version: 66.11
glider: 192
mission: 2
dive: 53
start: 9 23 113 23 29 9
data:
$ID,192
$MISSION,2
$DIVE,53
$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,380
$T_MISSION,410
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$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,400
$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,-1149.7732
$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,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,20
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,230913,232235,6630.218,-5937.493,41,1.1,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.6
$GPS2,230913,232825,6630.151,-5937.383,5,1.0,5,-33.5
$SPEED_LIMITS,0.150,0.251
$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,52.1,136613,-16.2,-8.684,-19.07,2590
$D_GRID,756
$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,-1.04,-146.0,115,2438,1105,1077,0.0,0.0,0,104,0.00,0.00,-82.05,0.000,16386,0.000,0.000,115,2439,2759,2822,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.04,-146.0,115,2439,2822,2699,3.7,-6.5,14,138,9.82,2.55,-11.55,0.000,18948,0.432,0.138,2183,1042,3340,3513,3167,0,0,0,0,0,0,14.25,14.38,14.61
$GC,199,-1.04,-146.0,1344,1041,3509,3164,32.8,-28.3,29,207,0.00,2.55,0.00,0.000,1030,0.000,0.126,2175,2451,3342,3517,3167,0,0,0,0,0,0,28.83,14.40,28.83
$GC,524,-1.04,-146.0,2175,2451,3518,3166,112.5,-23.7,86,532,0.00,2.47,0.00,0.000,516,0.000,0.117,2175,1042,3341,3517,3166,0,0,0,0,0,0,28.83,14.46,28.83
$GC,632,-1.04,-146.0,2175,1042,3519,3166,137.3,-22.5,96,638,0.00,2.55,0.00,0.000,1030,0.000,0.128,2165,2459,3341,3518,3165,0,0,0,0,0,0,28.83,14.48,28.83
$GC,940,-1.04,-146.0,2165,2458,3518,3165,208.4,-22.4,127,948,0.00,2.50,0.00,0.000,516,0.000,0.116,2164,1039,3341,3518,3165,0,0,0,0,0,0,28.83,14.52,28.83
$GC,979,-1.04,-146.0,1344,1039,3510,3162,216.7,-23.5,130,986,0.15,2.53,0.00,0.000,3078,0.332,0.127,2184,2448,3341,3518,3165,0,0,0,0,0,0,14.45,14.54,28.83
$GC,1288,-1.04,-146.0,2184,2447,3518,3165,280.0,-20.0,161,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2448,3341,3518,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-1.04,-146.0,2184,2447,3518,3164,343.2,-20.5,192,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2448,3341,3518,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-1.04,-146.0,2185,2448,3518,3164,404.7,-19.3,223,1922,0.00,2.53,0.00,0.000,260,0.000,0.142,2176,3859,3341,3518,3164,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1943,-1.04,-146.0,2176,3859,3518,3163,411.1,-19.5,225,1953,0.00,2.38,0.00,0.000,1030,0.000,0.097,2176,2452,3340,3518,3163,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2254,-1.04,-146.0,2176,2452,3518,3163,471.6,-19.0,256,2263,0.00,2.45,0.00,0.000,516,0.000,0.116,2176,1044,3340,3518,3163,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2301,-1.04,-146.0,2176,1044,3518,3163,480.4,-19.4,260,2309,0.00,2.47,0.00,0.000,1030,0.000,0.128,2166,2444,3340,3518,3163,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2611,-1.04,-146.0,2166,2444,3518,3163,540.6,-19.2,291,2620,0.00,2.45,0.00,0.000,516,0.000,0.116,2166,1044,3340,3518,3163,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2629,-1.04,-146.0,2166,1044,3518,3164,543.2,-19.4,292,2636,0.15,2.50,0.00,0.000,3078,0.326,0.125,2186,2450,3341,3518,3164,0,0,0,0,0,0,14.54,14.62,28.83
