version: 66.11
glider: 192
mission: 2
dive: 39
start: 9 22 113 8 7 47
data:
$ID,192
$MISSION,2
$DIVE,39
$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,-1121.2639
$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,18
$R_STBD_OVSHOOT,10
$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
$GPS1,220913,080053,6623.465,-6008.697,41,0.9,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.3
$GPS2,220913,080703,6623.369,-6008.705,5,1.2,5,-33.4
$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,96.5,162463,-13.8,-8.333,-17.43,2997
$D_GRID,489
$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,-165.5,138,2446,984,914,0.0,0.0,0,113,0.00,0.00,-89.85,0.000,16386,0.000,0.000,135,2447,2698,2766,2630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.80,-165.5,135,2447,2767,2631,3.2,-5.2,16,156,10.23,2.60,-16.05,0.000,18948,0.435,0.144,2268,1040,3472,3676,3269,0,0,0,0,0,0,14.21,14.32,14.56
$GC,218,-0.63,-165.5,2268,1039,3676,3269,27.9,-22.4,32,226,0.28,2.60,0.00,0.000,3078,0.295,0.135,2326,2455,3472,3676,3269,0,0,0,0,0,0,14.28,14.34,28.83
$GC,543,-0.56,-165.5,2326,2455,3677,3268,82.0,-15.1,93,550,0.00,2.62,0.00,0.000,260,0.000,0.156,2317,3867,3472,3677,3268,0,0,0,0,0,0,28.83,14.40,28.83
$GC,617,-0.51,-165.5,2317,3867,3677,3268,94.2,-15.2,106,624,0.20,2.47,0.00,0.000,3078,0.271,0.103,2366,2447,3472,3677,3268,0,0,0,0,0,0,14.38,14.45,28.83
$GC,937,-0.51,-165.5,2366,2447,3677,3268,129.9,-10.6,141,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2447,3473,3678,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1251,-0.51,-165.5,2366,2447,3677,3268,159.0,-8.5,172,1259,0.00,2.60,0.00,0.000,260,0.000,0.158,2365,3856,3473,3678,3268,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1329,-0.55,-165.5,2365,3856,3678,3268,165.7,-8.4,179,1336,0.00,2.47,0.00,0.000,1030,0.000,0.106,2366,2445,3472,3678,3266,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1638,-0.55,-165.5,2366,2445,3677,3267,193.4,-9.5,210,1647,0.00,2.60,0.00,0.000,260,0.000,0.159,2366,3854,3472,3678,3267,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1673,-0.58,-165.5,2366,3855,3677,3267,196.7,-9.6,213,1682,0.00,2.42,0.00,0.000,1030,0.000,0.106,2366,2448,3472,3677,3267,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1984,-0.61,-165.5,2366,2448,3677,3267,227.1,-9.8,244,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2448,3472,3678,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2299,-0.64,-165.5,2366,2448,3677,3267,256.9,-8.7,275,2308,0.12,2.60,0.00,0.000,4356,0.190,0.157,2312,3860,3472,3678,3266,0,0,0,0,0,0,14.59,14.56,28.83
$GC,2338,-0.64,-165.5,2313,3860,3677,3266,261.1,-9.9,278,2344,0.00,2.45,0.00,0.000,1030,0.000,0.104,2312,2443,3471,3677,3266,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2646,-0.60,-165.5,2312,2442,3677,3266,297.0,-11.5,309,2653,0.12,0.00,0.00,0.000,2054,0.314,0.000,2343,2443,3471,3677,3266,0,0,0,0,0,0,14.52,28.83,28.83
