version: 66.11
glider: 193
mission: 2
dive: 134
start: 10 2 112 6 6 47
data:
$ID,193
$MISSION,2
$DIVE,134
$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,-1009.9287
$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
$GPS1,021012,055929,6702.535,-5650.457,20,0.7,20,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-68.0
$GPS2,021012,060607,6702.524,-5650.569,20,0.7,20,-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,98.3,2054,-17.3,-8.919,-19.96
$D_GRID,534
$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,-136.9,0.0,0.0,0,56,0.00,0.00,-35.20,0.000,2,0.000,0.000,130,2112,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.50,-136.9,3.1,-1.8,6,137,10.98,2.75,-53.80,0.000,4,0.455,0.174,2340,3528,3330,0,0,0,0,0,0,14.43,14.54,14.81
$GC,241,-1.50,-136.9,23.8,-19.2,37,248,0.00,2.55,0.00,0.000,6,0.000,0.105,2341,2113,3331,0,0,0,0,0,0,28.83,14.62,28.83
$GC,559,-1.50,-136.9,70.3,-13.4,98,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2114,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-1.50,-136.9,113.0,-13.6,150,889,0.00,2.70,0.00,0.000,4,0.000,0.158,2330,3523,3332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,949,-1.50,-136.9,122.0,-13.8,156,957,0.10,2.50,0.00,0.000,6,0.310,0.103,2349,2120,3331,0,0,0,0,0,0,14.62,14.73,28.83
$GC,1258,-1.50,-136.9,162.2,-12.7,187,1266,0.00,2.53,0.00,0.000,4,0.000,0.132,2349,710,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1285,-1.50,-136.9,165.3,-12.7,189,1293,0.00,2.60,0.00,0.000,6,0.000,0.132,2341,2128,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1594,-1.50,-136.9,203.8,-12.0,220,1603,0.00,2.62,0.00,0.000,4,0.000,0.148,2330,3531,3331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1691,-1.50,-136.9,215.8,-12.6,229,1700,0.10,2.50,0.00,0.000,6,0.311,0.098,2348,2114,3331,0,0,0,0,0,0,14.67,14.78,28.83
$GC,2000,-1.50,-136.9,252.2,-12.2,260,2009,0.00,2.50,0.00,0.000,4,0.000,0.129,2349,706,3330,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2075,-1.50,-136.9,261.0,-11.9,267,2083,0.00,2.58,0.00,0.000,6,0.000,0.130,2340,2126,3330,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2385,-1.50,-136.9,294.4,-10.5,298,2394,0.00,2.60,0.00,0.000,4,0.000,0.145,2330,3528,3328,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2430,-1.50,-136.9,299.3,-10.8,302,2440,0.08,2.45,0.00,0.000,6,0.281,0.096,2349,2121,3330,0,0,0,0,0,0,14.68,14.80,28.83
$GC,2740,-1.50,-136.9,331.7,-10.4,333,2750,0.00,2.50,0.00,0.000,4,0.000,0.128,2350,712,3329,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2780,-1.50,-136.9,335.7,-11.1,336,2787,0.00,2.58,0.00,0.000,6,0.000,0.130,2342,2125,3329,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3087,-1.50,-136.9,368.2,-10.1,367,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2125,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-1.50,-136.9,403.2,-10.7,398,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2125,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-1.50,-136.9,434.5,-10.5,408,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2125,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-1.50,-136.9,465.2,-10.2,418,4024,0.00,2.53,0.00,0.000,4,0.000,0.130,2343,711,3330,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4062,-1.50,-136.9,468.7,-10.3,419,4068,0.00,2.55,0.00,0.000,6,0.000,0.132,2335,2117,3329,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4380,-1.50,-136.9,504.4,-11.0,430,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2117,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-1.50,-136.9,533.2,-8.0,440,4685,0.00,2.53,0.00,0.000,4,0.000,0.134,2335,709,3331,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,4888,end dive,NO_VERTICAL_VELOCITY
$STATE,4888,begin apogee
$GC,4904,-0.38,0.0,533.4,0.0,447,5043,0.82,0.00,133.32,2.220,6,0.179,0.000,2595,2206,2773,0,0,0,0,0,0,14.83,28.83,13.26
$STATE,5048,end apogee,CONTROL_FINISHED_OK
$STATE,5048,begin climb
$GC,5054,1.50,136.9,533.4,0.0,452,5209,1.35,2.90,140.98,2.174,4,0.166,0.145,3003,3611,2214,0,0,0,0,0,0,14.00,13.58,12.94
