version: 66.11
glider: 192
mission: 2
dive: 79
start: 9 27 113 9 15 17
data:
$ID,192
$MISSION,2
$DIVE,79
$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,-1227.3251
$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,14
$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
$GPS1,270913,090824,6648.900,-5826.081,40,1.0,40,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.9
$GPS2,270913,091433,6648.938,-5826.224,5,0.8,5,-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,109.2,75562,-16.2,-8.684,-19.07,2590
$D_GRID,786
$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,20,-0.90,-146.0,138,2501,1102,1086,0.0,0.0,0,98,0.00,0.00,-75.85,0.000,16386,0.000,0.000,138,2501,2606,2668,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.90,-146.0,138,2500,2668,2545,3.2,-4.1,13,138,10.00,2.60,-16.70,0.000,18692,0.441,0.167,2192,3873,3340,3520,3160,0,0,0,0,0,0,14.28,14.39,14.64
$GC,159,-0.90,-146.0,2192,3873,3522,3160,18.0,-26.1,21,166,0.00,2.38,0.00,0.000,1030,0.000,0.094,2192,2494,3341,3522,3160,0,0,0,0,0,0,28.83,14.45,28.83
$GC,478,-0.90,-146.0,1344,2492,3515,3156,96.6,-22.3,82,485,0.00,2.53,0.00,0.000,260,0.000,0.145,2181,3876,3341,3522,3160,0,0,0,0,0,0,28.83,14.48,28.83
$GC,507,-0.90,-146.0,2181,3875,3523,3160,103.6,-23.6,85,516,0.00,2.38,0.00,0.000,1030,0.000,0.094,2181,2485,3341,3522,3160,0,0,0,0,0,0,28.83,14.50,28.83
$GC,817,-0.90,-146.0,2182,2484,3523,3160,172.3,-22.2,116,826,0.00,2.40,0.00,0.000,516,0.000,0.111,2181,1095,3341,3523,3160,0,0,0,0,0,0,28.83,14.54,28.83
$GC,835,-0.90,-146.0,2181,1095,3523,3159,175.1,-22.4,117,842,0.15,2.55,0.00,0.000,3078,0.325,0.132,2201,2508,3341,3522,3160,0,0,0,0,0,0,14.47,14.53,28.83
$GC,1144,-0.90,-146.0,2201,2508,3522,3158,237.3,-19.1,148,1153,0.00,2.42,0.00,0.000,260,0.000,0.145,2193,3866,3340,3522,3158,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1202,-0.90,-146.0,1360,3865,3515,3155,248.2,-20.2,153,1209,0.00,2.35,0.00,0.000,1030,0.000,0.096,2192,2488,3340,3523,3158,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1510,-0.90,-146.0,2193,2488,3523,3158,306.5,-18.2,184,1519,0.00,2.40,0.00,0.000,516,0.000,0.113,2193,1098,3339,3522,3157,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1575,-0.90,-146.0,2193,1097,3523,3157,318.0,-17.5,190,1586,0.00,2.53,0.00,0.000,1030,0.000,0.132,2183,2503,3339,3522,3157,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1887,-0.90,-146.0,2184,2503,3523,3157,376.3,-18.5,221,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2503,3340,3523,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,-0.90,-146.0,2183,2503,3523,3157,434.2,-18.4,252,2211,0.00,2.42,0.00,0.000,516,0.000,0.109,2183,1097,3340,3523,3157,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2278,-0.90,-146.0,2183,1097,3523,3158,449.0,-18.1,259,2287,0.10,2.50,0.00,0.000,3078,0.303,0.129,2198,2502,3340,3523,3157,0,0,0,0,0,0,14.54,14.62,28.83
$GC,2589,-0.90,-146.0,2198,2502,3523,3157,501.3,-16.2,290,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2502,3340,3523,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.90,-146.0,2198,2502,3522,3157,552.9,-16.5,321,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2502,3340,3523,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.90,-146.0,2198,2502,3523,3157,605.1,-16.5,350,3226,0.00,2.42,0.00,0.000,260,0.000,0.146,2190,3869,3340,3523,3157,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3255,-0.90,-146.0,2190,3869,3523