$GC,2956,-0.60,-165.5,2343,2443,3678,3266,325.9,-9.6,340,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2443,3471,3677,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3271,-0.60,-165.5,2343,2443,3677,3266,356.9,-10.1,371,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2443,3472,3678,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3586,-0.60,-165.5,2343,2443,3677,3266,385.9,-8.7,402,3595,0.00,2.60,0.00,0.000,260,0.000,0.157,2336,3863,3471,3677,3266,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3614,-0.60,-165.5,2336,3863,3677,3266,388.8,-9.2,404,3621,0.00,2.42,0.00,0.000,1030,0.000,0.103,2336,2450,3472,3678,3266,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3922,-0.60,-165.5,1440,2447,3673,3263,417.2,-8.7,435,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2449,3472,3678,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4239,-0.60,-165.5,2336,2449,3678,3266,444.7,-8.5,466,4248,0.00,2.45,0.00,0.000,516,0.000,0.123,2336,1048,3472,3678,3266,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4265,-0.60,-165.5,2336,1048,3678,3266,447.8,-9.9,468,4274,0.00,2.50,0.00,0.000,1030,0.000,0.134,2327,2446,3472,3678,3266,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,4290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4290,begin apogee
$GC,4303,-0.22,0.0,2328,2446,3677,3266,450.4,-8.4,471,4487,0.45,0.00,172.15,2.294,10246,0.243,0.000,2455,2446,2794,2924,2664,0,0,0,0,0,0,14.57,28.83,12.85
$STATE,4488,end apogee,CONTROL_FINISHED_OK
$STATE,4488,begin climb
$GC,4495,0.80,165.5,2454,2447,2924,2664,459.2,0.0,490,4688,1.12,0.00,181.15,2.217,10758,0.177,0.000,2779,2446,2118,2203,2033,0,0,0,0,0,0,13.64,28.83,12.50
$GC,4995,0.68,165.5,2779,2446,2203,2021,421.3,9.3,540,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2446,2112,2203,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5310,0.56,165.5,2779,2446,2203,2019,390.3,9.7,571,5316,0.22,0.00,0.00,0.000,4102,0.267,0.000,2722,2446,2111,2203,2019,0,0,0,0,0,0,14.05,28.83,28.83
$GC,5618,0.58,210.3,2722,2446,2203,2018,367.3,6.8,602,5674,0.00,2.78,46.08,2.159,8452,0.000,0.151,2722,3843,1936,2035,1837,0,0,0,0,0,0,28.83,13.77,13.11
$GC,5729,0.53,210.3,2722,3843,2031,1838,358.8,9.6,612,5736,0.00,2.58,0.00,0.000,1030,0.000,0.102,2729,2426,1934,2031,1837,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6039,0.53,223.5,2729,2426,2030,1834,333.3,7.9,643,6059,0.00,2.62,14.43,2.053,8708,0.000,0.127,2738,1018,1881,1981,1782,0,0,0,0,0,0,28.83,14.04,13.35
$GC,6110,0.54,231.0,2739,1018,1981,1782,327.5,8.1,650,6128,0.10,2.65,9.18,1.919,13318,0.236,0.131,2711,2433,1852,1951,1753,0,0,0,0,0,0,14.04,14.07,13.34
$GC,6431,0.61,269.2,2711,2433,1950,1753,305.0,7.0,682,6479,0.00,2.78,41.10,2.110,8452,0.000,0.150,2711,3838,1696,1788,1605,0,0,0,0,0,0,28.83,13.82,13.19
$GC,6550,0.61,269.2,2711,3839,1784,1605,296.3,8.4,693,6556,0.00,2.55,0.00,0.000,1030,0.000,0.101,2718,2425,1694,1784,1605,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6858,0.65,273.0,2717,2424,1780,1605,270.6,8.2,724,6869,0.00,2.62,4.85,1.647,8708,0.000,0.125,2724,1023,1680,1767,1594,0,0,0,0,0,0,28.83,14.19,13.48
$GC,6909,0.70,279.2,2724,1022,1767,1594,266.7,8.1,728,6926,0.12,2.60,7.93,1.857,11270,0.192,0.129,2762,2433,1655,1740,1570,0,0,0,0,0,0,14.22,14.20,13.46
$GC,7228,0.66,279.2,2762,2433,1741,1570,233.0,10.7,760,7237,0.00,2.62,0.00,0.000,260,0.000,0.151,2762,3844,1655,1740,1570,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7324,0.59,279.2,2762,3844,1739,1570,221.4,12.0,769,7334,0.15,2.47,0.00,0.000,5126,0.256,0.103,2732,2426,1654,1739,1570,0,0,0,0,0,0,14.26,14.33,28.83
