version: 66.11
glider: 192
mission: 2
dive: 8
start: 9 19 113 6 34 48
data:
$ID,192
$MISSION,2
$DIVE,8
$N_DIVES,8
$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,-616.13605
$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,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,2250
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,13
$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
$GPS1,190913,062835,6632.566,-6043.933,30,1.8,30,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.9
$GPS2,190913,063405,6632.367,-6043.893,5,1.8,5,-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,60.3,179548,-17.0,-9.744,-20.10,2276
$D_GRID,432
$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,14,begin dive
$GC,20,-0.84,-146.0,131,2242,553,508,0.0,0.0,0,133,0.00,0.00,-110.12,0.000,16386,0.000,0.000,129,2243,2658,2719,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,140,-0.84,-146.0,129,2243,2719,2596,3.1,-5.9,19,174,10.32,2.55,-15.05,0.000,18948,0.441,0.149,2258,831,3391,3571,3211,0,0,0,0,0,0,14.19,14.32,14.57
$GC,211,-0.66,-146.0,2258,831,3572,3211,23.3,-24.5,30,218,0.28,2.62,0.00,0.000,3078,0.284,0.144,2317,2252,3391,3572,3211,0,0,0,0,0,0,14.26,14.33,28.83
$GC,530,-0.62,-146.0,2317,2253,3573,3209,78.1,-15.1,91,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2253,3391,3573,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,-0.62,-146.0,2317,2253,3573,3209,122.4,-13.5,136,852,0.00,2.58,0.00,0.000,260,0.000,0.158,2310,3661,3391,3573,3209,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1021,-0.62,-146.0,2310,3661,3573,3209,145.9,-12.6,153,1030,0.00,2.45,0.00,0.000,1030,0.000,0.111,2310,2248,3391,3573,3209,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1332,-0.62,-146.0,2310,2247,3573,3209,186.8,-14.0,184,1341,0.00,2.62,0.00,0.000,260,0.000,0.161,2300,3666,3390,3573,3208,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1410,-0.62,-146.0,1440,3665,3567,3205,197.8,-14.4,191,1419,0.15,2.47,0.00,0.000,3078,0.288,0.111,2334,2242,3391,3574,3208,0,0,0,0,0,0,14.46,14.54,28.83
$GC,1721,-0.66,-146.0,2334,2242,3573,3208,238.3,-12.8,222,1730,0.00,2.60,0.00,0.000,260,0.000,0.161,2325,3654,3390,3573,3208,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1797,-0.70,-146.0,2325,3655,3573,3208,248.1,-12.8,229,1805,0.00,2.42,0.00,0.000,1030,0.000,0.112,2325,2250,3390,3573,3208,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2108,-0.74,-146.0,2325,2250,3573,3208,286.0,-11.4,260,2117,0.00,2.58,0.00,0.000,260,0.000,0.162,2317,3656,3390,3573,3207,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2265,-0.79,-146.0,1412,3655,3566,3203,305.5,-12.5,275,2275,0.08,2.42,0.00,0.000,5126,0.143,0.112,2284,2249,3389,3573,3206,0,0,0,0,0,0,14.57,14.58,28.83
$GC,2577,-0.75,-146.0,2283,2248,3574,3206,349.3,-14.2,306,2586,0.00,2.58,0.00,0.000,260,0.000,0.161,2273,3657,3389,3573,3206,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2711,-0.70,-146.0,1376,3656,3566,3203,368.0,-14.3,318,2719,0.15,2.45,0.00,0.000,3078,0.296,0.110,2307,2241,3389,3573,3206,0,0,0,0,0,0,14.52,14.60,28.83
$STATE,2794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2794,begin apogee
$GC,2808,-0.19,0.0,2307,2310,3573,3206,380.9,-12.7,327,2964,0.55,0.00,144.82,2.179,10246,0.244,0.000,2463,2309,2794,2919,2669,0,0,0,0,0,0,14.52,28.83,12.88
$STATE,2965,end apogee,CONTROL_FINISHED_OK
$STATE,2965,begin climb
$GC,2971,0.84,146.0,2463,2310,2918,2670,389.5,0.0,343,3143,1.15,2.85,152.85,2.079,10756,0.177,0.138,2808,892,2198,2284,2113,0,0,0,0,0,0,13.66,13.47,12.80
$GC,3211,0.74,195.2,2808,892,2283,2105,384.5,7.5,367,3271,0.10,2.67,51.72,2.032,13318,0.263,0.140,2782,2297,1997,2094,1901,0,0,0,0,0,0,13.78,13.82,12.86
$GC,3583,0.71,224.8,2782,2297,2094,1891,352.2,8.4,404,3620,0.00,2.85,30.62,2.001,8452,0.000,0.161,2782,3713,1876,1981,1772,0,0,0,0,0,0,28.83,13.79,13.16
$GC,3723,0.59,224.8,2782,3714,1977,1773,337.7,12.2,417,3730,0.28,2.58,0.00,0.000,5126,0.265,0.112,2726,2299,1874,1976,1773,0,0,0,0,0,0,13.95,14.02,28.83