,3157,611.8,-16.7,351,3261,0.00,2.30,0.00,0.000,1030,0.000,0.095,2190,2492,3340,3523,3157,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3583,-0.90,-146.0,2190,2492,3523,3158,667.8,-16.8,362,3588,0.00,2.40,0.00,0.000,516,0.000,0.110,2190,1093,3340,3523,3158,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3638,-0.90,-146.0,2190,1093,3523,3158,673.3,-17.1,363,3645,0.00,2.50,0.00,0.000,1030,0.000,0.127,2180,2505,3340,3523,3158,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3945,-0.90,-146.0,2180,2504,3523,3158,730.2,-17.2,374,3950,0.00,2.40,0.00,0.000,260,0.000,0.142,2170,3867,3340,3523,3158,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3977,-0.90,-146.0,2170,3867,3523,3158,735.9,-17.3,375,3983,0.12,2.28,0.00,0.000,3078,0.294,0.093,2201,2504,3340,3523,3158,0,0,0,0,0,0,14.61,14.71,28.83
$STATE,4304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4304,begin apogee
$GC,4318,-0.14,0.0,2202,2533,3522,3158,789.6,-15.8,386,4485,0.88,0.00,156.07,2.638,10246,0.272,0.000,2443,2532,2741,2856,2626,0,0,0,0,0,0,14.62,28.83,12.82
$STATE,4486,end apogee,CONTROL_FINISHED_OK
$STATE,4486,begin climb
$GC,4492,0.90,146.0,2444,2532,2856,2626,797.5,0.0,391,4669,1.15,2.78,168.75,2.530,10500,0.170,0.145,2778,3871,2145,2232,2059,0,0,0,0,0,0,13.66,12.99,12.26
$GC,4689,1.06,197.9,2778,3871,2231,2059,789.1,6.6,397,4760,0.12,2.53,62.05,2.466,11270,0.119,0.096,2833,2538,1934,2018,1850,0,0,0,0,0,0,13.22,13.20,12.24
$GC,5087,1.06,197.9,2834,2538,2016,1839,721.7,16.9,411,5092,0.00,2.62,0.00,0.000,516,0.000,0.119,2844,1114,1927,2017,1838,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5119,1.06,197.9,2844,1114,2017,1837,716.1,17.0,412,5124,0.00,2.65,0.00,0.000,1030,0.000,0.132,2844,2523,1927,2017,1837,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5452,1.06,197.9,2845,2523,2016,1836,658.3,17.3,423,5458,0.00,2.53,0.00,0.000,260,0.000,0.151,2844,3867,1926,2017,1835,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5472,1.06,197.9,2844,3867,2015,1836,658.3,17.3,423,5481,0.00,2.35,0.00,0.000,1030,0.000,0.100,2855,2527,1925,2015,1836,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5784,1.06,197.9,2855,2527,2015,1835,598.5,18.4,434,5794,0.00,2.50,0.00,0.000,516,0.000,0.120,2866,1118,1925,2015,1835,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5804,1.06,197.9,2865,1117,2015,1834,596.4,18.3,435,5811,0.00,2.58,0.00,0.000,1030,0.000,0.131,2865,2529,1924,2015,1834,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6112,1.06,197.9,2866,2529,2015,1833,538.1,19.0,466,6122,0.00,2.45,0.00,0.000,260,0.000,0.149,2865,3871,1924,2015,1834,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6142,1.06,197.9,2866,3871,2014,1833,533.0,19.0,468,6149,0.15,2.35,0.00,0.000,5126,0.331,0.100,2845,2517,1923,2014,1833,0,0,0,0,0,0,14.35,14.45,28.83
$GC,6451,1.06,197.9,2845,2516,2014,1834,479.0,17.0,499,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2516,1924,2014,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,1.06,197.9,2845,2516,2014,1833,429.4,15.5,530,6776,0.00,2.45,0.00,0.000,516,0.000,0.119,2855,1116,1923,2014,1833,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6795,1.06,197.9,2854,1115,2014,1832,424.7,14.8,532,6802,0.00,2.55,0.00,0.000,1030,0.000,0.132,2855,2532,1923,2014,1832,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7104,1.06,197.9,2854,2532,2014,1832,373.5,16.7,563,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2532