$GC,7636,0.71,341.1,2732,2426,1738,1570,198.1,6.2,800,7711,0.00,2.65,66.95,2.080,8708,0.000,0.125,2734,1022,1403,1487,1320,0,0,0,0,0,0,28.83,13.80,13.16
$GC,7729,0.86,410.4,2734,1022,1487,1319,192.6,6.0,809,7815,0.20,2.65,75.03,1.999,11270,0.119,0.126,2807,2423,1119,1194,1044,0,0,0,0,0,0,13.90,13.87,12.94
$GC,8118,0.83,410.4,2807,2423,1189,1040,148.9,11.7,848,8127,0.00,2.70,0.00,0.000,260,0.000,0.151,2806,3847,1113,1188,1039,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8174,0.79,410.4,2807,3847,1186,1039,141.7,13.4,853,8183,0.00,2.50,0.00,0.000,1030,0.000,0.103,2817,2436,1112,1186,1039,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8485,0.75,410.4,2817,2436,1185,1037,104.6,12.3,884,8494,0.12,2.58,0.00,0.000,4612,0.302,0.124,2793,1014,1111,1185,1037,0,0,0,0,0,0,14.24,14.27,28.83
$GC,8541,0.80,410.4,2793,1014,1183,1036,98.7,9.8,890,8548,0.00,2.62,0.00,0.000,1030,0.000,0.129,2793,2438,1109,1183,1036,0,0,0,0,0,0,28.83,14.30,28.83
$GC,8860,0.80,410.4,2793,2438,1183,1035,66.9,10.0,951,8867,0.00,2.60,0.00,0.000,260,0.000,0.151,2793,3841,1108,1183,1034,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8903,0.80,410.4,2793,3841,1182,1035,62.2,11.4,958,8910,0.00,2.47,0.00,0.000,1030,0.000,0.103,2801,2427,1108,1182,1035,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9228,0.87,430.1,2801,2427,1181,1033,31.1,7.7,1019,9246,0.00,2.58,9.45,0.285,8708,0.000,0.128,2802,1027,1039,1114,965,0,0,0,0,0,0,28.83,14.40,14.35
$GC,9284,1.00,455.0,2802,1027,1113,965,26.6,7.5,1028,9304,0.17,2.55,13.80,0.272,11270,0.177,0.131,2858,2429,938,1013,863,0,0,0,0,0,0,14.43,14.42,14.33
$STATE,9494,end climb,SURFACE_DEPTH_REACHED
$STATE,9494,begin surface coast
$FINISH,0.3,1.024985
$STATE,9515,end surface coast,CONTROL_FINISHED_OK
$STATE,9515,begin surface
$SM_CCo,9604,0.00,0.000,0,0,933,456.26
$SM_GC,1.51,8.18,0.00,0.00,0.106,0.000,0.000,138,2429,933,-7.44,-0.57,456.26,0,0,0,0,0,0,14.46,28.83,28.83
$RAFOS_CLK,464
$RAFOS,6,1379839747,8.833333,8.818611,98,65,59,57,51,50,932,208,163,180,122,110
$RAFOS,5,1379839264,8.700000,8.684444,69,58,52,51,51,50,999,216,166,233,138,147
$RAFOS,4,1379838789,8.566667,8.552500,66,65,61,60,58,52,127,770,214,178,153,188
$RAFOS,3,1379838306,8.433333,8.418333,67,66,58,57,53,53,683,198,235,207,134,147
$RAFOS,2,1379837822,8.300000,8.283889,101,64,63,59,58,56,597,206,197,117,152,132
$RAFOS,1,1379837343,8.166667,8.150833,66,63,62,52,51,51,689,172,196,212,126,1600
$RAFOS_FIX,6623.873535,-6006.873047,220913,080817,5,80,1.19
$IRIDIUM_FIX,6558.99,-6015.97,220913,050552
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.94
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,51
$24V_AH,12.5,20.462
$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,21.800,87.650,642.075,0.000,0.000,0.000,0.000,214.075,12.750,0.000,11.296,2440.228,4343.891,717.382,1898.931,585.124,0.000,1930.334,0.000,1706.051,2160.000,0.538,0.000
$DEVICE_MAMPS,434.520,265.455,2294.235,0.000,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150752
$DATA_FILE_SIZE,46690,1072
$CAP_FILE_SIZE,113767,0
$CFSIZE,259252224,248385536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.1
$GPS,220913,104935,6622.735,-6006.859,33,1.2,33,-33.4