version: 66.11
glider: 192
mission: 2
dive: 44
start: 9 22 113 21 36 54
data:
$ID,192
$MISSION,2
$DIVE,44
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,350
$T_MISSION,380
$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,-1138.3
$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
$PITCH_ADJ_DBAND,0
$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,11
$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
$GPS1,220913,213005,6625.776,-5959.099,31,1.1,31,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.1
$GPS2,220913,213608,6625.699,-5959.009,5,1.1,5,-33.5
$SPEED_LIMITS,0.163,0.278
$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,96.9,154268,-15.5,-9.429,-18.74,2659
$D_GRID,536
$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,-0.88,-165.5,127,2449,968,923,0.0,0.0,0,117,0.00,0.00,-93.15,0.000,16386,0.000,0.000,126,2450,2824,2884,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.88,-165.5,125,2449,2889,2765,3.8,-8.1,17,154,10.07,2.55,-12.23,0.000,18948,0.430,0.142,2244,1034,3473,3667,3279,0,0,0,0,0,0,14.21,14.33,14.56
$GC,280,-0.88,-165.5,2244,1034,3669,3279,47.4,-20.7,45,287,0.00,2.62,0.00,0.000,1030,0.000,0.138,2235,2457,3474,3669,3279,0,0,0,0,0,0,28.83,14.35,28.83
$GC,598,-0.88,-165.5,2235,2456,3671,3278,111.5,-18.7,100,606,0.00,2.53,0.00,0.000,516,0.000,0.120,2235,1036,3474,3671,3278,0,0,0,0,0,0,28.83,14.43,28.83
$GC,683,-0.88,-165.5,2235,1035,3671,3278,126.4,-17.0,108,691,0.00,2.58,0.00,0.000,1030,0.000,0.137,2226,2452,3474,3671,3278,0,0,0,0,0,0,28.83,14.43,28.83
$GC,993,-0.88,-165.5,2226,2453,3671,3278,184.5,-19.6,139,1002,0.00,2.58,0.00,0.000,260,0.000,0.155,2215,3859,3474,3671,3278,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1041,-0.88,-165.5,1380,3858,3666,3275,193.8,-20.7,143,1048,0.15,2.45,0.00,0.000,3078,0.319,0.102,2246,2443,3474,3670,3278,0,0,0,0,0,0,14.44,14.52,28.83
$GC,1350,-0.88,-165.5,2246,2443,3671,3277,251.4,-18.1,174,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2443,3474,3671,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1666,-0.88,-165.5,2246,2443,3671,3277,306.6,-17.6,205,1675,0.00,2.45,0.00,0.000,516,0.000,0.122,2246,1044,3473,3671,3276,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1693,-0.88,-165.5,2246,1044,3671,3276,312.0,-17.1,207,1702,0.00,2.53,0.00,0.000,1030,0.000,0.135,2239,2447,3473,3671,3276,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2003,-0.88,-165.5,2239,2447,3671,3276,365.7,-16.4,238,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2447,3473,3671,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,-0.88,-165.5,2239,2447,3671,3276,414.8,-15.4,269,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2447,3473,3671,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-0.88,-165.5,2239,2447,3671,3276,463.1,-16.1,300,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2447,3473,3671,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2945,-0.88,-165.5,2239,2447,3671,3276,511.5,-15.9,331,2954,0.00,2.58,0.00,0.000,260,0.000,0.149,2228,3867,3472,3670,3275,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2974,-0.88,-165.5,2228,3867,3671,3275,516.6,-16.6,333,2980,0.00,2.45,0.00,0.000,1030,0.000,0.103,2228,2440,3473,3671,3275,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,3086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3086,begin apogee
$GC,3099,-0.22,0.0,2228,2440,3671,3276,536.4,-17.6,345,3286,0.82,0.00,175.32,2.401,10246,0.261,0.000,2456,2440,2793,2919,2668,0,0,0,0,0,0,14.55,28.83,12.80
$STATE,3287,end apogee,CONTROL_FINISHED_OK
$STATE,3287,begin climb
$GC,3293,0.88,165.5,2456,2440,2919,2668,546.7,0.0,364,3504,1.23,2.97,186.98,2.306,10500,0.175,0.151,2807,3837,2118,2205,2032,0,0,0,0,1,0,13.62,13.10,12.39
$GC,3551,0.88,165.5,2808,3837,2203,2031,530.2,15.3,390,3559,0.00,2.65,0.00,0.000,1030,0.000,0.104,2818,2435,2117,2203,2031,0,0,0,0,0,0,28.83,13.43,28.83
$GC,3861,0.88,165.5,2818,2434,2203,2023,490.2,12.6,421,3870,0.00,2.72,0.00,0.000,260,0.000,0.152,2818,3847,2112,2202,2023,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3946,0.88,165.5,2818,3847,2203,2023,478.3,14.2,429,3955,0.00,2.58,0.00,0.000,1030,0.000,0.105,2829,2421,2112,2202,2022,0,0,0,0,0,0,28.83,13.98,28.83