,1923,2014,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7419,1.06,197.9,2855,2533,2014,1832,321.1,16.9,594,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2532,1923,2014,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7733,1.06,197.9,2855,2532,2014,1832,269.0,16.2,625,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2532,1923,2014,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8047,1.06,197.9,2854,2532,2014,1832,219.6,16.0,656,8055,0.00,2.47,0.00,0.000,516,0.000,0.121,2865,1121,1923,2014,1832,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8083,1.06,197.9,2865,1121,2014,1831,213.1,15.7,659,8092,0.00,2.50,0.00,0.000,1030,0.000,0.132,2865,2528,1922,2014,1831,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8393,1.06,197.9,2865,2529,2014,1830,165.6,15.1,690,8403,0.00,2.45,0.00,0.000,260,0.000,0.151,2865,3888,1922,2014,1831,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8442,1.06,197.9,2865,3888,2014,1831,158.0,16.4,694,8451,0.15,2.33,0.00,0.000,5126,0.327,0.101,2843,2530,1922,2014,1831,0,0,0,0,0,0,14.57,14.66,28.83
$GC,8753,1.06,197.9,2843,2529,2014,1831,118.0,11.0,725,8762,0.00,2.42,0.00,0.000,260,0.000,0.151,2843,3876,1922,2014,1831,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8792,1.06,197.9,1856,3875,1971,1827,113.8,11.6,728,8799,0.00,2.30,0.00,0.000,1030,0.000,0.101,2853,2528,1922,2014,1831,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9105,1.06,197.9,2853,2528,2014,1831,77.5,11.1,779,9112,0.00,2.45,0.00,0.000,516,0.000,0.119,2864,1122,1922,2014,1831,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9138,1.06,197.9,1872,1121,1971,1826,74.0,11.0,784,9145,0.00,2.53,0.00,0.000,1030,0.000,0.132,2863,2536,1922,2014,1830,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9455,1.06,197.9,2864,2537,2014,1830,38.3,11.2,845,9462,0.00,2.42,0.00,0.000,260,0.000,0.150,2863,3876,1922,2014,1830,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9524,1.06,197.9,2864,3876,2014,1830,30.3,12.1,857,9531,0.15,2.30,0.00,0.000,5126,0.320,0.102,2841,2530,1922,2014,1830,0,0,0,0,0,0,14.57,14.66,28.83
$GC,9843,1.42,319.9,1840,2529,1970,1826,13.1,3.8,918,9916,0.32,0.00,64.45,0.200,10502,0.132,0.000,2953,2530,1433,1508,1358,0,0,0,0,0,0,14.65,28.83,14.52
$STATE,9935,end climb,SURFACE_DEPTH_REACHED
$STATE,9935,begin surface coast
$FINISH,0.9,1.024877
$STATE,9957,end surface coast,CONTROL_FINISHED_OK
$STATE,9957,begin surface
$SM_CCo,9986,41.20,0.175,0,0,1108,400.08
$SM_GC,1.98,8.35,0.05,41.20,0.102,0.247,0.175,141,2501,1108,-7.32,0.65,400.08,0,0,0,0,0,0,14.59,14.58,14.50
$RAFOS_CLK,482
$RAFOS_FIX,6649.374512,-5827.472168,270913,080825,7,109,0.38
$IRIDIUM_FIX,6620.33,-5924.61,270913,060647
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.29
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.50
$XPDR_PINGS,73
$24V_AH,12.2,34.305
$10V_AH,12.6,0.000
$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,21.650,98.375,451.325,41.200,0.000,0.000,0.000,215.450,18.250,0.000,5.975,2349.648,5091.226,642.537,1744.579,576.202,0.000,1759.606,0.000,1552.607,360.000,0.536,0.000
$DEVICE_MAMPS,441.405,247.095,2638.485,175.185,0.000,0.000,0.000,137.700,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150780
$DATA_FILE_SIZE,40038,937
$CAP_FILE_SIZE,106807,0
$CFSIZE,259252224,245985280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.1
$CURRENT,0.065,132.6,1
$GPS,270913,120406,6649.168,-5821.634,38,0.8,38,-33.6