version: 66.11
glider: 193
mission: 2
dive: 136
start: 10 2 112 11 54 25
data:
$ID,193
$MISSION,2
$DIVE,136
$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,-1012.4418
$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,16
$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
$GPS1,021012,114711,6702.191,-5648.803,16,0.8,16,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-64.8
$GPS2,021012,115343,6702.238,-5648.598,4,1.6,4,-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,313.3,162590,-17.3,-8.919,-19.96
$D_GRID,547
$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,-136.9,0.0,0.0,0,62,0.00,0.00,-40.95,0.000,2,0.000,0.000,130,2117,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.50,-136.9,3.0,-1.3,7,137,11.10,2.65,-50.30,0.000,4,0.461,0.151,2350,703,3330,0,0,0,0,0,0,14.40,14.55,14.81
$GC,363,-1.50,-136.9,43.6,-13.7,61,371,0.00,2.65,0.00,0.000,6,0.000,0.138,2341,2129,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,682,-1.50,-136.9,85.2,-12.8,122,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2128,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-1.50,-136.9,124.9,-11.9,164,1009,0.00,2.65,0.00,0.000,4,0.000,0.156,2330,3529,3332,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1047,-1.50,-136.9,130.4,-12.3,168,1054,0.10,2.53,0.00,0.000,6,0.308,0.103,2349,2111,3333,0,0,0,0,0,0,14.63,14.73,28.83
$GC,1356,-1.50,-136.9,166.0,-11.1,199,1361,0.00,2.53,0.00,0.000,4,0.000,0.132,2349,708,3332,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1394,-1.50,-136.9,170.4,-11.9,202,1401,0.00,2.60,0.00,0.000,6,0.000,0.132,2341,2126,3332,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1702,-1.50,-136.9,205.9,-11.0,233,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2126,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2011,-1.50,-136.9,243.2,-12.8,264,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2126,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2328,-1.50,-136.9,281.6,-12.0,295,2337,0.00,2.55,0.00,0.000,4,0.000,0.131,2341,714,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2393,-1.50,-136.9,290.6,-12.9,301,2402,0.00,2.55,0.00,0.000,6,0.000,0.132,2333,2119,3330,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2705,-1.50,-136.9,324.8,-10.1,332,2714,0.00,2.62,0.00,0.000,4,0.000,0.146,2323,3525,3330,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2779,-1.50,-136.9,332.8,-10.5,339,2789,0.10,2.45,0.00,0.000,6,0.280,0.097,2349,2122,3330,0,0,0,0,0,0,14.66,14.79,28.83
$GC,3090,-1.50,-136.9,363.5,-9.9,370,3099,0.00,2.50,0.00,0.000,4,0.000,0.129,2349,711,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3144,-1.50,-136.9,369.4,-10.8,375,3153,0.00,2.55,0.00,0.000,6,0.000,0.131,2342,2118,3329,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3455,-1.50,-136.9,400.4,-10.0,406,3461,0.00,2.60,0.00,0.000,4,0.000,0.148,2332,3523,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3540,-1.50,-136.9,406.9,-10.5,408,3547,0.00,2.47,0.00,0.000,6,0.000,0.098,2332,2117,3330,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3847,-1.50,-136.9,441.2,-10.4,419,3853,0.10,2.50,0.00,0.000,4,0.321,0.127,2350,706,3330,0,0,0,0,0,0,14.72,14.79,28.83
$GC,3892,-1.50,-136.9,444.5,-10.4,420,3897,0.00,2.58,0.00,0.000,6,0.000,0.132,2344,2126,3330,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4209,-1.50,-136.9,476.3,-9.6,431,4214,0.00,2.60,0.00,0.000,4,0.000,0.148,2333,3526,3330,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4258,-1.50,-136.9,479.4,-9.7,432,4267,0.00,2.45,0.00,0.000,6,0.000,0.099,2333,2117,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4571,-1.50,-136.9,511.5,-9.4,443,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-1.50,-136.9,540.2,-9.6,453,4876,0.00,2.50,0.00,0.000,4,0.000,0.131,2333,706,3330,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5110,-1.50,-136.9,542.2,0.0,460,5117,0.10,2.58,0.00,0.000,6,0.272,0.132,2353,2123,3331,0,0,0,0,0,0,14.80,14.82,28.83
$STATE,5141,end dive,NO_VERTICAL_VELOCITY
$STATE,5141,begin apogee
$GC,5153,-0.38,0.0,542.2,0.0,462,5293,0.77,0.00,132.23,2.225,6,0.189,0.000,2597,2199,2773,0,0,0,0,0,0,14.81,28.83,13.25
$STATE,5299,end apogee,CONTROL_FINISHED_OK
$STATE,5299,begin climb
$GC,5304,1.50,136.9,542.1,0.0,467,5460,1.35,2.97,141.10,2.196,4,0.165,0.146,3004,3611,2214,0,0,0,0,0,0,14.01,13.57,12.91
