version: 66.11
glider: 193
mission: 2
dive: 301
start: 10 31 112 14 36 54
data:
$ID,193
$MISSION,2
$DIVE,301
$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,-1641.4536
$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,360
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,20
$ROLL_MAXERRORS,200
$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,720
$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
$GPS1,311012,143041,6643.033,-5952.611,14,0.7,14,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-59.8
$GPS2,311012,143600,6643.002,-5952.713,14,0.9,14,-33.8
$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,63.3,138436,-17.3,-8.919,-19.96
$D_GRID,724
$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,-5.50,0.000,2,0.000,0.000,140,2029,608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.1,0.0,1,216,10.70,0.00,-163.62,0.000,6,0.427,0.000,2353,1958,3329,0,0,0,0,0,0,14.25,28.83,14.78
$GC,533,-1.50,-136.9,56.2,-14.2,92,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-1.50,-136.9,101.7,-14.2,153,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-1.50,-136.9,144.2,-13.5,184,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1481,-1.50,-136.9,183.9,-13.0,215,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1957,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1793,-1.50,-136.9,222.2,-11.4,246,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-1.50,-136.9,261.0,-12.5,277,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2418,-1.50,-136.9,298.0,-11.4,308,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2730,-1.50,-136.9,333.9,-11.7,339,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3041,-1.50,-136.9,369.7,-11.1,370,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3348,-1.50,-136.9,403.6,-10.9,399,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3648,-1.50,-136.9,436.3,-10.5,409,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3948,-1.50,-136.9,468.0,-10.8,419,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4248,-1.50,-136.9,500.5,-10.9,429,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4548,-1.50,-136.9,532.2,-10.3,439,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4848,-1.50,-136.9,562.1,-9.9,449,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1958,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5148,-1.50,-136.9,590.4,-9.4,459,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5449,-1.50,-136.9,617.7,-9.4,469,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-1.50,-136.9,647.2,-9.9,479,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6048,-1.50,-136.9,677.7,-10.5,489,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1958,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6348,-1.50,-136.9,706.7,-9.4,499,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1958,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6553,begin apogee
$GC,6580,-0.38,0.0,725.7,-8.6,506,6749,0.88,14.85,141.95,2.554,6,0.265,0.081,2590,1958,2772,0,0,6,1,0,0,14.29,13.65,12.81
$STATE,6750,end apogee,CONTROL_FINISHED_OK
$STATE,6750,begin climb
$GC,6755,1.50,136.9,730.0,0.0,512,6916,1.42,0.00,156.77,2.484,6,0.171,0.000,3004,1959,2214,0,0,0,0,0,0,13.66,28.83,12.40
$GC,7218,1.50,136.9,686.3,11.2,528,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,1.50,136.9,651.1,11.8,538,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7813,1.50,136.9,617.3,11.0,548,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,1.50,136.9,585.3,10.7,558,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8413,1.50,136.9,551.9,11.3,568,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,1.50,136.9,517.8,11.4,578,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9013,1.50,136.9,484.5,10.9,588,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9314,1.50,136.9,452.4,10.8,598,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,1.50,136.9,418.4,11.4,608,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9913,1.50,136.9,385.4,10.6,626,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1958,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10228,1.50,136.9,352.9,10.3,657,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10542,1.50,136.9,319.8,10.2,688,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10854,1.50,136.9,289.2,9.9,719,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11166,1.50,139.0,259.8,8.8,750,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11479,1.50,140.8,232.0,8.8,781,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11792,1.51,148.6,204.2,8.6,812,11805,0.00,0.00,9.88,1.877,6,0.000,0.000,3004,1958,2167,0,0,0,0,0,0,28.83,28.83,13.85
$GC,12106,1.51,148.6,172.8,9.9,844,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1958,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12423,1.55,176.6,145.2,7.7,875,12455,0.00,0.00,29.25,1.927,6,0.000,0.000,3004,1958,2051,0,0,0,0,0,0,28.83,28.83,13.76
$GC,12757,1.60,222.8,117.7,6.9,909,12793,0.10,0.00,28.35,1.797,6,0.177,0.000,3043,1958,1862,0,0,0,0,0,0,14.56,28.83,13.69
$GC,13100,1.60,222.8,86.8,10.2,955,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1958,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13417,1.61,226.5,54.1,8.8,1016,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1958,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13733,1.64,254.9,27.7,7.7,1077,13752,0.00,0.00,16.45,0.267,6,0.000,0.000,3043,1958,1729,0,0,0,0,0,0,28.83,28.83,14.35
$STATE,13997,end climb,SURFACE_DEPTH_REACHED
$STATE,13998,begin surface coast
$FINISH,2.5,1.025594
$STATE,14029,end surface coast,CONTROL_FINISHED_OK
$STATE,14029,begin surface
$SM_CCo,14072,17.45,0.203,0,0,1588,290.19
$SM_GC,3.15,8.77,14.85,17.45,0.117,0.086,0.203,141,1958,1588,-11.59,-4.58,290.19,0,0,6,1,0,0,14.59,14.58,14.42
$RAFOS_CLK,631
$RAFOS,6,1351702141,16.833334,16.816944,80,58,57,56,53,52,742,163,194,181,214,236
$RAFOS,5,1351701691,16.700001,16.691944,92,61,60,55,54,54,704,190,132,215,161,152
$RAFOS,4,1351701211,16.566668,16.558611,73,62,60,59,58,49,500,211,188,151,221,121
$RAFOS,3,1351700706,16.433332,16.418333,60,57,56,53,52,50,226,141,189,128,172,1189
$RAFOS,2,1351700226,16.299999,16.285000,59,57,57,56,55,53,232,146,476,136,208,169
$RAFOS,1,1351699746,16.166666,16.151667,133,60,58,57,54,53,480,194,218,208,138,150
$RAFOS,0,1351699266,16.033333,16.018333,62,55,55,54,54,50,199,148,133,176,216,124
$RAFOS_FIX,6656.315430,-5942.899414,311012,161622,3,82,3.36
$IRIDIUM_FIX,6614.97,-5951.67,311012,141444
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.50
$XPDR_PINGS,3
$24V_AH,12.4,96.957
$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,21.875,59.400,382.650,17.450,0.000,0.000,0.000,0.000,0.750,0.000,15.892,2771.732,8724.532,616.570,1688.958,412.924,0.000,1503.100,0.000,1666.127,2520.000,0.536,0.000
$DEVICE_MAMPS,426.870,86.445,2554.335,202.725,0.000,0.000,0.000,0.000,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.099,801.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188768
$DATA_FILE_SIZE,53369,1134
$CAP_FILE_SIZE,118952,40
$CFSIZE,259252224,229990400
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.1
$CURRENT,0.083,170.3,1
$GPS,311012,183328,6642.377,-5951.397,38,0.9,39,-33.8