version: 66.11
glider: 192
mission: 2
dive: 23
start: 9 20 113 15 24 27
data:
$ID,192
$MISSION,2
$DIVE,23
$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,-1058.2661
$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,15
$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
$GPS1,200913,151758,6626.348,-6040.022,44,1.5,49,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-61.6
$GPS2,200913,152342,6626.271,-6040.080,4,1.5,6,-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,145.4,180874,-18.6,-12.500,-21.21,2254
$D_GRID,425
$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,-1.04,-184.9,131,2342,923,841,0.0,0.0,0,110,0.00,0.00,-88.05,0.000,16386,0.000,0.000,129,2343,2618,2692,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.04,-184.9,129,2343,2692,2545,3.4,-5.7,15,155,10.25,2.58,-19.42,0.000,18948,0.454,0.152,2193,934,3550,3763,3338,0,0,0,0,0,0,14.16,14.30,14.54
$GC,381,-0.94,-184.9,2194,932,3764,3338,75.3,-25.1,64,389,0.17,2.62,0.00,0.000,3078,0.312,0.140,2224,2355,3551,3764,3338,0,0,0,0,0,0,14.30,14.37,28.83
$GC,701,-0.85,-184.9,2223,2354,3764,3338,144.7,-19.7,105,711,0.12,2.60,0.00,0.000,2308,0.324,0.158,2246,3762,3551,3764,3338,0,0,0,0,0,0,14.38,14.42,28.83
$GC,791,-0.80,-184.9,2247,3762,3764,3338,160.8,-17.4,113,800,0.12,2.47,0.00,0.000,3078,0.306,0.108,2272,2347,3551,3764,3338,0,0,0,0,0,0,14.40,14.47,28.83
$GC,1102,-0.78,-184.9,2272,2346,3764,3338,209.6,-15.6,144,1111,0.00,2.62,0.00,0.000,260,0.000,0.164,2264,3760,3550,3764,3337,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1177,-0.78,-184.9,2264,3760,3764,3337,222.4,-17.2,151,1186,0.00,2.45,0.00,0.000,1030,0.000,0.109,2264,2350,3551,3764,3338,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1488,-0.75,-184.9,2264,2350,3764,3337,278.7,-17.6,182,1497,0.00,2.47,0.00,0.000,516,0.000,0.132,2264,945,3550,3764,3337,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1596,-0.75,-184.9,2264,945,3765,3337,296.9,-16.5,192,1604,0.12,2.58,0.00,0.000,3078,0.314,0.144,2284,2352,3550,3764,3337,0,0,0,0,0,0,14.48,14.53,28.83
$GC,1906,-0.78,-184.9,2284,2351,3764,3336,343.9,-14.4,223,1914,0.00,2.58,0.00,0.000,260,0.000,0.160,2276,3761,3550,3764,3337,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1954,-0.80,-184.9,1412,3760,3761,3334,350.5,-14.5,227,1961,0.00,2.45,0.00,0.000,1030,0.000,0.108,2276,2349,3550,3764,3336,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2262,-0.80,-184.9,2276,2348,3764,3336,394.8,-14.1,258,2271,0.00,2.60,0.00,0.000,260,0.000,0.163,2266,3761,3549,3763,3336,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2352,-0.83,-184.9,1392,3760,3761,3333,407.1,-14.1,266,2359,0.00,2.45,0.00,0.000,1030,0.000,0.108,2266,2346,3550,3764,3336,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,2474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2474,begin apogee
$GC,2488,-0.22,0.0,2266,2401,3764,3336,426.4,-14.5,279,2684,0.68,0.00,189.98,2.306,10246,0.259,0.000,2453,2401,2794,2924,2665,0,0,0,0,0,0,14.52,28.83,12.81
$STATE,2685,end apogee,CONTROL_FINISHED_OK
$STATE,2685,begin climb
$GC,2691,1.04,184.9,2453,2401,2925,2665,435.9,0.0,299,2903,1.38,2.90,200.43,2.215,10756,0.157,0.132,2871,990,2039,2120,1959,0,0,0,0,0,0,13.56,13.18,12.52
$GC,3100,0.91,184.9,2871,990,2119,1947,402.6,12.9,340,3109,0.15,2.70,0.00,0.000,5126,0.270,0.138,2833,2396,2033,2119,1947,0,0,0,0,0,0,13.71,13.76,28.83
$GC,3412,0.85,211.6,2833,2396,2119,1943,365.2,11.3,371,3447,0.00,2.78,28.05,2.172,8452,0.000,0.156,2833,3813,1930,2025,1835,0,0,0,0,0,0,28.83,13.74,13.10
$GC,3593,0.73,211.6,2833,3813,2023,1835,339.7,15.7,388,3601,0.30,2.58,0.00,0.000,5126,0.283,0.109,2772,2402,1929,2023,1835,0,0,0,0,0,0,13.90,13.97,28.83
$GC,3903,0.82,274.0,2772,2402,2023,1831,307.9,9.7,419,3979,0.00,2.75,66.35,2.118,8708,0.000,0.133,2781,985,1676,1766,1587,0,0,0,0,0,0,28.83,13.59,12.96
