version: 66.11
glider: 192
mission: 2
dive: 54
start: 9 24 113 2 25 30
data:
$ID,192
$MISSION,2
$DIVE,54
$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,-1163.7994
$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,15
$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
$GPS1,240913,021905,6631.317,-5937.352,36,0.8,36,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.6
$GPS2,240913,022455,6631.271,-5937.339,5,0.8,5,-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,95.9,135673,-16.2,-8.684,-19.07,2590
$D_GRID,761
$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,-146.0,116,2454,1100,1081,0.0,0.0,0,104,0.00,0.00,-81.55,0.000,16386,0.000,0.000,114,2456,2713,2774,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.04,-146.0,114,2456,2774,2654,3.1,-3.9,14,143,9.77,2.53,-13.98,0.000,18948,0.431,0.141,2180,1042,3339,3514,3164,0,0,0,0,0,0,14.25,14.38,14.62
$GC,244,-1.04,-146.0,2180,1041,3516,3164,41.6,-23.2,37,251,0.00,2.58,0.00,0.000,1030,0.000,0.127,2171,2460,3340,3517,3164,0,0,0,0,0,0,28.83,14.40,28.83
$GC,562,-1.04,-146.0,2171,2460,3517,3164,117.7,-23.8,91,572,0.00,2.50,0.00,0.000,516,0.000,0.115,2171,1038,3340,3517,3164,0,0,0,0,0,0,28.83,14.46,28.83
$GC,650,-1.04,-146.0,1352,1038,3510,3161,138.7,-23.7,99,658,0.00,2.55,0.00,0.000,1030,0.000,0.125,2160,2452,3341,3518,3164,0,0,0,0,0,0,28.83,14.49,28.83
$GC,965,-1.04,-146.0,2161,2453,3517,3163,216.3,-24.6,130,974,0.00,2.50,0.00,0.000,516,0.000,0.115,2161,1039,3340,3517,3163,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1033,-1.04,-146.0,1344,1038,3510,3160,233.2,-23.6,136,1041,0.15,2.55,0.00,0.000,3078,0.338,0.128,2181,2455,3340,3518,3163,0,0,0,0,0,0,14.46,14.54,28.83
$GC,1342,-1.04,-146.0,2181,2455,3517,3163,300.7,-20.9,167,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2456,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1657,-1.04,-146.0,2181,2455,3517,3162,363.6,-19.9,198,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2456,3339,3517,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-1.04,-146.0,2181,2456,3517,3162,425.1,-19.5,229,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2456,3339,3517,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2285,-1.04,-146.0,2181,2455,3517,3162,483.4,-18.1,260,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2455,3339,3517,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2598,-1.04,-146.0,2180,2455,3517,3162,540.3,-18.4,291,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2455,3339,3517,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2913,-1.04,-146.0,2180,2455,3517,3162,596.5,-17.3,322,2922,0.00,2.50,0.00,0.000,260,0.000,0.143,2172,3859,3340,3517,3163,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2939,-1.04,-146.0,2172,3859,3518,3163,602.3,-17.9,324,2948,0.00,2.38,0.00,0.000,1030,0.000,0.094,2172,2453,3340,3518,3163,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3248,-1.04,-146.0,2172,2453,3517,3162,658.7,-18.1,335,3254,0.00,2.42,0.00,0.000,516,0.000,0.113,2172,1037,3339,3517,3162,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3288,-1.04,-146.0,2172,1037,3517,3163,664.6,-18.1,336,3294,0.00,2.50,0.00,0.000,1030,0.000,0.126,2162,2453,3340,3518,3162,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3611,-1.04,-146.0,2161,2453,3518,3163,727.3,-19.2,347,3617,0.00,2.50,0.00,0.000,260,0.000,0.142,2151,3857,3339,3517,3162,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3636,-1.04,-146.0,2151,3857,3517,3163,727.3,-19.2,347,3645,0.15,2.40,0.00,0.000,3078,0.331,0.094,2182,2446,3340,3518,3162,0,0,0,0,0,0,14.59,14.70,28.83
