14.37,28.83
$GC,800,-1.50,-136.9,113.1,-16.1,137,810,0.08,2.55,0.00,0.000,6,0.278,0.103,2347,2116,3332,0,0,0,0,0,0,14.21,14.43,28.83
$GC,1111,-1.50,-136.9,159.2,-14.7,168,1120,0.00,2.58,0.00,0.000,4,0.000,0.130,2347,703,3332,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1169,-1.50,-136.9,167.5,-15.4,173,1177,0.00,2.70,0.00,0.000,6,0.000,0.132,2339,2125,3332,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1477,-1.50,-136.9,211.3,-12.8,204,1486,0.00,2.75,0.00,0.000,4,0.000,0.151,2328,3530,3332,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1535,-1.50,-136.9,219.1,-14.2,209,1543,0.12,2.55,0.00,0.000,6,0.304,0.099,2352,2114,3331,0,0,0,0,0,0,14.28,14.54,28.83
$GC,1844,-1.50,-136.9,256.3,-12.5,240,1853,0.00,2.55,0.00,0.000,4,0.000,0.130,2352,713,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1919,-1.50,-136.9,266.2,-13.2,247,1927,0.00,2.65,0.00,0.000,6,0.000,0.137,2345,2120,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2229,-1.50,-136.9,305.2,-12.9,278,2238,0.00,2.75,0.00,0.000,4,0.000,0.153,2334,3529,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2337,-1.50,-136.9,319.1,-13.2,288,2344,0.00,2.58,0.00,0.000,6,0.000,0.101,2334,2113,3330,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2644,-1.50,-136.9,357.2,-12.0,319,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2113,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-1.50,-136.9,394.3,-11.2,350,2969,0.00,2.55,0.00,0.000,4,0.000,0.130,2334,712,3330,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2985,-1.50,-136.9,397.8,-11.5,352,2994,0.08,2.67,0.00,0.000,6,0.290,0.135,2345,2122,3330,0,0,0,0,0,0,14.26,14.39,28.83
$GC,3305,-1.50,-136.9,432.2,-10.7,364,3311,0.00,2.78,0.00,0.000,4,0.000,0.155,2336,3538,3330,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3337,-1.50,-136.9,435.7,-10.9,365,3343,0.00,2.55,0.00,0.000,6,0.000,0.103,2336,2123,3330,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3669,-1.50,-136.9,471.4,-10.7,376,3675,0.00,2.58,0.00,0.000,4,0.000,0.132,2337,705,3330,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3738,-1.50,-136.9,478.3,-10.8,378,3745,0.08,2.67,0.00,0.000,6,0.297,0.133,2347,2119,3330,0,0,0,0,0,0,14.27,14.44,28.83
$GC,4061,-1.50,-136.9,512.9,-10.3,389,4066,0.00,2.75,0.00,0.000,4,0.000,0.155,2339,3531,3331,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4137,-1.50,-136.9,519.6,-10.4,391,4143,0.00,2.53,0.00,0.000,6,0.000,0.101,2338,2119,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4454,-1.50,-136.9,554.0,-10.1,402,4459,0.00,2.55,0.00,0.000,4,0.000,0.129,2338,703,3331,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4554,-1.50,-136.9,564.0,-10.7,405,4559,0.00,2.65,0.00,0.000,6,0.000,0.133,2332,2116,3331,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4875,-1.50,-136.9,599.4,-10.8,416,4877,0.10,0.00,0.00,0.000,6,0.337,0.000,2349,2116,3331,0,0,0,0,0,0,14.40,28.83,28.83
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5110,begin apogee
$GC,5122,-0.38,0.0,622.8,-9.6,424,5274,0.90,0.00,138.95,2.407,6,0.269,0.000,2591,2148,2773,0,0,0,0,0,0,14.32,28.83,12.93
$STATE,5275,end apogee,CONTROL_FINISHED_OK
$STATE,5275,begin climb
$GC,5280,1.50,136.9,628.6,0.0,429,5450,1.42,3.05,152.85,2.355,4,0.174,0.142,3005,3562,2214,0,0,0,0,0,0,13.74,13.19,12.45
$GC,5488,1.50,136.9,612.5,10.3,436,5494,0.00,2.78,0.00,0.000,6,0.000,0.104,3015,2145,2210,0,0,0,0,0,0,28.83,13.52,28.83
$GC,5816,1.50,136.9,573.7,11.7,447,5822,0.00,2.67,0.00,0.000,4,0.000,0.131,3026,734,2204,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5841,1.50,136.9,573.7,11.7,447,5848,0.00,2.70,0.00,0.000,6,0.000,0.119,3026,2151,2203,0,0,0,0,0,0,28.83,14.11,28.83
$GC,6148,1.50,136.9,532.6,12.0,458,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2151,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,1.50,136.9,497.9,11.7,468,6453,0.00,2.65,0.00,0.000,4,0.000,0.135,3036,733,2202,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6479,1.50,136.9,494.1,11.7,469,6485,0.10,2.62,0.00,0.000,6,0.269,0.121,3010,2151,2201,0,0,0,0,0,0,14.25,14.40,28.83
