version: 66.11
glider: 193
mission: 2
dive: 135
start: 10 2 112 9 2 42
data:
$ID,193
$MISSION,2
$DIVE,135
$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,-3
$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,-1011.1857
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,260
$ROLL_MAXERRORS,1
$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,360
$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
$GPS1,021012,085504,6702.006,-5647.074,35,0.9,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-67.6
$GPS2,021012,090159,6702.051,-5646.969,4,0.7,4,-33.5
$SPEED_LIMITS,0.075,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,336.7,163684,-17.3,-8.919,-19.96
$D_GRID,532
$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,-136.9,0.0,0.0,0,57,0.00,0.00,-35.80,0.000,2,0.000,0.000,130,2110,2264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.50,-136.9,3.0,-1.3,6,131,11.18,2.65,-49.53,0.000,4,0.464,0.155,2347,704,3331,0,0,0,0,0,0,14.39,14.54,14.79
$GC,366,-1.50,-136.9,46.7,-15.3,62,373,0.00,2.65,0.00,0.000,6,0.000,0.136,2339,2126,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,684,-1.50,-136.9,89.0,-13.0,123,691,0.00,2.60,0.00,0.000,4,0.000,0.132,2339,702,3332,0,0,0,0,0,0,28.83,14.66,28.83
$GC,837,-1.50,-136.9,109.6,-13.7,145,847,0.08,2.62,0.00,0.000,6,0.299,0.129,2348,2123,3332,0,0,0,0,0,0,14.58,14.66,28.83
$GC,1148,-1.50,-136.9,149.3,-12.3,176,1156,0.00,2.62,0.00,0.000,4,0.000,0.145,2339,3529,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1182,-1.50,-136.9,153.7,-12.5,179,1191,0.00,2.47,0.00,0.000,6,0.000,0.097,2339,2117,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1493,-1.50,-136.9,192.5,-13.1,210,1502,0.00,2.50,0.00,0.000,4,0.000,0.127,2339,713,3332,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1610,-1.50,-136.9,208.6,-13.9,221,1618,0.10,2.60,0.00,0.000,6,0.324,0.132,2348,2131,3332,0,0,0,0,0,0,14.66,14.75,28.83
$GC,1919,-1.50,-136.9,246.7,-11.9,252,1928,0.00,2.62,0.00,0.000,4,0.000,0.148,2340,3533,3331,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1977,-1.50,-136.9,253.6,-12.6,257,1984,0.00,2.50,0.00,0.000,6,0.000,0.099,2340,2118,3331,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2285,-1.50,-136.9,290.4,-11.2,288,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-1.50,-136.9,325.9,-11.4,319,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2913,-1.50,-136.9,359.8,-10.4,350,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3225,-1.50,-136.9,392.6,-10.6,381,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-1.50,-136.9,425.4,-10.3,396,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-1.50,-136.9,456.8,-10.3,406,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2118,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4132,-1.50,-136.9,488.8,-10.3,416,4138,0.00,2.67,0.00,0.000,4,0.000,0.155,2330,3526,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4182,-1.50,-136.9,492.1,-10.4,417,4192,0.08,2.47,0.00,0.000,6,0.282,0.105,2349,2117,3331,0,0,0,0,0,0,14.73,14.83,28.83
$GC,4494,-1.50,-136.9,525.7,-10.1,428,4499,0.00,2.50,0.00,0.000,4,0.000,0.134,2349,709,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4732,-1.50,-136.9,527.2,-0.0,435,4739,0.00,2.60,0.00,0.000,6,0.000,0.139,2349,2126,3332,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,4764,end dive,NO_VERTICAL_VELOCITY
$STATE,4764,begin apogee
$GC,4776,-0.38,0.0,527.3,0.0,437,4916,0.80,0.00,132.80,2.214,6,0.194,0.000,2595,2202,2773,0,0,0,0,0,0,14.81,28.83,13.26
$STATE,4922,end apogee,CONTROL_FINISHED_OK
$STATE,4922,begin climb
$GC,4928,1.50,136.9,527.2,0.0,442,5083,1.35,2.97,140.43,2.170,4,0.164,0.148,3005,3611,2214,0,0,0,0,0,0,14.00,13.57,12.93
