version: 66.11
glider: 193
mission: 2
dive: 294
start: 10 30 112 17 22 16
data:
$ID,193
$MISSION,2
$DIVE,294
$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,-1453.3026
$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,18
$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
$GPS1,301012,171517,6644.268,-6010.289,22,0.7,22,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-66.8
$GPS2,301012,172132,6644.229,-6010.347,6,1.6,6,-33.9
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,111.6,150202,-17.3,-8.919,-19.96
$D_GRID,579
$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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.50,0.000,2,0.000,0.000,128,2142,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.4,0.0,1,157,11.38,2.75,-105.22,0.000,4,0.454,0.159,2351,703,3330,0,0,0,0,0,0,14.18,14.37,14.76
$GC,268,-1.50,-136.9,22.7,-20.3,42,275,0.00,2.78,0.00,0.000,6,0.000,0.148,2343,2122,3331,0,0,0,0,0,0,28.83,14.36,28.83
$GC,585,-1.50,-136.9,76.3,-14.7,103,592,0.00,2.78,0.00,0.000,4,0.000,0.156,2332,3528,3331,0,0,0,0,0,0,28.83,14.38,28.83
$GC,648,-1.50,-136.9,85.9,-15.8,114,655,0.00,2.55,0.00,0.000,6,0.000,0.102,2333,2122,3331,0,0,0,0,0,0,28.83,14.50,28.83
$GC,960,-1.50,-136.9,134.1,-15.8,153,970,0.10,2.58,0.00,0.000,4,0.327,0.132,2350,712,3331,0,0,0,0,0,0,14.35,14.42,28.83
$GC,989,-1.50,-136.9,137.8,-15.1,155,995,0.00,2.70,0.00,0.000,6,0.000,0.137,2342,2121,3331,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1297,-1.50,-136.9,181.1,-14.6,186,1306,0.00,2.75,0.00,0.000,4,0.000,0.151,2331,3530,3331,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1365,-1.50,-136.9,190.5,-14.2,192,1372,0.10,2.55,0.00,0.000,6,0.312,0.099,2349,2116,3331,0,0,0,0,0,0,14.32,14.55,28.83
$GC,1674,-1.50,-136.9,232.1,-13.1,223,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2117,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-1.50,-136.9,270.9,-12.5,254,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2116,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,-1.50,-136.9,309.7,-12.0,285,2311,0.00,2.58,0.00,0.000,4,0.000,0.134,2349,707,3330,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2340,-1.50,-136.9,314.6,-12.0,288,2347,0.00,2.72,0.00,0.000,6,0.000,0.142,2342,2121,3330,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2647,-1.50,-136.9,352.2,-12.3,319,2656,0.00,2.62,0.00,0.000,4,0.000,0.136,2342,707,3330,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2694,-1.50,-136.9,358.1,-13.3,323,2701,0.00,2.70,0.00,0.000,6,0.000,0.138,2335,2121,3330,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3002,-1.50,-136.9,397.0,-12.3,354,3011,0.00,2.60,0.00,0.000,4,0.000,0.131,2336,710,3330,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3037,-1.50,-136.9,401.5,-12.9,357,3044,0.08,2.67,0.00,0.000,6,0.304,0.132,2347,2123,3330,0,0,0,0,0,0,14.26,14.45,28.83
$GC,3369,-1.50,-136.9,440.0,-11.5,368,3375,0.00,2.72,0.00,0.000,4,0.000,0.152,2338,3523,3330,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3431,-1.50,-136.9,447.4,-11.9,370,3437,0.00,2.53,0.00,0.000,6,0.000,0.100,2338,2114,3330,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3763,-1.50,-136.9,484.8,-10.9,381,3768,0.00,2.80,0.00,0.000,4,0.000,0.154,2328,3531,3330,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3807,-1.50,-136.9,488.5,-11.1,382,3813,0.08,2.53,0.00,0.000,6,0.277,0.099,2346,2119,3330,0,0,0,0,0,0,14.29,14.54,28.83
$GC,4124,-1.50,-136.9,524.5,-10.6,393,4130,0.00,2.58,0.00,0.000,4,0.000,0.129,2346,700,3331,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4149,-1.50,-136.9,524.5,-10.6,393,4157,0.00,2.72,0.00,0.000,6,0.000,0.133,2340,2129,3331,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4456,-1.50,-136.9,559.2,-10.5,404,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2130,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4672,-0.38,0.0,581.3,-10.5,411,4820,0.95,0.00,137.20,2.365,6,0.275,0.000,2590,2130,2773,0,0,0,0,0,0,14.29,28.83,12.96
$STATE,4821,end apogee,CONTROL_FINISHED_OK
$STATE,4821,begin climb
$GC,4827,1.50,136.9,583.9,0.0,416,4983,1.42,0.00,151.20,2.279,6,0.179,0.000,3002,2130,2214,0,0,0,0,0,0,13.74,28.83,12.47
$GC,5266,1.50,136.9,541.2,11.2,431,5272,0.00,2.70,0.00,0.000,4,0.000,0.136,3013,744,2205,0,0,0,0,0,0,28.83,13.91,28.83