$GC,5430,1.50,136.9,494.8,13.4,464,5437,0.00,2.62,0.00,0.000,6,0.000,0.100,3013,2201,2208,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5737,1.50,136.9,451.7,12.6,475,5742,0.00,2.58,0.00,0.000,4,0.000,0.127,3024,785,2205,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5801,1.50,136.9,443.6,12.9,477,5807,0.00,2.60,0.00,0.000,6,0.000,0.118,3024,2199,2204,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6128,1.50,136.9,399.0,13.3,488,6137,0.00,2.65,0.00,0.000,4,0.000,0.140,3024,3611,2205,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6203,1.50,136.9,388.1,14.8,495,6212,0.10,2.50,0.00,0.000,6,0.268,0.099,3007,2203,2204,0,0,0,0,0,0,14.52,14.61,28.83
$GC,6513,1.50,136.9,347.5,12.8,526,6522,0.00,2.53,0.00,0.000,4,0.000,0.125,3016,789,2203,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6568,1.50,136.9,340.3,12.8,531,6576,0.00,2.53,0.00,0.000,6,0.000,0.115,3017,2202,2202,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6879,1.50,136.9,301.6,13.0,562,6887,0.00,2.60,0.00,0.000,4,0.000,0.139,3016,3610,2203,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6903,1.50,136.9,298.4,12.5,564,6911,0.00,2.50,0.00,0.000,6,0.000,0.100,3027,2194,2203,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7213,1.50,136.9,260.3,11.9,595,7222,0.00,2.53,0.00,0.000,4,0.000,0.129,3037,785,2202,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7268,1.50,136.9,253.5,12.9,600,7277,0.10,2.53,0.00,0.000,6,0.262,0.119,3009,2199,2202,0,0,0,0,0,0,14.66,14.71,28.83
$GC,7578,1.50,136.9,217.7,11.5,631,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2199,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7888,1.50,136.9,185.3,9.8,662,7897,0.00,2.62,0.00,0.000,4,0.000,0.142,3010,3616,2202,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7926,1.50,136.9,182.0,9.3,665,7934,0.00,2.53,0.00,0.000,6,0.000,0.101,3018,2190,2203,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8235,1.50,136.9,149.5,10.6,696,8243,0.00,2.47,0.00,0.000,4,0.000,0.127,3029,794,2201,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8304,1.50,136.9,142.7,10.7,702,8312,0.10,2.53,0.00,0.000,6,0.298,0.119,3008,2201,2201,0,0,0,0,0,0,14.72,14.78,28.83
$GC,8612,1.50,136.9,109.8,10.7,733,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8926,1.50,136.9,80.0,9.0,785,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2201,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9245,1.52,157.7,52.4,8.0,846,9259,0.00,2.65,9.65,0.341,4,0.000,0.140,3008,3616,2128,0,0,0,0,0,0,28.83,14.74,14.65
$GC,9290,1.52,157.7,48.7,9.0,853,9297,0.00,2.53,0.00,0.000,6,0.000,0.102,3018,2195,2127,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9609,1.61,229.3,27.0,5.8,914,9658,0.00,2.75,38.05,0.254,4,0.000,0.148,3018,3608,1836,0,0,0,0,0,0,28.83,14.67,14.64
$GC,9758,1.61,229.3,15.1,9.7,940,9765,0.00,2.53,0.00,0.000,6,0.000,0.103,3027,2192,1828,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,9895,end climb,SURFACE_DEPTH_REACHED
$STATE,9900,begin surface coast
$FINISH,1.8,1.013326
$STATE,9926,end surface coast,CONTROL_FINISHED_OK
$STATE,9926,begin surface
$SM_CCo,9954,29.42,0.174,0,0,1587,290.19
$SM_GC,3.15,8.43,0.15,29.42,0.098,0.156,0.174,131,2110,1587,-11.62,0.37,290.19,0,0,0,0,0,0,14.77,14.74,14.67
$RAFOS_CLK,401
$RAFOS,5,1349167262,8.700000,8.683888,91,59,57,53,52,48,667,216,189,115,154,164
$RAFOS,4,1349166783,8.566667,8.550834,101,70,60,58,55,53,904,198,182,213,156,145
$RAFOS,3,1349166304,8.433333,8.417778,93,64,57,57,56,54,997,220,154,182,136,166
$RAFOS,2,1349165830,8.300000,8.286111,96,63,60,55,53,51,941,213,196,126,232,180
$RAFOS,1,1349165350,8.166667,8.152778,130,59,59,56,55,53,977,207,161,140,195,115
$RAFOS,0,1349164864,8.033334,8.017777,64,58,57,57,55,55,202,174,184,157,117,146
$RAFOS_FIX,6655.001465,-5701.076660,021012,080852,5,102,1.88
$IRIDIUM_FIX,6636.54,-5650.71,021012,030336
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.81
$INTERNAL_PRESSURE,8.78186
$TCM_TEMP,13.60
$XPDR_PINGS,6
$24V_AH,12.9,44.966
$10V_AH,13.3,0.000
$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,22.150,98.150,322.000,29.425,0.000,0.000,0.000,231.300,1.500,0.000,26.555,2484.969,4973.648,504.482,1915.958,523.442,0.000,1684.416,0.000,1703.304,2520.000,0.539,0.000
$DEVICE_MAMPS,455.175,173.655,2220.030,173.655,0.000,0.000,0.000,148.410,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,717.966,663.942,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188708
$DATA_FILE_SIZE,46737,972
$CAP_FILE_SIZE,106302,0
$CFSIZE,259252224,241315840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.7
$CURRENT,0.197,168.4,1
$GPS,021012,085504,6702.006,-5647.074,35,0.9,35,-33.5