version: 66.11
glider: 192
mission: 2
dive: 9
start: 9 19 113 11 56 43
data:
$ID,192
$MISSION,2
$DIVE,9
$N_DIVES,0
$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,-1040.7114
$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,16
$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
$GPS1,190913,115148,6627.482,-6047.945,27,1.0,27,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-59.1
$GPS2,190913,115600,6627.457,-6048.049,17,0.9,17,-33.6
$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,57.8,185428,-17.0,-9.744,-20.10,2276
$D_GRID,392
$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,-0.84,-146.0,132,2244,558,501,0.0,0.0,0,148,0.00,0.00,-124.65,0.000,16386,0.000,0.000,126,2245,2979,3052,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.84,-146.0,125,2245,3051,2909,3.2,-6.7,21,182,10.05,2.47,-7.85,0.000,19204,0.431,0.130,2256,831,3393,3554,3233,0,0,0,0,0,0,14.28,14.42,14.66
$GC,299,-0.76,-146.0,2256,831,3555,3232,40.7,-17.9,46,307,0.17,2.53,0.00,0.000,3078,0.297,0.121,2287,2257,3393,3557,3230,0,0,0,0,0,0,14.37,14.45,28.83
$GC,619,-0.66,-146.0,2287,2257,3558,3228,90.0,-15.2,107,627,0.12,2.53,0.00,0.000,2308,0.315,0.138,2311,3660,3393,3558,3228,0,0,0,0,0,0,14.40,14.47,28.83
$GC,777,-0.66,-146.0,1440,3659,3552,3222,112.3,-14.3,127,783,0.00,2.42,0.00,0.000,1030,0.000,0.096,2311,2242,3392,3559,3225,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1085,-0.63,-146.0,2311,2242,3560,3224,157.3,-14.6,158,1095,0.00,2.58,0.00,0.000,260,0.000,0.145,2301,3663,3392,3560,3224,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1132,-0.59,-146.0,2302,3662,3560,3224,164.4,-15.5,162,1142,0.12,2.40,0.00,0.000,3078,0.260,0.099,2337,2247,3391,3559,3223,0,0,0,0,0,0,14.45,14.55,28.83
$GC,1444,-0.62,-146.0,2337,2246,3561,3222,207.1,-13.8,193,1453,0.00,2.55,0.00,0.000,260,0.000,0.148,2329,3657,3391,3561,3222,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1560,-0.62,-146.0,2329,3657,3561,3222,223.7,-14.2,204,1568,0.00,2.38,0.00,0.000,1030,0.000,0.102,2329,2255,3391,3560,3222,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1871,-0.66,-146.0,2329,2255,3561,3221,265.4,-13.0,235,1879,0.00,2.55,0.00,0.000,260,0.000,0.151,2319,3661,3391,3561,3221,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1949,-0.70,-146.0,2319,3662,3561,3221,275.8,-13.6,242,1957,0.00,2.42,0.00,0.000,1030,0.000,0.103,2319,2245,3391,3561,3221,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2259,-0.70,-146.0,2319,2245,3561,3220,316.7,-12.8,273,2268,0.00,2.58,0.00,0.000,260,0.000,0.153,2309,3656,3390,3561,3219,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2378,-0.70,-146.0,2309,3656,3561,3219,331.7,-13.0,284,2384,0.00,2.42,0.00,0.000,1030,0.000,0.104,2309,2240,3389,3561,3218,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2686,-0.70,-146.0,2309,2239,3560,3218,370.5,-12.0,315,2695,0.00,2.55,0.00,0.000,260,0.000,0.153,2299,3650,3389,3560,3218,0,0,0,0,0,0,28.83,14.58,28.83
$STATE,2755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2755,begin apogee
$GC,2771,-0.19,0.0,2299,2298,3560,3218,380.2,-13.1,322,2926,0.60,0.00,144.07,2.134,10246,0.251,0.000,2466,2298,2794,2914,2674,0,0,0,0,0,0,14.54,28.83,12.93
$STATE,2927,end apogee,CONTROL_FINISHED_OK
$STATE,2927,begin climb
$GC,2933,0.84,146.0,2466,2298,2914,2675,389.4,0.0,338,3105,1.12,2.78,152.93,2.098,10756,0.177,0.129,2805,892,2198,2291,2105,0,0,0,0,0,0,13.69,13.50,12.83
$GC,3115,0.83,262.0,2805,892,2291,2103,389.8,4.5,356,3247,0.00,2.70,120.35,2.049,9222,0.000,0.130,2805,2298,1725,1824,1626,0,0,0,0,0,0,28.83,13.68,12.76
$GC,3560,0.77,262.0,2805,2298,1820,1617,338.0,12.2,400,3569,0.00,2.65,0.00,0.000,260,0.000,0.151,2805,3707,1718,1819,1617,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3802,0.67,262.0,2805,3706,1816,1617,305.9,12.6,423,3810,0.25,2.50,0.00,0.000,5126,0.269,0.106,2755,2297,1716,1816,1617,0,0,0,0,0,0,14.16,14.24,28.83
