version: 66.11
glider: 192
mission: 2
dive: 17
start: 9 20 113 3 59 41
data:
$ID,192
$MISSION,2
$DIVE,17
$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,-1050.7515
$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,15
$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
$GPS1,200913,035338,6626.834,-6043.025,72,1.2,72,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.9
$GPS2,200913,035856,6626.755,-6043.100,4,1.0,4,-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,104.1,182565,-18.6,-12.500,-21.21,2254
$D_GRID,418
$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,-184.9,125,2336,989,914,0.0,0.0,0,111,0.00,0.00,-89.50,0.000,16386,0.000,0.000,121,2338,2709,2778,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.04,-184.9,121,2338,2779,2641,3.4,-5.7,15,151,10.23,2.62,-16.25,0.000,18948,0.451,0.155,2194,936,3550,3755,3346,0,0,0,0,0,0,14.18,14.32,14.55
$GC,249,-0.90,-184.9,2194,935,3756,3346,41.8,-25.0,37,258,0.22,2.62,0.00,0.000,3078,0.310,0.142,2236,2355,3551,3756,3346,0,0,0,0,0,0,14.27,14.35,28.83
$GC,571,-0.81,-184.9,2236,2354,3757,3346,112.4,-20.7,92,581,0.12,2.60,0.00,0.000,2308,0.322,0.158,2260,3758,3551,3757,3346,0,0,0,0,0,0,14.35,14.39,28.83
$GC,809,-0.78,-184.9,2260,3758,3757,3346,159.5,-19.0,115,818,0.00,2.45,0.00,0.000,1030,0.000,0.107,2260,2348,3551,3756,3346,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1120,-0.75,-184.9,2260,2347,3757,3346,218.3,-18.1,146,1130,0.12,2.50,0.00,0.000,2564,0.326,0.127,2290,934,3551,3757,3346,0,0,0,0,0,0,14.44,14.48,28.83
$GC,1149,-0.75,-184.9,2290,934,3756,3346,222.9,-17.4,148,1156,0.00,2.60,0.00,0.000,1030,0.000,0.143,2283,2353,3551,3757,3346,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1458,-0.75,-184.9,2283,2353,3757,3346,269.4,-14.7,179,1467,0.00,2.58,0.00,0.000,260,0.000,0.161,2273,3759,3551,3756,3346,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1523,-0.75,-184.9,2272,3760,3756,3346,279.2,-15.2,185,1528,0.00,2.45,0.00,0.000,1030,0.000,0.109,2272,2352,3551,3756,3346,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1840,-0.75,-184.9,2273,2351,3756,3346,326.9,-15.0,216,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2351,3551,3756,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,-0.75,-184.9,2273,2351,3757,3346,370.5,-13.2,247,2158,0.00,2.60,0.00,0.000,260,0.000,0.163,2263,3761,3550,3756,3345,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2225,-0.75,-184.9,2263,3761,3756,3345,381.1,-14.1,254,2234,0.08,2.45,0.00,0.000,3078,0.276,0.109,2284,2342,3550,3756,3345,0,0,0,0,0,0,14.50,14.57,28.83
$STATE,2500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2500,begin apogee
$GC,2514,-0.22,0.0,2284,2408,3757,3345,419.3,-13.8,282,2711,0.60,0.00,190.82,2.278,10246,0.253,0.000,2453,2408,2792,2914,2671,0,0,0,0,0,0,14.52,28.83,12.83
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2718,1.04,184.9,2453,2408,2914,2672,427.3,0.0,302,2935,1.40,2.88,201.43,2.173,10756,0.169,0.132,2872,993,2039,2132,1947,0,0,0,0,1,0,13.57,13.26,12.60
$GC,3133,0.91,184.9,2872,993,2127,1938,404.5,14.0,344,3142,0.15,2.70,0.00,0.000,5126,0.270,0.140,2834,2399,2032,2127,1938,0,0,0,0,0,0,13.76,13.82,28.83
$GC,3445,0.83,195.6,2833,2400,2127,1934,366.3,12.0,375,3463,0.12,2.75,10.93,2.109,12548,0.318,0.158,2803,3823,1996,2095,1898,0,0,0,0,0,0,14.02,13.95,13.29
$GC,3548,0.74,195.6,1792,3822,2047,1893,354.3,13.0,384,3555,0.17,2.60,0.00,0.000,5126,0.299,0.111,2775,2395,1996,2095,1897,0,0,0,0,0,0,13.98,14.05,28.83
$GC,3857,0.84,275.1,2775,2395,2095,1897,324.1,8.9,415,3946,0.00,0.00,86.15,2.170,8454,0.000,0.000,2775,2394,1671,1765,1577,0,0,0,0,0,0,28.83,28.83,12.89
