version: 66.11
glider: 192
mission: 2
dive: 16
start: 9 20 113 2 8 20
data:
$ID,192
$MISSION,2
$DIVE,16
$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,-1049.4994
$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,15
$R_STBD_OVSHOOT,12
$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
$GPS1,200913,020125,6627.384,-6044.601,39,1.3,39,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.4
$GPS2,200913,020732,6627.317,-6044.677,18,1.2,18,-33.6
$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,147.5,183246,-18.6,-12.500,-21.21,2254
$D_GRID,412
$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,-1.04,-184.9,120,2359,991,912,0.0,0.0,0,112,0.00,0.00,-89.90,0.000,16386,0.000,0.000,118,2360,2700,2765,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.04,-184.9,118,2360,2764,2635,3.6,-7.8,15,152,10.27,2.72,-16.35,0.000,19204,0.452,0.182,2185,3764,3550,3755,3346,0,0,0,0,0,0,14.16,14.29,14.54
$GC,385,-0.89,-184.9,2186,3763,3756,3345,86.8,-25.9,64,393,0.25,2.50,0.00,0.000,3078,0.301,0.106,2243,2341,3550,3756,3345,0,0,0,0,0,0,14.30,14.40,28.83
$GC,705,-0.82,-184.9,2242,2340,3756,3346,151.8,-20.3,100,714,0.00,2.62,0.00,0.000,260,0.000,0.161,2235,3756,3551,3756,3346,0,0,0,0,0,0,28.83,14.41,28.83
$GC,771,-0.76,-184.9,2235,3757,3756,3346,165.0,-20.1,106,781,0.17,2.47,0.00,0.000,3078,0.269,0.107,2281,2344,3551,3756,3346,0,0,0,0,0,0,14.37,14.45,28.83
$GC,1082,-0.76,-184.9,2282,2344,3756,3346,211.4,-13.8,137,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2344,3550,3756,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-0.76,-184.9,2282,2344,3756,3345,261.3,-18.2,168,1407,0.00,2.62,0.00,0.000,260,0.000,0.167,2274,3758,3550,3756,3345,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1467,-0.76,-184.9,2274,3758,3756,3345,274.6,-18.7,174,1474,0.00,2.47,0.00,0.000,1030,0.000,0.109,2274,2337,3550,3756,3345,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1775,-0.76,-184.9,2274,2336,3756,3345,327.0,-16.2,205,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2337,3550,3755,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-0.76,-184.9,2274,2336,3756,3345,373.4,-13.9,236,2099,0.00,2.62,0.00,0.000,260,0.000,0.162,2264,3762,3550,3756,3344,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2156,-0.76,-184.9,2264,3762,3757,3344,384.0,-15.1,242,2165,0.00,2.42,0.00,0.000,1030,0.000,0.109,2264,2352,3550,3756,3344,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,2341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2341,begin apogee
$GC,2354,-0.22,0.0,2264,2404,3756,3344,413.4,-15.4,261,2557,0.70,0.00,190.75,2.228,10246,0.264,0.000,2456,2404,2793,2916,2671,0,0,0,0,1,0,14.51,28.83,12.85
$STATE,2558,end apogee,CONTROL_FINISHED_OK
$STATE,2558,begin climb
$GC,2565,1.04,184.9,2456,2404,2916,2671,421.3,0.0,282,2785,1.38,2.90,202.98,2.192,11012,0.164,0.158,2861,3810,2039,2128,1951,0,0,0,0,1,0,13.59,13.26,12.59
$GC,2941,0.84,184.9,2860,3810,2120,1950,395.2,14.8,319,2948,0.28,2.62,0.00,0.000,5126,0.306,0.111,2810,2395,2034,2120,1949,0,0,0,0,0,0,13.71,13.80,28.83
$GC,3251,0.85,242.2,2811,2395,2120,1944,362.2,9.9,350,3319,0.00,2.90,60.47,2.145,8452,0.000,0.160,2810,3806,1806,1899,1713,0,0,0,0,0,0,28.83,13.52,12.88
$GC,3443,0.79,242.2,2810,3806,1892,1712,338.3,13.9,369,3454,0.10,2.58,0.00,0.000,5126,0.275,0.110,2794,2402,1802,1892,1713,0,0,0,0,0,0,13.80,13.85,28.83
