version: 66.11
glider: 192
mission: 2
dive: 41
start: 9 22 113 13 50 37
data:
$ID,192
$MISSION,2
$DIVE,41
$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,-1129.1047
$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,20
$R_STBD_OVSHOOT,16
$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
$GPS1,220913,134336,6624.210,-6004.788,28,1.1,28,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.0
$GPS2,220913,134950,6624.197,-6004.766,4,1.1,4,-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,96.7,159232,-13.8,-8.333,-17.43,2997
$D_GRID,502
$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,-165.5,134,2431,993,908,0.0,0.0,0,111,0.00,0.00,-88.68,0.000,16386,0.000,0.000,133,2431,2692,2764,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.80,-165.5,133,2431,2764,2621,3.4,-6.3,16,155,10.23,2.55,-16.23,0.000,18948,0.435,0.136,2270,1037,3471,3675,3268,0,0,0,0,0,0,14.22,14.33,14.57
$GC,217,-0.65,-165.5,2270,1036,3676,3268,27.6,-21.6,32,224,0.25,2.58,0.00,0.000,3078,0.302,0.126,2321,2452,3472,3676,3269,0,0,0,0,0,0,14.28,14.36,28.83
$GC,535,-0.58,-165.5,1424,2450,3672,3264,76.0,-14.3,93,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2453,3472,3677,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-0.51,-165.5,2320,2453,3677,3268,121.7,-14.2,140,862,0.15,2.58,0.00,0.000,2308,0.291,0.151,2353,3857,3472,3677,3268,0,0,0,0,0,0,14.43,14.45,28.83
$GC,889,-0.47,-165.5,2353,3858,3677,3268,126.2,-12.8,143,897,0.00,2.42,0.00,0.000,1030,0.000,0.099,2353,2445,3472,3677,3267,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1199,-0.47,-165.5,2353,2445,3677,3267,162.5,-11.9,174,1208,0.00,2.47,0.00,0.000,516,0.000,0.120,2353,1044,3472,3677,3268,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1298,-0.50,-165.5,2353,1043,3677,3267,173.1,-11.0,183,1305,0.00,2.55,0.00,0.000,1030,0.000,0.132,2353,2452,3472,3677,3267,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1607,-0.50,-165.5,2353,2453,3677,3267,204.6,-9.5,214,1616,0.00,2.58,0.00,0.000,260,0.000,0.153,2353,3862,3472,3677,3267,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1683,-0.53,-165.5,2353,3862,3677,3267,211.6,-9.5,221,1692,0.00,2.40,0.00,0.000,1030,0.000,0.099,2352,2453,3472,3677,3267,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1993,-0.53,-165.5,2352,2453,3677,3266,241.9,-10.1,252,2002,0.00,2.58,0.00,0.000,260,0.000,0.152,2352,3863,3471,3677,3266,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2029,-0.53,-165.5,2352,3863,3675,3266,245.6,-10.3,255,2037,0.00,2.40,0.00,0.000,1030,0.000,0.099,2352,2452,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2339,-0.53,-165.5,2352,2452,3677,3266,276.6,-10.1,286,2348,0.00,2.58,0.00,0.000,260,0.000,0.151,2352,3865,3471,3677,3266,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2385,-0.55,-165.5,2352,3864,3677,3266,281.2,-10.1,290,2393,0.00,2.42,0.00,0.000,1030,0.000,0.099,2352,2444,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2695,-0.57,-165.5,2352,2444,3677,3266,311.3,-9.4,321,2704,0.00,2.60,0.00,0.000,260,0.000,0.154,2352,3857,3471,3677,3266,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2741,-0.60,-165.5,2352,3857,3677,3266,315.8,-9.8,325,2750,0.00,2.40,0.00,0.000,1030,0.000,0.100,2352,2445,3471,3677,3266,