version: 66.11
glider: 192
mission: 2
dive: 6
start: 9 19 113 2 12 20
data:
$ID,192
$MISSION,2
$DIVE,6
$N_DIVES,8
$D_SURF,3
$D_FLARE,3
$D_TGT,380
$D_ABORT,410
$D_NO_BLEED,100
$D_BOOST,110
$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,130
$T_MISSION,1500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033904
$HD_B,0.0092102997
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,552.7182
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-613.6283
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2535
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-62.7798
$PRESSURE_SLOPE,0.0001164018
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$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,0.0042877649
$SEABIRD_T_H,0.00062881736
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,190913,020336,6635.945,-6045.284,35,1.2,35,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.2
$GPS2,190913,021141,6635.901,-6045.451,5,1.2,5,-33.7
$SPEED_LIMITS,0.169,0.266
$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,139.0,178667,-17.0,-9.744,-20.10,2276
$D_GRID,417
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,20,-0.84,-146.0,129,2264,557,503,0.0,0.0,0,143,0.00,0.00,-120.20,0.000,16386,0.000,0.000,126,2266,2852,2907,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,150,-0.84,-146.0,125,2266,2913,2797,3.5,-7.6,20,177,10.15,2.65,-10.55,0.000,18948,0.433,0.151,2257,834,3391,3557,3226,0,0,0,0,0,0,14.20,14.34,14.59
$GC,309,-0.73,-146.0,2257,833,3559,3225,42.3,-18.5,48,317,0.20,2.60,0.00,0.000,3078,0.288,0.145,2296,2245,3392,3559,3225,0,0,0,0,0,0,14.31,14.38,28.83
$GC,629,-0.67,-146.0,2296,2245,3561,3223,97.3,-15.6,109,637,0.00,2.62,0.00,0.000,260,0.000,0.161,2287,3663,3392,3561,3223,0,0,0,0,0,0,28.83,14.43,28.83
$GC,794,-0.62,-146.0,2287,3663,3561,3222,126.0,-18.2,125,804,0.15,2.45,0.00,0.000,3078,0.256,0.112,2329,2248,3392,3561,3223,0,0,0,0,0,0,14.40,14.48,28.83
$GC,1106,-0.62,-146.0,2329,2248,3561,3222,172.9,-14.4,156,1115,0.00,2.62,0.00,0.000,260,0.000,0.165,2320,3661,3391,3561,3222,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1193,-0.62,-146.0,2320,3661,3561,3222,185.4,-14.7,164,1201,0.00,2.45,0.00,0.000,1030,0.000,0.112,2320,2241,3391,3561,3222,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1503,-0.62,-146.0,2320,2241,3562,3221,231.1,-13.8,195,1512,0.00,2.60,0.00,0.000,260,0.000,0.162,2310,3656,3391,3562,3221,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1647,-0.62,-146.0,2311,3656,3562,3221,250.1,-13.7,208,1654,0.00,2.45,0.00,0.000,1030,0.000,0.111,2310,2242,3391,3562,3221,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1955,-0.62,-146.0,2310,2242,3562,3221,292.7,-13.1,239,1964,0.00,2.60,0.00,0.000,260,0.000,0.162,2300,3660,3390,3561,3220,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2099,-0.62,-146.0,2300,3660,3562,3220,311.0,-13.3,252,2106,0.15,2.45,0.00,0.000,3078,0.285,0.111,2335,2246,3391,3562,3220,0,0,0,0,0,0,14.51,14.60,28.83
$GC,2408,-0.68,-146.0,2335,2245,3562,3220,347.4,-11.5,283,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2245,3391,3562,3220,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2707,begin apogee
$GC,2720,-0.19,0.0,2335,2301,3561,3219,380.2,-10.7,313,2880,0.45,0.00,143.98,2.134,10246,0.237,0.000,2464,2301,2794,2914,2674,0,0,0,0,0,0,14.55,28.83,12.89
$STATE,2881,end apogee,CONTROL_FINISHED_OK
$STATE,2881,begin climb
$GC,2887,0.84,146.0,2464,2301,2914,2674,389.7,0.0,330,3054,1.12,2.85,152.15,2.054,11012,0.166,0.158,2796,3711,2197,2286,2109,0,0,0,0,0,0,13.72,13.49,12.81
$GC,3288,0.63,149.5,1808,3710,2230,2099,370.0,9.6,369,3298,0.28,2.55,3.62,1.393,13318,0.282,0.112,2743,2299,2183,2274,2093,0,0,0,0,0,0,14.03,14.12,13.34
$GC,3600,0.71,214.5,2743,2300,2274,2093,348.9,6.8,400,3676,0.00,2.83,67.53,2.040,8452,0.000,0.161,2743,3714,1918,2019,1818,0,0,0,0,0,0,28.83,13.69,13.02
