version: 66.11
glider: 192
mission: 2
dive: 18
start: 9 20 113 5 55 39
data:
$ID,192
$MISSION,2
$DIVE,18
$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,-1052.0065
$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
$GPS1,200913,054858,6625.843,-6042.429,50,1.1,53,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.4
$GPS2,200913,055451,6625.686,-6042.484,4,0.9,5,-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,56.3,182890,-18.6,-12.500,-21.21,2254
$D_GRID,416
$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,-184.9,120,2346,992,914,0.0,0.0,0,106,0.00,0.00,-83.50,0.000,16386,0.000,0.000,120,2347,2574,2657,2492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.04,-184.9,120,2346,2652,2499,3.0,-5.6,14,151,10.20,2.62,-21.33,0.000,18948,0.450,0.152,2192,940,3550,3762,3338,0,0,0,0,0,0,14.17,14.31,14.54
$GC,172,-0.79,-184.9,1344,939,3760,3335,19.3,-27.8,23,180,0.38,2.62,0.00,0.000,3078,0.311,0.143,2272,2352,3550,3763,3338,0,0,0,0,0,0,14.24,14.32,28.83
$GC,491,-0.76,-184.9,2273,2351,3763,3338,87.2,-18.5,84,498,0.00,2.55,0.00,0.000,516,0.000,0.131,2273,940,3550,3763,3338,0,0,0,0,0,0,28.83,14.40,28.83
$GC,684,-0.76,-184.9,2273,940,3763,3338,119.5,-16.4,109,692,0.00,2.60,0.00,0.000,1030,0.000,0.143,2273,2353,3551,3764,3338,0,0,0,0,0,0,28.83,14.43,28.83
$GC,999,-0.76,-184.9,2273,2353,3763,3338,173.6,-17.2,140,1008,0.00,2.60,0.00,0.000,260,0.000,0.159,2266,3768,3550,3763,3338,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1084,-0.76,-184.9,2266,3768,3763,3337,190.3,-17.7,148,1093,0.00,2.47,0.00,0.000,1030,0.000,0.108,2266,2349,3550,3763,3338,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1395,-0.74,-184.9,2266,2347,3763,3338,246.2,-17.8,179,1405,0.12,2.62,0.00,0.000,2308,0.311,0.163,2288,3765,3551,3764,3338,0,0,0,0,0,0,14.46,14.50,28.83
$GC,1451,-0.74,-184.9,2289,3765,3763,3338,255.6,-16.1,184,1460,0.00,2.45,0.00,0.000,1030,0.000,0.109,2288,2348,3550,3763,3338,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1762,-0.76,-184.9,2289,2347,3763,3338,304.8,-16.4,215,1770,0.00,2.62,0.00,0.000,260,0.000,0.165,2279,3764,3550,3763,3338,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1850,-0.79,-184.9,1416,3763,3760,3334,318.6,-15.7,223,1857,0.00,2.45,0.00,0.000,1030,0.000,0.109,2279,2348,3550,3764,3337,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2159,-0.81,-184.9,2279,2349,3764,3337,366.9,-15.2,254,2168,0.00,2.62,0.00,0.000,260,0.000,0.167,2269,3766,3550,3764,3337,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2188,-0.81,-184.9,2269,3766,3763,3337,371.1,-15.6,256,2194,0.00,2.45,0.00,0.000,1030,0.000,0.108,2268,2350,3550,3763,3337,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2477,begin apogee
$GC,2490,-0.22,0.0,2269,2402,3764,3337,416.4,-16.0,285,2688,0.68,0.00,187.93,2.229,10246,0.262,0.000,2455,2403,2794,2920,2668,0,0,0,0,0,0,14.52,28.83,12.87
$STATE,2689,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2695,1.04,184.9,2455,2402,2920,2669,427.1,0.0,306,2905,1.40,2.80,197.00,2.131,10756,0.177,0.131,2870,994,2039,2120,1959,0,0,0,0,0,0,13.59,13.29,12.64
$GC,3138,0.91,184.9,2871,994,2120,1946,394.9,12.7,350,3146,0.17,2.70,0.00,0.000,5126,0.293,0.139,2833,2405,2033,2120,1946,0,0,0,0,0,0,13.83,13.88,28.83
