version: 66.11
glider: 193
mission: 2
dive: 318
start: 11 3 112 11 49 22
data:
$ID,193
$MISSION,2
$DIVE,318
$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,-1663.2904
$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
$GPS1,031112,113934,6633.885,-5948.575,33,0.7,33,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-67.8
$GPS2,031112,114824,6633.822,-5948.531,5,0.7,5,-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,69.6,141125,-17.3,-8.919,-19.96
$D_GRID,697
$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,-5.55,0.000,2,0.000,0.000,90,2150,1681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.50,-136.9,3.3,0.0,1,158,11.95,0.00,-107.40,0.000,6,0.466,0.000,2347,1853,3330,0,0,0,0,0,0,14.16,28.83,14.73
$GC,472,-1.50,-136.9,57.6,-15.8,82,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1852,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-1.50,-136.9,104.5,-14.3,141,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1108,-1.50,-136.9,147.2,-13.8,172,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,-1.50,-136.9,189.0,-13.7,203,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1727,-1.50,-136.9,231.5,-13.4,234,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2044,-1.50,-136.9,270.4,-12.4,265,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,-1.50,-136.9,306.5,-11.2,296,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-1.50,-136.9,342.2,-11.6,327,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-1.50,-136.9,377.9,-10.9,358,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3305,-1.50,-136.9,413.6,-10.7,383,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3606,-1.50,-136.9,446.2,-10.8,393,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3906,-1.50,-136.9,477.9,-10.4,403,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4205,-1.50,-136.9,507.7,-9.9,413,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4505,-1.50,-136.9,537.6,-10.1,423,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4806,-1.50,-136.9,567.9,-10.2,433,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,-1.50,-136.9,598.7,-10.1,443,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5405,-1.50,-136.9,629.0,-9.9,453,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5705,-1.50,-136.9,658.7,-10.2,463,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6006,-1.50,-136.9,690.5,-11.0,473,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1853,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6091,begin apogee
$GC,6118,-0.38,0.0,699.4,-10.0,476,6290,0.90,14.85,143.55,2.533,6,0.269,0.076,2588,1853,2772,0,0,6,1,0,0,14.24,13.66,12.78
$STATE,6291,end apogee,CONTROL_FINISHED_OK
$STATE,6291,begin climb
$GC,6296,1.50,136.9,706.7,0.0,482,6459,1.42,0.00,158.38,2.482,6,0.171,0.000,3002,1853,2214,0,0,0,0,0,0,13.66,28.83,12.38
$GC,6756,1.50,136.9,663.1,11.2,498,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7056,1.50,136.9,629.9,11.3,508,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1852,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7356,1.50,136.9,596.1,11.2,518,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,1.50,136.9,563.1,10.7,528,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1852,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7956,1.50,136.9,530.1,11.3,538,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1852,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,1.50,136.9,496.3,11.1,548,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8555,1.50,136.9,463.6,10.9,558,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1852,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,1.50,136.9,431.4,10.8,568,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,1.50,136.9,398.8,10.9,578,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9470,1.50,136.9,366.7,10.4,609,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1852,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9782,1.50,136.9,334.8,10.0,640,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10095,1.50,136.9,304.3,9.1,671,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1852,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10408,1.50,136.9,273.0,10.7,702,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10720,1.50,136.9,241.6,9.8,733,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11035,1.53,160.5,214.9,7.9,764,11063,0.00,0.00,22.35,2.056,6,0.000,0.000,3002,1853,2117,0,0,0,0,0,0,28.83,28.83,13.75
$GC,11368,1.53,165.5,185.8,8.7,798,11376,0.00,0.00,6.38,1.756,6,0.000,0.000,3002,1853,2096,0,0,0,0,0,0,28.83,28.83,13.69
$GC,11677,1.53,165.5,158.5,9.1,829,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1853,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11994,1.55,176.4,130.0,8.4,860,12008,0.00,0.00,9.68,1.860,6,0.000,0.000,3002,1852,2052,0,0,0,0,0,0,28.83,28.83,13.78
$GC,12309,1.60,215.3,104.5,7.2,892,12336,0.10,0.00,24.00,1.786,6,0.181,0.000,3041,1853,1893,0,0,0,0,0,0,14.60,28.83,13.77
$GC,12645,1.60,215.3,72.3,9.4,952,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1853,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12961,1.60,215.3,42.2,10.0,1013,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1853,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13278,1.72,316.7,18.4,4.5,1074,13338,0.00,0.00,55.22,0.239,6,0.000,0.000,3041,1852,1478,0,0,0,0,0,0,28.83,28.83,14.35
$STATE,13455,end climb,SURFACE_DEPTH_REACHED
$STATE,13455,begin surface coast
$FINISH,2.2,1.018679
$STATE,13481,end surface coast,CONTROL_FINISHED_OK
$STATE,13481,begin surface
$SM_CCo,13584,0.00,0.000,0,0,1461,321.59
$SM_GC,3.28,8.65,14.85,0.00,0.101,0.080,0.000,133,1853,1461,-11.61,-7.55,321.59,0,0,6,1,0,0,14.57,14.53,28.83
$RAFOS_CLK,603
$RAFOS,6,1351946962,12.833333,12.822778,71,62,57,50,49,49,217,206,166,529,233,147
$RAFOS,5,1351946462,12.700000,12.683888,63,56,54,51,50,49,216,157,166,126,227,80
$RAFOS,4,1351945989,12.566667,12.552500,67,58,56,52,47,46,205,219,145,187,118,169
$RAFOS,3,1351945508,12.433333,12.418889,63,57,54,50,49,46,163,216,144,186,119,173
$RAFOS,2,1351945023,12.300000,12.284166,84,67,58,58,53,52,434,210,167,192,149,111
$RAFOS,1,1351944551,12.166667,12.153055,63,60,59,57,56,52,115,206,217,139,165,148
$RAFOS,0,1351944064,12.033333,12.017777,67,53,50,49,48,46,217,194,130,242,119,160
$RAFOS_FIX,6649.052246,-5944.512207,021112,161656,2,104,5.84
$IRIDIUM_FIX,6609.62,-5945.78,031112,070717
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.00
$INTERNAL_PRESSURE,8.66467
$TCM_TEMP,12.50
$XPDR_PINGS,7
$24V_AH,12.4,102.418
$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,23.025,59.400,419.550,0.000,0.000,0.000,0.000,306.550,1.750,0.000,6.091,2719.604,8328.240,584.386,1878.073,572.842,0.000,1767.759,0.000,1637.763,2520.000,0.536,0.000
$DEVICE_MAMPS,465.885,79.560,2532.915,0.000,0.000,0.000,0.000,166.005,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.768,789.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188720
$DATA_FILE_SIZE,50086,1111
$CAP_FILE_SIZE,101043,32
$CFSIZE,259252224,229027840
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.4
$CURRENT,0.166,353.4,1
$GPS,031112,153728,6634.922,-5948.635,53,0.9,53,-33.6