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3052,-0.63,-165.5,2353,2446,3677,3266,345.3,-9.4,356,3061,0.00,2.60,0.00,0.000,260,0.000,0.154,2352,3857,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3098,-0.66,-165.5,2352,3857,3677,3266,349.6,-9.3,360,3106,0.00,2.40,0.00,0.000,1030,0.000,0.100,2352,2443,3471,3677,3265,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3408,-0.69,-165.5,2352,2443,3677,3266,377.8,-9.2,391,3415,0.12,0.00,0.00,0.000,4102,0.192,0.000,2308,2443,3471,3677,3266,0,0,0,0,0,0,14.62,28.83,28.83
$GC,3718,-0.65,-165.5,2308,2443,3676,3266,413.4,-11.4,422,3727,0.00,2.58,0.00,0.000,260,0.000,0.151,2298,3863,3471,3677,3266,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3814,-0.61,-165.5,2299,3863,3677,3266,424.8,-11.9,431,3823,0.10,2.40,0.00,0.000,3078,0.271,0.098,2326,2443,3471,3677,3266,0,0,0,0,0,0,14.55,14.63,28.83
$STATE,4068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4068,begin apogee
$GC,4081,-0.22,0.0,2326,2443,3677,3266,451.1,-9.5,457,4266,0.45,0.00,171.38,2.339,10246,0.241,0.000,2454,2443,2794,2924,2664,0,0,0,0,0,0,14.58,28.83,12.83
$STATE,4267,end apogee,CONTROL_FINISHED_OK
$STATE,4267,begin climb
$GC,4273,0.80,165.5,2454,2443,2922,2664,460.1,0.0,476,4482,1.12,2.72,185.85,2.215,10756,0.176,0.117,2790,1024,2119,2205,2033,0,0,0,0,2,0,13.64,13.19,12.48
$GC,4704,0.68,165.5,2790,1024,2205,2022,431.9,10.6,519,4713,0.10,2.67,0.00,0.000,5126,0.263,0.129,2765,2428,2113,2204,2022,0,0,0,0,0,0,13.74,13.78,28.83
$GC,5015,0.58,165.5,2765,2429,2205,2018,404.2,8.9,550,5024,0.15,2.67,0.00,0.000,4356,0.288,0.150,2727,3840,2112,2205,2019,0,0,0,0,0,0,14.00,14.03,28.83
$GC,5104,0.49,165.5,2726,3840,2204,2017,397.1,8.4,558,5111,0.17,2.53,0.00,0.000,5126,0.275,0.100,2696,2425,2111,2204,2018,0,0,0,0,0,0,14.05,14.12,28.83
$GC,5413,0.59,242.8,2696,2425,2204,2017,378.9,5.7,589,5508,0.00,0.00,84.30,2.174,8454,0.000,0.000,2696,2425,1803,1900,1706,0,0,0,0,1,0,28.83,28.83,12.90
$GC,5814,0.71,302.2,2696,2425,1895,1700,353.8,6.3,629,5890,0.20,2.88,64.35,2.170,10500,0.155,0.148,2762,3841,1561,1649,1474,0,0,0,0,0,0,14.10,13.53,12.89
$GC,5922,0.66,302.2,2762,3841,1645,1474,343.4,11.8,639,5931,0.00,2.60,0.00,0.000,1030,0.000,0.099,2772,2432,1560,1646,1474,0,0,0,0,0,0,28.83,13.72,28.83
$GC,6232,0.60,302.2,2772,2432,1639,1473,306.4,11.3,670,6239,0.15,0.00,0.00,0.000,4102,0.285,0.000,2737,2432,1556,1639,1473,0,0,0,0,0,0,14.02,28.83,28.83
$GC,6542,0.60,302.2,1744,2429,1609,1468,278.9,8.9,701,6550,0.00,2.62,0.00,0.000,260,0.000,0.149,2736,3837,1554,1638,1471,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6589,0.60,302.2,1792,3837,1607,1468,274.5,9.8,705,6596,0.00,2.50,0.00,0.000,1030,0.000,0.101,2744,2423,1553,1636,1471,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6898,0.60,302.2,2744,2423,1636,1471,245.7,8.9,736,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2422,1553,1636,1471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,0.60,302.2,2744,2423,1636,1470,217.9,9.0,767,7223,0.00,2.65,0.00,0.000,260,0.000,0.153,2744,3849,1553,1636,1470,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7240,0.60,302.2,2744,3849,1635,1470,214.6,9.7,769,7249,0.00,2.45,0.00,0.000,1030,0.000,0.102,2750,2433,1553,1635,1471,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