$GC,3755,0.86,303.3,2794,2402,1892,1709,305.5,9.7,400,3831,0.00,2.80,65.40,2.101,8708,0.000,0.134,2802,987,1557,1644,1471,0,0,0,0,0,0,28.83,13.54,12.93
$GC,3865,0.96,358.0,2803,987,1644,1467,295.5,10.0,410,3936,0.10,2.72,60.12,2.057,11270,0.125,0.138,2844,2396,1335,1418,1252,0,0,0,0,0,0,13.74,13.71,12.75
$GC,4238,0.96,358.0,2844,2397,1409,1247,245.1,13.4,448,4247,0.00,2.72,0.00,0.000,260,0.000,0.158,2844,3810,1328,1409,1247,0,0,0,0,0,0,28.83,13.94,28.83
$GC,4256,0.96,358.0,2845,3810,1408,1246,243.5,13.2,449,4264,0.00,2.58,0.00,0.000,1030,0.000,0.110,2854,2399,1327,1408,1247,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4565,0.96,358.0,2854,2399,1408,1245,199.0,13.5,480,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2399,1327,1408,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4881,0.96,358.0,2854,2399,1407,1244,159.3,13.0,511,4890,0.00,2.58,0.00,0.000,516,0.000,0.138,2865,989,1325,1407,1244,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4909,0.96,358.0,1888,989,1386,1242,155.4,13.1,513,4917,0.00,2.62,0.00,0.000,1030,0.000,0.142,2864,2402,1325,1406,1244,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5218,0.96,358.0,2865,2402,1406,1244,110.9,14.3,544,5227,0.00,2.65,0.00,0.000,260,0.000,0.162,2865,3809,1325,1406,1244,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5256,0.93,358.0,1888,3808,1384,1242,105.3,15.3,547,5264,0.17,2.53,0.00,0.000,5126,0.295,0.113,2835,2388,1323,1404,1243,0,0,0,0,0,0,14.31,14.37,28.83
$GC,5575,1.01,394.5,1800,2385,1383,1241,68.3,10.8,605,5601,0.00,2.78,20.12,0.408,8452,0.000,0.163,2835,3819,1185,1264,1106,0,0,0,0,0,0,28.83,14.33,14.23
$GC,5663,1.04,394.5,2834,3819,1262,1105,56.6,12.9,620,5670,0.00,2.53,0.00,0.000,1030,0.000,0.114,2843,2396,1183,1261,1105,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5983,1.12,413.4,2843,2396,1260,1101,21.2,11.6,681,5999,0.12,2.62,9.75,0.253,10756,0.192,0.140,2901,991,1107,1184,1031,0,0,0,0,0,0,14.43,14.40,14.35
$GC,6053,1.16,414.8,2901,990,1183,1031,11.9,12.4,692,6060,0.00,2.60,0.00,0.000,1030,0.000,0.141,2901,2410,1107,1183,1031,0,0,0,0,0,0,28.83,14.41,28.83
$STATE,6119,end climb,SURFACE_DEPTH_REACHED
$STATE,6119,begin surface coast
$FINISH,0.2,1.024898
$STATE,6136,end surface coast,CONTROL_FINISHED_OK
$STATE,6136,begin surface
$SM_CCo,6166,20.08,0.189,0,0,956,450.13
$SM_GC,1.45,8.23,0.15,20.08,0.103,0.166,0.189,146,2339,956,-7.43,0.28,450.13,0,0,0,0,0,0,14.44,14.45,14.38
$RAFOS_CLK,288
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6052.02,200913,000026
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.83
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.50
$XPDR_PINGS,29
$24V_AH,12.6,10.575
$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,21.775,63.475,609.600,20.075,0.000,0.000,0.000,204.775,7.250,0.000,19.748,1679.378,2428.707,650.375,1386.092,422.640,0.000,1606.974,0.000,1195.538,0.000,0.536,0.000
$DEVICE_MAMPS,452.115,214.200,2227.680,188.955,0.000,0.000,0.000,135.405,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150704
$DATA_FILE_SIZE,30137,708
$CAP_FILE_SIZE,79297,0
$CFSIZE,259252224,249745408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$SOUNDSPEED,1450.5
$CURRENT,0.061,259.6,1
$GPS,200913,035338,6626.834,-6043.025,72,1.2,72,-33.6