version: 66.11
glider: 193
mission: 2
dive: 132
start: 10 2 112 0 6 43
data:
$ID,193
$MISSION,2
$DIVE,132
$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,-1002.723
$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,17
$R_STBD_OVSHOOT,13
$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
$GPS1,011012,235904,6701.989,-5654.435,35,0.7,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.8
$GPS2,021012,000600,6702.004,-5654.255,4,0.7,4,-33.5
$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,82.3,4879,-17.3,-8.919,-19.96
$D_GRID,608
$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,-136.9,0.0,0.0,0,49,0.00,0.00,-28.60,0.000,2,0.000,0.000,134,2113,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.50,-136.9,3.1,-1.9,5,137,11.05,2.85,-62.62,0.000,4,0.459,0.175,2340,3540,3331,0,0,0,0,0,0,14.41,14.53,14.80
$GC,371,-1.50,-136.9,49.4,-14.6,63,378,0.00,2.55,0.00,0.000,6,0.000,0.105,2341,2122,3332,0,0,0,0,0,0,28.83,14.64,28.83
$GC,688,-1.50,-136.9,91.5,-13.1,124,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-1.50,-136.9,130.3,-12.5,161,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2121,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1315,-1.50,-136.9,170.9,-13.2,192,1323,0.00,2.55,0.00,0.000,4,0.000,0.136,2341,708,3332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1349,-1.50,-136.9,176.2,-13.4,195,1358,0.08,2.60,0.00,0.000,6,0.290,0.138,2350,2120,3332,0,0,0,0,0,0,14.63,14.70,28.83
$GC,1660,-1.50,-136.9,215.6,-12.2,226,1669,0.00,2.62,0.00,0.000,4,0.000,0.152,2341,3524,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1688,-1.50,-136.9,218.6,-12.2,228,1695,0.00,2.50,0.00,0.000,6,0.000,0.102,2341,2116,3331,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1996,-1.50,-136.9,255.8,-11.5,259,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-1.50,-136.9,290.3,-11.2,290,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-1.50,-136.9,324.9,-10.8,321,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-1.50,-136.9,360.0,-11.3,352,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2115,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3247,-1.50,-136.9,393.6,-10.3,383,3256,0.00,2.50,0.00,0.000,4,0.000,0.131,2341,706,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3302,-1.50,-136.9,399.9,-10.8,388,3310,0.00,2.58,0.00,0.000,6,0.000,0.133,2334,2127,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3612,-1.50,-136.9,431.8,-10.3,399,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2127,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,-1.50,-136.9,461.1,-9.6,409,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2127,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-1.50,-136.9,490.4,-9.9,419,4218,0.00,2.60,0.00,0.000,4,0.000,0.148,2323,3529,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4246,-1.50,-136.9,493.4,-9.8,420,4253,0.10,2.47,0.00,0.000,6,0.280,0.099,2349,2119,3330,0,0,0,0,0,0,14.73,14.87,28.83
$GC,4574,-1.50,-136.9,521.8,-8.2,431,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2119,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4874,-1.50,-136.9,547.2,-8.7,441,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2119,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5174,-1.50,-136.9,567.6,-2.6,451,5180,0.00,2.67,0.00,0.000,4,0.000,0.158,2341,3533,3332,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,5325,end dive,NO_VERTICAL_VELOCITY
$STATE,5325,begin apogee
$GC,5340,-0.38,0.0,567.7,0.0,456,5484,0.80,0.00,134.27,2.241,6,0.184,0.000,2591,2189,2773,0,0,0,0,0,0,14.83,28.83,13.24
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5491,1.50,136.9,567.6,0.0,461,5649,1.38,3.00,142.15,2.198,4,0.167,0.150,3006,3616,2214,0,0,0,0,0,0,13.98,13.54,12.89
$GC,5753,1.50,136.9,541.3,14.0,470,5759,0.00,2.67,0.00,0.000,6,0.000,0.103,3017,2197,2209,0,0,0,0,0,0,28.83,13.95,28.83