7550,0.60,302.2,2751,2433,1635,1470,185.9,8.8,800,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2433,1552,1635,1470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,0.63,303.8,2750,2433,1635,1470,159.2,8.3,831,7874,0.00,2.50,0.00,0.000,516,0.000,0.125,2750,1020,1552,1635,1469,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7934,0.67,303.8,1792,1019,1606,1466,153.5,8.4,837,7941,0.00,2.55,0.00,0.000,1030,0.000,0.129,2751,2435,1551,1635,1468,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8244,0.74,332.7,2750,2434,1635,1468,129.7,7.3,868,8280,0.00,2.72,30.48,2.082,8452,0.000,0.152,2751,3844,1437,1521,1353,0,0,0,0,0,0,28.83,14.19,13.41
$GC,8346,0.74,332.7,2750,3844,1519,1353,121.2,8.8,878,8355,0.00,2.50,0.00,0.000,1030,0.000,0.103,2750,2421,1435,1519,1352,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8657,0.84,371.8,2751,2421,1518,1348,99.2,7.0,910,8688,0.15,2.53,23.27,0.523,10756,0.186,0.125,2811,1019,1276,1357,1196,0,0,0,0,0,0,14.38,14.32,14.14
$GC,8710,0.84,371.8,2811,1019,1357,1197,94.4,10.4,918,8716,0.00,2.60,0.00,0.000,1030,0.000,0.130,2811,2437,1277,1357,1197,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9029,0.81,371.8,2811,2437,1353,1194,60.2,9.7,979,9035,0.00,2.60,0.00,0.000,260,0.000,0.151,2811,3844,1273,1352,1194,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9097,0.77,371.8,1808,3844,1333,1192,52.6,12.0,991,9104,0.15,2.47,0.00,0.000,5126,0.294,0.104,2786,2430,1272,1351,1193,0,0,0,0,0,0,14.37,14.44,28.83
$GC,9422,0.93,449.2,2787,2429,1351,1191,27.5,5.7,1052,9475,0.12,2.58,42.78,0.265,10756,0.197,0.128,2840,1026,960,1037,884,0,0,0,0,0,0,14.47,14.40,14.25
$GC,9537,0.97,449.2,2840,1027,1033,883,17.9,9.4,1071,9544,0.00,2.55,0.00,0.000,1030,0.000,0.130,2840,2430,957,1032,882,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,9681,end climb,SURFACE_DEPTH_REACHED
$STATE,9681,begin surface coast
$FINISH,0.5,1.025051
$STATE,9703,end surface coast,CONTROL_FINISHED_OK
$STATE,9703,begin surface
$SM_CCo,9791,0.00,0.000,0,0,952,451.84
$SM_GC,1.60,8.12,0.00,0.00,0.109,0.000,0.000,140,2430,952,-7.44,-0.57,451.84,0,0,0,0,0,0,14.47,28.83,28.83
$RAFOS_CLK,475
$RAFOS,3,1379867101,16.433332,16.416945,66,61,60,58,56,53,702,187,217,205,161,152
$RAFOS,2,1379866624,16.299999,16.284445,71,61,58,58,56,56,553,121,211,178,220,202
$RAFOS,1,1379866141,16.166666,16.150278,103,61,58,58,52,51,670,206,156,190,216,95
$RAFOS,0,1379865671,16.033333,16.019722,103,63,62,60,59,55,638,188,220,138,208,121
$RAFOS_FIX,6626.327148,-6002.271973,220913,161628,4,86,0.50
$IRIDIUM_FIX,6553.70,-6009.32,220913,101017
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.25
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,57
$24V_AH,12.5,21.285
$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,21.750,96.975,602.400,0.000,0.000,0.000,0.000,220.650,14.250,0.000,11.255,2505.467,4371.633,712.108,2003.271,587.948,0.000,1986.498,0.000,1799.256,1440.000,0.536,0.000
$DEVICE_MAMPS,434.520,153.765,2338.605,0.000,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150868
$DATA_FILE_SIZE,46655,1102
$CAP_FILE_SIZE,117106,0
$CFSIZE,259252224,248254464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$SOUNDSPEED,1453.0
$GPS,220913,163536,6626.468,-6002.573,40,0.9,40,-33.5