version: 66.11
glider: 192
mission: 2
dive: 20
start: 9 20 113 9 45 29
data:
$ID,192
$MISSION,2
$DIVE,20
$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,-1054.5131
$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,17
$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
$GPS1,200913,093906,6624.035,-6043.722,41,1.0,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.3
$GPS2,200913,094443,6623.935,-6043.792,17,1.2,17,-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,55.5,185008,-18.6,-12.500,-21.21,2254
$D_GRID,405
$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,-184.9,128,2340,753,681,0.0,0.0,0,128,0.00,0.00,-105.62,0.000,16386,0.000,0.000,124,2340,2817,2884,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.04,-184.9,124,2340,2884,2751,4.1,-9.0,18,168,10.25,2.55,-13.35,0.000,18948,0.453,0.148,2193,937,3551,3753,3349,0,0,0,0,0,0,14.16,14.31,14.54
$GC,266,-0.94,-184.9,2192,936,3754,3349,44.2,-23.4,40,275,0.20,2.62,0.00,0.000,3078,0.306,0.142,2228,2352,3551,3754,3349,0,0,0,0,0,0,14.27,14.34,28.83
$GC,586,-0.85,-184.9,2228,2353,3754,3349,113.0,-21.7,95,596,0.12,2.60,0.00,0.000,2308,0.334,0.156,2251,3760,3551,3754,3349,0,0,0,0,0,0,14.35,14.40,28.83
$GC,613,-0.77,-184.9,2252,3759,3754,3349,118.5,-21.2,97,622,0.10,2.45,0.00,0.000,3078,0.279,0.107,2278,2352,3551,3754,3349,0,0,0,0,0,0,14.34,14.39,28.83
$GC,924,-0.77,-184.9,2278,2351,3755,3349,175.6,-17.5,128,934,0.00,2.62,0.00,0.000,260,0.000,0.161,2269,3761,3552,3755,3349,0,0,0,0,0,0,28.83,14.44,28.83
$GC,983,-0.77,-184.9,1416,3760,3751,3346,185.5,-17.3,133,989,0.00,2.47,0.00,0.000,1030,0.000,0.108,2269,2344,3551,3754,3349,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1290,-0.77,-184.9,1408,2341,3751,3345,238.6,-16.3,164,1300,0.00,2.65,0.00,0.000,260,0.000,0.164,2260,3767,3551,3754,3348,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1399,-0.77,-184.9,2260,3767,3754,3348,256.0,-16.0,174,1406,0.00,2.47,0.00,0.000,1030,0.000,0.107,2259,2344,3551,3754,3348,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1708,-0.77,-184.9,2260,2343,3754,3348,304.6,-14.8,205,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2343,3551,3754,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.77,-184.9,2260,2344,3755,3347,350.0,-14.6,236,2034,0.00,2.62,0.00,0.000,260,0.000,0.167,2251,3758,3550,3754,3347,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2101,-0.77,-184.9,2249,3758,3754,3346,362.3,-14.5,243,2110,0.10,2.42,0.00,0.000,3078,0.274,0.107,2277,2344,3550,3755,3346,0,0,0,0,0,0,14.49,14.57,28.83
$GC,2412,-0.79,-184.9,2277,2343,3754,3346,404.4,-13.8,274,2420,0.00,2.62,0.00,0.000,260,0.000,0.167,2269,3761,3550,3754,3346,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,2423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2423,begin apogee
$GC,2439,-0.22,0.0,2269,2393,3755,3346,406.2,-13.9,275,2639,0.68,0.00,188.35,2.238,10246,0.257,0.000,2455,2393,2794,2918,2670,0,0,0,0,0,0,14.50,28.83,12.86
$STATE,2640,end apogee,CONTROL_FINISHED_OK
$STATE,2640,begin climb
$GC,2646,1.04,184.9,2455,2393,2918,2670,417.5,0.0,296,2857,1.40,2.85,198.38,2.146,10756,0.182,0.131,2868,991,2039,2126,1953,0,0,0,0,0,0,13.59,13.26,12.62
$GC,3039,0.92,184.9,1888,991,2079,1937,389.6,14.0,335,3047,0.17,2.72,0.00,0.000,5126,0.294,0.142,2832,2402,2033,2125,1941,0,0,0,0,0,0,13.74,13.80,28.83