$GC,6080,1.50,136.9,495.5,14.0,481,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6381,1.50,136.9,454.8,13.0,491,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6680,1.50,136.9,414.6,13.4,501,6686,0.00,2.55,0.00,0.000,4,0.000,0.129,3027,788,2203,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6704,1.50,136.9,414.6,13.4,501,6711,0.00,2.58,0.00,0.000,6,0.000,0.119,3028,2202,2202,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7016,1.50,136.9,369.4,13.9,526,7023,0.10,0.00,0.00,0.000,6,0.311,0.000,3007,2201,2202,0,0,0,0,0,0,14.61,28.83,28.83
$GC,7324,1.50,136.9,330.6,11.6,557,7333,0.00,2.62,0.00,0.000,4,0.000,0.139,3007,3610,2202,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7351,1.50,136.9,327.5,12.0,559,7358,0.00,2.53,0.00,0.000,6,0.000,0.101,3017,2192,2202,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7659,1.50,136.9,290.1,11.9,590,7669,0.00,2.50,0.00,0.000,4,0.000,0.128,3028,794,2201,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7694,1.50,136.9,285.7,12.1,593,7704,0.05,2.53,0.00,0.000,6,0.278,0.117,3013,2203,2201,0,0,0,0,0,0,14.66,14.71,28.83
$GC,8005,1.50,136.9,248.4,12.2,624,8014,0.00,2.60,0.00,0.000,4,0.000,0.139,3013,3618,2201,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8052,1.50,136.9,242.7,12.9,628,8059,0.00,2.53,0.00,0.000,6,0.000,0.100,3022,2195,2202,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8360,1.50,136.9,204.2,12.3,659,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,1.50,136.9,165.9,12.4,690,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2195,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8988,1.50,136.9,130.4,10.6,721,8997,0.00,2.50,0.00,0.000,4,0.000,0.128,3033,784,2201,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9035,1.50,136.9,125.2,10.6,725,9042,0.12,2.55,0.00,0.000,6,0.288,0.119,3006,2202,2200,0,0,0,0,0,0,14.73,14.79,28.83
$GC,9344,1.50,136.9,97.2,8.9,759,9350,0.00,2.62,0.00,0.000,4,0.000,0.142,3004,3613,2201,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9446,1.50,136.9,86.8,10.3,778,9453,0.00,2.50,0.00,0.000,6,0.000,0.101,3014,2197,2201,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9767,1.55,177.2,57.6,7.2,839,9792,0.00,0.00,20.50,0.349,6,0.000,0.000,3014,2197,2048,0,0,0,0,0,0,28.83,28.83,14.63
$GC,10103,1.68,280.1,30.4,4.4,903,10164,0.12,2.62,54.40,0.260,4,0.155,0.129,3078,783,1627,0,0,0,0,0,0,14.78,14.67,14.60
$GC,10269,1.68,280.1,15.3,11.2,932,10277,0.15,2.60,0.00,0.000,6,0.275,0.124,3043,2207,1616,0,0,0,0,0,0,14.62,14.69,28.83
$STATE,10393,end climb,SURFACE_DEPTH_REACHED
$STATE,10393,begin surface coast
$FINISH,1.9,1.024091
$STATE,10424,end surface coast,CONTROL_FINISHED_OK
$STATE,10424,begin surface
$SM_CCo,10452,2.45,0.227,0,0,1586,290.19
$SM_GC,4.06,8.43,0.20,2.45,0.093,0.142,0.227,137,2115,1586,-11.60,0.45,290.19,0,0,0,0,0,0,14.76,14.73,14.67
$RAFOS_CLK,423
$RAFOS,6,1349138947,0.833333,0.818611,135,60,59,56,52,52,769,212,189,129,156,111
$RAFOS,5,1349138464,0.700000,0.684444,85,57,54,54,51,51,645,196,211,137,187,153
$RAFOS,4,1349137981,0.566667,0.550278,101,72,57,55,52,52,894,214,191,165,122,235
$RAFOS,3,1349137508,0.433333,0.418889,68,55,54,53,52,49,968,206,222,122,187,145
$RAFOS,2,1349137025,0.300000,0.284722,82,58,56,54,53,50,949,191,168,112,203,182
$RAFOS,1,1349136545,0.166667,0.151389,76,70,63,60,57,56,215,188,989,158,177,133
$RAFOS_FIX,6706.327148,-5716.374023,021012,000059,5,94,10.30
$IRIDIUM_FIX,6631.12,-5609.44,011012,202013
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.06
$INTERNAL_PRESSURE,8.7721
$TCM_TEMP,14.10
$XPDR_PINGS,9
$24V_AH,12.9,44.481
$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,22.375,72.625,351.325,2.450,0.000,0.000,0.000,260.975,2.250,0.000,5.656,2447.907,5665.344,475.026,1800.984,514.640,0.000,1621.317,0.000,1581.142,2160.000,0.541,0.000
$DEVICE_MAMPS,459.000,175.185,2240.685,227.205,0.000,0.000,0.000,145.350,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.590,659.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188740
$DATA_FILE_SIZE,43495,961
$CAP_FILE_SIZE,100232,0
$CFSIZE,259252224,241442816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.6
$CURRENT,0.112,344.4,1
$GPS,021012,030304,6703.477,-5651.979,38,0.8,38,-33.5