version: 66.11
glider: 192
mission: 2
dive: 7
start: 9 19 113 4 26 6
data:
$ID,192
$MISSION,2
$DIVE,7
$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,-614.88043
$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,16
$R_STBD_OVSHOOT,13
$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
$GPS1,190913,041746,6634.384,-6044.521,27,1.2,38,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.2
$GPS2,190913,042524,6634.227,-6044.423,4,1.2,5,-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,61.4,178855,-17.0,-9.744,-20.10,2276
$D_GRID,427
$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,-146.0,125,2237,552,508,0.0,0.0,0,124,0.00,0.00,-101.53,0.000,16386,0.000,0.000,120,2238,2508,2589,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-0.84,-146.0,121,2238,2589,2430,3.0,-6.3,17,170,10.30,2.58,-19.00,0.000,18948,0.438,0.151,2257,844,3393,3581,3205,0,0,0,0,0,0,14.17,14.31,14.57
$GC,217,-0.66,-146.0,1376,843,3574,3202,25.0,-22.4,31,224,0.28,2.60,0.00,0.000,3078,0.285,0.141,2315,2256,3393,3581,3205,0,0,0,0,0,0,14.26,14.32,28.83
$GC,536,-0.63,-146.0,2315,2256,3581,3205,84.3,-19.0,92,543,0.00,2.60,0.00,0.000,260,0.000,0.156,2310,3664,3393,3581,3205,0,0,0,0,0,0,28.83,14.39,28.83
$GC,609,-0.63,-146.0,2310,3664,3581,3205,97.9,-17.9,105,617,0.00,2.47,0.00,0.000,1030,0.000,0.110,2310,2249,3392,3581,3204,0,0,0,0,0,0,28.83,14.44,28.83
$GC,928,-0.63,-146.0,2310,2248,3581,3205,150.6,-14.9,137,938,0.00,2.60,0.00,0.000,260,0.000,0.158,2300,3660,3393,3581,3205,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1055,-0.63,-146.0,2300,3660,3581,3204,170.0,-15.5,149,1065,0.10,2.45,0.00,0.000,3078,0.263,0.112,2327,2243,3393,3581,3205,0,0,0,0,0,0,14.41,14.48,28.83
$GC,1367,-0.63,-146.0,2327,2243,3581,3204,209.0,-11.8,180,1376,0.00,2.60,0.00,0.000,260,0.000,0.158,2319,3656,3392,3581,3204,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1456,-0.66,-146.0,2319,3656,3581,3204,219.3,-12.2,188,1463,0.00,2.45,0.00,0.000,1030,0.000,0.111,2318,2248,3392,3581,3204,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1764,-0.66,-146.0,2318,2247,3581,3204,256.7,-12.2,219,1774,0.00,2.62,0.00,0.000,260,0.000,0.161,2308,3662,3392,3581,3204,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1870,-0.66,-146.0,2308,3663,3581,3203,270.3,-12.9,229,1880,0.00,2.42,0.00,0.000,1030,0.000,0.111,2308,2253,3392,3581,3203,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2181,-0.66,-146.0,2308,2254,3581,3203,310.5,-12.3,260,2190,0.00,2.58,0.00,0.000,260,0.000,0.159,2298,3660,3391,3581,3202,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2277,-0.66,-146.0,2298,3660,3581,3202,323.2,-13.4,269,2286,0.00,2.42,0.00,0.000,1030,0.000,0.111,2298,2252,3390,3579,3202,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2588,-0.66,-146.0,2298,2251,3581,3202,362.7,-12.1,300,2597,0.00,2.58,0.00,0.000,260,0.000,0.160,2289,3659,3391,3581,3202,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2706,-0.66,-146.0,2289,3659,3581,3201,377.5,-12.8,311,2714,0.12,2.45,0.00,0.000,3078,0.291,0.111,2315,2242,3391,3581,3201,0,0,0,0,0,0,14.52,14.60,28.83
$STATE,2719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2719,begin apogee
$GC,2732,-0.19,0.0,2315,2300,3581,3201,380.3,-13.0,313,2887,0.52,0.00,143.77,2.123,10246,0.239,0.000,2465,2300,2793,2920,2667,0,0,0,0,0,0,14.52,28.83,12.90
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2889,begin climb
$GC,2895,0.84,146.0,2465,2300,2920,2668,387.6,0.0,329,3053,1.12,0.00,153.20,2.067,10758,0.177,0.000,2793,2300,2197,2280,2114,0,0,0,0,0,0,13.67,28.83,12.68
$GC,3356,0.74,175.5,2793,2300,2280,2103,361.6,8.4,376,3393,0.00,2.83,30.35,2.089,8452,0.000,0.159,2793,3711,2078,2173,1983,0,0,0,0,0,0,28.83,13.81,13.14
