version: 66.11
glider: 192
mission: 2
dive: 31
start: 9 21 113 10 10 57
data:
$ID,192
$MISSION,2
$DIVE,31
$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,160
$T_MISSION,190
$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,0
$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,-1089.7524
$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,16
$R_STBD_OVSHOOT,11
$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,3
$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
$GPS1,210913,100407,6621.582,-6028.433,32,1.3,32,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.0
$GPS2,210913,101011,6621.506,-6028.441,5,1.2,5,-33.4
$SPEED_LIMITS,0.162,0.291
$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,97.6,176768,-14.5,-9.375,-17.87,2984
$D_GRID,434
$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,21,-0.86,-184.9,140,2342,745,667,0.0,0.0,0,123,0.00,0.00,-99.78,0.000,16386,0.000,0.000,137,2342,2682,2748,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.86,-184.9,137,2342,2749,2616,3.4,-6.0,18,167,10.35,2.55,-17.42,0.000,18948,0.446,0.148,2249,939,3550,3763,3338,0,0,0,0,0,0,14.18,14.32,14.55
$GC,348,-0.74,-184.9,2249,938,3764,3338,58.1,-21.2,58,356,0.20,2.60,0.00,0.000,3078,0.295,0.138,2289,2351,3551,3764,3339,0,0,0,0,0,0,14.31,14.37,28.83
$GC,672,-0.65,-184.9,2289,2351,3764,3338,113.9,-16.6,112,682,0.12,2.60,0.00,0.000,2308,0.309,0.153,2314,3762,3551,3764,3338,0,0,0,0,0,0,14.38,14.42,28.83
$GC,794,-0.62,-184.9,2314,3762,3764,3338,130.2,-13.6,123,803,0.00,2.45,0.00,0.000,1030,0.000,0.107,2313,2352,3551,3764,3338,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1105,-0.58,-184.9,2313,2352,3764,3338,174.6,-13.9,154,1114,0.12,2.60,0.00,0.000,2308,0.309,0.158,2336,3758,3551,3764,3338,0,0,0,0,0,0,14.45,14.48,28.83
$GC,1150,-0.58,-184.9,2336,3758,3764,3338,180.7,-12.9,158,1159,0.00,2.45,0.00,0.000,1030,0.000,0.107,2336,2345,3551,3764,3338,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1460,-0.58,-184.9,2336,2344,3764,3338,218.2,-11.6,189,1469,0.00,2.62,0.00,0.000,260,0.000,0.160,2327,3762,3551,3764,3338,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1497,-0.58,-184.9,2328,3762,3765,3338,222.4,-11.5,192,1506,0.00,2.45,0.00,0.000,1030,0.000,0.107,2327,2345,3551,3764,3338,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1807,-0.58,-184.9,2327,2344,3764,3338,261.8,-12.6,223,1816,0.00,2.65,0.00,0.000,260,0.000,0.160,2327,3768,3550,3764,3337,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1903,-0.58,-184.9,2327,3768,3764,3337,273.4,-11.9,232,1911,0.00,2.45,0.00,0.000,1030,0.000,0.106,2327,2344,3550,3764,3337,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2213,-0.58,-184.9,2327,2344,3764,3337,309.4,-10.8,263,2222,0.00,2.62,0.00,0.000,260,0.000,0.160,2327,3758,3550,3764,3337,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2338,-0.58,-184.9,2327,3758,3764,3336,322.9,-10.7,275,2347,0.00,2.42,0.00,0.000,1030,0.000,0.107,2327,2347,3549,3764,3335,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2648,-0.58,-184.9,2327,2346,3764,3336,356.0,-10.6,306,2657,0.00,2.60,0.00,0.000,260,0.000,0.162,2327,3759,3550,3764,3336,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2717,-0.61,-184.9,2327,3759,3764,3336,363.2,-10.8,312,2723,0.00,2.45,0.00,0.000,1030,0.000,0.106,2327,2342,3550,3764,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3025,-0.61,-184.9,2327,2342,3764,3336,394.0,-10.0,343,3034,0.00,2.62,0.00,0.000,260,0.000,0.158,2327,3765,3550,3764,3336,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3060,-0.61,-184.9,2327,3765,3765,3336,397.5,-9.8,346,3069,0.00,2.42,0.00,0.000,1030,0.000,0.104,2327,2346,3550,3764,3336,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3370,-0.61,-184.9,2327,2346,3764,3336,427.5,-9.8,377,3379,0.00,2.62,0.00,0.000,260,0.000,0.160,2327,3765,3550,3764,3336,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,3429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3430,begin apogee
$GC,3445,-0.22,0.0,2327,2394,3764,3336,434.1,-10.1,383,3646,0.45,0.00,191.90,2.286,10246,0.246,0.000,2453,2394,2793,2920,2667,0,0,0,0,0,0,14.56,28.83,12.81
$STATE,3646,end apogee,CONTROL_FINISHED_OK
$STATE,3647,begin climb
$GC,3653,0.86,184.9,2454,2394,2920,2667,444.6,0.0,404,3873,1.23,2.88,204.23,2.223,10756,0.173,0.126,2816,990,2039,2124,1955,0,0,0,0,1,0,13.57,13.16,12.43
$GC,4052,0.72,184.9,2817,990,2123,1945,418.1,11.8,444,4061,0.15,2.72,0.00,0.000,5126,0.250,0.136,2778,2399,2033,2123,1944,0,0,0,0,0,0,13.66,13.71,28.83