$GC,4023,0.93,312.4,2781,985,1765,1584,296.5,10.8,430,4073,0.12,2.75,42.75,2.062,11270,0.124,0.137,2829,2403,1520,1607,1433,0,0,0,0,0,0,13.77,13.74,12.86
$GC,4376,0.93,312.4,2829,2403,1604,1425,246.8,14.2,466,4384,0.00,2.65,0.00,0.000,516,0.000,0.135,2840,990,1514,1603,1425,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4421,0.93,312.4,2839,990,1603,1424,240.4,14.3,470,4430,0.00,2.65,0.00,0.000,1030,0.000,0.138,2839,2402,1513,1603,1424,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4731,0.93,312.4,2840,2402,1602,1423,196.7,12.8,501,4740,0.00,2.65,0.00,0.000,260,0.000,0.160,2839,3807,1512,1601,1424,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4780,0.89,312.4,1856,3807,1572,1421,190.5,14.0,505,4788,0.00,2.53,0.00,0.000,1030,0.000,0.110,2850,2400,1511,1599,1423,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5092,0.87,312.4,2850,2399,1599,1423,149.4,13.9,536,5101,0.12,2.67,0.00,0.000,4356,0.310,0.161,2819,3817,1511,1599,1423,0,0,0,0,0,0,14.26,14.28,28.83
$GC,5138,0.87,312.4,2819,3817,1598,1423,142.7,13.6,540,5146,0.00,2.50,0.00,0.000,1030,0.000,0.112,2828,2402,1510,1598,1423,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5448,0.91,346.8,2828,2402,1598,1422,106.1,10.9,571,5475,0.00,2.70,19.58,0.552,8452,0.000,0.161,2827,3823,1380,1465,1296,0,0,0,0,0,0,28.83,14.30,14.14
$GC,5547,0.91,346.8,2828,3823,1462,1295,94.2,13.8,584,5554,0.00,2.55,0.00,0.000,1030,0.000,0.111,2838,2389,1378,1462,1295,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5866,1.01,405.5,2838,2390,1460,1292,57.6,9.8,645,5910,0.00,2.75,33.50,0.370,8452,0.000,0.161,2839,3807,1140,1219,1062,0,0,0,0,0,0,28.83,14.31,14.23
$GC,5957,1.07,416.9,2839,3807,1214,1062,47.6,12.0,660,5971,0.00,2.50,6.43,0.350,9222,0.000,0.112,2848,2401,1093,1170,1016,0,0,0,0,0,0,28.83,14.36,14.23
$GC,6289,1.13,416.9,2848,2401,1164,1012,13.4,12.7,722,6296,0.12,2.58,0.00,0.000,2564,0.186,0.135,2903,983,1088,1164,1012,0,0,0,0,0,0,14.41,14.40,28.83
$GC,6324,1.16,416.9,1888,982,1151,1011,7.8,16.0,727,6331,0.00,2.62,0.00,0.000,1030,0.000,0.142,2904,2410,1087,1163,1012,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,6351,end climb,SURFACE_DEPTH_REACHED
$STATE,6351,begin surface coast
$FINISH,0.5,1.015242
$STATE,6373,end surface coast,CONTROL_FINISHED_OK
$STATE,6373,begin surface
$SM_CCo,6402,17.62,0.188,0,0,957,450.13
$SM_GC,1.42,8.30,0.15,17.62,0.108,0.179,0.188,141,2343,957,-7.44,0.37,450.13,0,0,0,0,0,0,14.43,14.42,14.37
$RAFOS_CLK,303
$RAFOS,6,1379695750,16.833334,16.819445,97,64,55,54,53,53,952,166,222,202,126,212
$RAFOS,5,1379695272,16.700001,16.686666,67,60,58,53,51,51,223,204,145,179,131,110
$RAFOS,4,1379694786,16.566668,16.551666,84,64,62,62,61,56,826,189,214,177,201,231
$RAFOS,3,1379694303,16.433332,16.417500,62,62,61,56,52,51,208,217,187,226,167,154
$RAFOS,2,1379693822,16.299999,16.283890,58,55,54,52,51,50,145,211,225,173,162,200
$RAFOS,1,1379693342,16.166666,16.150555,57,57,56,53,52,49,118,187,200,158,149,169
$RAFOS,0,1379692863,16.033333,16.017500,62,59,58,56,52,46,217,616,120,193,172,148
$RAFOS_FIX,6621.393066,-6026.824219,200913,161644,2,90,2.78
$IRIDIUM_FIX,6558.99,-6047.32,200913,131300
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.77
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,29
$24V_AH,12.5,13.311
$10V_AH,12.8,0.000
$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,21.975,78.550,587.050,17.625,0.000,0.000,0.000,193.400,7.250,0.000,7.875,1761.553,2493.579,633.330,1453.048,444.656,0.000,1620.955,0.000,1280.194,2520.000,0.537,0.000
$DEVICE_MAMPS,453.645,208.080,2306.475,188.190,0.000,0.000,0.000,134.640,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,33414,736
$CAP_FILE_SIZE,87619,0
$CFSIZE,259252224,249389056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.0
$CURRENT,0.168,223.4,1
$GPS,200913,171335,6625.464,-6038.750,54,2.0,54,-33.5