version: 66.11
glider: 192
mission: 2
dive: 27
start: 9 21 113 0 11 43
data:
$ID,192
$MISSION,2
$DIVE,27
$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,160
$T_MISSION,190
$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,0
$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,-1068.792
$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,15
$R_STBD_OVSHOOT,14
$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,3
$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
$GPS1,210913,000459,6623.405,-6035.116,64,0.9,64,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-67.9
$GPS2,210913,001057,6623.339,-6035.170,4,0.9,5,-33.5
$SPEED_LIMITS,0.162,0.291
$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,99.4,179743,-14.5,-9.375,-17.87,2984
$D_GRID,426
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,21,-0.86,-184.9,121,2342,973,886,0.0,0.0,0,113,0.00,0.00,-90.00,0.000,16386,0.000,0.000,120,2342,2692,2764,2621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.86,-184.9,120,2343,2764,2621,3.5,-6.9,16,158,10.50,2.60,-17.10,0.000,18948,0.453,0.151,2248,941,3551,3764,3338,0,0,0,0,0,0,14.21,14.34,14.57
$GC,264,-0.74,-184.9,2249,941,3765,3338,40.4,-20.6,41,272,0.20,2.60,0.00,0.000,3078,0.301,0.143,2287,2348,3552,3765,3339,0,0,0,0,0,0,14.31,14.37,28.83
$GC,584,-0.65,-184.9,2288,2348,3765,3338,98.9,-16.9,102,591,0.12,2.62,0.00,0.000,2308,0.322,0.155,2311,3765,3551,3765,3338,0,0,0,0,0,0,14.36,14.42,28.83
$GC,646,-0.60,-184.9,1440,3764,3762,3335,108.1,-14.5,108,653,0.00,2.50,0.00,0.000,1030,0.000,0.107,2311,2338,3551,3765,3337,0,0,0,0,0,0,28.83,14.47,28.83
$GC,954,-0.54,-184.9,2311,2337,3765,3338,152.0,-14.3,139,964,0.15,2.65,0.00,0.000,2308,0.303,0.158,2342,3765,3551,3765,3337,0,0,0,0,0,0,14.43,14.47,28.83
$GC,1002,-0.54,-184.9,1472,3764,3762,3335,157.7,-12.3,143,1009,0.00,2.47,0.00,0.000,1030,0.000,0.107,2342,2347,3551,3765,3338,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1311,-0.54,-184.9,2342,2346,3765,3337,193.2,-11.8,174,1319,0.00,2.62,0.00,0.000,260,0.000,0.164,2338,3761,3551,3765,3338,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1385,-0.54,-184.9,2338,3763,3765,3337,201.5,-11.3,181,1394,0.00,2.45,0.00,0.000,1030,0.000,0.109,2338,2343,3551,3765,3337,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1696,-0.54,-184.9,2338,2343,3765,3337,236.4,-11.0,212,1705,0.00,2.62,0.00,0.000,260,0.000,0.163,2338,3757,3551,3765,3337,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1849,-0.57,-184.9,2338,3757,3765,3337,252.7,-11.6,226,1856,0.00,2.45,0.00,0.000,1030,0.000,0.108,2338,2347,3551,3765,3337,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2158,-0.57,-184.9,2338,2346,3765,3337,289.2,-11.6,257,2167,0.00,2.62,0.00,0.000,260,0.000,0.164,2338,3764,3550,3765,3336,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2250,-0.60,-184.9,1424,3763,3761,3333,299.3,-11.4,265,2257,0.00,2.45,0.00,0.000,1030,0.000,0.107,2338,2350,3550,3765,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2558,-0.60,-184.9,2337,2349,3765,3336,334.4,-10.9,296,2566,0.00,2.60,0.00,0.000,260,0.000