$GC,3448,0.87,221.5,2834,2405,2120,1942,359.3,10.8,381,3494,0.00,2.72,37.45,2.075,8708,0.000,0.135,2843,993,1890,1990,1791,0,0,0,0,0,0,28.83,13.75,13.12
$GC,3556,0.81,226.9,2843,993,1989,1790,347.0,12.3,391,3570,0.15,2.67,7.15,1.781,13318,0.256,0.142,2803,2396,1867,1966,1768,0,0,0,0,0,0,13.83,13.87,13.19
$GC,3882,0.81,246.2,2803,2396,1966,1766,309.2,11.6,423,3909,0.00,2.83,20.80,1.998,8452,0.000,0.158,2803,3820,1789,1887,1691,0,0,0,0,0,0,28.83,13.91,13.30
$GC,4042,0.76,246.2,2803,3820,1884,1693,287.3,14.4,438,4050,0.15,2.58,0.00,0.000,5126,0.293,0.110,2780,2398,1788,1884,1693,0,0,0,0,0,0,14.02,14.09,28.83
$GC,4352,0.84,290.0,2780,2398,1884,1691,253.0,10.5,469,4407,0.00,2.80,46.35,2.004,8452,0.000,0.161,2780,3811,1611,1700,1522,0,0,0,0,0,0,28.83,13.79,13.20
$GC,4499,0.90,316.5,1800,3811,1663,1518,237.2,11.3,483,4536,0.12,2.58,28.80,1.950,11270,0.183,0.110,2827,2399,1502,1588,1417,0,0,0,0,0,0,14.01,14.01,13.14
$GC,4848,0.91,326.4,2827,2399,1586,1411,193.7,12.0,518,4866,0.00,2.75,10.62,1.841,8452,0.000,0.160,2827,3821,1463,1549,1377,0,0,0,0,0,0,28.83,14.03,13.44
$GC,4980,0.91,326.4,2827,3821,1548,1378,176.7,13.8,530,4988,0.00,2.55,0.00,0.000,1030,0.000,0.112,2838,2397,1463,1548,1378,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5290,0.91,326.4,2838,2396,1546,1377,134.3,13.4,561,5299,0.00,2.58,0.00,0.000,516,0.000,0.136,2849,987,1461,1546,1376,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5326,0.91,326.4,2848,987,1546,1376,129.8,13.1,564,5335,0.00,2.62,0.00,0.000,1030,0.000,0.142,2849,2403,1461,1546,1376,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5642,0.97,374.7,2849,2403,1546,1375,93.9,10.3,600,5679,0.00,2.65,28.83,0.507,8452,0.000,0.161,2849,3812,1265,1346,1185,0,0,0,0,0,0,28.83,14.28,14.14
$GC,5795,0.97,374.7,2849,3812,1342,1186,74.5,14.0,627,5802,0.00,2.53,0.00,0.000,1030,0.000,0.112,2859,2391,1264,1342,1186,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6115,1.01,388.9,2859,2390,1339,1182,35.2,11.9,688,6129,0.00,2.75,7.62,0.303,8452,0.000,0.163,2859,3812,1206,1285,1128,0,0,0,0,0,0,28.83,14.37,14.31
$GC,6183,1.07,411.6,2859,3812,1284,1128,27.0,11.5,699,6202,0.00,2.50,12.48,0.271,9222,0.000,0.112,2869,2399,1115,1191,1039,0,0,0,0,0,0,28.83,14.41,14.31
$STATE,6358,end climb,SURFACE_DEPTH_REACHED
$STATE,6358,begin surface coast
$FINISH,0.2,1.021414
$STATE,6381,end surface coast,CONTROL_FINISHED_OK
$STATE,6381,begin surface
$SM_CCo,6410,20.95,0.189,0,0,957,450.13
$SM_GC,1.47,8.12,0.10,20.95,0.103,0.205,0.189,144,2348,957,-7.43,0.54,450.13,0,0,0,0,0,0,14.42,14.42,14.37
$RAFOS_CLK,298
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6042.63,200913,030305
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.36
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,29
$24V_AH,12.6,11.353
$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,21.500,73.525,585.025,20.950,0.000,0.000,0.000,204.175,7.250,0.000,5.886,1768.840,2488.116,621.775,1475.659,444.227,0.000,1619.599,0.000,1294.190,0.000,0.535,0.000
$DEVICE_MAMPS,449.820,214.200,2229.210,188.955,0.000,0.000,0.000,135.405,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150852
$DATA_FILE_SIZE,33462,736
$CAP_FILE_SIZE,84711,0
$CFSIZE,259252224,249638912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.1
$CURRENT,0.560,202.4,1
$GPS,200913,074429,6624.476,-6043.361,38,2.0,38,-33.5