$GC,3349,0.86,209.8,2833,2402,2125,1938,352.7,11.4,366,3385,0.00,2.83,25.50,2.065,8452,0.000,0.162,2832,3809,1938,2037,1839,0,0,0,0,0,0,28.83,13.79,13.18
$GC,3547,0.73,209.8,1856,3808,1991,1835,327.6,13.3,385,3555,0.28,2.55,0.00,0.000,5126,0.286,0.110,2778,2403,1937,2035,1839,0,0,0,0,0,0,13.95,14.03,28.83
$GC,3857,0.80,266.7,2778,2402,2035,1837,297.2,9.9,416,3924,0.00,2.80,60.03,2.062,8708,0.000,0.134,2786,983,1706,1800,1612,0,0,0,0,0,0,28.83,13.66,13.05
$GC,3969,0.87,287.8,1760,982,1761,1606,286.5,11.5,426,4000,0.00,2.75,23.77,1.984,9222,0.000,0.138,2786,2410,1619,1711,1528,0,0,0,0,0,0,28.83,13.81,13.04
$GC,4302,0.96,330.0,2786,2410,1709,1524,249.1,10.6,460,4360,0.15,2.83,44.97,2.010,10500,0.161,0.158,2840,3809,1448,1537,1359,0,0,0,0,0,0,14.10,13.67,13.09
$GC,4395,0.92,330.0,2840,3809,1534,1359,238.0,15.1,468,4402,0.00,2.60,0.00,0.000,1030,0.000,0.110,2851,2402,1446,1534,1359,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4704,0.89,330.0,2851,2400,1531,1357,193.7,13.0,499,4713,0.00,2.70,0.00,0.000,260,0.000,0.162,2851,3812,1444,1531,1357,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4782,0.84,330.0,2851,3812,1529,1357,183.0,14.9,506,4790,0.22,2.55,0.00,0.000,5126,0.284,0.112,2808,2397,1443,1529,1357,0,0,0,0,0,0,14.11,14.17,28.83
$GC,5092,0.91,350.0,2808,2396,1528,1355,147.7,11.6,537,5119,0.00,2.80,20.33,1.928,8452,0.000,0.162,2807,3810,1367,1451,1283,0,0,0,0,0,0,28.83,14.07,13.49
$GC,5166,0.94,350.0,2806,3810,1450,1283,138.5,13.5,544,5174,0.00,2.53,0.00,0.000,1030,0.000,0.112,2816,2406,1366,1450,1282,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5477,1.01,359.8,2816,2405,1448,1282,100.6,12.1,575,5489,0.12,0.00,5.78,0.530,10246,0.189,0.000,2861,2405,1326,1408,1245,0,0,0,0,0,0,14.28,28.83,14.09
$GC,5800,1.01,359.8,2861,2405,1408,1244,56.5,13.7,637,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2404,1325,1407,1244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6121,1.12,429.4,2861,2404,1407,1243,17.3,9.3,698,6170,0.10,2.67,39.50,0.229,10500,0.210,0.164,2892,3810,1041,1118,965,0,0,0,0,0,0,14.42,14.33,14.32
$STATE,6227,end climb,SURFACE_DEPTH_REACHED
$STATE,6227,begin surface coast
$FINISH,0.4,1.024934
$STATE,6242,end surface coast,CONTROL_FINISHED_OK
$STATE,6242,begin surface
$SM_CCo,6274,10.90,0.194,0,0,956,450.13
$SM_GC,1.21,8.35,2.65,10.90,0.116,0.110,0.194,140,2344,956,-7.44,0.54,450.13,0,0,0,0,0,0,14.40,14.40,14.34
$RAFOS_CLK,-1891
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6558.99,-6037.95,200913,070702
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.20
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.20
$XPDR_PINGS,30
$24V_AH,12.6,12.137
$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,22.250,68.375,606.600,10.900,0.000,0.000,0.000,175.250,7.500,0.000,18.319,1688.111,2454.540,652.780,1404.925,432.816,0.000,1600.895,0.000,1242.183,0.000,0.535,0.000
$DEVICE_MAMPS,452.880,166.770,2238.390,194.310,0.000,0.000,0.000,139.230,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150760
$DATA_FILE_SIZE,30152,719
$CAP_FILE_SIZE,81775,0
$CFSIZE,259252224,249548800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.2
$CURRENT,0.099,300.6,1
$GPS,200913,113223,6624.888,-6043.606,68,0.9,68,-33.5