version: 66.11
glider: 192
mission: 2
dive: 19
start: 9 20 113 7 50 47
data:
$ID,192
$MISSION,2
$DIVE,19
$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,120
$T_MISSION,150
$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,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,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,-1053.2589
$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,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
$GPS1,200913,074429,6624.476,-6043.361,38,2.0,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.3
$GPS2,200913,075002,6624.333,-6043.383,5,1.9,5,-33.5
$SPEED_LIMITS,0.217,0.322
$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,55.7,184450,-18.6,-12.500,-21.21,2254
$D_GRID,407
$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,-1.04,-184.9,129,2346,987,914,0.0,0.0,0,102,0.00,0.00,-80.20,0.000,16386,0.000,0.000,126,2347,2545,2629,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.04,-184.9,126,2347,2629,2461,3.3,-5.7,14,148,10.05,2.55,-20.73,0.000,18948,0.444,0.145,2193,934,3549,3766,3333,0,0,0,0,0,0,14.17,14.31,14.54
$GC,215,-0.90,-184.9,1312,932,3763,3330,31.6,-27.0,31,223,0.25,2.65,0.00,0.000,3078,0.303,0.148,2242,2354,3549,3766,3333,0,0,0,0,0,0,14.27,14.33,28.83
$GC,540,-0.82,-184.9,2242,2354,3766,3333,113.0,-24.4,88,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2354,3549,3766,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-0.76,-184.9,2242,2354,3766,3333,176.3,-17.7,119,865,0.15,2.60,0.00,0.000,2308,0.317,0.155,2273,3761,3549,3766,3333,0,0,0,0,0,0,14.40,14.45,28.83
$GC,902,-0.73,-184.9,2273,3761,3766,3333,184.6,-15.6,123,911,0.00,2.45,0.00,0.000,1030,0.000,0.108,2273,2347,3549,3766,3333,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1212,-0.73,-184.9,2273,2346,3766,3333,226.8,-13.3,154,1221,0.00,2.62,0.00,0.000,260,0.000,0.163,2263,3764,3549,3766,3333,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1308,-0.73,-184.9,2263,3763,3766,3333,240.1,-13.8,163,1317,0.10,2.45,0.00,0.000,3078,0.278,0.109,2290,2344,3549,3766,3333,0,0,0,0,0,0,14.45,14.55,28.83
$GC,1619,-0.75,-184.9,2290,2344,3767,3332,281.0,-13.2,194,1628,0.00,2.62,0.00,0.000,260,0.000,0.164,2282,3762,3549,3766,3332,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1743,-0.78,-184.9,2282,3762,3766,3332,297.1,-14.1,205,1750,0.00,2.47,0.00,0.000,1030,0.000,0.109,2281,2339,3549,3766,3332,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2052,-0.78,-184.9,2281,2339,3766,3332,342.7,-14.0,236,2057,0.00,2.62,0.00,0.000,260,0.000,0.161,2272,3765,3549,3766,3332,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2122,-0.81,-184.9,2272,3765,3766,3331,352.4,-14.5,242,2129,0.00,2.45,0.00,0.000,1030,0.000,0.109,2271,2350,3548,3766,3331,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2431,-0.81,-184.9,2271,2349,3766,3331,397.6,-14.9,273,2440,0.00,2.62,0.00,0.000,260,0.000,0.167,2262,3768,3548,3766,3331,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2469,-0.81,-184.9,1408,3767,3763,3328,403.2,-15.2,276,2476,0.00,2.45,0.00,0.000,1030,0.000,0.107,2262,2349,3548,3766,3331,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2491,begin apogee
$GC,2505,-0.22,0.0,2262,2400,3766,3331,408.0,-15.7,279,2702,0.70,0.00,185.43,2.198,10246,0.264,0.000,2455,2400,2792,2922,2663,0,0,0,0,0,0,14.50,28.83,12.87
$STATE,2703,end apogee,CONTROL_FINISHED_OK
$STATE,2703,begin climb
$GC,2709,1.04,184.9,2455,2398,2921,2663,417.9,0.0,299,2921,1.42,0.00,200.02,2.150,10758,0.188,0.000,2861,2400,2040,2120,1960,0,0,0,0,1,0,13.61,28.83,12.66
$GC,3223,0.90,184.9,2861,2400,2119,1949,370.7,12.9,351,3232,0.12,2.72,0.00,0.000,4356,0.324,0.157,2832,3815,2034,2120,1949,0,0,0,0,0,0,13.89,13.92,28.83
$GC,3335,0.75,184.9,2832,3815,2120,1948,357.3,12.7,361,3345,0.22,2.55,0.00,0.000,5126,0.275,0.111,2783,2404,2033,2119,1947,0,0,0,0,0,0,13.95,14.02,28.83