$GC,4033,0.76,282.6,2726,2299,1976,1770,314.3,7.1,448,4100,0.15,2.88,60.20,2.005,10500,0.162,0.158,2779,3712,1641,1736,1547,0,0,0,0,0,0,14.25,13.68,13.05
$GC,4160,0.70,282.6,2779,3712,1732,1548,300.8,12.3,460,4169,0.00,2.58,0.00,0.000,1030,0.000,0.112,2789,2302,1639,1732,1547,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4471,0.70,282.6,2789,2301,1729,1546,266.8,9.9,491,4480,0.00,2.67,0.00,0.000,260,0.000,0.160,2789,3715,1637,1729,1546,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4681,0.67,282.6,2789,3715,1726,1546,243.8,10.5,511,4691,0.15,2.50,0.00,0.000,5126,0.246,0.112,2757,2299,1636,1726,1546,0,0,0,0,0,0,14.22,14.28,28.83
$GC,4993,0.82,326.0,2758,2299,1726,1545,220.0,7.8,542,5049,0.12,2.75,44.28,1.947,10500,0.167,0.158,2802,3714,1463,1553,1374,0,0,0,0,0,0,14.40,13.92,13.28
$GC,5091,0.82,326.0,2802,3714,1553,1375,209.9,12.8,551,5100,0.00,2.55,0.00,0.000,1030,0.000,0.112,2813,2302,1463,1552,1375,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5401,0.82,326.0,2813,2302,1551,1373,171.5,12.6,582,5410,0.00,2.67,0.00,0.000,260,0.000,0.161,2813,3715,1461,1551,1372,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5457,0.79,326.0,2813,3715,1551,1372,164.0,14.2,587,5466,0.10,2.50,0.00,0.000,5126,0.262,0.113,2795,2302,1461,1551,1372,0,0,0,0,0,0,14.21,14.28,28.83
$GC,5769,0.84,326.0,2795,2302,1551,1371,130.2,9.8,618,5777,0.00,2.62,0.00,0.000,260,0.000,0.163,2795,3712,1461,1551,1371,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5834,0.84,326.0,2795,3712,1550,1370,122.9,11.5,624,5843,0.00,2.50,0.00,0.000,1030,0.000,0.113,2803,2299,1460,1550,1371,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6151,0.89,338.8,2803,2299,1550,1369,93.8,9.2,661,6164,0.00,2.72,7.07,0.511,8452,0.000,0.161,2803,3718,1412,1501,1324,0,0,0,0,0,0,28.83,14.40,14.24
$GC,6195,0.89,338.8,2803,3718,1501,1326,89.4,10.3,668,6203,0.00,2.53,0.00,0.000,1030,0.000,0.116,2814,2285,1413,1501,1326,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6522,0.95,349.9,2814,2285,1500,1324,58.3,9.2,729,6536,0.00,2.70,6.20,0.387,8452,0.000,0.164,2814,3715,1367,1454,1281,0,0,0,0,0,0,28.83,14.42,14.32
$GC,6592,0.95,349.9,2814,3715,1454,1281,50.0,11.9,741,6599,0.00,2.50,0.00,0.000,1030,0.000,0.116,2824,2298,1367,1453,1281,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6912,1.07,379.7,1824,2294,1429,1276,21.5,8.4,802,6938,0.15,2.60,16.42,0.256,10756,0.169,0.140,2889,889,1245,1329,1162,0,0,0,0,0,0,14.47,14.42,14.39
$GC,7069,1.04,379.7,1888,889,1308,1157,4.0,13.4,830,7076,0.00,2.60,0.00,0.000,1030,0.000,0.148,2890,2302,1243,1328,1159,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,7080,end climb,SURFACE_DEPTH_REACHED
$STATE,7081,begin surface coast
$FINISH,0.3,1.024498
$STATE,7102,end surface coast,CONTROL_FINISHED_OK
$STATE,7103,begin surface
$SM_CCo,7132,97.97,0.184,0,0,538,552.91
$SM_GC,1.02,8.10,0.12,97.97,0.097,0.190,0.184,144,2246,538,-7.42,0.45,552.91,0,0,0,0,0,0,14.49,14.47,14.34
$RAFOS_CLK,348
$RAFOS,3,1379579102,8.433333,8.417222,69,55,55,54,54,53,804,217,140,131,118,174
$RAFOS,2,1379578626,8.300000,8.285000,138,66,61,57,56,48,640,162,177,212,201,153
$RAFOS,1,1379578149,8.166667,8.152500,62,61,60,59,51,47,208,181,139,127,1118,93
$RAFOS,0,1379577663,8.033334,8.017500,65,64,62,60,60,57,211,228,175,141,193,154
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6604.29,-6041.48,190913,040407
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,8.61555
$TCM_TEMP,12.40
$XPDR_PINGS,53
$24V_AH,12.8,7.299
$10V_AH,13.1,0.000
$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,21.825,83.450,514.200,97.975,0.000,0.000,0.000,180.275,13.250,0.000,5.812,2026.902,2748.379,712.727,1601.209,487.885,0.000,1741.356,0.000,1446.022,1800.000,0.535,0.000
$DEVICE_MAMPS,441.405,200.430,2178.720,183.600,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36756,836
$CAP_FILE_SIZE,96210,0
$CFSIZE,259252224,250163200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.0
$CURRENT,0.564,186.2,1
$GPS,190913,083705,6630.994,-6043.117,35,1.0,35,-33.6