$GC,6811,1.50,136.9,458.1,11.0,480,6817,0.00,2.75,0.00,0.000,4,0.000,0.148,3010,3564,2201,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6836,1.50,136.9,458.1,11.0,480,6843,0.00,2.58,0.00,0.000,6,0.000,0.106,3018,2148,2202,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7143,1.50,136.9,417.9,11.9,491,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2148,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7444,1.50,136.9,383.3,11.6,509,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2148,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7759,1.50,136.9,349.9,9.6,540,7768,0.00,2.78,0.00,0.000,4,0.000,0.151,3018,3558,2202,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7814,1.50,136.9,343.5,11.0,545,7823,0.08,2.55,0.00,0.000,6,0.278,0.109,3009,2151,2201,0,0,0,0,0,0,14.32,14.51,28.83
$GC,8124,1.50,136.9,311.1,11.1,576,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2151,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8441,1.50,136.9,277.7,10.3,607,8450,0.00,2.78,0.00,0.000,4,0.000,0.150,3008,3557,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8496,1.50,136.9,271.2,11.3,612,8504,0.00,2.55,0.00,0.000,6,0.000,0.106,3017,2151,2201,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8806,1.50,136.9,240.4,9.1,643,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2150,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,1.50,137.2,212.5,8.9,674,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2151,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9435,1.52,153.8,184.9,8.2,705,9456,0.00,0.00,15.62,1.913,6,0.000,0.000,3017,2151,2144,0,0,0,0,0,0,28.83,28.83,13.84
$GC,9760,1.53,160.1,156.3,8.6,738,9769,0.00,0.00,7.53,1.739,6,0.000,0.000,3017,2151,2118,0,0,0,0,0,0,28.83,28.83,13.78
$GC,10070,1.53,162.7,129.6,8.8,769,10080,0.00,2.80,2.67,1.043,4,0.000,0.152,3017,3565,2109,0,0,0,0,0,0,28.83,14.54,13.66
$GC,10194,1.53,162.7,118.8,9.7,780,10201,0.00,2.60,0.00,0.000,6,0.000,0.111,3027,2146,2109,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10506,1.59,206.7,92.1,7.0,820,10538,0.00,2.65,25.23,0.460,4,0.000,0.135,3038,738,1929,0,0,0,0,0,0,28.83,14.53,14.26
$GC,10584,1.59,212.7,86.2,8.7,833,10598,0.00,2.67,3.25,0.450,6,0.000,0.131,3038,2158,1903,0,0,0,0,0,0,28.83,14.47,14.18
$GC,10916,1.59,212.7,56.9,9.1,895,10923,0.00,2.75,0.00,0.000,4,0.000,0.152,3037,3562,1898,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10979,1.59,212.7,50.5,9.7,906,10986,0.00,2.58,0.00,0.000,6,0.000,0.106,3048,2146,1897,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11299,1.62,234.3,27.0,8.0,967,11318,0.00,2.58,11.30,0.265,4,0.000,0.132,3058,737,1813,0,0,0,0,0,0,28.83,14.50,14.32
$GC,11438,1.62,234.3,14.1,9.4,992,11445,0.12,2.65,0.00,0.000,6,0.282,0.125,3031,2155,1810,0,0,0,0,0,0,14.33,14.47,28.83
$STATE,11565,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FINISH,2.6,1.011562
$STATE,11603,end surface coast,CONTROL_FINISHED_OK
$STATE,11603,begin surface
$SM_CCo,11631,28.77,0.200,0,0,1587,290.19
$SM_GC,3.92,8.60,0.10,28.77,0.100,0.181,0.200,129,2120,1587,-11.62,0.57,290.19,0,0,0,0,0,0,14.62,14.57,14.43
$RAFOS_CLK,512
$RAFOS,6,1351572544,4.833333,4.817778,67,57,57,56,54,53,764,215,193,225,204,183
$RAFOS,5,1351572065,4.700000,4.684722,96,64,60,55,55,53,896,212,173,154,182,135
$RAFOS,4,1351571582,4.566667,4.550556,74,73,61,61,53,52,704,218,195,713,233,178
$RAFOS,3,1351571101,4.433333,4.416945,65,61,56,53,53,48,189,207,163,130,120,142
$RAFOS,2,1351570621,4.300000,4.283611,63,63,60,56,54,51,139,507,168,206,219,153
$RAFOS,1,1351570147,4.166667,4.151945,141,64,61,60,56,53,455,198,216,186,135,225
$RAFOS,0,1351569666,4.033333,4.018333,65,60,60,58,54,53,204,154,121,214,178,187
$RAFOS_FIX,6656.532227,-5957.996094,301012,040444,3,79,2.28
$IRIDIUM_FIX,6609.62,-5959.84,291012,222236
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.16
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.4,93.391
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.025,112.075,357.400,28.775,0.000,0.000,0.000,240.425,2.000,0.000,43.608,2635.507,6351.963,555.257,1992.543,569.173,0.000,1787.395,0.000,1754.903,2520.000,0.536,0.000
$DEVICE_MAMPS,454.410,235.620,2407.455,200.430,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.458,720.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188764
$DATA_FILE_SIZE,46701,1023
$CAP_FILE_SIZE,116631,0
$CFSIZE,259252224,230666240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.1
$CURRENT,0.081,169.2,1
$GPS,301012,045958,6642.800,-6005.556,37,0.8,37,-33.8