version: 66.11
glider: 193
mission: 2
dive: 330
start: 11 5 112 9 50 46
data:
$ID,193
$MISSION,2
$DIVE,330
$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,-1686.3486
$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,0
$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
$GPS1,051112,094028,6631.813,-5952.981,38,1.1,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-65.7
$GPS2,051112,094956,6631.750,-5953.129,5,0.9,5,-33.6
$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,76.1,145680,-17.3,-8.919,-19.96
$D_GRID,637
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-1.50,-136.9,0.0,0.0,0,26,0.00,0.00,-5.53,0.000,2,0.000,0.000,98,1792,1680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.2,0.0,1,146,11.60,0.00,-98.50,0.000,6,0.453,0.000,2350,1792,3331,1,0,0,0,0,0,13.81,28.83,14.71
$GC,461,-1.50,-136.9,59.2,-16.3,80,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,777,-1.50,-136.9,106.4,-14.1,137,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1792,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1092,-1.50,-136.9,150.5,-14.3,168,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,-1.50,-136.9,191.2,-12.3,199,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-1.50,-136.9,229.6,-12.8,230,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-1.50,-136.9,267.8,-11.2,261,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2342,-1.50,-136.9,304.1,-11.2,292,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2654,-1.50,-136.9,338.1,-10.5,323,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,-1.50,-136.9,372.3,-10.7,354,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-1.50,-136.9,407.9,-11.5,381,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3573,-1.50,-136.9,441.2,-11.0,391,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1793,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,-1.50,-136.9,472.5,-10.4,401,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,-1.50,-136.9,503.0,-9.9,411,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-1.50,-136.9,532.1,-9.7,421,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1792,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-1.50,-136.9,560.6,-9.5,431,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-1.50,-136.9,589.5,-9.7,441,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1792,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5374,-1.50,-136.9,618.6,-9.8,451,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1793,3333,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5578,begin apogee
$GC,5605,-0.38,0.0,639.2,-9.8,458,5774,0.90,14.85,142.35,2.472,6,0.271,0.082,2590,1793,2772,0,0,6,1,0,0,14.21,13.66,12.81
$STATE,5775,end apogee,CONTROL_FINISHED_OK
$STATE,5775,begin climb
$GC,5781,1.50,136.9,645.9,0.0,464,5942,1.42,0.00,156.73,2.398,6,0.174,0.000,3002,1793,2214,0,0,0,0,0,0,13.66,28.83,12.40
$GC,6238,1.50,136.9,603.7,10.9,480,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6539,1.50,136.9,571.6,10.6,490,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6838,1.50,136.9,539.4,10.7,500,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7139,1.50,136.9,506.5,10.9,510,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7438,1.50,136.9,473.5,11.1,520,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7739,1.50,136.9,441.0,10.6,530,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8038,1.50,136.9,409.5,10.3,540,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8339,1.50,136.9,380.1,9.8,562,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8653,1.50,136.9,348.3,10.7,593,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8961,1.50,136.9,317.3,9.8,624,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9271,1.50,136.9,287.9,9.5,655,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9587,1.50,136.9,259.2,9.3,686,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9895,1.50,136.9,228.6,10.5,717,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10209,1.50,136.9,196.8,9.8,748,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,1.55,180.6,171.0,7.0,779,10565,0.00,0.00,42.22,1.952,6,0.000,0.000,3002,1793,2034,0,0,0,0,0,0,28.83,28.83,13.64
$GC,10867,1.56,184.6,142.1,8.7,814,10874,0.00,0.00,4.12,1.449,6,0.000,0.000,3001,1793,2019,0,0,0,0,0,0,28.83,28.83,13.59
$GC,11177,1.56,185.1,114.4,8.9,845,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1793,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11491,1.60,214.8,88.7,7.6,889,11516,0.10,0.00,17.52,0.456,6,0.175,0.000,3040,1793,1895,0,0,0,0,0,0,14.59,28.83,14.21
$GC,11832,1.60,214.8,55.7,9.4,953,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1792,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12151,1.70,299.2,31.6,5.2,1014,12200,0.00,0.00,46.35,0.279,6,0.000,0.000,3041,1793,1550,0,0,0,0,0,0,28.83,28.83,14.31
$STATE,12456,end climb,SURFACE_DEPTH_REACHED
$STATE,12456,begin surface coast
$FINISH,2.3,1.010973
$STATE,12486,end surface coast,CONTROL_FINISHED_OK
$STATE,12486,begin surface
$SM_CCo,12590,0.00,0.000,0,0,1532,304.17
$SM_GC,3.60,8.80,14.85,0.00,0.116,0.083,0.000,141,1793,1532,-11.59,-9.24,304.17,0,0,6,1,0,0,14.54,14.52,28.83
$RAFOS_CLK,584
$RAFOS,6,1352119747,12.833333,12.818611,61,59,58,56,54,51,165,221,200,191,212,122
$RAFOS,5,1352119266,12.700000,12.685000,68,60,59,57,54,51,170,190,204,146,157,134
$RAFOS,4,1352118784,12.566667,12.551111,72,57,55,53,53,52,699,224,197,170,146,212
$RAFOS,3,1352118301,12.433333,12.416945,57,55,54,53,53,51,187,151,141,210,231,172
$RAFOS,2,1352117821,12.300000,12.283611,121,65,61,61,52,50,422,178,223,210,241,167
$RAFOS,1,1352117350,12.166667,12.152778,98,59,58,55,54,50,525,220,203,188,174,231
$RAFOS,0,1352116869,12.033333,12.019167,63,59,54,53,53,52,203,188,135,170,212,120
$RAFOS_FIX,6642.066895,-6003.488281,051112,121228,2,85,2.23
$IRIDIUM_FIX,6604.29,-5951.22,051112,060618
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.57
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.60
$XPDR_PINGS,3
$24V_AH,12.4,106.308
$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,22.825,59.400,409.300,0.000,0.000,0.000,0.000,377.600,0.750,0.000,8.413,2633.271,7500.335,565.492,1901.111,564.605,0.000,1787.439,0.000,1588.217,2520.000,0.536,0.000
$DEVICE_MAMPS,452.880,83.385,2472.480,0.000,0.000,0.000,0.000,169.830,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.847,759.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188704
$DATA_FILE_SIZE,50088,1077
$CAP_FILE_SIZE,95362,32
$CFSIZE,259252224,228368384
$ERRORS,0,1,0,0,0,0,0,0,0,3,0,1,18,0,1,0
$SOUNDSPEED,1450.2
$CURRENT,0.117,187.8,1
$GPS,051112,132228,6631.000,-5953.486,58,1.0,59,-33.6