version: 66.11
glider: 193
mission: 2
dive: 311
start: 11 2 112 7 40 28
data:
$ID,193
$MISSION,2
$DIVE,311
$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,-1654.212
$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,0
$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
$GPS1,021112,073035,6636.257,-5949.435,28,0.8,28,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-67.6
$GPS2,021112,073930,6636.223,-5949.447,4,0.7,5,-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,81.2,140102,-17.3,-8.919,-19.96
$D_GRID,702
$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,-5.57,0.000,2,0.000,0.000,125,2102,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.3,0.0,1,152,11.20,0.00,-101.90,0.000,6,0.444,0.000,2350,1915,3331,0,0,0,0,0,0,14.18,28.83,14.72
$GC,466,-1.50,-136.9,57.9,-15.9,81,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,784,-1.50,-136.9,106.5,-14.3,138,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-1.50,-136.9,147.4,-12.4,169,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1412,-1.50,-136.9,187.0,-12.1,200,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-1.50,-136.9,224.5,-11.8,231,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,-1.50,-136.9,261.6,-11.9,262,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-1.50,-136.9,297.8,-11.4,293,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2661,-1.50,-136.9,331.7,-10.5,324,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-1.50,-136.9,365.3,-11.1,355,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3279,-1.50,-136.9,399.7,-10.8,386,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-1.50,-136.9,433.8,-11.2,397,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3889,-1.50,-136.9,464.4,-10.0,407,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4189,-1.50,-136.9,493.0,-9.5,417,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-1.50,-136.9,520.4,-9.0,427,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4789,-1.50,-136.9,547.7,-9.4,437,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5089,-1.50,-136.9,575.9,-9.3,447,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5389,-1.50,-136.9,604.7,-9.5,457,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5689,-1.50,-136.9,634.2,-10.0,467,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5989,-1.50,-136.9,664.5,-10.1,477,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,-1.50,-136.9,694.1,-9.9,487,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1915,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6374,begin apogee
$GC,6401,-0.38,0.0,703.2,-10.3,490,6570,0.90,14.85,142.18,2.531,6,0.268,0.075,2592,1915,2772,0,0,6,1,0,0,14.26,13.68,12.81
$STATE,6571,end apogee,CONTROL_FINISHED_OK
$STATE,6571,begin climb
$GC,6576,1.50,136.9,709.1,0.0,496,6738,1.42,0.00,157.62,2.459,6,0.172,0.000,3005,1914,2214,0,0,0,0,0,0,13.68,28.83,12.39
$GC,7034,1.50,136.9,665.5,11.3,512,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,1.50,136.9,632.6,10.9,522,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,1.50,136.9,600.1,10.7,532,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7935,1.50,136.9,568.6,10.5,542,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,1.50,136.9,536.2,11.0,552,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8534,1.50,136.9,502.6,11.4,562,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8834,1.50,136.9,468.9,11.3,572,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1914,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,1.50,136.9,433.0,12.3,582,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9434,1.50,136.9,397.9,11.5,592,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9748,1.50,136.9,362.6,11.0,623,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10061,1.50,136.9,329.1,10.7,654,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10375,1.50,136.9,296.2,10.0,685,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10687,1.50,136.9,264.7,10.4,716,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10999,1.50,136.9,231.9,10.2,747,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11312,1.51,148.3,202.4,8.4,778,11325,0.00,0.00,10.10,1.880,6,0.000,0.000,3005,1914,2167,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11627,1.54,169.8,175.2,8.0,810,11653,0.00,0.00,23.12,1.952,6,0.000,0.000,3005,1914,2079,0,0,0,0,0,0,28.83,28.83,13.76
$GC,11956,1.57,190.6,148.4,8.0,843,11983,0.00,0.00,21.58,1.912,6,0.000,0.000,3005,1914,1995,0,0,0,0,0,0,28.83,28.83,13.70
$GC,12286,1.57,190.6,119.4,9.0,876,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12601,1.57,192.8,91.3,8.8,916,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1914,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12918,1.60,217.4,65.4,7.8,977,12938,0.10,0.00,14.90,0.392,6,0.182,0.000,3044,1914,1884,0,0,0,0,0,0,14.60,28.83,14.28
$GC,13254,1.64,251.4,36.7,7.4,1040,13279,0.00,0.00,18.30,0.308,6,0.000,0.000,3044,1914,1747,0,0,0,0,0,0,28.83,28.83,14.28
$GC,13594,1.66,269.8,7.4,8.1,1104,13607,0.00,0.00,9.20,0.214,6,0.000,0.000,3044,1914,1668,0,0,0,0,0,0,28.83,28.83,14.40
$STATE,13632,end climb,SURFACE_DEPTH_REACHED
$STATE,13632,begin surface coast
$FINISH,2.4,1.011406
$STATE,13664,end surface coast,CONTROL_FINISHED_OK
$STATE,13664,begin surface
$SM_CCo,13706,9.88,0.216,0,0,1587,290.19
$SM_GC,4.00,8.35,14.85,9.88,0.073,0.080,0.216,133,1914,1587,-11.62,-5.80,290.19,0,0,6,1,0,0,14.57,14.57,14.40
$RAFOS_CLK,604
$RAFOS,6,1351846151,8.833333,8.819722,110,65,57,56,56,49,736,209,190,162,137,126
$RAFOS,5,1351845671,8.700000,8.686389,122,67,66,64,59,53,840,219,178,188,209,160
$RAFOS,4,1351845181,8.566667,8.550278,117,60,58,56,53,52,696,206,192,225,158,132
$RAFOS,3,1351844710,8.433333,8.419444,65,64,56,53,50,50,131,205,161,120,177,140
$RAFOS,2,1351844227,8.300000,8.285277,117,70,62,57,55,51,423,162,182,209,228,126
$RAFOS,1,1351843745,8.166667,8.151389,103,60,57,53,53,53,526,214,224,190,91,138
$RAFOS,0,1351843268,8.033334,8.018888,60,60,57,56,55,51,132,214,141,185,173,223
$RAFOS_FIX,6653.679688,-5956.053223,021112,080840,4,113,9.90
$IRIDIUM_FIX,6609.62,-5945.78,021112,030349
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.61
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,8
$24V_AH,12.4,100.131
$10V_AH,12.6,0.000
$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,21.975,59.400,397.000,9.875,0.000,0.000,0.000,310.775,2.000,0.000,6.026,2808.097,8411.023,575.312,1899.466,582.409,0.000,1763.513,0.000,1645.238,2520.000,0.536,0.000
$DEVICE_MAMPS,443.700,80.325,2531.385,215.730,0.000,0.000,0.000,166.005,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.073,792.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188724
$DATA_FILE_SIZE,49998,1117
$CAP_FILE_SIZE,102883,32
$CFSIZE,259252224,229425152
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.5
$CURRENT,0.126,184.6,1
$GPS,021112,113122,6635.400,-5949.087,33,1.1,34,-33.6