$GC,5306,1.50,136.9,537.5,11.4,432,5311,0.00,2.75,0.00,0.000,6,0.000,0.123,3013,2152,2204,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5628,1.50,136.9,496.9,12.5,443,5633,0.00,2.80,0.00,0.000,4,0.000,0.146,3013,3562,2204,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5663,1.50,136.9,492.7,12.6,444,5668,0.00,2.58,0.00,0.000,6,0.000,0.103,3023,2152,2204,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5989,1.50,136.9,451.5,12.4,455,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2152,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,1.50,136.9,414.6,12.2,465,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2152,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,1.50,136.9,379.0,11.2,485,6601,0.00,2.55,0.00,0.000,4,0.000,0.130,3033,740,2202,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6649,1.50,136.9,372.3,11.8,490,6657,0.12,2.65,0.00,0.000,6,0.294,0.119,3008,2152,2200,0,0,0,0,0,0,14.35,14.53,28.83
$GC,6958,1.50,136.9,339.1,10.8,521,6967,0.00,2.72,0.00,0.000,4,0.000,0.143,3007,3565,2202,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7004,1.50,136.9,333.9,11.1,525,7013,0.00,2.55,0.00,0.000,6,0.000,0.103,3016,2151,2202,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7314,1.50,136.9,300.2,11.0,556,7323,0.00,2.58,0.00,0.000,4,0.000,0.131,3027,733,2201,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7419,1.50,136.9,288.9,10.7,566,7428,0.00,2.65,0.00,0.000,6,0.000,0.119,3027,2153,2201,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7729,1.50,136.9,258.3,9.2,597,7738,0.00,2.75,0.00,0.000,4,0.000,0.147,3027,3563,2201,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7872,1.50,136.9,244.0,11.0,610,7879,0.15,2.55,0.00,0.000,6,0.290,0.101,3004,2150,2201,0,0,0,0,0,0,14.37,14.59,28.83
$GC,8180,1.50,140.5,215.4,8.8,641,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2149,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8495,1.54,168.3,188.4,7.7,672,8531,0.00,2.65,29.48,1.935,4,0.000,0.132,3013,736,2086,0,0,0,0,0,0,28.83,14.45,13.76
$GC,8583,1.56,185.4,180.9,8.2,681,8609,0.00,2.67,18.45,1.875,6,0.000,0.122,3013,2153,2016,0,0,0,0,0,0,28.83,14.39,13.65
$GC,8913,1.56,185.4,151.8,9.1,714,8921,0.00,2.78,0.00,0.000,4,0.000,0.148,3013,3563,2012,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8968,1.56,185.4,146.2,10.4,719,8976,0.00,2.55,0.00,0.000,6,0.000,0.105,3022,2154,2012,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9278,1.57,191.7,117.7,8.6,750,9288,0.00,2.58,3.17,1.170,4,0.000,0.132,3033,739,1990,0,0,0,0,0,0,28.83,14.55,13.67
$GC,9327,1.57,194.8,113.6,8.8,754,9335,0.00,2.67,1.90,0.537,6,0.000,0.124,3033,2152,1977,0,0,0,0,0,0,28.83,14.49,14.14
$GC,9641,1.57,194.8,85.4,9.4,801,9648,0.00,2.65,0.00,0.000,4,0.000,0.137,3043,733,1975,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9700,1.57,194.8,80.0,9.5,811,9707,0.00,2.70,0.00,0.000,6,0.000,0.125,3043,2157,1975,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10018,1.57,194.8,51.6,9.1,872,10025,0.00,2.78,0.00,0.000,4,0.000,0.151,3043,3565,1975,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10065,1.57,194.8,47.3,9.4,880,10073,0.15,2.58,0.00,0.000,6,0.295,0.104,3020,2145,1975,0,0,0,0,0,0,14.33,14.54,28.83
$GC,10390,1.63,240.6,25.0,6.9,941,10420,0.00,0.00,25.67,0.257,6,0.000,0.000,3020,2145,1790,0,0,0,0,0,0,28.83,28.83,14.40
$STATE,10646,end climb,SURFACE_DEPTH_REACHED
$STATE,10647,begin surface coast
$FINISH,2.4,1.025775
$STATE,10678,end surface coast,CONTROL_FINISHED_OK
$STATE,10678,begin surface
$SM_CCo,10705,25.48,0.197,0,0,1588,290.19
$SM_GC,3.64,8.50,0.05,25.48,0.096,0.258,0.197,135,2120,1588,-11.60,0.51,290.19,0,0,0,0,0,0,14.62,14.63,14.43
$RAFOS_CLK,469
$RAFOS,1,1351627743,20.166666,20.150833,93,65,63,60,56,53,484,200,217,181,156,138
$RAFOS,0,1351627266,20.033333,20.018333,67,65,65,54,52,52,217,201,178,145,164,119
$RAFOS_FIX,6658.008789,-6001.853027,301012,161622,3,72,3.06
$IRIDIUM_FIX,6614.97,-6011.26,301012,141409
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.55
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,5
$24V_AH,12.5,94.843
$10V_AH,12.8,0.000
$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,23.025,111.675,367.075,25.475,0.000,0.000,0.000,218.250,1.250,0.000,7.365,2501.340,5643.230,555.881,1860.985,550.096,0.000,1726.833,0.000,1675.663,1080.000,0.535,0.000
$DEVICE_MAMPS,454.410,257.805,2365.380,197.370,0.000,0.000,0.000,149.175,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.939,695.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188732
$DATA_FILE_SIZE,46762,996
$CAP_FILE_SIZE,110573,0
$CFSIZE,259252224,230375424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.2
$CURRENT,0.326,171.1,1
$GPS,301012,202234,6642.602,-6006.017,26,0.8,26,-33.8