version: 66.11
glider: 193
mission: 2
dive: 304
start: 11 1 112 2 55 47
data:
$ID,193
$MISSION,2
$DIVE,304
$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,-1645.2267
$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
$GPS1,011112,024404,6640.551,-5950.053,22,0.9,23,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-69.6
$GPS2,011112,025453,6640.474,-5950.128,4,0.9,4,-33.7
$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,112.3,137981,-17.3,-8.919,-19.96
$D_GRID,729
$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,-5.57,0.000,2,0.000,0.000,131,1964,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.5,0.0,1,148,11.50,0.00,-97.32,0.000,6,0.458,0.000,2351,1962,3330,0,0,0,0,0,0,14.14,28.83,14.73
$GC,461,-1.50,-136.9,58.6,-16.0,80,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-1.50,-136.9,106.0,-13.9,137,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1092,-1.50,-136.9,146.2,-13.7,168,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1404,-1.50,-136.9,187.9,-12.8,199,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-1.50,-136.9,225.9,-11.5,230,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-1.50,-136.9,262.9,-12.4,261,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-1.50,-136.9,301.0,-12.3,292,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2655,-1.50,-136.9,336.8,-11.4,323,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,-1.50,-136.9,370.2,-10.9,354,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,-1.50,-136.9,403.4,-10.3,384,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1963,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3584,-1.50,-136.9,434.2,-10.3,394,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3884,-1.50,-136.9,464.5,-10.1,404,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4184,-1.50,-136.9,493.6,-9.7,414,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1963,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4483,-1.50,-136.9,522.2,-9.5,424,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-1.50,-136.9,550.3,-9.6,434,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-1.50,-136.9,577.9,-9.3,444,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-1.50,-136.9,606.7,-9.7,454,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5683,-1.50,-136.9,635.9,-9.7,464,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5984,-1.50,-136.9,665.1,-9.6,474,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6283,-1.50,-136.9,694.3,-9.5,484,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,-1.50,-136.9,723.1,-9.9,494,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1963,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6638,begin apogee
$GC,6665,-0.38,0.0,729.0,-9.9,496,6834,0.90,14.85,143.23,2.565,6,0.272,0.077,2591,1963,2772,0,0,6,1,0,0,14.27,13.63,12.80
$STATE,6836,end apogee,CONTROL_FINISHED_OK
$STATE,6836,begin climb
$GC,6842,1.50,136.9,737.2,0.0,502,7001,1.42,0.00,155.38,2.459,6,0.171,0.000,3004,1962,2214,0,0,0,0,0,0,13.66,28.83,12.40
$GC,7303,1.50,136.9,694.8,11.5,518,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7598,1.50,136.9,660.6,12.1,528,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7899,1.50,136.9,625.6,11.7,538,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1962,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8198,1.50,136.9,591.2,11.3,548,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8499,1.50,136.9,557.6,11.0,558,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,1.50,136.9,524.2,11.3,568,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9099,1.50,136.9,490.7,11.0,578,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9398,1.50,136.9,457.2,11.2,588,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9699,1.50,136.9,426.7,9.9,598,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1962,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9999,1.50,136.9,395.4,10.4,610,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10313,1.50,136.9,363.3,10.1,641,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10626,1.50,136.9,329.3,11.2,672,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10938,1.50,136.9,296.2,10.4,703,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11251,1.50,136.9,264.8,9.4,734,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11562,1.52,157.1,238.0,8.0,765,11584,0.00,0.00,18.58,1.971,6,0.000,0.000,3004,1963,2131,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11888,1.52,157.1,208.5,9.4,798,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12204,1.53,162.1,181.4,8.7,829,12212,0.00,0.00,6.28,1.698,6,0.000,0.000,3005,1963,2111,0,0,0,0,0,0,28.83,28.83,13.78
$GC,12513,1.56,183.8,153.1,8.0,860,12540,0.00,0.00,23.55,1.925,6,0.000,0.000,3004,1963,2022,0,0,0,0,0,0,28.83,28.83,13.76
$GC,12843,1.56,183.8,125.1,9.1,893,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1963,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13157,1.57,191.0,97.0,8.6,927,13164,0.00,0.00,3.40,0.503,6,0.000,0.000,3004,1963,1993,0,0,0,0,0,0,28.83,28.83,14.14
$GC,13475,1.60,218.8,71.1,7.7,988,13495,0.10,0.00,16.23,0.399,6,0.179,0.000,3042,1963,1878,0,0,0,0,0,0,14.62,28.83,14.28
$GC,13810,1.65,256.8,41.8,7.3,1051,13834,0.00,0.00,20.70,0.321,6,0.000,0.000,3042,1962,1723,0,0,0,0,0,0,28.83,28.83,14.32
$GC,14148,1.65,256.8,13.3,8.9,1115,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1963,1713,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14255,end climb,SURFACE_DEPTH_REACHED
$STATE,14255,begin surface coast
$FINISH,2.6,1.000684
$STATE,14294,end surface coast,CONTROL_FINISHED_OK
$STATE,14294,begin surface
$SM_CCo,14336,16.25,0.206,0,0,1587,290.19
$SM_GC,3.23,8.77,14.85,16.25,0.116,0.076,0.206,137,1962,1587,-11.61,-4.44,290.19,0,0,6,1,0,0,14.59,14.59,14.40
$RAFOS_CLK,642
$RAFOS,6,1351745343,4.833333,4.817500,72,62,59,54,52,51,215,174,188,138,202,111
$RAFOS,5,1351744885,4.700000,4.690278,71,60,58,54,51,49,752,188,218,174,125,156
$RAFOS,4,1351744405,4.566667,4.556944,148,63,59,58,55,54,541,177,166,213,116,135
$RAFOS,3,1351743925,4.433333,4.423611,67,64,56,56,55,52,180,195,162,232,213,139
$RAFOS,2,1351743445,4.300000,4.290278,98,64,61,60,55,52,367,160,219,185,117,235
$RAFOS,1,1351742965,4.166667,4.156944,147,61,58,56,52,51,390,208,174,130,197,153
$RAFOS,0,1351742485,4.033333,4.023611,67,59,56,55,54,51,202,120,143,187,213,157
$RAFOS_FIX,6637.321289,-5932.623535,011112,040428,2,110,2.25
$IRIDIUM_FIX,6614.97,-5952.43,311012,222202
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.24
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.60
$XPDR_PINGS,5
$24V_AH,12.4,97.905
$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,22.700,59.400,387.325,16.250,0.000,0.000,0.000,364.725,1.250,0.000,5.890,2853.470,8976.286,564.038,1984.413,601.801,0.000,1820.157,0.000,1680.056,2520.000,0.536,0.000
$DEVICE_MAMPS,458.235,78.795,2565.045,205.785,0.000,0.000,0.000,160.650,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.573,809.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53369,1142
$CAP_FILE_SIZE,106212,32
$CFSIZE,259252224,229830656
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.3
$CURRENT,0.104,169.0,1
$GPS,011112,065634,6639.704,-5948.731,33,0.7,33,-33.7