,0.166,2338,3755,3550,3765,3336,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2613,-0.64,-184.9,2338,3755,3765,3335,340.7,-10.8,301,2623,0.00,2.38,0.00,0.000,1030,0.000,0.107,2337,2348,3550,3765,3336,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2924,-0.64,-184.9,2338,2348,3765,3336,373.6,-10.5,332,2933,0.00,2.62,0.00,0.000,260,0.000,0.164,2338,3762,3550,3765,3335,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2993,-0.68,-184.9,1456,3762,3761,3333,380.6,-10.6,338,3000,0.00,2.45,0.00,0.000,1030,0.000,0.107,2338,2345,3550,3764,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3302,-0.71,-184.9,2338,2345,3765,3336,411.3,-9.7,369,3311,0.00,2.60,0.00,0.000,260,0.000,0.162,2338,3758,3550,3765,3336,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3358,-0.74,-184.9,2338,3758,3765,3336,416.8,-9.6,374,3367,0.10,2.42,0.00,0.000,5126,0.130,0.106,2296,2346,3550,3765,3336,0,0,0,0,0,0,14.61,14.62,28.83
$STATE,3433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3433,begin apogee
$GC,3446,-0.22,0.0,2296,2402,3765,3336,426.0,-12.1,382,3644,0.57,0.00,191.70,2.301,10246,0.251,0.000,2455,2401,2793,2922,2665,0,0,0,0,0,0,14.54,28.83,12.81
$STATE,3645,end apogee,CONTROL_FINISHED_OK
$STATE,3645,begin climb
$GC,3651,0.86,184.9,2455,2402,2922,2665,436.9,0.0,402,3867,1.23,2.78,203.30,2.211,10756,0.177,0.129,2816,992,2038,2121,1956,0,0,0,0,0,0,13.56,13.15,12.47
$GC,3939,0.73,184.9,2816,992,2121,1946,424.9,11.4,431,3949,0.15,2.75,0.00,0.000,5126,0.252,0.135,2778,2394,2033,2121,1946,0,0,0,0,0,0,13.46,13.50,28.83
$GC,4251,0.65,187.9,2779,2394,2121,1941,392.8,9.3,462,4261,0.12,2.72,0.00,0.000,4356,0.293,0.154,2747,3807,2030,2120,1941,0,0,0,0,0,0,13.90,13.93,28.83
$GC,4431,0.59,213.2,2747,3806,2120,1941,376.8,8.5,479,4468,0.10,2.55,29.90,2.129,13318,0.257,0.106,2729,2400,1923,2022,1825,0,0,0,0,0,0,14.00,14.06,13.10
$GC,4770,0.67,282.4,2729,2401,2022,1820,353.7,7.0,513,4856,0.00,2.92,75.93,2.163,8452,0.000,0.158,2729,3813,1641,1732,1551,0,0,0,0,0,0,28.83,13.47,12.81
$GC,4891,0.70,302.3,1728,3813,1693,1548,345.0,8.7,524,4923,0.00,2.65,23.67,2.192,9222,0.000,0.106,2734,2396,1561,1646,1476,0,0,0,0,0,0,28.83,13.68,12.81
$GC,5225,0.73,302.3,2734,2396,1643,1471,313.6,9.9,558,5234,0.12,2.62,0.00,0.000,2564,0.186,0.129,2786,990,1557,1643,1471,0,0,0,0,0,0,14.00,13.96,28.83
$GC,5263,0.73,302.3,2787,990,1642,1471,309.5,10.7,561,5272,0.00,2.65,0.00,0.000,1030,0.000,0.135,2787,2401,1556,1642,1471,0,0,0,0,0,0,28.83,13.99,28.83
$GC,5573,0.69,302.3,2787,2401,1641,1470,271.4,11.8,592,5582,0.00,2.67,0.00,0.000,260,0.000,0.153,2786,3817,1556,1641,1471,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5612,0.64,302.3,1800,3817,1611,1468,266.9,12.2,595,5620,0.22,2.55,0.00,0.000,5126,0.265,0.107,2742,2395,1555,1640,1470,0,0,0,0,0,0,14.13,14.21,28.83
$GC,5922,0.78,381.7,2743,2394,1640,1470,242.8,6.6,626,6018,0.15,2.85,86.20,2.113,10500,0.161,0.155,2793,3809,1237,1316,1158,0,0,0,0,0,0,14.31,13.59,12.96
$GC,6041,0.75,381.7,2793,3809,1314,1157,232.0,10.4,637,6048,0.00,2.62,0.00,0.000,1030,0.000,0.107,2804,2401,1235,1314,1157,0,0,0,0,0,0,28.83,13.74,28.83
