version: 66.11
glider: 192
mission: 2
dive: 4
start: 9 18 113 21 51 29
data:
$ID,192
$MISSION,2
$DIVE,4
$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,-611.12079
$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,16
$R_STBD_OVSHOOT,26
$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
$GPS1,180913,214634,6634.544,-6045.951,3,1.3,3,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-59.5
$GPS2,180913,215047,6634.467,-6046.076,4,1.3,4,-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,68.6,179863,-17.0,-9.744,-20.10,2276
$D_GRID,421
$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,-0.84,-146.0,132,2162,552,508,0.0,0.0,0,134,0.00,0.00,-111.18,0.000,16386,0.000,0.000,128,2163,2687,2744,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-0.84,-146.0,128,2163,2744,2629,3.3,-7.7,19,173,9.90,2.50,-14.05,0.000,18948,0.420,0.132,2273,735,3391,3568,3215,0,0,0,0,0,0,14.31,14.46,14.71
$GC,211,-0.70,-146.0,2273,735,3568,3215,23.6,-25.8,30,218,0.22,2.50,0.00,0.000,3078,0.277,0.117,2320,2150,3391,3569,3214,0,0,0,0,0,0,14.38,14.47,28.83
$GC,529,-0.70,-146.0,1424,2148,3562,3210,70.4,-13.2,91,535,0.00,2.53,0.00,0.000,260,0.000,0.139,2311,3559,3392,3570,3214,0,0,0,0,0,0,28.83,14.52,28.83
$GC,692,-0.70,-146.0,2311,3559,3570,3214,92.5,-14.3,121,700,0.00,2.40,0.00,0.000,1030,0.000,0.096,2311,2144,3392,3570,3214,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1011,-0.70,-146.0,2311,2143,3570,3214,137.5,-13.4,156,1019,0.00,2.53,0.00,0.000,260,0.000,0.143,2301,3557,3391,3569,3214,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1116,-0.70,-146.0,2302,3556,3570,3213,152.7,-14.6,166,1125,0.00,2.38,0.00,0.000,1030,0.000,0.097,2301,2147,3391,3569,3213,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1426,-0.70,-146.0,2301,2147,3569,3213,199.1,-15.1,197,1436,0.00,2.53,0.00,0.000,260,0.000,0.145,2291,3559,3391,3569,3213,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1570,-0.66,-146.0,1384,3558,3562,3208,220.5,-15.6,210,1578,0.17,2.40,0.00,0.000,3078,0.272,0.099,2333,2144,3390,3569,3212,0,0,0,0,0,0,14.52,14.64,28.83
$GC,1879,-0.71,-146.0,2333,2144,3569,3212,261.5,-12.3,241,1889,0.00,2.55,0.00,0.000,260,0.000,0.149,2325,3564,3390,3569,3211,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2011,-0.74,-146.0,2325,3563,3569,3211,276.9,-11.8,253,2020,0.00,2.40,0.00,0.000,1030,0.000,0.102,2324,2145,3391,3570,3212,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2322,-0.80,-146.0,2325,2145,3569,3211,312.5,-11.2,284,2331,0.00,2.55,0.00,0.000,260,0.000,0.151,2315,3559,3390,3569,3211,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2553,-0.86,-146.0,2315,3559,3569,3210,340.2,-12.3,306,2561,0.12,2.40,0.00,0.000,5126,0.180,0.101,2273,2146,3390,3570,3210,0,0,0,0,0,0,14.66,14.66,28.83
$STATE,2816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2816,begin apogee
$GC,2830,-0.19,0.0,2273,2205,3569,3210,380.1,-14.4,333,2984,0.73,0.00,141.82,2.120,10246,0.247,0.000,2478,2205,2793,2914,2673,0,0,0,0,0,0,14.56,28.83,12.96
$STATE,2985,end apogee,CONTROL_FINISHED_OK
$STATE,2985,begin climb
$GC,2991,0.84,146.0,2478,2205,2914,2674,389.6,0.0,349,3157,1.10,2.80,151.35,2.086,11012,0.159,0.147,2810,3626,2198,2287,2109,0,0,0,0,0,0,13.80,13.59,12.88
$GC,3393,0.61,146.0,2810,3626,2282,2104,371.7,10.0,389,3403,0.25,2.50,0.00,0.000,5126,0.263,0.105,2754,2208,2192,2283,2101,0,0,0,0,0,0,14.14,14.21,28.83
