version: 66.11
glider: 193
mission: 2
dive: 137
start: 10 2 112 14 51 31
data:
$ID,193
$MISSION,2
$DIVE,137
$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,-1013.6973
$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,15
$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
$GPS1,021012,144404,6702.870,-5652.271,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-63.4
$GPS2,021012,145048,6702.916,-5652.289,4,0.8,4,-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,265.2,160220,-17.3,-8.919,-19.96
$D_GRID,567
$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,-40.80,0.000,2,0.000,0.000,119,2112,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.50,-136.9,3.1,-2.0,7,124,11.25,2.60,-35.65,0.000,4,0.464,0.156,2347,699,3332,0,0,0,0,0,0,14.42,14.54,14.81
$GC,209,-1.50,-136.9,23.9,-19.4,31,216,0.00,2.65,0.00,0.000,6,0.000,0.138,2340,2120,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,526,-1.50,-136.9,70.1,-13.6,92,532,0.00,2.65,0.00,0.000,4,0.000,0.148,2330,3531,3333,0,0,0,0,0,0,28.83,14.63,28.83
$GC,653,-1.50,-136.9,87.8,-13.8,116,661,0.10,2.50,0.00,0.000,6,0.311,0.096,2348,2117,3333,0,0,0,0,0,0,14.58,14.70,28.83
$GC,967,-1.50,-136.9,129.8,-13.8,155,975,0.00,2.50,0.00,0.000,4,0.000,0.129,2348,716,3333,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1119,-1.50,-136.9,149.7,-13.6,169,1126,0.00,2.58,0.00,0.000,6,0.000,0.129,2340,2124,3333,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1427,-1.50,-136.9,188.6,-11.6,200,1436,0.00,2.55,0.00,0.000,4,0.000,0.127,2340,708,3332,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1464,-1.50,-136.9,192.7,-11.8,203,1472,0.10,2.60,0.00,0.000,6,0.328,0.128,2351,2130,3332,0,0,0,0,0,0,14.65,14.74,28.83
$GC,1773,-1.50,-136.9,229.1,-11.4,234,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2129,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2087,-1.50,-136.9,265.9,-11.6,265,2097,0.00,2.55,0.00,0.000,4,0.000,0.129,2351,713,3332,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2143,-1.50,-136.9,273.2,-12.1,270,2152,0.00,2.58,0.00,0.000,6,0.000,0.132,2344,2123,3332,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2452,-1.50,-136.9,309.3,-11.1,301,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2123,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2769,-1.50,-136.9,342.7,-10.3,332,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,-1.50,-136.9,375.1,-10.4,363,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2123,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-1.50,-136.9,406.5,-10.1,390,3393,0.00,2.62,0.00,0.000,4,0.000,0.153,2333,3525,3331,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3441,-1.50,-136.9,409.9,-10.2,391,3448,0.00,2.50,0.00,0.000,6,0.000,0.103,2333,2110,3331,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3749,-1.50,-136.9,444.5,-10.6,402,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2110,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4049,-1.50,-136.9,475.8,-10.3,412,4055,0.00,2.50,0.00,0.000,4,0.000,0.134,2334,705,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4088,-1.50,-136.9,479.2,-10.4,413,4094,0.10,2.58,0.00,0.000,6,0.290,0.136,2352,2117,3331,0,0,0,0,0,0,14.73,14.81,28.83
$GC,4410,-1.50,-136.9,512.1,-10.0,424,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2117,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4711,-1.50,-136.9,542.0,-10.0,434,4717,0.00,2.53,0.00,0.000,4,0.000,0.136,2351,709,3332,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4750,-1.50,-136.9,545.2,-10.0,435,4756,0.00,2.58,0.00,0.000,6,0.000,0.136,2345,2122,3332,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,4977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4977,begin apogee
$GC,4989,-0.38,0.0,569.1,-9.7,443,5135,0.88,0.00,134.23,2.289,6,0.265,0.000,2589,2209,2773,0,0,0,0,0,0,14.76,28.83,13.23
$STATE,5136,end apogee,CONTROL_FINISHED_OK
$STATE,5136,begin climb
$GC,5141,1.50,136.9,573.6,0.0,448,5290,1.40,0.00,144.45,2.251,6,0.164,0.000,3008,2209,2214,0,0,0,0,0,0,14.00,28.83,12.86
$GC,5583,1.50,136.9,526.8,12.5,463,5588,0.00,2.67,0.00,0.000,4,0.000,0.132,3019,792,2206,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5618,1.50,136.9,522.6,12.9,464,5624,0.00,2.65,0.00,0.000,6,0.000,0.125,3018,2200,2204,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5945,1.50,136.9,479.6,13.0,475,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6245,1.50,136.9,440.6,13.1,485,6250,0.00,2.67,0.00,0.000,4,0.000,0.146,3018,3618,2203,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6306,1.50,136.9,432.1,13.4,487,6312,0.08,2.55,0.00,0.000,6,0.274,0.105,3009,2202,2202,0,0,0,0,0,0,14.52,14.61,28.83
