version: 66.11
glider: 192
mission: 2
dive: 76
start: 9 27 113 0 27 36
data:
$ID,192
$MISSION,2
$DIVE,76
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,380
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$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,400
$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,-1223.2831
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,5
$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
$GPS1,270913,002035,6646.566,-5836.033,28,0.8,28,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.1
$GPS2,270913,002652,6646.605,-5835.939,4,0.8,5,-33.6
$SPEED_LIMITS,0.150,0.251
$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,91.6,83653,-16.2,-8.684,-19.07,2590
$D_GRID,781
$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,-0.90,-146.0,146,2499,1100,1086,0.0,0.0,0,100,0.00,0.00,-76.72,0.000,16386,0.000,0.000,146,2499,2638,2698,2578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.90,-146.0,146,2500,2698,2579,3.3,-4.2,13,139,9.88,0.00,-15.50,0.000,18950,0.438,0.000,2202,2499,3339,3518,3160,0,0,0,0,0,0,14.26,28.83,14.62
$GC,451,-0.90,-146.0,2202,2498,3521,3159,88.7,-22.3,78,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2498,3340,3521,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,763,-0.90,-146.0,2202,2498,3521,3159,157.6,-21.9,113,773,0.00,2.50,0.00,0.000,260,0.000,0.148,2194,3872,3339,3521,3158,0,0,0,0,0,0,28.83,14.50,28.83
$GC,815,-0.90,-146.0,2194,3872,3520,3158,168.3,-23.6,117,823,0.00,2.38,0.00,0.000,1030,0.000,0.096,2194,2490,3339,3520,3158,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1124,-0.90,-146.0,2195,2490,3521,3158,234.9,-20.1,148,1133,0.00,2.42,0.00,0.000,516,0.000,0.112,2194,1092,3339,3521,3157,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1219,-0.90,-146.0,2194,1091,3521,3158,253.8,-19.5,157,1229,0.00,2.53,0.00,0.000,1030,0.000,0.131,2184,2495,3339,3520,3158,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1532,-0.90,-146.0,2184,2495,3521,3157,315.2,-19.5,188,1541,0.00,2.47,0.00,0.000,260,0.000,0.149,2173,3872,3338,3520,3157,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1587,-0.90,-146.0,2173,3871,3520,3157,326.9,-20.9,193,1597,0.10,2.33,0.00,0.000,3078,0.308,0.095,2198,2497,3339,3521,3157,0,0,0,0,0,0,14.50,14.60,28.83
$GC,1898,-0.90,-146.0,2199,2497,3521,3157,384.1,-17.7,224,1907,0.00,2.42,0.00,0.000,516,0.000,0.112,2199,1088,3338,3521,3156,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1926,-0.90,-146.0,1376,1087,3513,3153,388.7,-17.7,226,1933,0.00,2.53,0.00,0.000,1030,0.000,0.128,2190,2502,3338,3520,3156,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2235,-0.90,-146.0,2191,2502,3521,3157,445.8,-18.6,257,2244,0.00,2.45,0.00,0.000,260,0.000,0.145,2180,3864,3338,3521,3156,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2263,-0.90,-146.0,1360,3864,3513,3153,451.0,-19.1,259,2270,0.00,2.33,0.00,0.000,1030,0.000,0.093,2180,2492,3338,3521,3156,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2572,-0.90,-146.0,2180,2492,3520,3156,510.4,-18.7,290,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2492,3338,3520,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,-0.90,-146.0,2180,2492,3521,3157,568.7,-18.5,321,2896,0.00,2.40,0.00,0.000,516,0.000,0.110,2180,1090,3338,3520,3156,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2913,-0.90,-146.0,2180,1091,3521,3157,574.5,-19.1,323,2922,0.12,2.47,0.00,0.000,3078,0.291,0.128,2202,2496,3339,3521,3157,0,0,0,0,0,0,14.56,14.63,28.83
$GC,3249,-0.90,-146.0,2202,2497,3521,3156,630.5,-17.0,344,3255,0.00,2.47,0.00,0.000,260,0.000,0.147,2194,3877,3339,3521,3157,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3312,-0.90,-146.0,2194,3877,3521,3157,642.4,-17.0,346,3318,0.00,2.33,0.00,0.000,1030,0.000,0.093,2193,2494,3339,3521,3157,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3645,-0.90,-146.0,2194,2494,3521,3157,697.9,-16.6,357,3651,0.00,2.40,0.00,0.000,516,0.000,0.109,2193,1096,3339,3521,3157,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3700,-0.90,-146.0,2194,1095,3521,3157,703.5,-17.1,358,3707,0.00,2.50,0.00,0.000,1030,0.000,0.128,2184,2505,3338,3520,3157,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4007,-0.90,-146.0,2184,2505,3521,3157,759.8,-17.5,369,4013,0.00,2.42,0.00,0.000,516,0.000,0.109,2184,1092,3339,3521,3157,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4040,-0.90,-146.0,2183,1091,3521,3157,765.6,-17.6,370,4046,0.10,2.45,0.00,0.000,3078,0.296,0.124,2199,2494,3339,3521,3157,0,0,0,0,0,0,14.61,14.68,28.83
$STATE,4127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4127,begin apogee
