version: 66.11
glider: 192
mission: 2
dive: 32
start: 9 21 113 12 38 39
data:
$ID,192
$MISSION,2
$DIVE,32
$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,-1096.4253
$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,13
$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
$GPS1,210913,123153,6622.110,-6026.215,38,1.1,38,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.4
$GPS2,210913,123753,6622.089,-6026.177,4,1.1,4,-33.4
$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,97.7,174827,-14.5,-9.375,-17.87,2984
$D_GRID,441
$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,-184.9,133,2359,992,913,0.0,0.0,0,118,0.00,0.00,-94.70,0.000,16386,0.000,0.000,132,2360,2825,2891,2759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.86,-184.9,132,2360,2894,2759,3.8,-8.2,17,158,10.32,2.60,-13.45,0.000,18948,0.445,0.148,2249,932,3550,3754,3346,0,0,0,0,0,0,14.20,14.33,14.57
$GC,284,-0.73,-184.9,2250,931,3756,3346,46.0,-18.9,45,291,0.20,2.62,0.00,0.000,3078,0.296,0.138,2291,2349,3551,3756,3346,0,0,0,0,0,0,14.31,14.37,28.83
$GC,608,-0.64,-184.9,2290,2349,3757,3346,101.8,-17.8,106,617,0.12,2.60,0.00,0.000,2308,0.308,0.151,2315,3765,3551,3757,3345,0,0,0,0,0,0,14.38,14.42,28.83
$GC,698,-0.61,-184.9,2315,3765,3757,3345,115.2,-14.8,114,705,0.00,2.50,0.00,0.000,1030,0.000,0.106,2314,2339,3551,3758,3345,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1007,-0.56,-184.9,2315,2338,3757,3345,160.6,-14.5,145,1016,0.12,2.62,0.00,0.000,2308,0.311,0.155,2337,3758,3551,3757,3345,0,0,0,0,0,0,14.44,14.47,28.83
$GC,1043,-0.54,-184.9,2338,3758,3757,3345,165.7,-14.4,148,1052,0.00,2.45,0.00,0.000,1030,0.000,0.107,2337,2345,3551,3757,3345,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1353,-0.54,-184.9,2337,2345,3757,3345,203.1,-11.1,179,1362,0.00,2.62,0.00,0.000,260,0.000,0.161,2337,3761,3551,3757,3345,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1398,-0.54,-184.9,2337,3761,3757,3345,208.1,-10.9,183,1407,0.00,2.45,0.00,0.000,1030,0.000,0.107,2337,2344,3550,3757,3344,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1708,-0.54,-184.9,2337,2343,3757,3345,241.2,-11.1,214,1717,0.00,2.62,0.00,0.000,260,0.000,0.160,2337,3761,3550,3757,3344,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1832,-0.56,-184.9,1424,3760,3754,3341,254.3,-11.5,225,1839,0.00,2.47,0.00,0.000,1030,0.000,0.107,2337,2348,3550,3757,3343,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2141,-0.56,-184.9,2337,2348,3757,3343,291.0,-11.4,256,2149,0.00,2.62,0.00,0.000,260,0.000,0.163,2337,3764,3550,3757,3343,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2282,-0.59,-184.9,2337,3764,3757,3343,305.6,-10.4,269,2290,0.00,2.45,0.00,0.000,1030,0.000,0.107,2337,2346,3549,3757,3342,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2592,-0.61,-184.9,2337,2345,3757,3342,338.5,-10.4,300,2601,0.00,2.62,0.00,0.000,260,0.000,0.161,2336,3760,3549,3757,3342,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2678,-0.66,-184.9,2335,3761,3757,3342,346.9,-9.6,308,2687,0.00,2.45,0.00,0.000,1030,0.000,0.107,2337,2344,3549,3757,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2989,-0.68,-184.9,2337,2344,3757,3341,377.9,-10.2,339,2998,0.00,2.60,0.00,0.000,260,0.000,0.159,2337,3759,3549,3757,3341,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3038,-0.71,-184.9,2337,3759,3758,3340,382.6,-10.1,343,3045,0.00,2.45,0.00,0.000,1030,0.000,0.105,2337,2340,3549,3757,3341,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3347,-0.75,-184.9,2337,2341,3757,3342,414.6,-9.8,374,3356,0.12,2.60,0.00,0.000,4356,0.177,0.155,2281,3758,3549,3757,3341,0,0,0,0,0,0,14.64,14.58,28.83
$GC,3469,-0.71,-184.9,2281,3758,3757,3341,429.6,-13.6,385,3477,0.00,2.40,0.00,0.000,1030,0.000,0.103,2281,2351,3549,3758,3341,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3543,begin apogee
$GC,3556,-0.22,0.0,2281,2405,3757,3341,441.0,-13.5,393,3761,0.62,0.00,191.95,2.305,10246,0.251,0.000,2456,2404,2794,2919,2669,0,0,0,0,0,0,14.54,28.83,12.82
$STATE,3762,end apogee,CONTROL_FINISHED_OK
$STATE,3762,begin climb
$GC,3768,0.86,184.9,2456,2404,2919,2669,452.6,0.0,414,3996,1.20,2.90,206.85,2.190,10756,0.181,0.128,2812,996,2039,2127,1952,0,0,0,0,2,0,13.59,13.14,12.47
$GC,4115,0.73,184.9,2813,996,2127,1944,433.8,10.5,449,4124,0.12,2.72,0.00,0.000,5126,0.259,0.132,2780,2396,2035,2127,1943,0,0,0,0,0,0,13.54,13.59,28.83
