version: 66.11
glider: 192
mission: 2
dive: 14
start: 9 19 113 22 26 16
data:
$ID,192
$MISSION,2
$DIVE,14
$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,120
$T_MISSION,150
$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,190
$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,450
$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,-1046.9867
$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,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,10
$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
$GPS1,190913,221740,6626.272,-6047.153,42,1.2,42,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.8
$GPS2,190913,222533,6626.142,-6047.246,4,1.2,4,-33.5
$SPEED_LIMITS,0.217,0.322
$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,91.4,185767,-18.6,-12.500,-21.21,2254
$D_GRID,395
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-1.04,-184.9,131,2343,986,913,0.0,0.0,0,111,0.00,0.00,-88.00,0.000,16386,0.000,0.000,130,2345,2702,2773,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.04,-184.9,130,2345,2774,2631,4.1,-9.1,15,150,10.20,2.62,-15.68,0.000,18948,0.450,0.150,2191,941,3550,3757,3344,0,0,0,0,0,0,14.14,14.28,14.52
$GC,255,-0.92,-184.9,2192,940,3759,3344,43.3,-24.0,38,262,0.22,2.62,0.00,0.000,3078,0.309,0.142,2233,2359,3551,3759,3343,0,0,0,0,0,0,14.25,14.31,28.83
$GC,573,-0.83,-184.9,2233,2359,3759,3343,113.9,-21.7,93,583,0.12,2.60,0.00,0.000,2308,0.327,0.159,2257,3764,3551,3759,3343,0,0,0,0,0,0,14.33,14.38,28.83
$GC,650,-0.80,-184.9,2257,3764,3760,3343,129.0,-18.4,100,659,0.00,2.45,0.00,0.000,1030,0.000,0.109,2257,2352,3551,3759,3343,0,0,0,0,0,0,28.83,14.41,28.83
$GC,960,-0.76,-184.9,2256,2352,3759,3343,187.4,-19.2,131,966,0.12,0.00,0.00,0.000,2054,0.321,0.000,2285,2352,3551,3760,3343,0,0,0,0,0,0,14.40,28.83,28.83
$GC,1271,-0.76,-184.9,2286,2352,3760,3343,237.8,-16.2,162,1279,0.00,2.62,0.00,0.000,260,0.000,0.164,2278,3765,3550,3759,3342,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1326,-0.76,-184.9,2278,3765,3759,3342,246.9,-16.5,167,1334,0.00,2.45,0.00,0.000,1030,0.000,0.109,2277,2351,3550,3759,3342,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1636,-0.76,-184.9,2278,2350,3759,3342,295.1,-14.4,198,1645,0.00,2.60,0.00,0.000,260,0.000,0.165,2267,3758,3551,3760,3342,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1745,-0.76,-184.9,2267,3758,3760,3341,310.2,-13.8,208,1752,0.00,2.45,0.00,0.000,1030,0.000,0.109,2267,2349,3549,3758,3341,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2053,-0.76,-184.9,2268,2347,3760,3341,357.1,-16.1,239,2062,0.00,2.62,0.00,0.000,260,0.000,0.166,2258,3764,3549,3759,3340,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2108,-0.76,-184.9,2258,3764,3759,3340,366.2,-16.7,244,2117,0.10,2.45,0.00,0.000,3078,0.272,0.108,2285,2343,3549,3759,3340,0,0,0,0,0,0,14.49,14.57,28.83
$STATE,2318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2318,begin apogee
$GC,2331,-0.22,0.0,2285,2410,3760,3340,395.9,-13.9,265,2529,0.60,0.00,187.00,2.192,10246,0.249,0.000,2454,2410,2795,2920,2670,0,0,0,0,0,0,14.51,28.83,12.85
$STATE,2530,end apogee,CONTROL_FINISHED_OK
$STATE,2530,begin climb
$GC,2536,1.04,184.9,2455,2409,2919,2670,407.9,0.0,286,2767,1.40,2.90,204.95,2.153,10756,0.177,0.134,2870,990,2039,2126,1952,0,0,0,0,3,0,13.60,13.33,12.66