$GC,4140,-0.14,0.0,2199,2530,3521,3157,781.3,-17.1,373,4308,0.90,0.00,156.82,2.619,10246,0.274,0.000,2447,2530,2740,2856,2625,0,0,0,0,0,0,14.61,28.83,12.81
$STATE,4309,end apogee,CONTROL_FINISHED_OK
$STATE,4309,begin climb
$GC,4315,0.90,146.0,2447,2530,2856,2625,786.8,0.0,378,4496,1.17,2.75,170.43,2.543,11012,0.174,0.141,2780,3870,2145,2232,2059,0,0,0,0,0,0,13.66,12.99,12.27
$GC,4511,1.23,255.9,2781,3870,2231,2059,782.4,4.3,384,4658,0.30,2.55,133.25,2.486,11270,0.103,0.096,2889,2534,1697,1770,1625,0,0,0,0,0,0,13.19,13.19,12.14
$GC,4980,1.23,255.9,2889,2534,1764,1614,681.5,22.8,400,4986,0.00,2.62,0.00,0.000,516,0.000,0.118,2900,1116,1689,1764,1614,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5045,1.23,255.9,1920,1116,1729,1610,668.0,22.5,402,5050,0.00,2.65,0.00,0.000,1030,0.000,0.131,2900,2529,1688,1763,1613,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5364,1.23,255.9,2900,2529,1762,1612,595.0,22.6,414,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2529,1687,1762,1612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5678,1.23,255.9,2900,2529,1762,1611,524.1,22.6,445,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2529,1686,1762,1611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5991,1.23,255.9,2900,2529,1762,1610,453.7,22.0,476,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2529,1686,1762,1610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6305,1.23,255.9,2900,2529,1762,1609,383.3,22.4,507,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2529,1686,1762,1610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6618,1.23,255.9,2900,2529,1762,1610,315.7,20.5,538,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2529,1685,1762,1609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,1.23,255.9,2900,2530,1762,1609,249.5,21.4,569,6941,0.00,2.45,0.00,0.000,260,0.000,0.150,2900,3875,1685,1762,1609,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6971,1.23,255.9,2900,3875,1761,1609,240.1,22.5,572,6977,0.00,2.33,0.00,0.000,1030,0.000,0.103,2910,2529,1685,1761,1609,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7279,1.23,255.9,2910,2527,1761,1609,176.6,19.0,603,7287,0.00,2.47,0.00,0.000,516,0.000,0.120,2921,1112,1684,1761,1608,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7356,1.23,255.9,1952,1111,1728,1605,162.9,18.1,610,7363,0.00,2.55,0.00,0.000,1030,0.000,0.131,2921,2534,1684,1761,1608,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7665,1.23,255.9,2921,2534,1761,1608,105.2,18.2,641,7675,0.00,2.53,0.00,0.000,516,0.000,0.122,2932,1111,1684,1761,1608,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7695,1.23,255.9,2932,1111,1761,1608,100.3,18.2,643,7702,0.15,2.55,0.00,0.000,5126,0.304,0.130,2900,2535,1684,1761,1608,0,0,0,0,0,0,14.54,14.61,28.83
$GC,8014,1.23,255.9,2900,2535,1761,1608,46.5,17.0,704,8020,0.00,2.42,0.00,0.000,260,0.000,0.149,2900,3874,1684,1761,1608,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8066,1.23,255.9,1920,3874,1726,1604,37.4,17.0,713,8074,0.00,2.33,0.00,0.000,1030,0.000,0.102,2908,2521,1684,1761,1608,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,8380,end climb,SURFACE_DEPTH_REACHED
$STATE,8380,begin surface coast
$FINISH,0.8,1.002926
$STATE,8410,end surface coast,CONTROL_FINISHED_OK
$STATE,8410,begin surface
$SM_CCo,8438,76.68,0.180,0,0,1108,400.08
$SM_GC,2.00,8.23,0.00,76.68,0.106,0.000,0.180,143,2520,1108,-7.32,0.57,400.08,0,0,0,0,0,0,14.64,28.83,14.51
$RAFOS_CLK,406
$RAFOS,6,1380242950,0.833333,0.819444,153,64,61,59,52,52,687,210,158,201,174,130
$RAFOS,5,1380242463,0.700000,0.684167,127,63,60,58,54,51,694,220,179,161,200,191
$RAFOS,4,1380241985,0.566667,0.551389,92,69,59,56,56,53,612,167,152,224,196,206
$RAFOS,2,1380241025,0.300000,0.284722,76,72,62,62,59,53,765,209,220,154,193,167
$RAFOS_FIX,6647.956055,-5838.008789,270913,000001,6,118,1.00
$IRIDIUM_FIX,6620.33,-5837.85,260913,202023
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.19
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.60
$XPDR_PINGS,54
$24V_AH,12.1,33.286
$10V_AH,12.5,0.000
$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,20.950,74.075,460.500,76.675,0.000,0.000,0.000,219.250,13.500,0.000,6.040,2007.185,4211.455,643.136,1555.867,495.631,0.000,1660.348,0.000,1356.265,1080.000,0.535,0.000
$DEVICE_MAMPS,437.580,239.445,2618.595,179.775,0.000,0.000,0.000,136.935,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150772
$DATA_FILE_SIZE,33439,779
$CAP_FILE_SIZE,90781,0
$CFSIZE,259252224,246177792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.8
$CURRENT,0.102,143.1,1
$GPS,270913,025130,6646.971,-5831.982,39,1.3,39,-33.6