version: 66.11
glider: 192
mission: 2
dive: 10
start: 9 19 113 13 58 42
data:
$ID,192
$MISSION,2
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$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,150
$T_MISSION,170
$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,-1041.9648
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,190913,135153,6628.963,-6047.420,39,1.3,39,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.2
$GPS2,190913,135753,6628.912,-6047.559,5,1.3,5,-33.6
$SPEED_LIMITS,0.173,0.269
$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,146.8,184156,-17.4,-10.000,-20.41,2219
$D_GRID,401
$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,-0.85,-146.0,117,2246,552,507,0.0,0.0,0,134,0.00,0.00,-111.22,0.000,16386,0.000,0.000,116,2246,2763,2818,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-0.85,-146.0,116,2246,2819,2709,4.0,-8.8,19,173,10.30,2.58,-11.45,0.000,18948,0.441,0.145,2251,838,3393,3562,3224,0,0,0,0,0,0,14.21,14.33,14.59
$GC,324,-0.71,-146.0,2251,838,3564,3222,50.1,-20.3,52,332,0.25,2.58,0.00,0.000,3078,0.288,0.136,2302,2254,3393,3564,3222,0,0,0,0,0,0,14.33,14.40,28.83
$GC,648,-0.65,-146.0,2302,2254,3566,3221,101.8,-14.2,113,658,0.00,2.58,0.00,0.000,260,0.000,0.152,2294,3659,3393,3566,3221,0,0,0,0,0,0,28.83,14.44,28.83
$GC,819,-0.61,-146.0,2294,3659,3566,3221,130.5,-17.4,129,828,0.17,2.45,0.00,0.000,3078,0.284,0.106,2334,2247,3393,3566,3221,0,0,0,0,0,0,14.42,14.52,28.83
$GC,1129,-0.65,-146.0,2334,2246,3567,3221,174.6,-11.8,160,1138,0.00,2.60,0.00,0.000,260,0.000,0.156,2326,3660,3394,3567,3221,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1253,-0.69,-146.0,1408,3659,3559,3217,188.4,-11.9,171,1260,0.00,2.45,0.00,0.000,1030,0.000,0.106,2326,2243,3394,3567,3221,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1562,-0.69,-146.0,2326,2243,3567,3220,229.1,-13.8,202,1570,0.00,2.58,0.00,0.000,260,0.000,0.157,2316,3657,3393,3567,3220,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1649,-0.69,-146.0,1448,3656,3560,3217,241.2,-13.8,210,1656,0.00,2.42,0.00,0.000,1030,0.000,0.107,2316,2250,3393,3567,3220,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1957,-0.69,-146.0,2316,2250,3567,3220,282.6,-12.8,241,1967,0.00,2.58,0.00,0.000,260,0.000,0.160,2307,3659,3392,3567,3218,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2156,-0.69,-146.0,2307,3658,3567,3218,307.9,-12.3,260,2165,0.00,2.40,0.00,0.000,1030,0.000,0.109,2306,2253,3392,3567,3218,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2466,-0.69,-146.0,2306,2253,3566,3218,345.7,-12.1,291,2476,0.00,2.58,0.00,0.000,260,0.000,0.160,2297,3662,3392,3567,3217,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2515,-0.69,-146.0,2297,3661,3567,3218,351.3,-12.3,295,2522,0.00,2.45,0.00,0.000,1030,0.000,0.107,2297,2237,3392,3567,3218,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2824,-0.69,-146.0,2296,2236,3566,3218,389.6,-13.1,326,2833,0.00,2.60,0.00,0.000,260,0.000,0.156,2286,3663,3392,3567,3217,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2914,begin apogee
$GC,2929,-0.19,0.0,2287,2300,3567,3217,401.7,-11.9,335,3091,0.62,0.00,146.20,2.188,10246,0.252,0.000,2462,2299,2794,2915,2673,0,0,0,0,0,0,14.56,28.83,12.90
$STATE,3092,end apogee,CONTROL_FINISHED_OK
$STATE,3092,begin climb
$GC,3098,0.85,146.0,2462,2300,2914,2673,412.6,0.0,352,3272,1.15,2.85,153.88,2.105,11012,0.170,0.153,2803,3717,2197,2290,2105,0,0,0,0,0,0,13.71,13.47,12.78
$GC,3507,0.63,149.1,2803,3716,2283,2102,392.7,9.9,392,3515,0.30,2.55,0.00,0.000,5126,0.289,0.109,2744,2302,2192,2283,2102,0,0,0,0,0,0,14.00,14.09,28.83
$GC,3816,0.74,234.9,2744,2302,2283,2097,372.1,6.0,423,3915,0.00,2.85,91.25,2.066,8452,0.000,0.155,2744,3706,1835,1936,1735,0,0,0,0,0,0,28.83,13.56,12.90
$GC,4081,0.76,251.8,2744,3707,1928,1735,350.2,9.2,449,4107,0.00,2.53,17.60,1.958,9222,0.000,0.108,2752,2301,1766,1860,1673,0,0,0,0,0,0,28.83,14.01,13.17
