version: 66.11
glider: 192
mission: 2
dive: 21
start: 9 20 113 11 38 40
data:
$ID,192
$MISSION,2
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,100
$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,120
$T_MISSION,150
$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,190
$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,0.0033904
$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,-1055.7681
$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,2350
$C_ROLL_CLIMB,2400
$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,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,2
$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
$GPS1,200913,113223,6624.888,-6043.606,68,0.9,68,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.3
$GPS2,200913,113755,6624.853,-6043.653,4,0.9,4,-33.5
$SPEED_LIMITS,0.217,0.322
$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,115.2,184258,-18.6,-12.500,-21.21,2254
$D_GRID,407
$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,-184.9,120,2343,988,912,0.0,0.0,0,104,0.00,0.00,-82.05,0.000,16386,0.000,0.000,118,2343,2544,2623,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.04,-184.9,118,2343,2623,2467,3.2,-5.9,14,150,10.30,2.62,-21.00,0.000,19204,0.454,0.150,2194,935,3550,3766,3334,0,0,0,0,0,0,14.17,14.31,14.53
$GC,347,-0.94,-184.9,2195,935,3767,3334,63.1,-23.7,57,354,0.17,2.62,0.00,0.000,3078,0.316,0.142,2224,2354,3550,3767,3334,0,0,0,0,0,0,14.29,14.36,28.83
$GC,666,-0.85,-184.9,2224,2353,3767,3334,138.5,-23.1,102,675,0.12,2.60,0.00,0.000,2308,0.330,0.156,2247,3760,3550,3767,3334,0,0,0,0,0,0,14.38,14.42,28.83
$GC,705,-0.78,-184.9,1408,3761,3764,3331,146.7,-23.1,105,712,0.15,2.47,0.00,0.000,3078,0.310,0.108,2279,2348,3550,3767,3334,0,0,0,0,0,0,14.37,14.45,28.83
$GC,1013,-0.78,-184.9,2279,2347,3767,3334,202.9,-16.7,136,1023,0.00,2.62,0.00,0.000,260,0.000,0.162,2271,3758,3550,3767,3334,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1043,-0.78,-184.9,2271,3758,3767,3334,207.4,-16.9,138,1049,0.00,2.47,0.00,0.000,1030,0.000,0.108,2271,2343,3550,3767,3334,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1353,-0.78,-184.9,2271,2341,3767,3334,259.6,-17.4,169,1362,0.00,2.65,0.00,0.000,260,0.000,0.163,2261,3762,3550,3767,3334,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1448,-0.78,-184.9,2261,3762,3767,3334,276.5,-17.3,178,1456,0.00,2.45,0.00,0.000,1030,0.000,0.109,2261,2349,3550,3767,3333,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1760,-0.78,-184.9,2261,2348,3767,3333,328.6,-16.0,209,1769,0.00,2.53,0.00,0.000,516,0.000,0.131,2261,935,3550,3767,3333,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1785,-0.78,-184.9,2261,935,3767,3333,332.8,-16.3,211,1794,0.00,2.58,0.00,0.000,1030,0.000,0.145,2261,2348,3550,3767,3333,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2097,-0.78,-184.9,2261,2348,3767,3333,379.5,-14.2,242,2106,0.00,2.58,0.00,0.000,260,0.000,0.161,2252,3758,3549,3767,3331,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2175,-0.78,-184.9,1408,3757,3764,3329,391.2,-15.4,249,2182,0.12,2.45,0.00,0.000,3078,0.305,0.107,2278,2346,3549,3767,3332,0,0,0,0,0,0,14.50,14.58,28.83
$STATE,2288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2288,begin apogee
$GC,2302,-0.22,0.0,2278,2412,3767,3332,408.0,-13.5,261,2498,0.62,0.00,189.52,2.264,10246,0.252,0.000,2453,2411,2793,2924,2663,0,0,0,0,0,0,14.51,28.83,12.83
$STATE,2499,end apogee,CONTROL_FINISHED_OK
$STATE,2499,begin climb
$GC,2505,1.04,184.9,2453,2412,2924,2663,418.7,0.0,281,2714,1.40,2.95,197.75,2.191,11012,0.174,0.158,2860,3806,2039,2120,1959,0,0,0,0,0,0,13.56,13.21,12.59
$GC,2775,0.84,184.9,2860,3806,2117,1958,406.7,15.6,308,2783,0.28,2.67,0.00,0.000,5126,0.306,0.109,2811,2395,2037,2117,1957,0,0,0,0,0,0,13.46,13.55,28.83
$GC,3086,0.81,210.7,2811,2395,2117,1948,370.0,11.3,339,3122,0.00,2.83,26.85,2.075,8452,0.000,0.161,2811,3806,1934,2027,1842,0,0,0,0,0,0,28.83,13.69,13.07
