version: 66.11
glider: 192
mission: 2
dive: 5
start: 9 19 113 0 2 29
data:
$ID,192
$MISSION,2
$DIVE,5
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,380
$D_ABORT,410
$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,130
$T_MISSION,1500
$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,-612.3728
$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,2550
$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,2150
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,180913,235353,6635.580,-6045.541,38,1.2,38,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.4
$GPS2,190913,000146,6635.530,-6045.843,5,1.2,5,-33.7
$SPEED_LIMITS,0.169,0.266
$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,135.0,179133,-17.0,-9.744,-20.10,2276
$D_GRID,417
$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,19,-0.84,-146.0,127,2136,552,508,0.0,0.0,0,136,0.00,0.00,-113.70,0.000,16386,0.000,0.000,124,2136,2716,2775,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-0.84,-146.0,124,2137,2775,2658,3.2,-7.1,19,175,10.12,2.53,-13.60,0.000,18948,0.428,0.148,2271,734,3393,3570,3216,0,0,0,0,0,0,14.23,14.38,14.63
$GC,269,-0.71,-146.0,2271,735,3571,3216,31.1,-18.3,40,277,0.22,2.58,0.00,0.000,3078,0.287,0.131,2316,2161,3393,3570,3216,0,0,0,0,0,0,14.33,14.40,28.83
$GC,587,-0.71,-146.0,1416,2159,3564,3212,81.4,-13.7,101,595,0.00,2.58,0.00,0.000,260,0.000,0.153,2311,3567,3393,3571,3216,0,0,0,0,0,0,28.83,14.45,28.83
$GC,765,-0.71,-146.0,2311,3568,3571,3216,104.6,-13.2,131,772,0.00,2.47,0.00,0.000,1030,0.000,0.105,2311,2138,3393,3571,3216,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1074,-0.71,-146.0,2311,2138,3571,3216,147.1,-13.8,162,1082,0.00,2.58,0.00,0.000,260,0.000,0.154,2301,3554,3393,3571,3216,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1181,-0.71,-146.0,1432,3552,3563,3212,162.3,-14.4,172,1188,0.00,2.42,0.00,0.000,1030,0.000,0.106,2301,2146,3393,3571,3215,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1490,-0.71,-146.0,2301,2145,3571,3215,207.8,-15.0,203,1498,0.00,2.58,0.00,0.000,260,0.000,0.155,2291,3561,3393,3571,3215,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1630,-0.67,-146.0,2291,3561,3571,3214,228.6,-15.4,216,1640,0.12,2.40,0.00,0.000,3078,0.258,0.106,2326,2158,3392,3571,3214,0,0,0,0,0,0,14.47,14.57,28.83
$GC,1941,-0.71,-146.0,2326,2158,3571,3214,270.9,-13.6,247,1950,0.00,2.55,0.00,0.000,260,0.000,0.158,2317,3558,3392,3571,3214,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2050,-0.75,-146.0,2317,3557,3570,3214,285.4,-13.6,257,2058,0.00,2.45,0.00,0.000,1030,0.000,0.107,2317,2140,3392,3571,3213,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2360,-0.75,-146.0,2317,2140,3571,3213,323.8,-10.6,288,2368,0.00,2.58,0.00,0.000,772,0.000,0.157,2308,3554,3392,3571,3213,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2395,-0.75,-146.0,2308,3555,3571,3213,327.6,-10.8,291,2403,0.00,2.40,0.00,0.000,1030,0.000,0.107,2307,2148,3392,3571,3213,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2705,-0.75,-146.0,2307,2149,3570,3212,362.9,-11.8,322,2714,0.00,2.50,0.00,0.000,516,0.000,0.134,2307,736,3391,3571,3212,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2815,-0.82,-146.0,2307,736,3571,3213,375.8,-11.7,332,2822,0.00,2.55,0.00,0.000,1030,0.000,0.140,2299,2154,3391,3571,3212,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,2847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2847,begin apogee
$GC,2861,-0.19,0.0,2299,2202,3572,3212,380.6,-11.3,336,3015,0.65,0.00,144.05,2.144,10246,0.245,0.000,2482,2202,2793,2915,2672,0,0,0,0,0,0,14.52,28.83,12.90
$STATE,3016,end apogee,CONTROL_FINISHED_OK
$STATE,3016,begin climb
$GC,3022,0.84,146.0,2483,2202,2915,2673,386.6,0.0,352,3189,1.10,2.83,151.93,2.067,11012,0.168,0.156,2810,3616,2196,2284,2109,0,0,0,0,0,0,13.71,13.52,12.83
$GC,3424,0.64,181.6,2810,3616,2281,2105,366.1,8.1,391,3468,0.25,2.55,36.72,2.009,13318,0.288,0.113,2763,2199,2052,2148,1956,0,0,0,0,0,0,14.07,14.15,13.09
