version: 66.11
glider: 192
mission: 2
dive: 34
start: 9 21 113 17 42 31
data:
$ID,192
$MISSION,2
$DIVE,34
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,200
$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,180
$T_MISSION,200
$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,170
$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,-1104.2358
$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,2450
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,24
$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,5
$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
$GPS1,210913,173535,6624.262,-6021.535,35,1.3,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.3
$GPS2,210913,174143,6624.178,-6021.603,5,1.3,5,-33.5
$SPEED_LIMITS,0.144,0.265
$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,98.5,170186,-13.8,-8.333,-17.43,2997
$D_GRID,469
$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,-0.80,-165.5,131,2469,961,862,0.0,0.0,0,116,0.00,0.00,-93.82,0.000,16386,0.000,0.000,130,2469,2754,2824,2685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.80,-165.5,130,2469,2824,2686,3.5,-7.2,17,155,10.48,2.67,-14.10,0.000,18948,0.447,0.148,2269,1035,3471,3668,3275,0,0,0,0,0,0,14.21,14.33,14.56
$GC,247,-0.65,-165.5,2268,1034,3670,3275,33.9,-20.7,38,255,0.25,2.60,0.00,0.000,3078,0.289,0.142,2321,2439,3472,3670,3275,0,0,0,0,0,0,14.29,14.35,28.83
$GC,566,-0.58,-165.5,2321,2439,3671,3275,80.5,-14.0,99,573,0.00,2.65,0.00,0.000,260,0.000,0.156,2313,3869,3472,3671,3274,0,0,0,0,0,0,28.83,14.41,28.83
$GC,654,-0.52,-165.5,1424,3868,3666,3271,92.9,-13.6,115,661,0.20,2.47,0.00,0.000,3078,0.272,0.105,2360,2449,3472,3671,3274,0,0,0,0,0,0,14.39,14.46,28.83
$GC,973,-0.52,-165.5,2360,2449,3671,3275,131.0,-12.0,151,982,0.00,2.60,0.00,0.000,260,0.000,0.158,2353,3857,3472,3671,3274,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1008,-0.52,-165.5,2353,3857,3671,3274,135.4,-12.6,154,1016,0.00,2.42,0.00,0.000,1030,0.000,0.106,2353,2450,3472,3671,3274,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1318,-0.52,-165.5,2353,2450,3671,3275,172.7,-11.6,185,1327,0.00,2.60,0.00,0.000,260,0.000,0.159,2353,3860,3472,3671,3274,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1343,-0.52,-165.5,2353,3860,3671,3274,175.4,-10.8,187,1352,0.00,2.45,0.00,0.000,1030,0.000,0.104,2353,2445,3472,3671,3274,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1654,-0.52,-165.5,2353,2445,3671,3274,203.5,-8.3,218,1662,0.00,2.62,0.00,0.000,260,0.000,0.161,2353,3865,3472,3671,3274,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1699,-0.52,-165.5,2353,3865,3671,3273,207.1,-8.0,222,1708,0.00,2.42,0.00,0.000,1030,0.000,0.106,2353,2452,3472,3671,3273,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2009,-0.52,-165.5,2353,2451,3671,3273,234.6,-10.1,253,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2451,3472,3671,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-0.52,-165.5,2353,2452,3671,3273,265.9,-9.5,284,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2452,3472,3671,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.52,-165.5,2353,2452,3671,3272,293.9,-7.8,315,2648,0.00,2.47,0.00,0.000,516,0.000,0.129,2353,1045,3471,3671,3272,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2688,-0.55,-165.5,2353,1045,3671,3272,298.8,-9.6,319,2694,0.00,2.58,0.00,0.000,1030,0.000,