$GC,4256,0.88,165.5,2829,2421,2203,2021,437.8,12.3,460,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2422,2112,2203,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,0.88,165.5,2829,2421,2202,2020,400.2,11.8,491,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2421,2111,2203,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4886,0.88,165.5,2829,2421,2203,2018,365.6,10.9,522,4894,0.00,2.65,0.00,0.000,260,0.000,0.155,2829,3842,2111,2203,2019,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4970,0.88,165.5,2829,3842,2203,2019,354.4,13.1,530,4979,0.00,2.47,0.00,0.000,1030,0.000,0.106,2840,2426,2111,2203,2019,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5280,0.88,165.5,2840,2426,2203,2018,319.7,10.8,561,5290,0.00,2.65,0.00,0.000,260,0.000,0.153,2840,3843,2110,2203,2018,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5326,0.88,165.5,2840,3843,2203,2018,314.0,12.5,565,5335,0.10,2.45,0.00,0.000,5126,0.312,0.106,2825,2430,2110,2203,2018,0,0,0,0,0,0,14.36,14.45,28.83
$GC,5637,0.88,165.5,2825,2430,2203,2018,281.2,10.2,596,5645,0.00,2.60,0.00,0.000,260,0.000,0.152,2825,3846,2110,2202,2018,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5692,0.88,165.5,2825,3846,2202,2018,274.6,12.2,601,5701,0.00,2.45,0.00,0.000,1030,0.000,0.106,2835,2426,2110,2203,2018,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6002,0.88,165.5,2835,2426,2203,2017,239.6,11.3,632,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2426,2109,2202,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6319,0.88,165.5,2835,2426,2203,2017,206.1,11.0,663,6328,0.00,2.60,0.00,0.000,260,0.000,0.155,2835,3843,2110,2203,2018,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6434,0.88,165.5,2835,3843,2203,2017,191.6,12.5,674,6443,0.00,2.45,0.00,0.000,1030,0.000,0.106,2845,2431,2110,2203,2018,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6745,0.89,172.2,2846,2431,2202,2017,160.8,9.2,705,6756,0.00,2.65,6.12,1.759,8452,0.000,0.151,2846,3837,2090,2184,1997,0,0,0,0,0,0,28.83,14.51,13.83
$GC,6932,0.90,180.5,2846,3837,2184,1998,142.5,9.1,723,6949,0.00,2.42,10.45,1.886,9222,0.000,0.106,2857,2433,2058,2152,1964,0,0,0,0,0,0,28.83,14.54,13.78
$GC,7251,0.91,195.1,2857,2432,2151,1964,114.7,8.9,755,7267,0.00,2.65,9.18,1.788,8452,0.000,0.151,2857,3853,1997,2092,1903,0,0,0,0,0,0,28.83,14.40,13.75
$GC,7297,0.91,195.1,2857,3853,2092,1903,110.7,9.7,759,7304,0.15,2.50,0.00,0.000,5126,0.330,0.106,2835,2429,1997,2092,1903,0,0,0,0,0,0,14.35,14.43,28.83
$GC,7610,0.95,222.9,2836,2428,2092,1902,83.8,8.4,809,7635,0.00,2.55,15.85,0.457,8708,0.000,0.129,2845,1011,1884,1983,1786,0,0,0,0,0,0,28.83,14.44,14.29
$GC,7731,0.95,222.9,2845,1011,1982,1782,72.3,10.9,830,7738,0.00,2.60,0.00,0.000,1030,0.000,0.135,2845,2436,1882,1982,1782,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8050,0.96,231.2,2845,2436,1982,1781,41.9,9.1,891,8063,0.00,2.65,4.22,0.324,8452,0.000,0.156,2845,3836,1849,1949,1749,0,0,0,0,0,0,28.83,14.47,14.40
$GC,8155,0.96,231.2,2845,3836,1946,1749,31.2,10.8,910,8161,0.00,2.45,0.00,0.000,1030,0.000,0.106,2856,2428,1847,1946,1749,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8473,0.97,242.3,2856,2428,1946,1749,6.8,9.0,971,8486,0.00,2.65,5.50,0.211,8452,0.000,0.157,2856,3850,1805,1902,1708,0,0,0,0,0,0,28.83,14.50,14.49
$STATE,8512,end climb,SURFACE_DEPTH_REACHED
$STATE,8512,begin surface coast
$FINISH,1.6,1.025053
$STATE,8523,end surface coast,CONTROL_FINISHED_OK
$STATE,8523,begin surface
$SM_CCo,8554,111.90,0.179,0,0,957,450.13
$SM_GC,1.57,8.15,2.53,111.90,0.110,0.107,0.179,142,2444,957,-7.43,0.45,450.13,0,0,0,0,0,0,14.53,14.53,14.38
$RAFOS_CLK,419
$RAFOS_FIX,6626.859375,-5959.279297,220913,202031,5,81,0.27
$IRIDIUM_FIX,6558.99,-6003.97,220913,191914
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.60
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,97
$24V_AH,12.4,22.255
$10V_AH,12.5,0.000
$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,20.675,82.200,413.625,111.900,0.000,0.000,0.000,210.125,24.250,0.000,11.218,2222.819,3871.306,660.229,1755.274,530.067,0.000,1768.200,0.000,1574.825,0.000,0.536,0.000
$DEVICE_MAMPS,429.930,156.825,2400.570,179.010,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150820
$DATA_FILE_SIZE,43355,980
$CAP_FILE_SIZE,98746,0
$CFSIZE,259252224,248102912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1454.5
$GPS,230913,000306,6625.424,-5957.261,43,1.1,43,-33.5