$GC,5122,1.50,136.9,512.0,10.1,448,5131,0.00,2.70,0.00,0.000,6,0.000,0.101,3015,2198,2210,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5434,1.50,136.9,470.4,12.7,459,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2198,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5734,1.50,136.9,431.9,12.9,469,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2198,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,1.50,136.9,393.3,13.1,481,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2198,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6349,1.50,136.9,353.6,12.5,512,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2198,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,1.50,136.9,314.8,12.4,543,6672,0.00,2.65,0.00,0.000,4,0.000,0.142,3015,3608,2203,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6707,1.50,136.9,308.2,13.0,547,6717,0.00,2.50,0.00,0.000,6,0.000,0.103,3025,2199,2203,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7017,1.50,136.9,269.4,13.0,578,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2199,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,1.50,136.9,231.8,11.9,609,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,1.50,136.9,195.7,11.0,640,7654,0.00,2.53,0.00,0.000,4,0.000,0.129,3036,785,2203,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7673,1.50,136.9,192.2,11.2,642,7681,0.12,2.55,0.00,0.000,6,0.288,0.122,3009,2198,2201,0,0,0,0,0,0,14.71,14.77,28.83
$GC,7982,1.50,136.9,158.0,10.8,673,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2198,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8298,1.50,136.9,124.6,10.5,704,8307,0.00,2.60,0.00,0.000,4,0.000,0.145,3009,3606,2202,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8353,1.50,136.9,117.7,11.7,709,8361,0.00,2.47,0.00,0.000,6,0.000,0.103,3018,2199,2202,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8667,1.50,136.9,85.1,9.4,754,8674,0.00,2.67,0.00,0.000,4,0.000,0.147,3018,3616,2202,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8700,1.50,136.9,81.9,10.7,759,8708,0.10,2.53,0.00,0.000,6,0.306,0.103,3008,2190,2202,0,0,0,0,0,0,14.73,14.83,28.83
$GC,9018,1.50,136.9,52.6,9.0,820,9025,0.00,2.50,0.00,0.000,4,0.000,0.127,3017,791,2201,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9076,1.50,137.4,47.3,8.9,830,9084,0.00,2.55,0.00,0.000,6,0.000,0.118,3017,2210,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9394,1.71,306.6,29.3,1.6,891,9492,0.12,2.60,88.55,0.263,4,0.154,0.128,3081,791,1518,0,0,0,0,0,0,14.81,14.64,14.57
$GC,9601,1.71,306.6,11.1,14.2,927,9609,0.12,2.58,0.00,0.000,6,0.281,0.120,3054,2207,1508,0,0,0,0,0,0,14.60,14.66,28.83
$STATE,9659,end climb,SURFACE_DEPTH_REACHED
$STATE,9660,begin surface coast
$FINISH,1.9,1.012123
$STATE,9681,end surface coast,CONTROL_FINISHED_OK
$STATE,9681,begin surface
$SM_CCo,9770,0.00,0.000,0,0,1500,312.02
$SM_GC,2.78,8.60,0.20,0.00,0.106,0.144,0.000,136,2118,1500,-11.61,0.51,312.02,0,0,0,0,0,0,14.72,14.70,28.83
$RAFOS_CLK,393
$RAFOS,6,1349167745,8.833333,8.818055,116,63,57,55,54,54,802,208,174,159,127,228
$RAFOS_FIX,6704.032227,-5708.014648,021012,080856,6,104,0.00
$IRIDIUM_FIX,6631.12,-5649.11,021012,060601
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.28
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,13.70
$XPDR_PINGS,10
$24V_AH,12.9,45.207
$10V_AH,13.2,0.000
$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,22.650,72.850,361.775,0.000,0.000,0.000,0.000,265.425,2.500,0.000,5.549,2380.909,5065.428,489.591,1791.089,487.322,0.000,1631.412,0.000,1566.478,0.000,0.538,0.000
$DEVICE_MAMPS,463.590,200.430,2213.910,0.000,0.000,0.000,0.000,146.115,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.640,642.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43380,942
$CAP_FILE_SIZE,96743,0
$CFSIZE,259252224,241270784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.4
$CURRENT,0.105,138.9,1
$GPS,021012,114711,6702.191,-5648.803,16,0.8,16,-33.5