version: 66.11
glider: 192
mission: 2
dive: 78
start: 9 27 113 6 24 46
data:
$ID,192
$MISSION,2
$DIVE,78
$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,-3
$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,-1225.9781
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2500
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,0.003
$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
$GPS1,270913,061805,6648.153,-5829.405,27,1.3,28,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.1
$GPS2,270913,062405,6648.109,-5829.613,5,1.3,5,-33.6
$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,104.4,78391,-16.2,-8.684,-19.07,2590
$D_GRID,768
$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,19,-0.90,-146.0,138,2501,1101,1086,0.0,0.0,0,99,0.00,0.00,-77.22,0.000,16386,0.000,0.000,138,2501,2624,2685,2564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.90,-146.0,138,2501,2685,2565,3.1,-3.7,13,139,10.05,2.60,-16.52,0.000,18692,0.443,0.170,2194,3870,3339,3518,3160,0,0,0,0,0,0,14.26,14.38,14.62
$GC,175,-0.90,-146.0,1344,3870,3512,3156,21.9,-31.4,24,182,0.00,2.38,0.00,0.000,1030,0.000,0.094,2194,2497,3339,3520,3159,0,0,0,0,0,0,28.83,14.43,28.83
$GC,493,-0.90,-146.0,2194,2495,3521,3159,99.1,-22.0,85,500,0.00,2.45,0.00,0.000,516,0.000,0.109,2194,1092,3340,3521,3159,0,0,0,0,0,0,28.83,14.49,28.83
$GC,545,-0.90,-146.0,2194,1091,3521,3159,109.1,-20.4,90,552,0.00,2.55,0.00,0.000,1030,0.000,0.129,2183,2505,3340,3521,3159,0,0,0,0,0,0,28.83,14.48,28.83
$GC,859,-0.90,-146.0,2183,2504,3521,3159,173.9,-21.0,121,868,0.00,2.47,0.00,0.000,516,0.000,0.109,2183,1087,3340,3521,3159,0,0,0,0,0,0,28.83,14.53,28.83
$GC,915,-0.90,-146.0,2184,1086,3521,3159,186.4,-20.3,126,925,0.10,2.50,0.00,0.000,3078,0.307,0.126,2198,2492,3340,3521,3159,0,0,0,0,0,0,14.45,14.53,28.83
$GC,1226,-0.90,-146.0,2199,2492,3521,3158,247.1,-19.9,157,1235,0.00,2.47,0.00,0.000,260,0.000,0.149,2190,3868,3339,3521,3158,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1292,-0.90,-146.0,2190,3868,3520,3158,261.0,-21.7,163,1301,0.00,2.33,0.00,0.000,1030,0.000,0.094,2190,2495,3339,3521,3157,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1602,-0.90,-146.0,2190,2495,3521,3157,323.1,-19.4,194,1612,0.00,2.42,0.00,0.000,516,0.000,0.111,2190,1096,3339,3521,3157,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1679,-0.90,-146.0,2190,1096,3521,3157,337.5,-18.5,201,1687,0.00,2.47,0.00,0.000,1030,0.000,0.127,2180,2498,3339,3521,3157,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1989,-0.90,-146.0,2180,2498,3521,3157,399.4,-19.9,232,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2498,3339,3521,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-0.90,-146.0,2180,2498,3521,3157,460.1,-19.1,263,2314,0.00,2.42,0.00,0.000,516,0.000,0.108,2180,1087,3339,3521,3157,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2350,-0.90,-146.0,2180,1087,3521,3157,469.9,-18.6,267,2360,0.12,2.53,0.00,0.000,3078,0.291,0.126,2202,2501,3339,3521,3157,0,0,0,0,0,0,14.55,14.61,28.83
$GC,2662,-0.90,-146.0,2201,2501,3521,3157,523.3,-17.2,298,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2500,3339,3521,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.90,-146.0,2202,2501,3521,3157,575.2,-16.5,329,2987,0.00,2.42,0.00,0.000,516,0.000,0.108,2202,1085,3339,3521,3158,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3026,-0.90,-146.0,1368,1084,3514,3154,583.3,-15.9,333,3033,0.00,2.50,0.00,0.000,1030,0.000,0.126,2194,2499,3339,3521,3157,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3345,-0.90,-146.0,2194,2499,3521,3157,636.4,-16.8,351,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2499,3339,3521,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3644,-0.90,-146.0,2194,2499,3522,3158,688.0,-16.9,361,3650,0.00,2.40,0.00,0.000,516,0.000,0.107,2194,1095,3339,3521,3158,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3695,-0.90,-146.0,2194,1094,3522,3158,693.4,-16.9,362,3704,0.00,2.47,0.00,0.000,1030,0.000,0.129,2184,2499,3340,3522,3158,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4006,-0.90,-146.0,2183,2499,3522,3158,752.8,-17.6,373,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2499,3339,3521,3158,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4090,begin apogee
$GC,4104,-0.14,0.0,2184,2534,3521,3158,768.7,-17.7,376,4270,0.98,0.00,154.77,2.605,10246,0.278,0.000,2448,2534,2740,2855,2626,0,0,0,0,0,0,14.62,28.83,12.83
$STATE,4271,end apogee,CONTROL_FINISHED_OK
$STATE,4271,begin climb
$GC,4277,0.90,146.0,2448,2534,2855,2626,778.1,0.0,381,4454,1.15,2.83,168.35,2.519,10500,0.168,0.143,2781,3873,2145,2232,2059,0,0,0,0,0,0,13.66,13.01,12.27
$GC,4464,1.07,201.6,2782,3872,2232,2058,770.3,6.5,388,4539,0.12,2.55,67.50,2.451,11270,0.110,0.095,2837,2536,1918,2003,1833,0,0,0,0,0,0,13.16,13.16,12.21