$GC,3771,0.75,270.3,2763,2199,2148,1950,343.4,5.7,426,3869,0.00,2.78,90.55,2.023,8964,0.000,0.141,2772,797,1692,1787,1597,0,0,0,0,0,0,28.83,13.59,12.92
$GC,3975,0.86,321.4,2772,797,1786,1592,329.8,7.4,446,4040,0.12,2.65,54.35,1.983,11270,0.116,0.140,2822,2192,1482,1579,1386,0,0,0,0,0,0,13.97,13.95,12.91
$GC,4344,0.82,321.4,2822,2192,1578,1379,286.5,12.2,483,4353,0.00,2.67,0.00,0.000,260,0.000,0.160,2822,3610,1478,1578,1379,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4545,0.74,321.4,2822,3610,1574,1378,258.3,14.2,502,4555,0.12,2.50,0.00,0.000,5126,0.258,0.114,2796,2201,1476,1573,1379,0,0,0,0,0,0,14.20,14.26,28.83
$GC,4856,0.74,321.4,2797,2201,1574,1376,222.3,11.2,533,4866,0.00,2.65,0.00,0.000,260,0.000,0.161,2796,3611,1475,1574,1376,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4963,0.74,321.4,2796,3612,1573,1376,209.2,12.6,543,4971,0.00,2.47,0.00,0.000,1030,0.000,0.114,2806,2196,1474,1573,1376,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5273,0.74,321.4,2806,2196,1573,1376,175.4,10.6,574,5282,0.00,2.65,0.00,0.000,260,0.000,0.163,2806,3617,1474,1573,1376,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5414,0.74,321.4,2806,3617,1573,1376,159.7,11.6,587,5423,0.00,2.47,0.00,0.000,1030,0.000,0.116,2816,2202,1474,1573,1376,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5725,0.75,325.7,2816,2202,1572,1375,127.5,9.6,618,5734,0.00,2.60,0.00,0.000,260,0.000,0.163,2816,3607,1473,1572,1375,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5814,0.72,325.7,1824,3606,1544,1373,118.3,10.7,626,5821,0.17,2.47,0.00,0.000,5126,0.275,0.115,2784,2195,1473,1572,1375,0,0,0,0,0,0,14.46,14.53,28.83
$GC,6128,0.85,358.5,2784,2195,1572,1375,93.5,8.3,664,6155,0.12,2.72,20.83,0.509,10500,0.168,0.165,2831,3614,1330,1424,1236,0,0,0,0,0,0,14.56,14.45,14.29
$GC,6217,0.80,358.5,2831,3614,1425,1239,84.0,12.6,678,6225,0.15,2.50,0.00,0.000,5126,0.275,0.117,2807,2193,1332,1425,1239,0,0,0,0,0,0,14.44,14.50,28.83
$GC,6537,0.88,358.5,2807,2193,1422,1236,52.1,9.9,739,6544,0.00,2.65,0.00,0.000,260,0.000,0.166,2806,3614,1329,1422,1236,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6605,0.92,358.5,1800,3613,1399,1234,44.2,11.6,751,6612,0.00,2.47,0.00,0.000,1030,0.000,0.117,2815,2199,1328,1421,1236,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6924,1.11,438.7,2816,2199,1421,1234,17.0,6.1,812,6975,0.25,2.72,44.20,0.232,10500,0.152,0.168,2904,3613,1003,1083,924,0,0,0,0,0,0,14.54,14.45,14.43
$STATE,7026,end climb,SURFACE_DEPTH_REACHED
$STATE,7026,begin surface coast
$FINISH,0.3,1.024685
$STATE,7041,end surface coast,CONTROL_FINISHED_OK
$STATE,7041,begin surface
$SM_CCo,7073,64.30,0.181,0,0,539,552.91
$SM_GC,0.98,8.15,2.65,64.30,0.100,0.118,0.181,145,2149,539,-7.47,0.45,552.91,0,0,0,0,0,0,14.52,14.49,14.40
$RAFOS_CLK,340
$RAFOS,6,1379551744,0.833333,0.817778,59,58,56,51,50,49,219,209,119,174,152,136
$RAFOS,5,1379551263,0.700000,0.684167,60,57,53,52,51,49,223,147,170,1064,130,112
$RAFOS,4,1379550783,0.566667,0.550833,77,61,59,57,52,49,201,826,221,189,211,143
$RAFOS,3,1379550303,0.433333,0.417500,71,69,63,59,58,54,831,162,204,187,147,217
$RAFOS,2,1379549826,0.300000,0.285000,65,58,57,57,52,50,652,161,200,191,222,128
$RAFOS,1,1379549341,0.166667,0.150278,64,63,63,59,58,57,175,194,211,155,116,139
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6044.13,180913,212115
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.43
$INTERNAL_PRESSURE,8.60578
$TCM_TEMP,12.30
$XPDR_PINGS,59
$24V_AH,12.8,6.263
$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,21.575,82.275,542.625,64.300,0.000,0.000,0.000,255.525,14.750,0.000,5.827,2050.373,2742.161,679.362,1703.285,473.323,0.000,1800.400,0.000,1468.612,2160.000,0.536,0.000
$DEVICE_MAMPS,428.400,225.675,2143.530,180.540,0.000,0.000,0.000,130.815,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.840,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150824
$DATA_FILE_SIZE,36662,832
$CAP_FILE_SIZE,94871,0
$CFSIZE,259252224,250322944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.7
$CURRENT,0.148,324.4,1
$GPS,190913,020336,6635.945,-6045.284,35,1.2,35,-33.7