$STATE,3817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3817,begin apogee
$GC,3830,-0.21,0.0,2182,2445,3518,3163,765.7,-17.9,354,4007,0.98,0.00,159.25,2.632,10246,0.278,0.000,2447,2445,2740,2854,2627,0,0,0,0,0,0,14.60,28.83,12.76
$STATE,4008,end apogee,CONTROL_FINISHED_OK
$STATE,4008,begin climb
$GC,4014,1.04,146.0,2447,2445,2854,2627,775.1,0.0,360,4202,1.38,2.95,172.57,2.576,11012,0.171,0.145,2849,3836,2145,2229,2061,0,0,0,0,0,0,13.67,13.02,12.28
$GC,4434,1.04,146.0,1872,3835,2180,2051,724.4,17.0,374,4440,0.00,2.55,0.00,0.000,1030,0.000,0.099,2860,2436,2140,2225,2056,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4762,1.04,146.0,2860,2436,2226,2050,674.8,15.0,385,4768,0.00,2.58,0.00,0.000,516,0.000,0.122,2870,1025,2137,2225,2050,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4942,1.04,146.0,2870,1025,2225,2049,652.5,14.8,390,4949,0.00,2.60,0.00,0.000,1030,0.000,0.129,2871,2429,2136,2225,2048,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5249,1.04,146.0,2871,2429,2225,2048,602.4,14.9,401,5255,0.00,2.62,0.00,0.000,260,0.000,0.149,2870,3846,2136,2225,2048,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5352,1.04,146.0,2870,3846,2225,2048,585.0,17.3,409,5360,0.00,2.47,0.00,0.000,1030,0.000,0.101,2881,2425,2136,2225,2048,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5662,1.04,146.0,2881,2425,2225,2047,536.8,15.1,440,5671,0.00,2.62,0.00,0.000,260,0.000,0.148,2882,3844,2136,2225,2047,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5718,1.04,146.0,2881,3844,2225,2047,527.5,17.4,445,5727,0.10,2.45,0.00,0.000,5126,0.320,0.100,2868,2423,2136,2225,2047,0,0,0,0,0,0,14.33,14.42,28.83
$GC,6029,1.04,146.0,2868,2423,2225,2046,481.5,14.4,476,6038,0.00,2.62,0.00,0.000,260,0.000,0.149,2867,3844,2135,2225,2046,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6077,1.04,146.0,1896,3844,2181,2041,474.2,15.9,480,6084,0.00,2.47,0.00,0.000,1030,0.000,0.101,2877,2419,2135,2225,2046,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6385,1.04,146.0,2877,2418,2225,2046,427.3,15.4,511,6395,0.00,2.60,0.00,0.000,260,0.000,0.150,2877,3836,2135,2225,2046,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6431,1.04,146.0,2877,3836,2225,2046,419.9,16.4,515,6441,0.00,2.42,0.00,0.000,1030,0.000,0.101,2888,2423,2135,2225,2046,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6743,1.04,146.0,2888,2423,2225,2046,373.1,15.2,546,6751,0.00,2.60,0.00,0.000,260,0.000,0.150,2888,3843,2135,2225,2046,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6791,1.04,146.0,1920,3842,2180,2041,365.8,16.4,550,6798,0.17,2.45,0.00,0.000,5126,0.334,0.101,2862,2423,2135,2225,2046,0,0,0,0,0,0,14.47,14.57,28.83
$GC,7099,1.04,146.0,2861,2421,2225,2045,323.8,12.8,581,7109,0.00,2.58,0.00,0.000,260,0.000,0.150,2861,3840,2134,2224,2045,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7165,1.04,146.0,2862,3840,2225,2045,314.6,14.6,587,7176,0.00,2.42,0.00,0.000,1030,0.000,0.101,2871,2422,2135,2225,2045,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7478,1.04,146.0,2871,2422,2225,2045,272.7,13.1,618,7486,0.00,2.58,0.00,0.000,260,0.000,0.149,2871,3837,2135,2225,2045,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7504,1.04,146.0,2872,3836,2225,2045,269.3,13.2,620,7512,0.00,2.40,0.00,0.000,1030,0.000,0.099,2882,2433,2135,2225,2045,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7814,1.04,146.0,2882,2433,2225,2044,227.3,13.0,651,7824,0.00,2.58,0.00,0.000,260,0.000,0.148,2882,3839,2135,2225,2045,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7852,1.04,146.0,2882,3839,2225,2045,222.2,13.9,654,7861,0.10,2.40,0.00,0.000,5126,0.319,0.100,2868,2430,2134,2224,2045,0,0,0,0,0,0,14.51,14.61,28.83