$GC,6350,0.76,384.9,2804,2401,1312,1152,201.0,9.3,668,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2401,1231,1311,1152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6666,0.76,384.9,2803,2400,1310,1149,171.5,9.8,699,6675,0.00,2.65,0.00,0.000,260,0.000,0.160,2802,3805,1229,1309,1149,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6712,0.73,384.9,2803,3805,1309,1149,166.1,10.6,703,6721,0.12,2.50,0.00,0.000,5126,0.236,0.110,2778,2398,1228,1308,1149,0,0,0,0,0,0,14.23,14.28,28.83
$GC,7024,0.81,419.0,2778,2397,1307,1147,140.9,8.2,734,7070,0.00,2.65,38.83,2.057,8708,0.000,0.132,2786,983,1085,1163,1007,0,0,0,0,0,0,28.83,13.96,13.33
$GC,7087,0.91,458.2,2786,983,1163,1007,135.9,8.0,740,7142,0.10,2.65,43.75,2.007,11270,0.124,0.134,2829,2396,924,999,850,0,0,0,0,0,0,14.02,13.99,13.08
$GC,7446,0.91,458.2,2829,2396,994,847,92.0,12.7,782,7453,0.00,2.70,0.00,0.000,260,0.000,0.157,2829,3814,920,993,847,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7540,0.91,458.2,2829,3813,992,847,79.0,14.0,799,7547,0.00,2.55,0.00,0.000,1030,0.000,0.110,2838,2393,919,992,847,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7858,0.91,458.2,2839,2393,991,847,38.1,12.2,860,7865,0.00,2.58,0.00,0.000,516,0.000,0.136,2848,984,918,990,847,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7886,0.91,458.2,2850,984,990,846,34.6,12.2,864,7893,0.00,2.62,0.00,0.000,1030,0.000,0.138,2849,2402,917,989,846,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,8148,end climb,SURFACE_DEPTH_REACHED
$STATE,8149,begin surface coast
$FINISH,0.5,1.024945
$STATE,8170,end surface coast,CONTROL_FINISHED_OK
$STATE,8170,begin surface
$SM_CCo,8259,0.00,0.000,0,0,916,460.92
$SM_GC,1.37,8.15,0.12,0.00,0.107,0.170,0.000,145,2344,916,-7.42,0.48,460.92,0,0,0,0,0,0,14.40,14.39,28.83
$RAFOS_CLK,393
$RAFOS,6,1379724544,0.833333,0.817778,64,61,57,54,53,53,202,214,182,974,136,157
$RAFOS,5,1379724062,0.700000,0.683889,61,57,54,54,51,49,232,145,176,164,193,206
$RAFOS,4,1379723587,0.566667,0.551944,61,61,55,53,53,52,171,809,139,119,148,187
$RAFOS,3,1379723101,0.433333,0.416944,62,55,52,52,51,51,210,154,168,138,193,182
$RAFOS,2,1379722625,0.300000,0.284722,70,68,61,58,56,51,210,185,147,118,135,634
$RAFOS,0,1379721662,0.033333,0.017222,56,56,56,55,52,49,200,216,229,154,121,175
$RAFOS_FIX,6621.393066,-6026.824219,200913,161644,2,90,2.78
$IRIDIUM_FIX,6553.70,-6040.58,200913,212111
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.04
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.30
$XPDR_PINGS,44
$24V_AH,12.5,15.135
$10V_AH,12.8,0.000
$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,22.125,99.250,693.275,0.000,0.000,0.000,0.000,203.300,11.000,0.000,5.916,2093.406,3513.729,722.329,1758.242,530.738,0.000,1895.399,0.000,1573.772,1800.000,0.536,0.000
$DEVICE_MAMPS,452.880,205.785,2301.120,0.000,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,40147,919
$CAP_FILE_SIZE,105944,0
$CFSIZE,259252224,249147392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.0
$GPS,210913,023059,6624.696,-6032.907,40,0.9,40,-33.5