$GC,3705,0.66,213.6,2754,2208,2283,2097,350.7,6.7,420,3781,0.00,2.72,68.07,2.059,8452,0.000,0.147,2754,3613,1921,2025,1818,0,0,0,0,0,0,28.83,13.78,13.09
$GC,4012,0.66,213.6,1792,3611,1976,1812,321.2,10.5,450,4020,0.00,2.50,0.00,0.000,1030,0.000,0.104,2762,2196,1918,2020,1816,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4322,0.71,261.3,2762,2196,2020,1813,295.4,7.6,481,4379,0.00,2.72,47.65,2.007,8452,0.000,0.149,2762,3610,1727,1826,1629,0,0,0,0,0,0,28.83,13.92,13.25
$GC,4478,0.73,270.3,2762,3609,1824,1629,281.6,9.3,496,4496,0.00,2.47,9.75,1.829,9222,0.000,0.104,2772,2207,1692,1788,1596,0,0,0,0,0,0,28.83,14.16,13.37
$GC,4799,0.80,299.2,2772,2207,1787,1595,254.0,8.4,528,4836,0.10,2.75,30.60,1.956,10500,0.202,0.151,2805,3610,1574,1669,1479,0,0,0,0,0,0,14.37,14.01,13.35
$GC,5036,0.75,299.2,2805,3610,1665,1480,224.6,13.2,551,5045,0.00,2.47,0.00,0.000,1030,0.000,0.106,2816,2196,1572,1665,1480,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5346,0.75,299.2,2816,2196,1665,1477,187.0,11.6,582,5356,0.00,2.60,0.00,0.000,260,0.000,0.154,2816,3610,1571,1665,1477,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5490,0.68,299.2,1792,3609,1630,1474,169.5,13.3,595,5497,0.22,2.47,0.00,0.000,5126,0.263,0.107,2770,2191,1570,1664,1477,0,0,0,0,0,0,14.40,14.47,28.83
$GC,5800,0.79,306.1,2770,2191,1664,1475,138.8,9.4,626,5813,0.12,2.67,7.12,1.717,10500,0.165,0.155,2818,3605,1547,1641,1453,0,0,0,0,0,0,14.54,14.42,13.75
$GC,5928,0.74,306.1,2818,3605,1641,1454,122.3,13.5,638,5938,0.12,2.42,0.00,0.000,5126,0.250,0.109,2792,2202,1547,1641,1454,0,0,0,0,0,0,14.42,14.47,28.83
$GC,6244,0.84,332.3,1792,2200,1608,1451,91.4,8.6,678,6269,0.00,2.65,15.93,0.506,8452,0.000,0.154,2792,3607,1439,1534,1344,0,0,0,0,0,0,28.83,14.45,14.28
$GC,6325,0.88,332.3,1792,3606,1506,1341,83.4,10.2,692,6332,0.00,2.45,0.00,0.000,1030,0.000,0.108,2801,2196,1438,1533,1344,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6644,1.00,367.6,2801,2196,1533,1341,56.2,8.2,753,6671,0.20,2.70,19.83,0.376,10500,0.159,0.158,2874,3614,1295,1385,1205,0,0,0,0,0,0,14.53,14.45,14.35
$GC,6763,0.90,367.6,2874,3614,1382,1206,41.6,14.0,773,6770,0.17,2.47,0.00,0.000,5126,0.278,0.110,2843,2194,1294,1382,1206,0,0,0,0,0,0,14.44,14.51,28.83
$GC,7087,1.07,460.7,1808,2191,1358,1202,8.9,5.5,834,7136,0.12,0.00,46.67,0.200,10498,0.181,0.000,2892,2194,950,1031,870,0,0,0,0,0,0,14.54,28.83,28.83
$STATE,7137,end climb,SURFACE_DEPTH_REACHED
$STATE,7137,begin surface coast
$FINISH,0.1,1.025037
$STATE,7159,end surface coast,CONTROL_FINISHED_OK
$STATE,7159,begin surface
$SM_CCo,7188,56.83,0.180,0,0,537,552.91
$SM_GC,0.87,8.15,0.10,56.83,0.103,0.185,0.180,141,2138,537,-7.48,0.31,552.91,0,0,0,0,0,0,14.51,14.51,14.40
$RAFOS_CLK,340
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6046.20,180913,212123
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.85
$INTERNAL_PRESSURE,8.62531
$TCM_TEMP,12.40
$XPDR_PINGS,44
$24V_AH,12.9,5.916
$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,21.725,71.275,538.800,56.825,0.000,0.000,0.000,0.000,11.000,0.000,5.857,2010.404,2765.485,653.952,1540.048,372.858,0.000,1520.198,0.000,1516.466,0.000,0.536,0.000
$DEVICE_MAMPS,419.985,192.015,2119.815,179.775,0.000,0.000,0.000,0.000,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150840
$DATA_FILE_SIZE,36726,846
$CAP_FILE_SIZE,102064,0
$CFSIZE,259252224,250372096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.0
$CURRENT,0.129,326.7,1
$GPS,180913,235353,6635.580,-6045.541,38,1.2,38,-33.7