$GC,8162,1.04,146.0,2867,2430,2223,2045,184.9,11.3,685,8171,0.00,2.45,0.00,0.000,516,0.000,0.122,2877,1023,2135,2225,2045,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8198,1.04,146.0,2877,1023,2225,2044,180.9,11.6,688,8206,0.00,2.50,0.00,0.000,1030,0.000,0.130,2877,2428,2134,2225,2044,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8508,1.04,146.0,2877,2428,2225,2044,147.0,10.5,719,8512,0.00,2.58,0.00,0.000,260,0.000,0.151,2877,3843,2135,2225,2045,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8749,1.04,146.0,2877,3843,2225,2045,119.8,11.1,742,8757,0.00,2.42,0.00,0.000,1030,0.000,0.102,2888,2423,2134,2225,2044,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9065,1.04,146.0,2888,2423,2225,2044,90.7,9.1,782,9072,0.00,2.60,0.00,0.000,260,0.000,0.149,2888,3849,2134,2225,2044,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9282,1.04,146.0,1888,3848,2179,2039,68.7,10.7,823,9291,0.15,2.45,0.00,0.000,5126,0.340,0.101,2866,2425,2134,2225,2044,0,0,0,0,0,0,14.54,14.64,28.83
$GC,9603,1.05,151.4,2866,2425,2225,2043,42.7,8.5,884,9612,0.00,2.53,1.55,0.363,8708,0.000,0.122,2876,1023,2121,2213,2030,0,0,0,0,0,0,28.83,14.61,14.53
$GC,9720,1.22,216.3,2876,1023,2213,2030,34.7,6.1,904,9763,0.12,2.53,35.35,0.278,11270,0.184,0.129,2916,2431,1858,1952,1764,0,0,0,0,0,0,14.63,14.62,14.49
$STATE,10059,end climb,SURFACE_DEPTH_REACHED
$STATE,10060,begin surface coast
$FINISH,0.8,1.025517
$STATE,10091,end surface coast,CONTROL_FINISHED_OK
$STATE,10091,begin surface
$SM_CCo,10119,97.85,0.184,0,0,1108,400.08
$SM_GC,1.70,8.23,0.00,97.85,0.104,0.000,0.184,144,2433,1108,-7.39,-0.48,400.08,0,0,0,0,0,0,14.60,28.83,14.45
$RAFOS_CLK,511
$RAFOS,6,1379998141,4.833333,4.816945,74,69,58,53,52,52,181,856,140,220,123,201
$RAFOS,5,1379997666,4.700000,4.685000,66,61,57,57,57,54,146,230,177,137,862,163
$RAFOS,4,1379997188,4.566667,4.552222,106,69,60,54,52,52,653,214,203,175,193,111
$RAFOS,3,1379996702,4.433333,4.417222,81,69,57,56,55,55,664,148,122,227,163,190
$RAFOS,2,1379996221,4.300000,4.283611,81,59,58,57,55,52,600,190,148,214,112,177
$RAFOS,1,1379995749,4.166667,4.152500,93,73,68,61,60,59,611,198,182,165,152,214
$RAFOS,0,1379995262,4.033333,4.017222,63,55,53,51,51,50,228,187,212,175,146,197
$RAFOS_FIX,6633.132324,-5937.310059,240913,040456,4,90,0.49
$IRIDIUM_FIX,6604.29,-5939.18,230913,232314
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.39
$INTERNAL_PRESSURE,8.67414
$TCM_TEMP,12.30
$XPDR_PINGS,111
$24V_AH,12.3,25.668
$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,21.300,100.925,368.725,97.850,0.000,0.000,0.000,195.475,27.750,0.000,13.397,2483.457,4975.833,630.566,1898.409,586.947,0.000,1795.117,0.000,1722.440,2520.000,0.536,0.000
$DEVICE_MAMPS,430.695,150.705,2632.365,183.600,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43354,974
$CAP_FILE_SIZE,110658,0
$CFSIZE,259252224,247484416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.0
$CURRENT,0.153,332.6,1
$GPS,240913,051735,6632.737,-5935.466,34,1.5,34,-33.5