$GC,4363,0.62,184.9,2777,2399,2124,1940,384.9,10.3,475,4372,0.15,2.67,0.00,0.000,4356,0.280,0.151,2739,3809,2031,2123,1940,0,0,0,0,0,0,13.95,14.00,28.83
$GC,4517,0.55,184.9,1768,3808,2078,1936,368.9,10.5,489,4524,0.15,2.55,0.00,0.000,5126,0.275,0.106,2715,2395,2031,2122,1940,0,0,0,0,0,0,14.05,14.12,28.83
$GC,4826,0.61,232.0,2715,2394,2122,1938,343.8,7.8,520,4881,0.00,0.00,49.20,2.147,8198,0.000,0.000,2714,2394,1847,1948,1746,0,0,0,0,0,0,28.83,28.83,13.10
$GC,5186,0.75,325.5,2715,2394,1946,1744,318.3,6.2,556,5295,0.17,2.90,101.15,2.116,10500,0.146,0.156,2775,3819,1466,1553,1380,0,0,0,0,0,0,14.16,13.45,12.82
$GC,5336,0.71,325.5,2775,3819,1550,1380,304.4,11.4,570,5343,0.00,2.65,0.00,0.000,1030,0.000,0.106,2785,2402,1465,1550,1380,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5645,0.69,337.2,2785,2402,1545,1375,274.2,9.0,601,5663,0.00,2.83,12.20,1.946,8452,0.000,0.156,2785,3816,1419,1503,1335,0,0,0,0,0,0,28.83,13.93,13.30
$GC,5711,0.63,337.2,2785,3816,1501,1335,267.5,11.0,607,5720,0.17,2.58,0.00,0.000,5126,0.240,0.107,2748,2393,1418,1501,1335,0,0,0,0,0,0,13.94,14.00,28.83
$GC,6022,0.77,416.9,2748,2392,1500,1332,246.6,6.6,638,6118,0.12,2.88,86.05,2.063,10500,0.177,0.155,2791,3814,1094,1171,1017,0,0,0,0,0,0,14.22,13.53,12.93
$GC,6172,0.77,416.9,2791,3814,1167,1017,233.1,11.2,652,6179,0.00,2.62,0.00,0.000,1030,0.000,0.105,2801,2398,1092,1167,1017,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6480,0.77,416.9,2801,2397,1163,1013,199.7,11.3,683,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2396,1088,1164,1013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6795,0.77,416.9,2801,2396,1163,1011,164.6,10.8,714,6804,0.00,2.58,0.00,0.000,516,0.000,0.133,2811,986,1086,1162,1011,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6824,0.77,416.9,2811,986,1161,1011,161.5,10.6,716,6830,0.00,2.62,0.00,0.000,1030,0.000,0.135,2811,2401,1086,1161,1011,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7133,0.77,416.9,2812,2401,1161,1010,128.8,11.1,747,7141,0.00,2.62,0.00,0.000,260,0.000,0.157,2811,3807,1085,1160,1010,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7188,0.77,416.9,2811,3807,1159,1010,122.3,12.4,752,7197,0.12,2.47,0.00,0.000,5126,0.243,0.109,2785,2402,1084,1159,1010,0,0,0,0,0,0,14.30,14.35,28.83
$GC,7503,0.81,416.9,1792,2398,1147,1009,88.0,11.9,792,7510,0.00,2.58,0.00,0.000,516,0.000,0.134,2792,978,1084,1159,1010,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7561,0.88,416.9,1792,978,1146,1008,80.7,12.1,802,7569,0.00,2.60,0.00,0.000,1030,0.000,0.135,2792,2402,1083,1158,1009,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7881,0.93,416.9,2792,2402,1157,1009,46.7,9.9,863,7888,0.12,2.62,0.00,0.000,2308,0.184,0.156,2838,3813,1082,1157,1008,0,0,0,0,0,0,14.45,14.42,28.83
$GC,7955,0.90,416.9,1840,3812,1145,1007,36.9,14.2,876,7962,0.00,2.50,0.00,0.000,1030,0.000,0.109,2848,2393,1083,1157,1009,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8274,0.90,416.9,2848,2392,1157,1008,3.7,11.6,937,8280,0.00,2.53,0.00,0.000,516,0.000,0.136,2858,990,1082,1156,1008,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,8285,end climb,SURFACE_DEPTH_REACHED
$STATE,8285,begin surface coast
$FINISH,0.8,1.024925
$STATE,8297,end surface coast,CONTROL_FINISHED_OK
$STATE,8297,begin surface
$SM_CCo,8329,16.90,0.192,0,0,957,450.13
$SM_GC,1.68,8.07,2.53,16.90,0.101,0.127,0.192,141,2354,957,-7.43,-0.42,450.13,0,0,0,0,0,0,14.49,14.48,14.43
$RAFOS_CLK,397
$RAFOS,2,1379765823,12.300000,12.284166,88,70,65,62,61,58,629,214,142,192,157,182
$RAFOS,1,1379765348,12.166667,12.152223,83,60,56,51,50,50,672,200,220,141,182,157
$RAFOS,0,1379764861,12.033333,12.016945,89,63,59,57,56,53,658,205,214,136,151,192
$RAFOS_FIX,6623.017090,-6025.945801,210913,121201,3,87,0.46
$IRIDIUM_FIX,6553.70,-6025.96,210913,070738
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.96
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,50
$24V_AH,12.4,16.948
$10V_AH,12.7,0.000
$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,21.725,98.550,644.725,16.900,0.000,0.000,0.000,210.300,12.500,0.000,11.172,2141.819,3533.506,724.493,1797.993,530.446,0.000,1902.096,0.000,1604.607,1440.000,0.536,0.000
$DEVICE_MAMPS,445.995,162.180,2285.820,192.015,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150744
$DATA_FILE_SIZE,40058,941
$CAP_FILE_SIZE,104228,0
$CFSIZE,259252224,248905728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1452.1
$GPS,210913,123153,6622.110,-6026.215,38,1.1,38,-33.4