$GC,2937,-1.04,-146.0,2187,2450,3518,3163,599.6,-17.3,323,2946,0.00,2.53,0.00,0.000,260,0.000,0.145,2178,3859,3341,3518,3164,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2955,-1.04,-146.0,2178,3859,3518,3163,601.8,-17.6,324,2961,0.00,2.38,0.00,0.000,1030,0.000,0.094,2178,2449,3341,3518,3164,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3274,-1.04,-146.0,2178,2449,3518,3164,660.3,-18.2,335,3279,0.00,2.40,0.00,0.000,516,0.000,0.113,2178,1047,3341,3518,3164,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3319,-1.04,-146.0,2178,1046,3518,3164,666.2,-18.1,336,3324,0.00,2.47,0.00,0.000,1030,0.000,0.125,2168,2450,3341,3518,3164,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3636,-1.04,-146.0,2168,2450,3518,3164,729.7,-20.2,347,3641,0.00,2.53,0.00,0.000,260,0.000,0.144,2157,3863,3341,3518,3164,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3670,-1.04,-146.0,1344,3862,3510,3161,736.3,-20.0,348,3676,0.10,2.38,0.00,0.000,3078,0.312,0.095,2181,2446,3341,3519,3164,0,0,0,0,0,0,14.57,14.67,28.83
$STATE,3782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3782,begin apogee
$GC,3795,-0.21,0.0,2181,2446,3519,3164,758.2,-18.0,352,3971,0.98,0.00,159.32,2.619,10246,0.282,0.000,2447,2446,2740,2854,2627,0,0,0,0,0,0,14.58,28.83,12.76
$STATE,3972,end apogee,CONTROL_FINISHED_OK
$STATE,3972,begin climb
$GC,3978,1.04,146.0,2447,2446,2854,2626,768.1,0.0,358,4164,1.42,2.92,170.27,2.547,11012,0.171,0.145,2858,3842,2145,2229,2061,0,0,0,0,0,0,13.66,13.05,12.30
$GC,4213,1.04,146.0,2858,3842,2227,2058,751.3,11.5,366,4220,0.00,2.62,0.00,0.000,1030,0.000,0.100,2869,2441,2143,2227,2059,0,0,0,0,0,0,28.83,13.42,28.83
$GC,4541,1.04,146.0,2869,2441,2226,2051,699.0,15.5,377,4547,0.00,2.70,0.00,0.000,260,0.000,0.150,2869,3840,2139,2227,2051,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4596,1.04,146.0,2869,3840,2226,2051,693.7,15.8,378,4603,0.00,2.55,0.00,0.000,1030,0.000,0.101,2880,2426,2138,2226,2051,0,0,0,0,0,0,28.83,14.01,28.83
$GC,4903,1.04,146.0,2880,2425,2226,2049,641.1,15.9,389,4909,0.00,2.67,0.00,0.000,260,0.000,0.149,2880,3842,2137,2226,2049,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4953,1.04,146.0,2880,3842,2225,2049,635.5,16.2,390,4963,0.10,2.47,0.00,0.000,5126,0.321,0.100,2867,2436,2137,2226,2049,0,0,0,0,0,0,14.12,14.21,28.83
$GC,5271,1.04,146.0,2867,2436,2225,2048,584.4,14.9,407,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2436,2136,2225,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5584,1.04,146.0,2867,2436,2226,2047,537.5,14.9,438,5593,0.00,2.62,0.00,0.000,260,0.000,0.150,2867,3845,2136,2225,2047,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5650,1.04,146.0,2867,3846,2226,2047,525.8,16.9,444,5658,0.00,2.45,0.00,0.000,1030,0.000,0.102,2877,2429,2136,2225,2047,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5960,1.04,146.0,2877,2428,2226,2046,476.3,15.8,475,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2428,2135,2225,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6277,1.04,146.0,2877,2429,2225,2046,428.9,15.1,506,6286,0.00,2.60,0.00,0.000,260,0.000,0.151,2876,3846,2135,2225,2046,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6366,1.04,146.0,1920,3845,2181,2041,413.5,16.8,514,6373,0.00,2.47,0.00,0.000,1030,0.000,0.103,2888,2418,2135,2225,2046,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6675,1.04,146.0,2888,2418,2225,2045,366.1,15.4,545,6684,0.00,2.62,0.00,0.000,260,0.000,0.151,2888,3839,2136,2226,2046,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6771,1.04,146.0,2887,3839,2225,2046,349.8,17.4,554,6781,0.12,2.42,0.00,0.000,5126,0.314,0.103,2867,2424,2135,2225,2045,0,0,0,0,0,0,14.46,14.55,28.83
