version: 66.11
glider: 193
mission: 2
dive: 307
start: 11 1 112 15 18 19
data:
$ID,193
$MISSION,2
$DIVE,307
$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,-1649.0922
$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
$GPS1,011112,150628,6640.064,-5949.712,38,0.9,39,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-67.2
$GPS2,011112,151725,6640.041,-5949.798,5,0.9,5,-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,150.8,137999,-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,-136.9,0.0,0.0,0,26,0.00,0.00,-5.55,0.000,2,0.000,0.000,130,1960,1686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.4,0.0,1,159,11.25,0.00,-105.95,0.000,6,0.447,0.000,2350,1959,3330,0,0,0,0,0,0,14.16,28.83,14.73
$GC,473,-1.50,-136.9,55.8,-15.4,82,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-1.50,-136.9,103.5,-15.2,141,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1105,-1.50,-136.9,148.7,-14.6,172,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-1.50,-136.9,189.7,-13.3,203,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,-1.50,-136.9,230.4,-12.6,234,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2042,-1.50,-136.9,268.2,-12.0,265,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2355,-1.50,-136.9,303.1,-10.9,296,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2667,-1.50,-136.9,337.6,-11.7,327,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,-1.50,-136.9,371.9,-10.7,358,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-1.50,-136.9,406.6,-10.6,386,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1958,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3597,-1.50,-136.9,438.4,-10.7,396,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3899,-1.50,-136.9,469.9,-10.7,406,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4197,-1.50,-136.9,503.1,-11.1,416,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4501,-1.50,-136.9,534.3,-10.2,426,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4798,-1.50,-136.9,565.3,-10.2,436,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5098,-1.50,-136.9,594.7,-9.8,446,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-1.50,-136.9,622.6,-9.2,456,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5699,-1.50,-136.9,649.5,-8.9,466,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5997,-1.50,-136.9,677.7,-9.5,476,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,-1.50,-136.9,706.7,-9.8,486,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1959,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6533,begin apogee
$GC,6560,-0.38,0.0,729.5,-9.2,494,6729,0.90,14.85,142.35,2.567,6,0.262,0.077,2593,1959,2773,0,0,6,1,0,0,14.26,13.64,12.80
$STATE,6730,end apogee,CONTROL_FINISHED_OK
$STATE,6730,begin climb
$GC,6735,1.50,136.9,735.6,0.0,500,6899,1.40,0.00,159.07,2.517,6,0.172,0.000,3001,1959,2214,0,0,0,0,0,0,13.67,28.83,12.38
$GC,7193,1.50,136.9,692.1,11.3,516,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7493,1.50,136.9,658.2,11.3,526,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7792,1.50,136.9,624.7,10.7,536,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1959,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8093,1.50,136.9,591.6,11.2,546,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,1.50,136.9,557.1,11.6,556,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1958,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,1.50,136.9,523.2,11.1,566,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1958,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8993,1.50,136.9,491.3,10.5,576,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9293,1.50,136.9,460.8,10.1,586,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9592,1.50,136.9,430.6,9.9,596,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1959,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9893,1.50,136.9,400.9,9.8,606,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1959,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10198,1.50,136.9,369.8,10.4,634,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1958,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10510,1.50,136.9,336.1,11.0,665,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10824,1.50,136.9,301.4,11.0,696,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11136,1.50,136.9,267.9,9.8,727,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1959,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11448,1.50,140.1,238.8,8.8,758,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1958,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11761,1.51,146.6,212.0,8.6,789,11774,0.00,0.00,8.30,1.851,6,0.000,0.000,3000,1958,2174,0,0,0,0,0,0,28.83,28.83,13.81
$GC,12075,1.52,154.1,183.9,8.6,821,12091,0.00,0.00,9.40,1.850,6,0.000,0.000,3001,1958,2143,0,0,0,0,0,0,28.83,28.83,13.81
$GC,12395,1.53,159.4,155.9,8.7,853,12404,0.00,0.00,6.85,1.734,6,0.000,0.000,3000,1958,2121,0,0,0,0,0,0,28.83,28.83,13.77
$GC,12706,1.54,170.0,129.8,8.5,884,12722,0.00,0.00,9.85,1.821,6,0.000,0.000,3000,1958,2079,0,0,0,0,0,0,28.83,28.83,13.79
$GC,13025,1.58,201.6,102.9,7.5,916,13052,0.10,0.00,19.27,1.720,6,0.180,0.000,3039,1958,1949,0,0,0,0,0,0,14.59,28.83,13.81
$GC,13365,1.59,214.6,73.9,8.4,978,13377,0.00,0.00,6.60,0.419,6,0.000,0.000,3039,1958,1897,0,0,0,0,0,0,28.83,28.83,14.19
$GC,13688,1.60,215.2,42.4,8.9,1040,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1958,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14005,1.62,237.8,20.3,7.9,1101,14024,0.00,0.00,12.57,0.252,6,0.000,0.000,3039,1958,1801,0,0,0,0,0,0,28.83,28.83,14.34
$STATE,14209,end climb,SURFACE_DEPTH_REACHED
$STATE,14209,begin surface coast
$FINISH,2.5,1.025755
$STATE,14235,end surface coast,CONTROL_FINISHED_OK
$STATE,14235,begin surface
$SM_CCo,14278,27.15,0.199,0,0,1587,290.19
$SM_GC,3.91,8.62,14.85,27.15,0.103,0.083,0.199,139,1967,1587,-11.59,-4.33,290.19,0,0,6,1,0,0,14.60,14.57,14.40
$RAFOS_CLK,645
$RAFOS,6,1351788551,16.833334,16.819723,117,58,55,55,52,52,699,215,147,206,115,131
$RAFOS,5,1351788071,16.700001,16.686388,74,66,59,56,52,49,817,210,169,156,181,196
$RAFOS,4,1351787591,16.566668,16.553055,86,63,60,59,59,50,611,170,227,203,623,158
$RAFOS,3,1351787111,16.433332,16.419722,58,57,56,54,54,50,124,219,197,160,179,145
$RAFOS,2,1351786631,16.299999,16.286388,82,67,63,58,55,54,425,215,204,162,180,132
$RAFOS,1,1351786141,16.166666,16.150278,78,61,57,55,55,54,518,207,226,193,182,137
$RAFOS,0,1351785666,16.033333,16.018333,60,58,57,51,51,50,175,206,217,139,126,235
$RAFOS_FIX,6654.156738,-5945.354492,011112,161622,3,92,5.11
$IRIDIUM_FIX,6609.62,-5945.00,011112,151500
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.04
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,4
$24V_AH,12.4,98.854
$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,22.275,59.400,374.275,27.150,0.000,0.000,0.000,382.575,1.000,0.000,5.894,2834.928,8951.337,580.744,2006.337,574.911,0.000,1853.124,0.000,1684.307,2520.000,0.536,0.000
$DEVICE_MAMPS,446.760,82.620,2567.340,198.900,0.000,0.000,0.000,161.415,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.707,812.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53428,1145
$CAP_FILE_SIZE,106217,32
$CFSIZE,259252224,229654528
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.3
$CURRENT,0.107,175.5,1
$GPS,011112,191828,6639.302,-5949.515,38,0.9,39,-33.7