$GC,4851,1.07,201.6,2837,2535,2002,1820,710.0,16.3,401,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2536,1911,2002,1820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5151,1.07,201.6,2837,2536,2002,1817,659.9,16.9,411,5157,0.00,2.53,0.00,0.000,260,0.000,0.151,2837,3868,1909,2001,1817,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5187,1.07,201.6,2837,3868,2000,1817,654.4,16.9,412,5192,0.00,2.38,0.00,0.000,1030,0.000,0.099,2848,2524,1909,2001,1817,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5514,1.07,201.6,2848,2522,2001,1816,598.2,17.0,423,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2522,1908,2000,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5829,1.07,201.6,2848,2522,2000,1815,546.3,17.3,454,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2522,1907,2000,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6143,1.07,201.6,2848,2522,2000,1814,492.9,16.7,485,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2522,1907,2000,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6450,1.07,201.6,2848,2522,2000,1814,440.9,15.9,516,6459,0.00,2.47,0.00,0.000,260,0.000,0.149,2848,3875,1907,2000,1814,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6477,1.07,201.6,1872,3875,1959,1810,436.5,16.6,518,6485,0.00,2.35,0.00,0.000,1030,0.000,0.101,2858,2517,1907,2000,1814,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6787,1.07,201.6,2858,2515,2000,1814,384.9,15.7,549,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2515,1907,2000,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7102,1.07,201.6,2858,2515,2000,1813,336.3,15.8,580,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2515,1906,2000,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7410,1.07,201.6,2858,2515,2000,1813,288.1,15.5,611,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2515,1906,2000,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7720,1.07,201.6,2859,2515,2000,1813,239.3,16.0,642,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2515,1906,1999,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8036,1.07,201.6,2858,2515,2000,1813,190.3,15.7,673,8045,0.00,2.45,0.00,0.000,260,0.000,0.151,2858,3866,1906,2000,1813,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8186,1.07,201.6,1832,3866,1956,1809,164.1,17.2,687,8194,0.00,2.28,0.00,0.000,1030,0.000,0.103,2869,2530,1906,2000,1813,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8496,1.07,201.6,2869,2530,2000,1813,119.0,13.7,718,8505,0.00,2.45,0.00,0.000,516,0.000,0.121,2879,1121,1906,2000,1812,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8573,1.07,201.6,2879,1121,2000,1812,108.0,14.3,725,8582,0.10,2.50,0.00,0.000,5126,0.270,0.132,2851,2531,1906,2000,1812,0,0,0,0,0,0,14.56,14.62,28.83
$GC,8888,1.07,201.6,1856,2528,1957,1808,70.0,10.5,780,8894,0.00,2.42,0.00,0.000,260,0.000,0.151,2852,3877,1906,2000,1812,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8985,1.07,201.6,1856,3876,1957,1808,58.3,11.9,798,8993,0.00,2.33,0.00,0.000,1030,0.000,0.103,2861,2518,1905,1999,1812,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9305,1.07,201.6,2861,2518,1999,1812,27.1,9.2,859,9311,0.00,2.47,0.00,0.000,260,0.000,0.152,2861,3876,1905,1999,1812,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9472,1.33,287.5,2860,3876,2000,1812,13.8,5.3,890,9529,0.17,2.30,44.55,0.207,11270,0.163,0.102,2928,2531,1566,1646,1486,0,0,0,0,0,0,14.65,14.66,14.51
$STATE,9585,end climb,SURFACE_DEPTH_REACHED
$STATE,9585,begin surface coast
$FINISH,0.9,1.011882
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9635,59.10,0.174,0,0,1108,400.08
$SM_GC,1.79,8.32,0.05,59.10,0.108,0.249,0.174,138,2501,1108,-7.33,0.68,400.08,0,0,0,0,0,0,14.60,14.60,14.50
$RAFOS_CLK,462
$RAFOS,6,1380271743,8.833333,8.817500,106,56,55,55,52,49,713,185,206,162,122,217
$RAFOS,5,1380271263,8.700000,8.684167,96,66,59,57,56,52,665,166,147,208,183,222
$RAFOS,4,1380270795,8.566667,8.554167,148,66,63,62,49,49,577,200,162,218,174,130
$RAFOS,3,1380270309,8.433333,8.419167,78,69,61,60,54,54,733,175,161,213,119,199
$RAFOS,2,1380269827,8.300000,8.285277,116,60,59,58,57,56,789,171,204,219,181,147
$RAFOS,1,1380269350,8.166667,8.152778,105,63,61,58,56,51,764,170,188,152,122,208
$RAFOS,0,1380268864,8.033334,8.017777,115,60,55,54,54,53,921,220,206,232,181,146
$RAFOS_FIX,6649.374512,-5827.472168,270913,080825,7,109,0.38
$IRIDIUM_FIX,6620.33,-5833.19,270913,020206
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.64
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.40
$XPDR_PINGS,64
$24V_AH,12.2,33.956
$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,21.125,73.825,435.175,59.100,0.000,0.000,0.000,202.250,16.000,0.000,5.925,2297.409,4934.429,651.039,1661.244,531.576,0.000,1689.773,0.000,1483.086,2520.000,0.536,0.000
$DEVICE_MAMPS,442.935,249.390,2604.825,174.420,0.000,0.000,0.000,145.350,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150744
$DATA_FILE_SIZE,40002,913
$CAP_FILE_SIZE,98856,0
$CFSIZE,259252224,246050816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.9
$CURRENT,0.027,358.3,1
$GPS,270913,090824,6648.900,-5826.081,40,1.0,40,-33.6