$GC,3647,0.84,277.4,2784,2405,2119,1945,329.2,8.3,392,3753,0.00,2.85,96.70,2.098,8452,0.000,0.156,2782,3810,1663,1749,1577,0,0,0,0,0,0,28.83,13.47,12.85
$GC,3812,0.85,281.5,2783,3810,1744,1577,312.5,12.3,408,3823,0.00,2.60,5.50,1.651,9222,0.000,0.110,2791,2405,1646,1728,1564,0,0,0,0,0,0,28.83,13.74,13.06
$GC,4125,0.86,287.7,2791,2405,1728,1561,274.5,12.2,439,4143,0.00,2.65,7.57,1.816,8708,0.000,0.135,2802,984,1621,1704,1538,0,0,0,0,0,0,28.83,13.98,13.35
$GC,4160,0.88,289.5,2802,984,1704,1538,270.1,12.4,442,4169,0.00,2.67,0.00,0.000,1030,0.000,0.138,2802,2405,1621,1704,1538,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4472,0.91,312.2,2802,2405,1703,1538,231.2,11.5,473,4508,0.00,2.75,27.23,2.003,8452,0.000,0.161,2802,3817,1520,1604,1437,0,0,0,0,0,0,28.83,13.91,13.32
$GC,4610,0.91,312.2,2802,3817,1602,1437,214.2,13.4,486,4617,0.00,2.58,0.00,0.000,1030,0.000,0.111,2812,2401,1519,1602,1437,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4919,0.97,347.3,2813,2399,1601,1436,178.1,10.9,517,4965,0.12,2.80,36.72,1.983,10500,0.188,0.161,2856,3825,1378,1459,1298,0,0,0,0,0,0,14.26,13.87,13.29
$GC,5064,0.93,347.3,2856,3824,1454,1298,156.1,17.1,531,5074,0.10,2.58,0.00,0.000,5126,0.285,0.112,2840,2402,1376,1454,1298,0,0,0,0,0,0,13.98,14.04,28.83
$GC,5375,0.93,350.0,2840,2401,1453,1295,113.9,12.4,562,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2401,1374,1454,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5690,0.95,367.4,2841,2401,1453,1294,75.5,11.7,612,5709,0.00,2.72,11.30,0.441,8452,0.000,0.163,2840,3826,1295,1373,1218,0,0,0,0,0,0,28.83,14.28,14.18
$GC,5736,0.95,367.4,2840,3826,1373,1219,69.9,13.4,619,5742,0.00,2.55,0.00,0.000,1030,0.000,0.112,2849,2396,1295,1373,1218,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6054,1.07,446.1,1856,2393,1350,1216,37.1,8.9,680,6111,0.00,2.62,45.17,0.299,8708,0.000,0.138,2860,991,973,1045,901,0,0,0,0,0,0,28.83,14.29,14.24
$GC,6173,1.26,506.5,2860,991,1043,899,26.6,9.7,699,6213,0.25,2.62,32.92,0.265,11270,0.148,0.139,2941,2413,728,789,667,0,0,0,0,0,0,14.35,14.33,14.23
$STATE,6298,end climb,SURFACE_DEPTH_REACHED
$STATE,6298,begin surface coast
$FINISH,0.3,1.024910
$STATE,6309,end surface coast,CONTROL_FINISHED_OK
$STATE,6309,begin surface
$SM_CCo,6399,0.00,0.000,0,0,721,508.51
$SM_GC,1.23,8.40,0.15,0.00,0.104,0.170,0.000,143,2342,721,-7.43,0.40,508.51,0,0,0,0,0,0,14.35,14.35,28.83
$RAFOS_CLK,297
$RAFOS,6,1379666947,8.833333,8.818611,68,63,57,54,54,54,214,203,181,126,157,171
$RAFOS,5,1379666464,8.700000,8.684444,62,53,53,52,51,48,223,198,127,146,180,98
$RAFOS,4,1379665983,8.566667,8.550834,66,63,56,54,53,53,165,207,174,187,198,132
$RAFOS,3,1379665503,8.433333,8.417500,58,58,56,55,55,54,144,214,160,185,227,124
$RAFOS,2,1379665030,8.300000,8.286111,67,67,55,54,51,51,131,219,184,193,148,115
$RAFOS,1,1379664543,8.166667,8.150833,63,55,54,50,49,48,218,190,176,163,127,237
$RAFOS,0,1379664070,8.033334,8.019444,94,61,54,54,50,50,593,221,115,191,161,209
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6044.69,200913,050532
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.92
$INTERNAL_PRESSURE,8.61555
$TCM_TEMP,12.30
$XPDR_PINGS,39
$24V_AH,12.7,11.746
$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,21.900,68.125,648.575,0.000,0.000,0.000,0.000,183.275,9.750,0.000,5.817,1691.628,2542.412,664.528,1388.115,451.550,0.000,1622.636,0.000,1230.777,2520.000,0.535,0.000
$DEVICE_MAMPS,443.700,211.140,2197.845,0.000,0.000,0.000,0.000,140.760,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,501.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,30072,723
$CAP_FILE_SIZE,83496,0
$CFSIZE,259252224,249593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1450.7
$CURRENT,0.355,205.7,1
$GPS,200913,093906,6624.035,-6043.722,41,1.0,41,-33.5