version: 66.11
glider: 193
mission: 2
dive: 321
start: 11 3 112 23 42 12
data:
$ID,193
$MISSION,2
$DIVE,321
$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,-1667.0597
$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
$GPS1,031112,233222,6632.922,-5948.820,34,1.5,35,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-63.3
$GPS2,031112,234114,6632.793,-5948.830,4,0.8,4,-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,55.4,142065,-17.3,-8.919,-19.96
$D_GRID,693
$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,13,begin dive
$GC,19,-1.50,-136.9,0.0,0.0,0,26,0.00,0.00,-5.50,0.000,2,0.000,0.000,88,2231,1571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,32,-1.50,-136.9,3.2,0.0,1,162,11.60,0.00,-114.20,0.000,6,0.451,0.000,2348,1741,3330,0,0,0,0,0,0,14.14,28.83,14.73
$GC,474,-1.50,-136.9,59.1,-15.8,83,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,795,-1.50,-136.9,107.7,-14.8,140,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1109,-1.50,-136.9,153.6,-14.2,171,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1421,-1.50,-136.9,194.0,-12.5,202,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,-1.50,-136.9,232.3,-12.2,233,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2043,-1.50,-136.9,269.9,-12.0,264,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2355,-1.50,-136.9,308.9,-13.0,295,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2661,-1.50,-136.9,346.6,-11.7,326,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2976,-1.50,-136.9,380.5,-10.4,357,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3304,-1.50,-136.9,416.3,-10.8,380,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3603,-1.50,-136.9,447.1,-10.3,390,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1742,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3904,-1.50,-136.9,478.4,-10.4,400,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4204,-1.50,-136.9,509.8,-10.5,410,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1742,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4503,-1.50,-136.9,540.8,-10.3,420,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1741,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4804,-1.50,-136.9,571.3,-10.2,430,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5104,-1.50,-136.9,601.2,-10.0,440,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1742,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5404,-1.50,-136.9,631.0,-10.0,450,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5703,-1.50,-136.9,660.3,-9.8,460,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6004,-1.50,-136.9,691.3,-10.4,470,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1741,3334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6029,begin apogee
$GC,6056,-0.38,0.0,694.0,-10.1,471,6227,0.90,14.85,144.98,2.551,6,0.263,0.080,2590,1741,2772,0,0,6,1,0,0,14.24,13.63,12.76
$STATE,6228,end apogee,CONTROL_FINISHED_OK
$STATE,6229,begin climb
$GC,6235,1.50,136.9,700.8,0.0,477,6399,1.42,0.00,160.35,2.506,6,0.170,0.000,3003,1741,2214,0,0,0,0,0,0,13.62,28.83,12.35
$GC,6693,1.50,136.9,657.3,11.1,493,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6994,1.50,136.9,623.8,11.2,503,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7294,1.50,136.9,591.3,10.8,513,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7594,1.50,136.9,559.9,10.4,523,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,1.50,136.9,526.7,10.9,533,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1742,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,1.50,136.9,494.2,10.9,543,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,1.50,136.9,460.8,11.3,553,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8794,1.50,136.9,426.8,11.4,563,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9094,1.50,136.9,393.3,11.1,577,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9408,1.50,136.9,359.3,11.0,608,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9721,1.50,136.9,326.3,10.2,639,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10033,1.50,136.9,295.2,9.5,670,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10346,1.50,140.7,266.5,8.7,701,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10660,1.53,157.9,240.1,8.2,732,10682,0.00,0.00,19.88,2.069,6,0.000,0.000,3003,1742,2128,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10983,1.53,157.9,209.6,9.3,765,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11299,1.53,157.9,180.0,10.3,796,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11612,1.53,157.9,149.3,9.1,827,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1741,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11924,1.54,167.5,121.5,8.5,858,11932,0.00,0.00,5.10,1.555,6,0.000,0.000,3003,1741,2089,0,0,0,0,0,0,28.83,28.83,13.76
$GC,12238,1.57,195.7,96.6,7.7,893,12257,0.00,0.00,15.07,0.477,6,0.000,0.000,3003,1741,1974,0,0,0,0,0,0,28.83,28.83,14.22
$GC,12567,1.62,232.0,71.3,7.3,956,12593,0.10,0.00,19.23,0.407,6,0.176,0.000,3043,1741,1825,0,0,0,0,0,0,14.62,28.83,14.33
$GC,12907,1.62,232.0,37.3,11.0,1020,12913,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1741,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13224,1.69,288.3,13.0,6.5,1081,13255,0.00,0.00,28.80,0.231,6,0.000,0.000,3043,1741,1595,0,0,0,0,0,0,28.83,28.83,14.41
$STATE,13311,end climb,SURFACE_DEPTH_REACHED
$STATE,13311,begin surface coast
$FINISH,2.2,1.025741
$STATE,13338,end surface coast,CONTROL_FINISHED_OK
$STATE,13338,begin surface
$SM_CCo,13440,0.00,0.000,0,0,1580,292.40
$SM_GC,3.38,9.00,14.85,0.00,0.133,0.080,0.000,138,1741,1580,-11.62,-10.71,292.40,0,0,6,1,0,0,14.55,14.54,28.83
$RAFOS_CLK,594
$RAFOS,6,1351990150,0.833333,0.819444,57,55,55,53,52,49,210,162,116,197,138,172
$RAFOS,5,1351989670,0.700000,0.686111,60,56,55,52,51,47,227,202,176,136,154,192
$RAFOS,4,1351989190,0.566667,0.552778,58,58,57,56,52,47,198,214,166,186,145,175
$RAFOS,3,1351988708,0.433333,0.418889,70,62,57,56,53,50,206,122,152,170,185,219
$RAFOS,2,1351988226,0.300000,0.285000,61,57,56,54,53,52,203,189,115,138,213,403
$RAFOS,1,1351987745,0.166667,0.151389,65,60,60,55,55,53,161,215,540,224,125,180
$RAFOS,0,1351987262,0.033333,0.017222,71,65,57,56,56,55,208,182,126,195,149,139
$RAFOS_FIX,6649.052246,-5944.512207,021112,161656,2,104,5.84
$IRIDIUM_FIX,6604.29,-5953.18,031112,191940
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.81
$INTERNAL_PRESSURE,8.67444
$TCM_TEMP,12.50
$XPDR_PINGS,7
$24V_AH,12.3,103.375
$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,23.025,59.400,393.400,0.000,0.000,0.000,0.000,317.375,1.750,0.000,5.964,2717.581,8216.456,562.182,1881.741,561.593,0.000,1747.885,0.000,1623.909,2520.000,0.537,0.000
$DEVICE_MAMPS,450.585,86.445,2551.275,0.000,0.000,0.000,0.000,164.475,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.255,779.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188660
$DATA_FILE_SIZE,50079,1101
$CAP_FILE_SIZE,100469,32
$CFSIZE,259252224,228855808
$ERRORS,0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
$SOUNDSPEED,1451.3
$CURRENT,0.048,212.6,1
$GPS,041112,032823,6632.346,-5949.207,84,1.5,85,-33.6