version: 66.11
glider: 192
mission: 2
dive: 15
start: 9 20 113 0 19 3
data:
$ID,192
$MISSION,2
$DIVE,15
$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,-1048.2432
$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,10
$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
$GPS1,200913,000835,6627.243,-6046.102,40,0.9,40,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-58.8
$GPS2,200913,001820,6627.172,-6046.241,5,0.9,5,-33.6
$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,145.6,184397,-18.6,-12.500,-21.21,2254
$D_GRID,402
$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,-1.04,-184.9,117,2339,991,910,0.0,0.0,0,118,0.00,0.00,-95.28,0.000,16386,0.000,0.000,117,2339,2818,2882,2755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.04,-184.9,117,2339,2882,2756,3.7,-7.9,16,158,10.30,2.55,-13.62,0.000,18948,0.451,0.148,2195,933,3551,3753,3349,0,0,0,0,0,0,14.16,14.30,14.54
$GC,309,-0.93,-184.9,2195,933,3754,3349,54.5,-23.1,49,317,0.20,2.62,0.00,0.000,3078,0.308,0.142,2230,2353,3551,3754,3349,0,0,0,0,0,0,14.28,14.35,28.83
$GC,635,-0.84,-184.9,2230,2353,3754,3349,130.3,-21.5,98,645,0.12,2.60,0.00,0.000,2308,0.331,0.158,2253,3768,3551,3754,3348,0,0,0,0,0,0,14.36,14.40,28.83
$GC,748,-0.81,-184.9,2254,3768,3754,3349,150.4,-18.0,108,757,0.00,2.45,0.00,0.000,1030,0.000,0.107,2254,2350,3551,3754,3349,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1059,-0.76,-184.9,2254,2350,3754,3349,208.1,-17.9,139,1068,0.12,2.50,0.00,0.000,2564,0.324,0.129,2283,942,3551,3754,3349,0,0,0,0,0,0,14.42,14.48,28.83
$GC,1098,-0.76,-184.9,2283,943,3754,3349,214.0,-16.5,142,1106,0.00,2.60,0.00,0.000,1030,0.000,0.145,2276,2358,3551,3754,3349,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1407,-0.76,-184.9,2276,2358,3754,3348,261.1,-14.9,173,1416,0.00,2.58,0.00,0.000,260,0.000,0.164,2266,3758,3551,3754,3348,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1540,-0.76,-184.9,1376,3757,3751,3345,282.1,-16.9,185,1547,0.00,2.45,0.00,0.000,1030,0.000,0.109,2266,2349,3550,3754,3347,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1848,-0.76,-184.9,2266,2349,3753,3347,337.2,-16.7,216,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2349,3550,3754,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.76,-184.9,2266,2349,3754,3347,386.3,-14.9,247,2173,0.00,2.60,0.00,0.000,260,0.000,0.167,2256,3759,3550,3754,3347,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2230,-0.76,-184.9,2256,3759,3755,3347,397.2,-15.1,253,2239,0.10,2.42,0.00,0.000,3078,0.274,0.109,2283,2346,3550,3754,3347,0,0,0,0,0,0,14.49,14.56,28.83
$STATE,2265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2265,begin apogee
$GC,2278,-0.22,0.0,2283,2401,3754,3346,403.3,-14.7,257,2475,0.62,0.00,189.77,2.237,10246,0.252,0.000,2459,2401,2792,2915,2670,0,0,0,0,0,0,14.50,28.83,12.83
$STATE,2476,end apogee,CONTROL_FINISHED_OK
$STATE,2476,begin climb
$GC,2482,1.04,184.9,2459,2401,2916,2670,414.0,0.0,277,2693,1.38,2.88,198.43,2.185,10756,0.171,0.135,2870,993,2039,2127,1952,0,0,0,0,0,0,13.58,13.28,12.62
$GC,2928,0.92,184.9,2870,993,2126,1940,379.6,13.7,321,2935,0.17,2.70,0.00,0.000,5126,0.294,0.141,2833,2401,2032,2126,1939,0,0,0,0,0,0,13.83,13.89,28.83
$GC,3238,0.85,206.8,2833,2401,2126,1936,342.9,11.5,352,3267,0.00,2.80,22.48,2.041,8452,0.000,0.161,2833,3809,1950,2050,1850,0,0,0,0,0,0,28.83,13.88,13.24