$GC,4427,0.65,196.2,2780,2396,2127,1938,405.3,9.0,480,4445,0.12,2.83,11.75,2.019,12548,0.295,0.151,2749,3819,1995,2093,1898,0,0,0,0,0,0,13.92,13.83,13.18
$GC,4605,0.56,196.2,2749,3819,2092,1897,388.3,9.7,497,4615,0.12,2.55,0.00,0.000,5126,0.252,0.105,2725,2405,1994,2092,1897,0,0,0,0,0,0,13.94,14.00,28.83
$GC,4916,0.67,284.2,2724,2405,2092,1895,366.7,6.3,528,5022,0.00,0.00,98.35,2.197,8198,0.000,0.000,2725,2405,1634,1724,1544,0,0,0,0,0,0,28.83,28.83,12.79
$GC,5327,0.75,327.1,2725,2405,1718,1538,336.3,7.9,569,5383,0.15,2.72,46.72,2.105,10756,0.165,0.129,2785,991,1460,1548,1373,0,0,0,0,0,0,14.03,13.59,12.93
$GC,5415,0.73,327.1,2785,991,1547,1371,327.4,12.0,577,5424,0.00,2.72,0.00,0.000,1030,0.000,0.134,2784,2403,1459,1548,1370,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5726,0.69,327.1,2785,2403,1545,1366,286.3,13.4,608,5735,0.00,2.70,0.00,0.000,260,0.000,0.154,2785,3813,1455,1544,1366,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5802,0.63,327.1,2785,3813,1541,1366,275.5,14.6,615,5812,0.17,2.53,0.00,0.000,5126,0.242,0.106,2746,2402,1454,1542,1366,0,0,0,0,0,0,14.04,14.11,28.83
$GC,6114,0.69,352.5,2747,2401,1542,1365,245.1,8.5,646,6149,0.00,2.80,26.23,2.039,8452,0.000,0.155,2746,3814,1358,1443,1273,0,0,0,0,0,0,28.83,13.95,13.33
$GC,6177,0.74,367.0,2746,3814,1442,1273,239.8,8.9,652,6202,0.00,2.55,17.42,1.974,9222,0.000,0.104,2753,2394,1297,1379,1215,0,0,0,0,0,0,28.83,14.02,13.21
$GC,6507,0.78,367.0,2753,2394,1376,1213,210.4,9.5,685,6516,0.10,2.58,0.00,0.000,2564,0.193,0.128,2794,990,1295,1376,1214,0,0,0,0,0,0,14.19,14.16,28.83
$GC,6533,0.82,367.0,2794,990,1375,1213,207.8,9.5,687,6542,0.00,2.62,0.00,0.000,1030,0.000,0.135,2794,2401,1293,1374,1213,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6844,0.82,367.0,2794,2401,1374,1213,169.6,12.5,718,6852,0.00,2.62,0.00,0.000,260,0.000,0.155,2794,3809,1293,1373,1213,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6977,0.79,367.0,1792,3808,1352,1211,152.3,13.9,730,6984,0.00,2.50,0.00,0.000,1030,0.000,0.107,2804,2399,1293,1373,1213,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7285,0.79,367.0,2804,2399,1372,1212,113.6,11.3,761,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2399,1292,1372,1212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,0.83,399.2,1808,2397,1353,1210,81.0,8.3,810,7625,0.00,2.75,18.52,0.458,8452,0.000,0.160,2804,3821,1165,1244,1086,0,0,0,0,0,0,28.83,14.38,14.26
$GC,7682,0.84,406.4,2804,3821,1243,1086,73.6,9.1,824,7695,0.00,2.50,3.95,0.443,9222,0.000,0.109,2814,2400,1136,1214,1059,0,0,0,0,0,0,28.83,14.43,14.26
$GC,8012,0.89,447.0,2814,2400,1213,1057,47.5,8.0,886,8041,0.00,0.00,23.45,0.337,8198,0.000,0.000,2814,2400,969,1046,892,0,0,0,0,0,0,28.83,28.83,14.31
$GC,8358,0.95,449.1,2814,2400,1042,887,16.0,9.3,951,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2400,964,1042,887,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8490,end climb,SURFACE_DEPTH_REACHED
$STATE,8490,begin surface coast
$FINISH,0.5,1.005773
$STATE,8531,end surface coast,CONTROL_FINISHED_OK
$STATE,8531,begin surface
$SM_CCo,8560,0.55,0.412,0,0,957,450.13
$SM_GC,2.08,7.95,0.10,0.55,0.100,0.187,0.412,143,2347,957,-7.43,0.54,450.13,0,0,0,0,0,0,14.50,14.49,14.45
$RAFOS_CLK,412
$RAFOS,6,1379767747,12.833333,12.818611,62,58,57,54,51,47,219,957,175,205,1399,129
$RAFOS,5,1379767261,12.700000,12.683611,70,62,62,58,56,55,1048,215,203,144,193,1057
$RAFOS,3,1379766304,12.433333,12.417778,91,59,55,55,54,53,742,182,151,167,206,218
$RAFOS_FIX,6623.137695,-6024.177246,210913,121207,5,84,0.00
$IRIDIUM_FIX,6553.70,-6026.59,210913,101049
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.20
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,71
$24V_AH,12.5,17.389
$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,21.475,88.600,645.200,0.550,0.000,0.000,0.000,206.150,17.750,0.000,11.238,2235.957,3576.017,711.706,1858.544,561.573,0.000,1912.630,0.000,1669.651,720.000,0.535,0.000
$DEVICE_MAMPS,445.230,206.550,2304.945,411.570,0.000,0.000,0.000,138.465,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,43448,984
$CAP_FILE_SIZE,108219,0
$CFSIZE,259252224,248840192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1451.7
$GPS,210913,150305,6623.782,-6023.792,29,0.8,29,-33.5