0.142,2353,2460,3471,3671,3272,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2996,-0.55,-165.5,2353,2460,3671,3271,325.8,-8.6,350,3005,0.00,2.58,0.00,0.000,260,0.000,0.160,2353,3859,3471,3671,3271,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3025,-0.57,-165.5,2353,3859,3671,3271,328.0,-8.8,352,3032,0.00,2.45,0.00,0.000,1030,0.000,0.106,2353,2440,3471,3671,3272,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3333,-0.57,-165.5,2352,2440,3671,3271,354.2,-8.1,383,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2440,3471,3671,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3649,-0.60,-165.5,2353,2440,3671,3271,379.9,-8.3,414,3658,0.00,2.62,0.00,0.000,260,0.000,0.163,2353,3867,3471,3671,3271,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3695,-0.64,-165.5,2353,3867,3671,3271,384.3,-8.5,418,3703,0.00,2.42,0.00,0.000,1030,0.000,0.107,2353,2449,3471,3671,3271,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4005,-0.67,-165.5,2353,2448,3671,3271,410.1,-8.3,449,4012,0.12,0.00,0.00,0.000,4102,0.163,0.000,2306,2449,3471,3671,3271,0,0,0,0,0,0,14.64,28.83,28.83
$GC,4315,-0.63,-165.5,2306,2448,3671,3271,444.5,-11.5,480,4324,0.00,2.45,0.00,0.000,516,0.000,0.125,2305,1046,3471,3671,3271,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4353,-0.60,-165.5,1440,1045,3665,3268,448.6,-11.4,483,4361,0.15,2.55,0.00,0.000,3078,0.291,0.137,2335,2460,3471,3671,3272,0,0,0,0,0,0,14.57,14.62,28.83
$STATE,4365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4365,begin apogee
$GC,4379,-0.22,0.0,2335,2429,3671,3271,450.8,-11.0,485,4564,0.43,0.00,171.75,2.356,10246,0.236,0.000,2457,2429,2793,2921,2666,0,0,0,0,0,0,14.58,28.83,12.82
$STATE,4565,end apogee,CONTROL_FINISHED_OK
$STATE,4565,begin climb
$GC,4571,0.80,165.5,2456,2429,2920,2666,460.0,0.0,504,4773,1.12,2.75,184.25,2.262,10756,0.172,0.125,2794,1017,2118,2205,2032,0,0,0,0,1,0,13.62,13.21,12.50
$GC,4932,0.68,165.5,2794,1017,2204,2021,440.3,9.9,540,4942,0.12,2.72,0.00,0.000,5126,0.252,0.134,2762,2422,2112,2204,2020,0,0,0,0,0,0,13.65,13.70,28.83
$GC,5244,0.58,165.5,2762,2421,2204,2016,412.2,8.8,571,5253,0.12,2.70,0.00,0.000,4356,0.284,0.151,2730,3846,2110,2204,2016,0,0,0,0,0,0,13.96,13.99,28.83
$GC,5333,0.49,165.5,1760,3845,2158,2009,404.6,8.5,579,5341,0.17,2.55,0.00,0.000,5126,0.268,0.104,2699,2426,2110,2204,2016,0,0,0,0,0,0,14.02,14.09,28.83
$GC,5642,0.59,244.6,2699,2426,2204,2015,386.1,5.6,610,5729,0.00,0.00,84.60,2.269,8198,0.000,0.000,2698,2425,1797,1895,1699,0,0,0,0,0,0,28.83,28.83,12.83
$GC,6033,0.70,295.0,2699,2425,1889,1692,362.3,6.6,649,6099,0.17,2.90,55.05,2.224,10500,0.150,0.155,2757,3843,1590,1679,1502,0,0,0,0,0,0,14.07,13.54,12.88
$GC,6124,0.66,295.0,2758,3843,1677,1502,354.5,10.4,657,6131,0.00,2.62,0.00,0.000,1030,0.000,0.103,2768,2433,1589,1676,1502,0,0,0,0,0,0,28.83,13.70,28.83
$GC,6433,0.61,295.0,2768,2431,1670,1502,319.5,11.1,688,6443,0.12,2.60,0.00,0.000,4612,0.288,0.127,2746,1018,1585,1670,1501,0,0,0,0,0,0,14.02,14.04,28.83