$GC,4112,0.80,313.9,2755,2296,1817,1616,281.5,7.4,454,4172,0.12,2.80,52.33,2.006,10500,0.166,0.151,2801,3710,1514,1613,1415,0,0,0,0,0,0,14.37,13.82,13.19
$GC,4307,0.76,313.9,2801,3709,1611,1416,259.3,12.5,473,4315,0.00,2.53,0.00,0.000,1030,0.000,0.106,2812,2293,1513,1611,1416,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4617,0.76,313.9,2812,2293,1610,1412,223.8,11.3,504,4627,0.12,2.62,0.00,0.000,4356,0.288,0.151,2780,3705,1511,1610,1412,0,0,0,0,0,0,14.24,14.26,28.83
$GC,4749,0.80,313.9,2780,3705,1609,1411,209.5,11.4,516,4758,0.00,2.50,0.00,0.000,1030,0.000,0.107,2788,2294,1510,1609,1411,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5060,0.86,313.9,2787,2293,1609,1411,173.5,11.4,547,5069,0.00,2.60,0.00,0.000,260,0.000,0.154,2788,3711,1509,1608,1411,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5106,0.90,313.9,2787,3711,1608,1411,167.7,12.4,551,5116,0.00,2.45,0.00,0.000,1030,0.000,0.109,2797,2301,1509,1608,1411,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5418,0.94,313.9,2798,2301,1607,1410,130.6,10.6,582,5424,0.12,0.00,0.00,0.000,2054,0.187,0.000,2845,2301,1509,1608,1410,0,0,0,0,0,0,14.48,28.83,28.83
$GC,5732,0.90,313.9,1856,2298,1578,1407,94.5,11.0,617,5739,0.00,2.60,0.00,0.000,260,0.000,0.156,2845,3713,1508,1608,1409,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5781,0.80,313.9,1840,3712,1576,1407,89.0,11.6,625,5789,0.25,2.47,0.00,0.000,5126,0.271,0.110,2793,2291,1508,1607,1409,0,0,0,0,0,0,14.47,14.53,28.83
$GC,6106,0.96,380.4,2793,2291,1607,1409,65.8,6.7,686,6150,0.12,2.72,37.53,0.400,10500,0.177,0.156,2841,3719,1243,1334,1153,0,0,0,0,0,0,14.55,14.43,14.31
$GC,6227,0.96,380.4,2841,3719,1328,1153,52.5,12.0,706,6234,0.00,2.50,0.00,0.000,1030,0.000,0.111,2852,2291,1240,1328,1153,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6546,1.01,380.4,2852,2290,1326,1149,16.9,10.7,767,6554,0.00,2.65,0.00,0.000,260,0.000,0.158,2852,3715,1237,1325,1149,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,6655,end climb,SURFACE_DEPTH_REACHED
$STATE,6655,begin surface coast
$FINISH,0.4,1.024790
$STATE,6677,end surface coast,CONTROL_FINISHED_OK
$STATE,6677,begin surface
$SM_CCo,6708,96.97,0.185,0,0,537,552.91
$SM_GC,1.10,8.02,2.60,96.97,0.103,0.103,0.185,143,2248,537,-7.43,0.62,552.91,0,0,0,0,0,0,14.53,14.54,14.38
$RAFOS_CLK,314
$RAFOS,6,1379594943,12.833333,12.817500,65,61,57,56,53,52,140,174,221,121,206,151
$RAFOS,5,1379594463,12.700000,12.684167,70,67,56,55,51,50,216,173,196,153,230,118
$RAFOS,4,1379593985,12.566667,12.551389,62,56,52,50,49,47,209,218,155,190,118,1296
$RAFOS,3,1379593507,12.433333,12.418612,64,63,62,56,53,45,201,223,172,191,130,117
$RAFOS,2,1379593021,12.300000,12.283611,62,61,57,55,51,51,196,215,153,133,173,182
$RAFOS,1,1379592550,12.166667,12.152778,59,58,56,53,53,52,210,229,187,219,117,163
$RAFOS,0,1379592066,12.033333,12.018333,68,64,61,57,55,54,217,199,154,166,187,125
$RAFOS,4,1379579584,8.566667,8.551111,64,61,57,53,52,50,202,212,158,149,170,227
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6553.70,-5959.31,190913,111146
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.73
$INTERNAL_PRESSURE,8.62531
$TCM_TEMP,12.30
$XPDR_PINGS,104
$24V_AH,12.8,7.827
$10V_AH,13.0,0.000
$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,21.225,76.425,507.200,96.975,0.000,0.000,0.000,0.000,26.000,0.000,18.114,1887.012,2580.096,694.710,1393.323,364.469,0.000,1494.820,0.000,1362.588,2520.000,0.536,0.000
$DEVICE_MAMPS,430.695,158.355,2133.585,185.130,0.000,0.000,0.000,0.000,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150812
$DATA_FILE_SIZE,33488,791
$CAP_FILE_SIZE,187425,0
$CFSIZE,259252224,250019840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.6
$CURRENT,0.189,352.5,1
$GPS,190913,135153,6628.963,-6047.420,39,1.3,39,-33.6