$GC,4410,0.90,308.6,2752,2301,1860,1669,323.7,7.4,482,4479,0.20,2.85,60.80,2.026,10500,0.146,0.158,2823,3708,1535,1626,1444,0,0,0,0,0,0,14.20,13.64,13.00
$GC,4543,0.80,308.6,2823,3708,1623,1444,307.3,14.2,495,4553,0.12,2.58,0.00,0.000,5126,0.268,0.109,2800,2297,1533,1623,1444,0,0,0,0,0,0,13.81,13.88,28.83
$GC,4855,0.83,326.8,2801,2297,1622,1439,274.3,9.2,526,4880,0.00,0.00,18.27,1.936,8710,0.000,0.000,2801,2297,1463,1553,1373,0,0,0,0,0,0,28.83,28.83,13.33
$GC,5184,0.83,326.8,2801,2297,1552,1369,241.4,10.9,559,5193,0.00,2.65,0.00,0.000,260,0.000,0.156,2801,3713,1461,1553,1370,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5210,0.83,326.8,2801,3712,1552,1370,238.3,11.5,561,5220,0.00,2.53,0.00,0.000,1030,0.000,0.111,2810,2297,1461,1552,1370,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5521,0.83,326.8,2810,2295,1552,1367,200.7,11.8,592,5530,0.00,2.62,0.00,0.000,260,0.000,0.158,2810,3712,1459,1552,1367,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5587,0.83,326.8,2810,3712,1551,1367,192.6,12.9,598,5596,0.00,2.50,0.00,0.000,1030,0.000,0.111,2820,2297,1459,1552,1367,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5897,0.84,339.6,2821,2295,1552,1367,160.4,9.4,629,5918,0.00,2.72,13.93,1.871,8452,0.000,0.158,2820,3714,1410,1501,1319,0,0,0,0,0,0,28.83,14.27,13.64
$GC,5960,0.84,339.6,2820,3714,1501,1320,154.1,10.9,635,5968,0.00,2.50,0.00,0.000,1030,0.000,0.112,2830,2294,1410,1501,1319,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6270,0.84,339.6,2830,2292,1500,1317,122.0,11.2,666,6279,0.00,2.62,0.00,0.000,260,0.000,0.160,2830,3712,1409,1501,1318,0,0,0,0,0,0,28.83,14.37,28.83
$GC,6309,0.84,339.6,2830,3712,1500,1318,117.6,12.3,669,6317,0.15,2.50,0.00,0.000,5126,0.280,0.111,2807,2290,1409,1500,1318,0,0,0,0,0,0,14.35,14.42,28.83
$GC,6624,0.96,384.2,2807,2289,1501,1317,86.9,7.9,714,6662,0.12,2.70,26.83,0.488,10500,0.177,0.160,2853,3705,1228,1314,1142,0,0,0,0,0,0,14.47,14.35,14.21
$GC,6689,0.92,384.2,2853,3705,1314,1142,79.9,12.5,724,6696,0.12,2.47,0.00,0.000,5126,0.298,0.112,2835,2301,1228,1314,1142,0,0,0,0,0,0,14.34,14.41,28.83
$GC,7012,0.97,384.2,1800,2298,1290,1139,49.5,10.4,785,7020,0.00,2.62,0.00,0.000,260,0.000,0.161,2836,3715,1224,1308,1141,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7176,1.03,384.8,2836,3715,1306,1141,32.8,10.0,815,7183,0.00,2.50,0.00,0.000,1030,0.000,0.112,2845,2288,1223,1306,1141,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7500,1.15,420.1,2845,2287,1304,1140,5.6,8.4,876,7527,0.15,2.53,19.52,0.204,10756,0.181,0.142,2910,892,1079,1159,1000,0,0,0,0,0,0,14.50,14.45,14.42
$GC,7548,1.11,420.1,1920,891,1145,999,3.2,10.3,883,7555,0.00,2.55,0.00,0.000,1030,0.000,0.136,2909,2300,1079,1157,1001,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,7560,end climb,SURFACE_DEPTH_REACHED
$STATE,7560,begin surface coast
$FINISH,0.1,1.018624
$STATE,7582,end surface coast,CONTROL_FINISHED_OK
$STATE,7582,begin surface
$SM_CCo,7611,75.57,0.183,0,0,538,552.91
$SM_GC,0.89,8.27,0.12,75.57,0.110,0.178,0.183,146,2241,538,-7.42,0.40,552.91,0,0,0,0,0,0,14.49,14.49,14.37
$RAFOS_CLK,368
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6047.32,190913,111130
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.08
$INTERNAL_PRESSURE,8.61555
$TCM_TEMP,12.60
$XPDR_PINGS,47
$24V_AH,12.8,8.192
$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,21.950,87.575,548.275,75.575,0.000,0.000,0.000,202.975,11.750,0.000,5.895,2135.576,2972.765,709.048,1734.864,502.622,0.000,1820.844,0.000,1550.242,360.000,0.535,0.000
$DEVICE_MAMPS,441.405,178.245,2187.900,182.835,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.277,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150760
$DATA_FILE_SIZE,40095,889
$CAP_FILE_SIZE,99351,0
$CFSIZE,259252224,250036224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.5
$CURRENT,0.132,231.8,1
$GPS,190913,160959,6628.096,-6046.907,124,1.9,128,-33.6