$GC,3276,0.73,210.7,2811,3807,2023,1841,346.7,12.6,357,3285,0.17,2.55,0.00,0.000,5126,0.270,0.111,2776,2404,1932,2023,1841,0,0,0,0,0,0,13.87,13.93,28.83
$GC,3587,0.87,323.2,2776,2403,2023,1839,322.1,7.4,388,3713,0.12,0.00,120.72,2.109,10502,0.184,0.000,2819,2403,1476,1557,1395,0,0,0,0,0,0,14.16,28.83,12.75
$GC,4017,0.87,323.2,2819,2403,1552,1387,271.3,12.6,431,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2403,1469,1552,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4327,0.87,323.2,2819,2403,1552,1385,230.0,13.6,462,4336,0.00,2.67,0.00,0.000,260,0.000,0.161,2819,3804,1467,1551,1384,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4395,0.87,323.2,2819,3805,1551,1385,220.1,15.4,468,4402,0.00,2.55,0.00,0.000,1030,0.000,0.111,2830,2391,1468,1552,1384,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4704,0.87,323.2,2829,2390,1551,1384,178.1,12.7,499,4712,0.00,2.67,0.00,0.000,260,0.000,0.161,2830,3810,1467,1551,1384,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4759,0.87,323.2,2830,3810,1550,1384,170.1,14.8,504,4767,0.00,2.50,0.00,0.000,1030,0.000,0.113,2839,2401,1467,1550,1384,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5070,0.87,325.1,2840,2400,1550,1383,129.6,12.4,535,5078,0.00,2.65,0.00,0.000,260,0.000,0.164,2840,3810,1466,1549,1383,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5115,0.87,325.1,2840,3810,1548,1383,123.1,14.2,539,5124,0.10,2.50,0.00,0.000,5126,0.271,0.113,2822,2395,1466,1549,1383,0,0,0,0,0,0,14.31,14.37,28.83
$GC,5431,0.92,345.3,2822,2394,1549,1383,85.6,11.6,582,5451,0.00,2.58,11.52,0.474,8708,0.000,0.138,2832,982,1386,1467,1305,0,0,0,0,0,0,28.83,14.38,14.24
$GC,5499,1.00,355.5,2832,982,1467,1304,77.6,12.0,593,5513,0.00,2.62,5.93,0.454,9222,0.000,0.142,2831,2407,1344,1425,1263,0,0,0,0,0,0,28.83,14.39,14.24
$GC,5831,1.12,422.1,2832,2407,1423,1261,40.8,9.5,655,5881,0.15,2.70,37.92,0.308,11012,0.176,0.139,2896,977,1071,1147,996,0,0,0,0,0,0,14.43,14.35,14.29
$GC,6022,1.19,444.2,2897,976,1141,994,18.5,11.5,689,6042,0.00,2.62,11.82,0.243,9222,0.000,0.140,2897,2403,981,1054,908,0,0,0,0,0,0,28.83,14.39,14.33
$STATE,6127,end climb,SURFACE_DEPTH_REACHED
$STATE,6128,begin surface coast
$FINISH,0.4,1.024984
$STATE,6149,end surface coast,CONTROL_FINISHED_OK
$STATE,6149,begin surface
$SM_CCo,6178,2.58,0.229,0,0,957,450.13
$SM_GC,1.75,8.15,0.12,2.58,0.094,0.177,0.229,141,2347,957,-7.44,0.51,450.13,0,0,0,0,0,0,14.42,14.42,14.38
$RAFOS_CLK,293
$RAFOS,6,1379681350,12.833333,12.819445,65,60,59,57,56,52,166,147,185,933,217,206
$RAFOS,5,1379680870,12.700000,12.686111,56,55,53,53,51,50,195,164,139,216,182,205
$RAFOS,4,1379680387,12.566667,12.551945,66,61,57,55,55,54,187,198,236,178,144,219
$RAFOS,3,1379679908,12.433333,12.418889,62,60,53,53,53,50,206,173,124,138,222,164
$RAFOS,2,1379679425,12.300000,12.284722,63,62,58,50,50,49,200,144,215,232,438,167
$RAFOS,1,1379678950,12.166667,12.152778,64,57,56,54,50,49,212,200,169,191,178,120
$RAFOS,0,1379678465,12.033333,12.018056,91,63,59,52,49,49,604,215,170,145,179,88
$RAFOS_FIX,6634.940430,-6037.093262,190913,080828,2,104,1.05
$IRIDIUM_FIX,6553.70,-6045.26,200913,090939
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.96
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.40
$XPDR_PINGS,30
$24V_AH,12.6,12.523
$10V_AH,12.9,0.000
$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,21.875,68.000,602.050,2.575,0.000,0.000,0.000,183.750,7.500,0.000,5.900,1678.406,2440.502,640.193,1341.266,427.243,0.000,1561.057,0.000,1182.879,2520.000,0.536,0.000
$DEVICE_MAMPS,453.645,201.195,2264.400,228.735,0.000,0.000,0.000,135.405,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150768
$DATA_FILE_SIZE,30089,712
$CAP_FILE_SIZE,80838,0
$CFSIZE,259252224,249499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.0
$CURRENT,0.341,349.3,1
$GPS,200913,132328,6626.083,-6041.775,38,1.0,41,-33.5