$GC,3556,0.58,175.5,1792,3710,2123,1976,340.9,11.2,395,3564,0.32,2.55,0.00,0.000,5126,0.269,0.112,2726,2301,2076,2171,1982,0,0,0,0,0,0,14.03,14.11,28.83
$GC,3866,0.72,243.6,2726,2301,2171,1978,319.1,6.7,426,3945,0.12,2.85,70.62,2.036,10500,0.172,0.160,2770,3709,1799,1897,1702,0,0,0,0,0,0,14.30,13.65,13.02
$GC,4040,0.66,243.6,2771,3709,1891,1702,301.9,11.4,443,4049,0.10,2.55,0.00,0.000,5126,0.256,0.112,2754,2301,1796,1891,1702,0,0,0,0,0,0,13.91,13.97,28.83
$GC,4352,0.75,285.0,2754,2301,1890,1698,274.3,7.9,474,4401,0.00,2.83,42.35,1.994,8452,0.000,0.160,2754,3708,1631,1721,1541,0,0,0,0,0,0,28.83,13.81,13.17
$GC,4578,0.81,286.0,1792,3707,1683,1538,254.3,9.7,496,4586,0.10,2.55,0.00,0.000,3078,0.206,0.112,2792,2292,1629,1717,1542,0,0,0,0,0,0,14.12,14.12,28.83
$GC,4888,0.82,292.4,2792,2291,1716,1539,223.5,9.5,527,4902,0.00,0.00,7.65,1.779,8198,0.000,0.000,2792,2291,1603,1690,1517,0,0,0,0,0,0,28.83,28.83,13.54
$GC,5208,0.86,300.9,2792,2291,1690,1517,192.7,9.4,559,5226,0.00,2.72,10.38,1.843,8452,0.000,0.159,2792,3721,1567,1654,1481,0,0,0,0,0,0,28.83,14.22,13.57
$GC,5328,0.86,300.9,2792,3721,1654,1482,179.9,11.5,570,5338,0.00,2.53,0.00,0.000,1030,0.000,0.114,2803,2307,1568,1654,1482,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5639,0.86,300.9,2802,2306,1654,1481,146.5,10.1,601,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2306,1568,1654,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,0.87,309.1,2803,2306,1654,1480,116.7,9.4,632,5966,0.00,2.70,5.28,1.557,8452,0.000,0.164,2803,3712,1534,1622,1447,0,0,0,0,0,0,28.83,14.38,13.74
$GC,6021,0.87,309.1,1824,3711,1592,1448,109.5,11.0,638,6029,0.00,2.50,0.00,0.000,1030,0.000,0.114,2813,2297,1537,1623,1451,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6336,0.93,324.2,2813,2297,1622,1449,78.3,9.1,691,6355,0.00,2.70,9.18,0.456,8452,0.000,0.162,2813,3707,1472,1559,1386,0,0,0,0,0,0,28.83,14.40,14.28
$GC,6486,0.95,343.5,2814,3707,1559,1386,63.8,8.9,718,6505,0.00,2.47,11.50,0.405,9222,0.000,0.116,2824,2301,1392,1478,1307,0,0,0,0,0,0,28.83,14.47,14.29
$GC,6822,1.05,383.2,2824,2301,1478,1304,37.0,8.0,781,6854,0.12,2.58,22.48,0.305,10756,0.179,0.143,2880,884,1233,1315,1151,0,0,0,0,0,0,14.48,14.41,14.34
$GC,6901,1.11,383.2,2880,884,1314,1149,28.4,12.0,794,6909,0.00,2.60,0.00,0.000,1030,0.000,0.145,2880,2301,1231,1314,1149,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,7108,end climb,SURFACE_DEPTH_REACHED
$STATE,7108,begin surface coast
$FINISH,0.2,1.013164
$STATE,7130,end surface coast,CONTROL_FINISHED_OK
$STATE,7130,begin surface
$SM_CCo,7159,95.82,0.183,0,0,540,552.91
$SM_GC,0.91,8.18,0.12,95.82,0.107,0.185,0.183,140,2244,540,-7.44,0.40,552.91,0,0,0,0,0,0,14.50,14.48,14.34
$RAFOS_CLK,347
$RAFOS,6,1379566146,4.833333,4.818333,67,66,59,58,58,56,218,944,160,149,199,117
$RAFOS,5,1379565668,4.700000,4.685555,64,63,62,61,60,58,226,1032,171,214,161,137
$RAFOS,4,1379565184,4.566667,4.551111,65,60,60,59,57,53,193,162,138,819,211,148
$RAFOS,1,1379563745,4.166667,4.151389,61,57,54,49,48,48,159,196,205,109,140,122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6048.85,190913,020253
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.97
$INTERNAL_PRESSURE,8.61555
$TCM_TEMP,12.50
$XPDR_PINGS,55
$24V_AH,12.7,6.951
$10V_AH,13.0,0.000
$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,21.400,72.625,506.750,95.825,0.000,0.000,0.000,240.675,13.750,0.000,6.832,2029.736,2896.094,702.457,1634.304,458.720,0.000,1756.927,0.000,1417.335,1080.000,0.536,0.000
$DEVICE_MAMPS,437.580,207.315,2122.875,182.835,0.000,0.000,0.000,136.170,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150828
$DATA_FILE_SIZE,36753,838
$CAP_FILE_SIZE,92771,0
$CFSIZE,259252224,250220544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.1
$CURRENT,0.644,186.5,1
$GPS,190913,062835,6632.566,-6043.933,30,1.8,30,-33.7