$GC,3718,0.71,215.1,2743,3715,2018,1818,339.6,9.7,411,3727,0.00,2.60,0.00,0.000,1030,0.000,0.111,2751,2302,1917,2017,1818,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4030,0.75,215.1,2751,2301,2017,1812,308.7,10.2,442,4039,0.00,2.58,0.00,0.000,516,0.000,0.138,2761,890,1914,2017,1811,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4076,0.79,215.1,2761,890,2017,1809,303.7,10.8,446,4085,0.00,2.60,0.00,0.000,1030,0.000,0.141,2761,2303,1913,2017,1810,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4386,0.79,215.1,2760,2302,2017,1809,271.0,10.1,477,4396,0.00,2.62,0.00,0.000,260,0.000,0.161,2761,3710,1912,2015,1809,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4435,0.79,215.1,1792,3709,1972,1804,266.0,10.8,481,4444,0.00,2.50,0.00,0.000,1030,0.000,0.111,2771,2293,1912,2017,1808,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4745,0.83,246.4,2771,2291,2016,1808,236.1,8.3,512,4782,0.00,2.80,31.17,1.950,8452,0.000,0.161,2771,3712,1789,1892,1687,0,0,0,0,0,0,28.83,14.09,13.43
$GC,4894,0.84,252.4,2771,3712,1890,1688,222.6,9.5,526,4911,0.00,2.50,7.25,1.732,9222,0.000,0.112,2781,2302,1765,1862,1668,0,0,0,0,0,0,28.83,14.23,13.48
$GC,5213,0.89,292.4,2781,2302,1862,1667,197.5,7.9,558,5262,0.12,2.78,41.97,1.924,10500,0.180,0.164,2827,3712,1602,1695,1509,0,0,0,0,0,0,14.35,13.92,13.30
$GC,5347,0.78,292.4,2828,3713,1693,1509,182.7,12.9,571,5356,0.17,2.53,0.00,0.000,5126,0.257,0.114,2791,2304,1601,1693,1509,0,0,0,0,0,0,14.04,14.09,28.83
$GC,5659,0.87,332.9,2791,2304,1693,1506,156.1,7.9,602,5707,0.00,2.78,42.17,1.885,8452,0.000,0.164,2791,3717,1436,1530,1342,0,0,0,0,0,0,28.83,13.90,13.29
$GC,5789,0.88,340.4,1800,3716,1501,1341,145.4,9.4,614,5804,0.00,2.58,8.48,1.716,9222,0.000,0.114,2800,2298,1406,1497,1316,0,0,0,0,0,0,28.83,14.09,13.37
$GC,6107,0.94,340.4,2800,2298,1497,1313,116.8,9.8,646,6114,0.12,0.00,0.00,0.000,2054,0.190,0.000,2846,2298,1405,1497,1313,0,0,0,0,0,0,14.28,28.83,28.83
$GC,6421,0.91,340.4,2845,2298,1495,1313,79.9,10.2,693,6428,0.00,2.65,0.00,0.000,260,0.000,0.159,2845,3714,1404,1495,1313,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6445,0.86,340.4,2846,3714,1494,1313,77.1,11.1,696,6453,0.17,2.50,0.00,0.000,5126,0.277,0.116,2815,2299,1403,1494,1313,0,0,0,0,0,0,14.32,14.39,28.83
$GC,6770,0.93,359.3,2815,2298,1495,1311,49.9,8.9,757,6790,0.00,2.70,10.38,0.352,8452,0.000,0.161,2815,3711,1329,1418,1241,0,0,0,0,0,0,28.83,14.38,14.30
$GC,6877,0.97,359.3,2815,3711,1417,1241,39.8,10.4,775,6884,0.00,2.50,0.00,0.000,1030,0.000,0.116,2824,2294,1329,1417,1241,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7203,1.05,369.9,2824,2294,1416,1239,12.7,9.3,836,7218,0.12,2.65,5.75,0.230,10500,0.177,0.161,2870,3712,1284,1371,1198,0,0,0,0,0,0,14.47,14.42,14.39
$STATE,7279,end climb,SURFACE_DEPTH_REACHED
$STATE,7280,begin surface coast
$FINISH,2.0,1.024681
$STATE,7290,end surface coast,CONTROL_FINISHED_OK
$STATE,7290,begin surface
$SM_CCo,7322,103.25,0.185,0,0,538,552.91
$SM_GC,0.93,8.15,2.65,103.25,0.108,0.113,0.185,143,2241,538,-7.43,0.34,552.91,0,0,0,0,0,0,14.48,14.47,14.33
$RAFOS_CLK,352
$RAFOS,0,1379563263,4.033333,4.017500,69,66,61,60,51,50,216,159,198,139,168,122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6041.48,180913,232328
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,8.61555
$TCM_TEMP,12.30
$XPDR_PINGS,48
$24V_AH,12.8,6.615
$10V_AH,12.9,0.000
$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,21.375,78.575,514.450,103.250,0.000,0.000,0.000,268.825,12.000,0.000,5.855,2068.884,2929.118,697.006,1713.862,505.172,0.000,1823.412,0.000,1468.329,720.000,0.536,0.000
$DEVICE_MAMPS,432.990,209.610,2134.350,185.130,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.646,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150752
$DATA_FILE_SIZE,36810,851
$CAP_FILE_SIZE,95652,0
$CFSIZE,259252224,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.3
$CURRENT,0.319,198.9,1
$GPS,190913,041746,6634.384,-6044.521,27,1.2,38,-33.7