$GC,6623,1.50,136.9,393.7,11.9,500,6631,0.00,2.55,0.00,0.000,4,0.000,0.129,3018,780,2202,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6648,1.50,136.9,390.1,12.5,502,6656,0.00,2.55,0.00,0.000,6,0.000,0.119,3018,2200,2201,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6957,1.50,136.9,351.8,12.4,533,6967,0.00,2.65,0.00,0.000,4,0.000,0.142,3018,3614,2201,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6995,1.50,136.9,347.2,12.7,536,7003,0.10,2.53,0.00,0.000,6,0.314,0.101,3008,2197,2202,0,0,0,0,0,0,14.63,14.73,28.83
$GC,7304,1.50,136.9,308.3,12.2,567,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2197,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7619,1.50,136.9,270.2,12.4,598,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2197,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,1.50,136.9,231.0,12.6,629,7940,0.00,2.50,0.00,0.000,4,0.000,0.128,3018,795,2201,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7989,1.50,136.9,223.4,12.6,634,7996,0.00,2.53,0.00,0.000,6,0.000,0.119,3018,2202,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8296,1.50,136.9,183.9,12.0,665,8306,0.00,2.60,0.00,0.000,4,0.000,0.143,3018,3611,2200,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8335,1.50,136.9,179.4,12.7,668,8343,0.10,2.50,0.00,0.000,6,0.308,0.104,3008,2200,2201,0,0,0,0,0,0,14.71,14.81,28.83
$GC,8643,1.50,136.9,145.5,9.9,699,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2200,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8959,1.50,136.9,115.3,9.4,730,8968,0.00,2.50,0.00,0.000,4,0.000,0.129,3017,793,2199,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9110,1.50,136.9,100.5,9.5,744,9119,0.00,2.50,0.00,0.000,6,0.000,0.119,3017,2198,2199,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9429,1.52,156.1,72.1,8.1,805,9443,0.00,2.72,8.93,0.406,4,0.000,0.144,3017,3623,2135,0,0,0,0,0,0,28.83,14.76,14.63
$GC,9525,1.52,156.1,62.9,10.3,822,9532,0.00,2.53,0.00,0.000,6,0.000,0.101,3028,2197,2133,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9842,1.56,186.2,34.3,7.6,883,9862,0.00,0.00,16.05,0.282,6,0.000,0.000,3028,2196,2011,0,0,0,0,0,0,28.83,28.83,14.66
$GC,10173,1.65,257.2,10.0,5.8,946,10216,0.00,2.60,36.67,0.199,4,0.000,0.130,3038,791,1720,0,0,0,0,0,0,28.83,14.71,14.68
$STATE,10257,end climb,SURFACE_DEPTH_REACHED
$STATE,10257,begin surface coast
$FINISH,1.8,1.018050
$STATE,10296,end surface coast,CONTROL_FINISHED_OK
$STATE,10296,begin surface
$SM_CCo,10326,14.98,0.187,0,0,1587,290.19
$SM_GC,2.48,8.23,2.53,14.98,0.072,0.131,0.187,136,2132,1587,-11.62,-0.11,290.19,0,0,0,0,0,0,14.75,14.71,14.66
$RAFOS_CLK,423
$RAFOS,6,1349196549,16.833334,16.819166,78,60,60,56,54,50,741,203,185,145,219,164
$RAFOS,5,1349196064,16.700001,16.684444,87,60,59,57,53,50,616,222,168,202,143,157
$RAFOS,4,1349195610,16.566668,16.558332,63,61,55,54,52,51,716,208,152,170,181,219
$RAFOS,3,1349195103,16.433332,16.417500,70,68,63,58,57,55,966,216,139,118,175,205
$RAFOS,2,1349194648,16.299999,16.291111,75,57,56,55,52,51,203,185,226,136,150,119
$RAFOS,1,1349194166,16.166666,16.157223,59,59,57,53,53,51,172,215,144,190,118,158
$RAFOS,0,1349193686,16.033333,16.023890,57,57,54,50,49,48,125,177,218,138,159,148
$RAFOS_FIX,6708.110840,-5713.884766,021012,161628,4,74,2.81
$IRIDIUM_FIX,6636.54,-5635.43,021012,111153
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.69
$INTERNAL_PRESSURE,8.76233
$TCM_TEMP,13.30
$XPDR_PINGS,7
$24V_AH,12.9,45.701
$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,22.325,87.550,340.325,14.975,0.000,0.000,0.000,254.150,1.750,0.000,5.571,2463.929,5484.202,510.564,1797.065,515.058,0.000,1632.781,0.000,1580.714,2520.000,0.539,0.000
$DEVICE_MAMPS,464.355,185.130,2288.880,187.425,0.000,0.000,0.000,147.645,420.000,0.000,21.720,14.960,2.310,14.960,33.690,38.180,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.989,667.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188768
$DATA_FILE_SIZE,46705,968
$CAP_FILE_SIZE,102603,0
$CFSIZE,259252224,241147904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.1
$CURRENT,0.090,304.3,1
$GPS,021012,174604,6702.415,-5656.168,51,0.8,51,-33.5