$GC,3335,0.72,206.8,2833,3809,2048,1850,331.4,13.9,361,3345,0.28,2.55,0.00,0.000,5126,0.273,0.112,2771,2403,1949,2049,1850,0,0,0,0,0,0,13.91,13.98,28.83
$GC,3647,0.85,309.7,2772,2403,2048,1847,304.3,7.8,392,3763,0.12,0.00,110.62,2.070,10246,0.173,0.000,2815,2403,1531,1621,1442,0,0,0,0,0,0,14.20,28.83,12.84
$GC,4067,0.89,343.5,2815,2403,1615,1435,258.1,11.0,434,4114,0.00,2.85,35.83,2.023,8452,0.000,0.159,2815,3808,1393,1480,1306,0,0,0,0,0,0,28.83,13.70,13.09
$GC,4131,0.92,371.3,2815,3809,1479,1306,251.1,11.2,440,4167,0.00,2.60,31.05,1.972,9222,0.000,0.110,2825,2400,1279,1361,1198,0,0,0,0,0,0,28.83,13.78,12.95
$GC,4471,0.99,397.5,2825,2400,1355,1197,213.2,11.3,474,4506,0.00,0.00,28.42,1.966,8198,0.000,0.000,2825,2400,1173,1251,1096,0,0,0,0,0,0,28.83,28.83,13.16
$GC,4811,1.03,397.5,2825,2400,1248,1092,170.2,13.8,508,4821,0.12,2.60,0.00,0.000,2564,0.180,0.135,2879,990,1170,1248,1092,0,0,0,0,0,0,14.14,14.09,28.83
$GC,4841,1.07,397.5,2879,990,1247,1092,166.2,14.3,510,4849,0.00,2.65,0.00,0.000,1030,0.000,0.142,2879,2399,1169,1246,1092,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5151,1.04,397.5,2879,2399,1245,1092,109.4,17.6,541,5159,0.00,2.65,0.00,0.000,260,0.000,0.161,2879,3813,1168,1244,1092,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5196,1.00,397.5,2879,3813,1244,1092,101.2,18.0,545,5206,0.10,2.50,0.00,0.000,5126,0.279,0.113,2863,2401,1167,1244,1091,0,0,0,0,0,0,14.21,14.27,28.83
$GC,5517,1.00,397.5,1856,2398,1229,1089,54.6,14.4,606,5524,0.00,2.67,0.00,0.000,260,0.000,0.164,2862,3811,1167,1244,1090,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5561,1.00,397.5,2862,3811,1243,1090,47.9,15.2,613,5568,0.00,2.53,0.00,0.000,1030,0.000,0.114,2871,2393,1167,1243,1091,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5880,1.05,415.5,1856,2390,1228,1088,12.4,11.7,674,5895,0.00,2.62,9.23,0.227,8708,0.000,0.137,2882,987,1099,1176,1022,0,0,0,0,0,0,28.83,14.38,14.35
$STATE,5955,end climb,SURFACE_DEPTH_REACHED
$STATE,5955,begin surface coast
$FINISH,0.4,1.024894
$STATE,5989,end surface coast,CONTROL_FINISHED_OK
$STATE,5989,begin surface
$SM_CCo,6020,19.77,0.186,0,0,958,450.13
$SM_GC,1.34,8.18,2.55,19.77,0.103,0.131,0.186,145,2355,958,-7.43,-0.37,450.13,0,0,0,0,0,0,14.41,14.40,14.36
$RAFOS_CLK,283
$RAFOS,6,1379638145,0.833333,0.818056,62,61,55,55,52,52,228,210,114,134,151,187
$RAFOS,5,1379637664,0.700000,0.684444,59,59,56,55,51,50,145,197,209,164,113,233
$RAFOS,4,1379637185,0.566667,0.551389,64,55,55,55,53,50,199,185,224,837,157,129
$RAFOS,3,1379636705,0.433333,0.418056,63,63,62,60,59,58,193,216,206,139,157,116
$RAFOS,0,1379635269,0.033333,0.019167,58,53,53,52,51,51,192,163,131,216,207,119
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6047.32,200913,000000
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.44
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,22
$24V_AH,12.6,10.168
$10V_AH,12.9,0.000
$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,21.825,62.650,625.825,19.775,0.000,0.000,0.000,315.400,5.500,0.000,5.846,1649.932,2432.560,676.535,1452.041,424.662,0.000,1716.923,0.000,1171.515,1440.000,0.536,0.000
$DEVICE_MAMPS,451.350,210.375,2236.860,185.895,0.000,0.000,0.000,131.580,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.632,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30137,693
$CAP_FILE_SIZE,80168,0
$CFSIZE,259252224,249794560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.5
$CURRENT,0.236,343.7,1
$GPS,200913,020125,6627.384,-6044.601,39,1.3,39,-33.6