$GC,5695,1.50,136.9,495.3,14.7,480,5701,0.00,2.62,0.00,0.000,6,0.000,0.103,3015,2195,2207,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6027,1.50,136.9,450.4,13.2,491,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6327,1.50,136.9,410.7,13.4,501,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6627,1.50,136.9,372.6,12.2,525,6636,0.00,2.70,0.00,0.000,4,0.000,0.148,3015,3608,2203,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6655,1.50,136.9,369.3,12.5,527,6661,0.00,2.55,0.00,0.000,6,0.000,0.107,3025,2196,2203,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6963,1.50,136.9,330.5,12.8,558,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2196,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7278,1.50,136.9,291.4,12.8,589,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2196,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7591,1.50,136.9,250.4,13.7,620,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2196,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7902,1.50,136.9,211.8,11.9,651,7911,0.00,2.53,0.00,0.000,4,0.000,0.132,3036,788,2201,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7950,1.50,136.9,205.6,12.6,655,7958,0.12,2.55,0.00,0.000,6,0.289,0.125,3009,2199,2201,0,0,0,0,0,0,14.71,14.77,28.83
$GC,8259,1.50,136.9,170.2,10.9,686,8268,0.00,2.62,0.00,0.000,4,0.000,0.147,3009,3615,2201,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8314,1.50,136.9,163.5,12.8,691,8323,0.00,2.50,0.00,0.000,6,0.000,0.104,3018,2195,2201,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8624,1.50,136.9,129.0,11.1,722,8633,0.00,2.53,0.00,0.000,4,0.000,0.129,3028,785,2200,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8670,1.50,136.9,124.0,10.9,726,8679,0.08,2.50,0.00,0.000,6,0.269,0.120,3007,2196,2200,0,0,0,0,0,0,14.71,14.77,28.83
$GC,8983,1.51,143.1,94.2,8.6,763,8991,0.00,2.70,1.77,0.505,4,0.000,0.140,3007,3618,2188,0,0,0,0,0,0,28.83,14.78,14.61
$GC,9008,1.52,150.7,92.1,8.6,766,9021,0.00,2.50,4.43,0.475,6,0.000,0.099,3016,2198,2156,0,0,0,0,0,0,28.83,14.82,14.60
$GC,9331,1.52,150.7,60.2,10.3,828,9338,0.00,2.50,0.00,0.000,4,0.000,0.126,3026,791,2154,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9398,1.52,150.7,53.3,9.4,840,9405,0.00,2.53,0.00,0.000,6,0.000,0.118,3026,2203,2153,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9716,1.59,212.3,26.3,6.2,901,9759,0.00,2.70,32.90,0.254,4,0.000,0.144,3026,3611,1904,0,0,0,0,0,0,28.83,14.71,14.66
$STATE,9990,end climb,SURFACE_DEPTH_REACHED
$STATE,9990,begin surface coast
$FINISH,1.8,1.025555
$STATE,10000,end surface coast,CONTROL_FINISHED_OK
$STATE,10000,begin surface
$SM_CCo,10031,38.78,0.177,0,0,1588,290.19
$SM_GC,3.38,8.50,2.75,38.78,0.108,0.108,0.177,134,2115,1588,-11.62,0.40,290.19,0,0,0,0,0,0,14.78,14.76,14.67
$RAFOS_CLK,399
$RAFOS,6,1349182144,12.833333,12.817778,91,64,58,51,48,48,779,184,205,218,614,138
$RAFOS,5,1349181669,12.700000,12.685833,96,75,56,51,51,51,610,215,201,126,148,163
$RAFOS,4,1349181187,12.566667,12.551945,70,58,57,53,53,52,205,223,159,135,1358,116
$RAFOS,3,1349180702,12.433333,12.417222,68,54,51,51,50,49,199,140,121,214,385,170
$RAFOS,2,1349180225,12.300000,12.284722,72,62,59,54,53,52,210,949,221,180,137,189
$RAFOS,1,1349179749,12.166667,12.152500,66,65,60,58,56,56,163,201,222,187,212,151
$RAFOS,0,1349179267,12.033333,12.018611,62,59,55,54,48,46,137,210,187,158,227,122
$RAFOS_FIX,6710.738770,-5710.083984,021012,121200,2,94,6.78
$IRIDIUM_FIX,6631.12,-5649.11,021012,080839
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.85
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,13.70
$XPDR_PINGS,5
$24V_AH,12.9,45.450
$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,22.325,93.000,312.425,38.775,0.000,0.000,0.000,242.675,1.250,0.000,5.558,2441.391,5143.767,496.126,1882.529,514.281,0.000,1672.374,0.000,1678.114,2520.000,0.538,0.000
$DEVICE_MAMPS,460.530,195.840,2224.620,177.480,0.000,0.000,0.000,142.290,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.366,654.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,43546,955
$CAP_FILE_SIZE,105815,0
$CFSIZE,259252224,241209344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.5
$CURRENT,0.108,337.2,1
$GPS,021012,144404,6702.870,-5652.271,38,0.8,38,-33.5