$GC,2977,0.91,184.9,2870,990,2124,1943,376.2,13.6,330,2987,0.12,2.70,0.00,0.000,5126,0.277,0.141,2838,2398,2032,2122,1942,0,0,0,0,0,0,13.81,13.87,28.83
$GC,3289,0.86,220.9,2838,2398,2125,1939,341.8,10.9,361,3335,0.00,2.80,37.17,2.069,8452,0.000,0.158,2837,3819,1893,1995,1791,0,0,0,0,0,0,28.83,13.74,13.11
$GC,3446,0.73,220.9,2837,3819,1992,1791,320.7,15.2,376,3455,0.28,2.58,0.00,0.000,5126,0.277,0.112,2776,2401,1891,1991,1791,0,0,0,0,0,0,13.88,13.95,28.83
$GC,3757,0.82,294.6,2776,2401,1992,1788,290.7,9.1,407,3842,0.00,0.00,78.45,2.065,8198,0.000,0.000,2776,2400,1594,1685,1504,0,0,0,0,0,0,28.83,28.83,12.92
$GC,4148,0.95,358.9,2776,2401,1680,1498,253.0,9.6,446,4225,0.17,2.92,68.70,2.026,10500,0.157,0.160,2838,3813,1330,1414,1246,0,0,0,0,0,0,14.11,13.54,12.92
$GC,4278,0.95,358.9,1856,3813,1388,1244,235.6,15.5,458,4285,0.00,2.62,0.00,0.000,1030,0.000,0.111,2848,2399,1327,1408,1246,0,0,0,0,0,0,28.83,13.77,28.83
$GC,4586,0.95,358.9,2848,2398,1403,1243,191.7,14.0,489,4596,0.00,2.70,0.00,0.000,260,0.000,0.159,2848,3811,1323,1403,1244,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4634,0.95,358.9,1872,3810,1382,1242,184.6,15.3,493,4642,0.00,2.58,0.00,0.000,1030,0.000,0.112,2858,2389,1322,1402,1243,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4944,0.95,358.9,2858,2389,1402,1242,138.9,14.7,524,4953,0.00,2.55,0.00,0.000,516,0.000,0.138,2869,991,1321,1401,1242,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4972,0.95,358.9,1888,990,1381,1241,135.2,14.7,526,4978,0.00,2.62,0.00,0.000,1030,0.000,0.141,2869,2401,1321,1401,1242,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5284,0.95,358.9,2869,2401,1400,1241,88.8,14.7,564,5291,0.00,2.65,0.00,0.000,260,0.000,0.163,2869,3813,1320,1400,1241,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5364,0.91,358.9,2869,3813,1399,1241,76.0,16.3,578,5371,0.20,2.53,0.00,0.000,5126,0.285,0.113,2832,2392,1320,1399,1241,0,0,0,0,0,0,14.31,14.38,28.83
$GC,5688,0.97,371.8,1792,2390,1377,1238,37.4,11.9,639,5702,0.00,2.70,5.90,0.312,8452,0.000,0.164,2832,3821,1277,1356,1199,0,0,0,0,0,0,28.83,14.37,14.31
$GC,5879,1.09,434.0,2832,3821,1356,1199,16.2,9.7,674,5922,0.15,2.53,35.47,0.224,11270,0.174,0.112,2890,2392,1022,1097,948,0,0,0,0,0,0,14.43,14.44,14.33
$STATE,5983,end climb,SURFACE_DEPTH_REACHED
$STATE,5983,begin surface coast
$FINISH,0.4,1.024947
$STATE,5999,end surface coast,CONTROL_FINISHED_OK
$STATE,5999,begin surface
$SM_CCo,6028,8.43,0.195,0,0,958,450.13
$SM_GC,1.07,8.15,0.10,8.43,0.095,0.189,0.195,140,2342,958,-7.44,0.34,450.13,0,0,0,0,0,0,14.41,14.40,14.35
$RAFOS_CLK,283
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6049.40,190913,222215
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.30
$XPDR_PINGS,25
$24V_AH,12.7,9.742
$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,21.850,63.125,617.650,8.425,0.000,0.000,0.000,259.175,6.250,0.000,5.807,1612.182,2407.094,651.981,1421.528,427.630,0.000,1653.899,0.000,1187.125,360.000,0.536,0.000
$DEVICE_MAMPS,449.820,202.725,2191.725,195.075,0.000,0.000,0.000,136.170,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150796
$DATA_FILE_SIZE,30155,695
$CAP_FILE_SIZE,78255,0
$CFSIZE,259252224,249843712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$SOUNDSPEED,1450.4
$CURRENT,0.220,335.7,1
$GPS,200913,000835,6627.243,-6046.102,40,0.9,40,-33.6