$GC,7082,1.04,146.0,2867,2424,2225,2045,306.2,13.8,585,7091,0.00,2.47,0.00,0.000,516,0.000,0.123,2876,1016,2134,2225,2044,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7118,1.04,146.0,2876,1016,2225,2044,301.3,13.9,588,7127,0.00,2.53,0.00,0.000,1030,0.000,0.132,2876,2422,2134,2225,2044,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7428,1.04,146.0,2876,2422,2225,2044,261.1,12.1,619,7437,0.00,2.58,0.00,0.000,260,0.000,0.149,2876,3844,2134,2225,2044,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7484,1.04,146.0,2876,3844,2225,2044,253.4,14.6,624,7492,0.00,2.40,0.00,0.000,1030,0.000,0.102,2887,2436,2134,2225,2044,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7794,1.04,146.0,2887,2436,2225,2043,213.9,12.8,655,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2436,2134,2225,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,1.04,146.0,2887,2436,2225,2044,175.1,12.5,686,8118,0.00,2.55,0.00,0.000,260,0.000,0.148,2887,3840,2134,2225,2044,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8215,1.04,146.0,2887,3840,2225,2044,160.6,12.8,696,8225,0.12,2.40,0.00,0.000,5126,0.309,0.103,2865,2432,2134,2225,2044,0,0,0,0,0,0,14.54,14.64,28.83
$GC,8527,1.04,146.0,2865,2431,2225,2044,129.9,9.3,727,8535,0.00,2.58,0.00,0.000,260,0.000,0.151,2865,3844,2134,2225,2044,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8545,1.04,146.0,2865,3845,2225,2044,128.8,9.4,728,8552,0.00,2.45,0.00,0.000,1030,0.000,0.103,2875,2418,2134,2225,2044,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8853,1.04,146.0,2875,2418,2225,2043,99.8,9.2,759,8860,0.00,2.62,0.00,0.000,260,0.000,0.151,2875,3853,2134,2225,2044,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8937,1.04,146.0,2875,3853,2225,2044,91.3,10.1,774,8944,0.00,2.45,0.00,0.000,1030,0.000,0.103,2886,2426,2134,2225,2043,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9255,1.16,193.4,1888,2423,2178,2038,65.3,6.8,835,9287,0.00,2.50,24.73,0.384,8708,0.000,0.122,2897,1018,1953,2047,1859,0,0,0,0,0,0,28.83,14.57,14.46
$GC,9508,1.16,193.4,2897,1018,2046,1851,40.1,11.0,882,9515,0.00,2.55,0.00,0.000,1030,0.000,0.132,2897,2433,1948,2045,1851,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9825,1.24,226.1,1888,2430,2002,1845,14.3,7.4,943,9851,0.00,2.53,17.02,0.219,8708,0.000,0.125,2908,1020,1818,1915,1721,0,0,0,0,0,0,28.83,14.57,14.53
$STATE,9952,end climb,SURFACE_DEPTH_REACHED
$STATE,9953,begin surface coast
$FINISH,1.8,1.025089
$STATE,9958,end surface coast,CONTROL_FINISHED_OK
$STATE,9958,begin surface
$SM_CCo,9989,93.70,0.179,0,0,1110,400.08
$SM_GC,1.57,8.30,2.67,93.70,0.116,0.141,0.179,144,2450,1110,-7.39,-0.51,400.08,0,0,0,0,0,0,14.58,14.57,14.45
$RAFOS_CLK,486
$RAFOS,6,1379983756,0.833333,0.821111,72,60,59,54,54,53,781,215,190,226,201,167
$RAFOS,5,1379983274,0.700000,0.687222,63,60,57,57,57,56,218,186,156,175,837,203
$RAFOS,4,1379982784,0.566667,0.551111,63,63,59,58,56,55,115,215,197,225,140,173
$RAFOS,3,1379982309,0.433333,0.419167,67,62,61,58,58,52,198,186,147,166,214,624
$RAFOS,2,1379981830,0.300000,0.286111,69,62,57,55,54,52,208,189,170,157,128,533
$RAFOS,1,1379981344,0.166667,0.151111,80,66,65,55,55,52,647,161,175,194,135,217
$RAFOS,0,1379980870,0.033333,0.019444,71,60,59,58,57,54,684,197,143,167,118,221
$RAFOS_FIX,6631.803711,-5940.635742,240913,000002,3,74,1.21
$IRIDIUM_FIX,6558.99,-5941.90,230913,202016
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.48
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.30
$XPDR_PINGS,94
$24V_AH,12.3,25.348
$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,21.275,111.025,371.350,93.700,0.000,0.000,0.000,195.525,23.500,0.000,10.909,2466.772,4966.887,626.256,1812.958,579.369,0.000,1763.307,0.000,1637.809,2520.000,0.535,0.000
$DEVICE_MAMPS,432.225,150.705,2619.360,179.010,0.000,0.000,0.000,139.230,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,43332,967
$CAP_FILE_SIZE,110824,0
$CFSIZE,259252224,247545856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.0
$CURRENT,0.061,236.2,1
$GPS,240913,021905,6631.317,-5937.352,36,0.8,36,-33.5