$GC,6473,0.61,295.0,2745,1018,1669,1499,315.8,10.0,691,6480,0.00,2.65,0.00,0.000,1030,0.000,0.132,2746,2432,1584,1669,1500,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6781,0.61,295.0,2745,2432,1669,1499,284.5,9.6,722,6790,0.00,2.62,0.00,0.000,260,0.000,0.154,2746,3836,1583,1668,1499,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6830,0.61,295.0,2746,3836,1666,1500,279.3,11.6,726,6837,0.00,2.50,0.00,0.000,1030,0.000,0.105,2754,2426,1583,1666,1500,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7138,0.61,295.0,2754,2426,1666,1500,246.0,10.1,757,7147,0.00,2.55,0.00,0.000,516,0.000,0.129,2764,1017,1582,1666,1499,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7186,0.61,295.0,2763,1016,1666,1498,241.5,10.0,761,7194,0.12,2.60,0.00,0.000,5126,0.259,0.134,2737,2432,1582,1666,1498,0,0,0,0,0,0,14.31,14.34,28.83
$GC,7496,0.71,344.6,2737,2432,1665,1498,217.2,6.6,792,7551,0.00,0.00,51.67,2.140,8198,0.000,0.000,2737,2432,1389,1474,1304,0,0,0,0,0,0,28.83,28.83,13.24
$GC,7856,0.83,392.9,2737,2432,1471,1301,193.7,6.7,828,7912,0.17,0.00,52.58,2.106,10246,0.160,0.000,2796,2432,1191,1272,1111,0,0,0,0,0,0,14.23,28.83,13.13
$GC,8215,0.83,392.9,2797,2432,1269,1107,154.5,10.7,864,8224,0.00,2.67,0.00,0.000,260,0.000,0.155,2796,3843,1187,1268,1107,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8262,0.80,392.9,2797,3843,1267,1107,149.2,12.1,868,8270,0.00,2.50,0.00,0.000,1030,0.000,0.106,2807,2434,1186,1266,1107,0,0,0,0,0,0,28.83,14.20,28.83
$GC,8572,0.78,392.9,2807,2433,1266,1104,117.1,9.3,899,8581,0.00,2.58,0.00,0.000,516,0.000,0.132,2817,1016,1184,1265,1104,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8598,0.78,392.9,2817,1016,1265,1104,114.5,9.7,901,8606,0.00,2.58,0.00,0.000,1030,0.000,0.134,2817,2424,1184,1265,1104,0,0,0,0,0,0,28.83,14.32,28.83
$GC,8914,0.78,392.9,2817,2424,1263,1102,76.8,14.4,949,8921,0.00,2.65,0.00,0.000,260,0.000,0.156,2817,3841,1183,1264,1103,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8958,0.74,392.9,2817,3842,1264,1103,70.4,16.1,956,8965,0.20,2.50,0.00,0.000,5126,0.259,0.109,2778,2423,1183,1264,1102,0,0,0,0,0,0,14.36,14.41,28.83
$GC,9286,0.94,506.3,2778,2422,1263,1101,42.7,4.4,1017,9355,0.15,2.75,62.15,0.313,11012,0.171,0.158,2831,3841,728,796,660,0,0,0,0,0,0,14.45,14.31,14.25
$GC,9378,0.98,506.3,2831,3841,795,660,34.2,10.6,1031,9385,0.00,2.50,0.00,0.000,1030,0.000,0.108,2841,2427,727,794,660,0,0,0,0,0,0,28.83,14.35,28.83
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,0.8,1.024977
$STATE,9703,end surface coast,CONTROL_FINISHED_OK
$STATE,9704,begin surface
$SM_CCo,9793,0.00,0.000,0,0,720,508.75
$SM_GC,1.28,8.07,0.05,0.00,0.102,0.275,0.000,143,2449,720,-7.43,-0.57,508.75,0,0,0,0,0,0,14.43,14.42,28.83
$RAFOS_CLK,475
$RAFOS,2,1379794621,20.299999,20.283611,70,58,58,57,56,52,616,179,149,209,197,218
$RAFOS,1,1379794148,20.166666,20.152222,76,58,57,57,55,53,671,213,153,178,135,195
$RAFOS,0,1379793667,20.033333,20.018612,101,60,60,59,59,58,650,136,120,196,178,152
$RAFOS_FIX,6623.178711,-6018.773926,210913,202001,3,82,0.31
$IRIDIUM_FIX,6553.70,-6021.30,210913,151542
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.37
$INTERNAL_PRESSURE,8.61555
$TCM_TEMP,12.30
$XPDR_PINGS,50
$24V_AH,12.5,18.313
$10V_AH,12.6,0.000
$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,22.200,98.500,662.050,0.000,0.000,0.000,0.000,214.350,12.500,0.000,11.122,2462.728,4426.754,758.830,1927.796,599.419,0.000,1997.120,0.000,1735.649,1080.000,0.536,0.000
$DEVICE_MAMPS,446.760,274.635,2356.200,0.000,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46741,1093
$CAP_FILE_SIZE,116158,0
$CFSIZE,259252224,248700928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1452.2
$GPS,210913,202729,6622.612,-6019.062,37,1.1,37,-33.4