$GC,4249,0.95,329.0,2775,2395,1760,1572,284.2,10.0,454,4315,0.17,2.88,58.05,2.121,10500,0.158,0.158,2837,3814,1451,1540,1363,0,0,0,0,0,0,14.09,13.56,12.93
$GC,4387,0.91,329.0,1856,3814,1509,1361,265.0,16.0,467,4394,0.00,2.62,0.00,0.000,1030,0.000,0.111,2848,2399,1449,1535,1364,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4696,0.91,329.0,2848,2399,1532,1362,221.8,13.3,498,4705,0.00,2.60,0.00,0.000,516,0.000,0.138,2858,994,1446,1532,1361,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4751,0.91,329.0,2858,994,1531,1360,214.4,13.1,503,4760,0.10,2.62,0.00,0.000,5126,0.252,0.140,2830,2403,1445,1531,1360,0,0,0,0,0,0,14.09,14.15,28.83
$GC,5062,0.91,329.0,2830,2404,1530,1359,176.2,12.7,534,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2403,1444,1530,1359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5379,0.93,329.0,2830,2403,1530,1358,136.1,13.6,565,5389,0.00,2.62,0.00,0.000,260,0.000,0.161,2830,3807,1444,1530,1358,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5523,0.93,329.0,1808,3807,1502,1356,115.9,13.6,578,5530,0.00,2.50,0.00,0.000,1030,0.000,0.113,2839,2399,1443,1528,1358,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5835,1.00,390.4,1840,2397,1502,1355,82.0,9.7,627,5879,0.00,2.60,35.15,0.461,8708,0.000,0.138,2850,983,1201,1282,1121,0,0,0,0,0,0,28.83,14.33,14.19
$GC,5921,1.12,437.5,2850,983,1280,1121,73.2,10.4,641,5960,0.15,2.62,27.65,0.436,11270,0.174,0.142,2898,2402,1009,1082,936,0,0,0,0,0,0,14.38,14.34,14.14
$GC,6275,1.12,437.5,2898,2403,1074,930,20.2,13.3,707,6282,0.00,2.65,0.00,0.000,260,0.000,0.164,2898,3812,1002,1074,930,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6374,1.09,437.5,2898,3811,1070,931,3.8,16.7,725,6382,0.00,2.50,0.00,0.000,1030,0.000,0.116,2908,2401,1000,1069,931,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,6386,end climb,SURFACE_DEPTH_REACHED
$STATE,6386,begin surface coast
$FINISH,0.2,1.020811
$STATE,6403,end surface coast,CONTROL_FINISHED_OK
$STATE,6403,begin surface
$SM_CCo,6433,5.70,0.203,0,0,957,450.13
$SM_GC,1.72,8.70,0.10,5.70,0.147,0.197,0.203,139,2351,957,-7.44,0.57,450.13,0,0,0,0,0,0,14.42,14.41,14.37
$RAFOS_CLK,300
$RAFOS,6,1379652542,4.833333,4.817222,67,58,50,50,50,49,206,128,161,119,216,181
$RAFOS,5,1379652071,4.700000,4.686389,66,59,58,56,53,52,196,187,147,130,114,90
$RAFOS,4,1379651585,4.566667,4.551389,63,59,57,53,50,49,166,212,123,138,179,1885
$RAFOS,3,1379651108,4.433333,4.418889,62,61,56,56,55,51,220,768,178,188,211,145
$RAFOS,2,1379650624,4.300000,4.284444,91,62,58,58,55,55,654,172,203,181,215,147
$RAFOS,1,1379650144,4.166667,4.151111,59,58,57,55,54,54,211,711,221,140,235,152
$RAFOS,0,1379649665,4.033333,4.018055,61,59,58,57,55,53,203,217,169,186,142,226
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6604.29,-6042.06,200913,020257
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.40
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,35
$24V_AH,12.6,10.974
$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,22.350,62.875,610.175,5.700,0.000,0.000,0.000,174.300,8.750,0.000,5.859,1734.818,2556.480,633.932,1413.774,436.035,0.000,1580.170,0.000,1260.471,2520.000,0.535,0.000
$DEVICE_MAMPS,450.585,197.370,2278.170,202.725,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.729,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150756
$DATA_FILE_SIZE,33515,730
$CAP_FILE_SIZE,82334,0
$CFSIZE,259252224,249688064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1451.4
$CURRENT,0.350,204.8,1
$GPS,200913,054858,6625.843,-6042.429,50,1.1,53,-33.5