version: 66.11
glider: 192
mission: 2
dive: 24
start: 9 20 113 17 20 39
data:
$ID,192
$MISSION,2
$DIVE,24
$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,0
$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,-1059.521
$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,16
$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,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
$GPS1,200913,171335,6625.464,-6038.750,54,2.0,54,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.4
$GPS2,200913,171952,6625.347,-6038.799,32,1.9,32,-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,100.8,180671,-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,20,-1.04,-184.9,120,2341,987,913,0.0,0.0,0,110,0.00,0.00,-88.07,0.000,16386,0.000,0.000,117,2341,2689,2759,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.04,-184.9,117,2341,2759,2621,3.5,-6.9,16,154,10.25,2.60,-16.80,0.000,18948,0.451,0.148,2192,910,3550,3761,3339,0,0,0,0,0,0,14.18,14.31,14.55
$GC,216,-0.90,-184.9,2192,909,3762,3339,34.0,-28.5,32,224,0.25,2.67,0.00,0.000,3078,0.309,0.145,2240,2347,3550,3762,3339,0,0,0,0,0,0,14.26,14.33,28.83
$GC,535,-0.82,-184.9,2240,2347,3763,3339,104.4,-20.4,91,543,0.00,2.60,0.00,0.000,260,0.000,0.157,2233,3758,3551,3763,3339,0,0,0,0,0,0,28.83,14.38,28.83
$GC,675,-0.75,-184.9,2233,3758,3763,3338,134.4,-21.8,104,685,0.20,2.47,0.00,0.000,3078,0.272,0.107,2287,2348,3551,3763,3339,0,0,0,0,0,0,14.37,14.45,28.83
$GC,986,-0.75,-184.9,2286,2347,3763,3338,192.6,-17.4,135,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2347,3551,3763,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1301,-0.75,-184.9,2286,2347,3763,3339,242.3,-14.9,166,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2347,3550,3763,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1615,-0.75,-184.9,2286,2347,3762,3338,289.6,-14.4,197,1624,0.00,2.62,0.00,0.000,260,0.000,0.166,2286,3762,3550,3763,3338,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1654,-0.75,-184.9,2286,3762,3763,3338,295.5,-14.1,200,1661,0.00,2.47,0.00,0.000,1030,0.000,0.109,2286,2343,3550,3763,3338,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1962,-0.78,-184.9,2286,2341,3762,3338,337.2,-13.2,231,1971,0.00,2.62,0.00,0.000,260,0.000,0.164,2279,3762,3550,3763,3338,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2008,-0.80,-184.9,2279,3762,3763,3338,343.4,-13.3,235,2017,0.00,2.42,0.00,0.000,1030,0.000,0.108,2279,2350,3551,3764,3338,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2318,-0.80,-184.9,2279,2350,3763,3338,385.3,-13.3,266,2327,0.00,2.60,0.00,0.000,260,0.000,0.165,2269,3759,3550,3763,3338,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2397,-0.83,-184.9,2269,3758,3763,3338,395.9,-14.0,273,2404,0.00,2.45,0.00,0.000,1030,0.000,0.107,2269,2345,3550,3763,3337,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,2599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2599,begin apogee
$GC,2613,-0.22,0.0,2269,2411,3763,3338,426.3,-14.5,294,2809,0.68,0.00,190.23,2.293,10246,0.256,0.000,2457,2411,2793,2920,2666,0,0,0,0,0,0,14.53,28.83,12.83
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin climb
$GC,2817,1.04,184.9,2457,2411,2920,2666,437.1,0.0,314,3033,1.38,2.85,201.60,2.230,10756,0.171,0.132,2868,994,2039,2120,1959,0,0,0,0,0,0,13.57,13.16,12.51
$GC,3268,0.92,184.9,2868,994,2118,1946,402.5,13.0,359,3276,0.15,2.70,0.00,0.000,5126,0.298,0.138,2837,2397,2032,2118,1946,0,0,0,0,0,0,13.76,13.82,28.83
$GC,3578,0.85,209.5,2837,2397,2118,1943,365.5,11.4,390,3613,0.00,2.83,25.33,2.144,8452,0.000,0.158,2836,3813,1941,2037,1845,0,0,0,0,0,0,28.83,13.78,13.16
$GC,3695,0.72,209.5,2837,3813,2034,1845,350.6,14.5,401,3705,0.28,2.55,0.00,0.000,5126,0.275,0.110,2775,2408,1939,2035,1844,0,0,0,0,0,0,13.86,13.93,28.83
$GC,4006,0.82,289.8,2774,2408,2034,1842,320.1,8.8,432,4112,0.00,2.83,89.07,2.120,8452,0.000,0.155,2774,3809,1611,1699,1524,0,0,0,0,1,0,28.83,13.50,12.87
$GC,4194,0.84,289.8,1792,3808,1660,1521,300.1,12.7,450,4201,0.00,2.62,0.00,0.000,1030,0.000,0.108,2783,2393,1608,1692,1524,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4503,0.92,319.8,2783,2392,1688,1523,265.0,11.1,481,4542,0.12,2.85,31.85,2.108,10500,0.176,0.158,2829,3804,1490,1573,1407,0,0,0,0,0,0,14.12,13.75,13.14
$GC,4620,0.88,319.8,2829,3804,1570,1407,248.5,15.8,492,4627,0.00,2.58,0.00,0.000,1030,0.000,0.110,2840,2398,1488,1570,1407,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4929,0.86,319.8,2840,2398,1569,1405,201.5,14.4,523,4938,0.00,2.58,0.00,0.000,516,0.000,0.134,2850,991,1487,1569,1405,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4987,0.86,319.8,2850,991,1568,1404,194.1,13.6,528,4995,0.15,2.65,0.00,0.000,5126,0.278,0.138,2816,2409,1486,1568,1404,0,0,0,0,0,0,14.14,14.17,28.83
$GC,5297,0.93,354.0,2817,2409,1567,1404,157.8,10.9,559,5336,0.00,0.00,36.15,2.032,8198,0.000,0.000,2817,2409,1349,1431,1268,0,0,0,0,0,0,28.83,28.83,13.33
$GC,5638,1.07,436.2,2817,2409,1428,1265,123.4,8.8,593,5714,0.17,2.83,65.78,1.948,10500,0.158,0.159,2878,3806,1014,1087,942,0,0,0,0,0,0,14.22,13.67,13.12
$GC,5739,1.05,436.2,2878,3807,1085,942,111.5,14.6,602,5746,0.00,2.60,0.00,0.000,1030,0.000,0.110,2888,2402,1013,1085,942,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6052,1.05,436.2,1888,2399,1069,938,62.9,14.4,657,6059,0.00,2.62,0.00,0.000,516,0.000,0.136,2897,981,1008,1078,939,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6096,1.07,436.2,2898,981,1076,938,56.6,13.9,664,6103,0.00,2.65,0.00,0.000,1030,0.000,0.139,2898,2398,1007,1076,938,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6414,1.07,436.2,2898,2398,1076,936,10.1,17.9,725,6421,0.00,2.67,0.00,0.000,260,0.000,0.160,2898,3810,1005,1075,936,0,0,0,0,0,0,28.83,14.27,28.83
$STATE,6451,end climb,SURFACE_DEPTH_REACHED
$STATE,6452,begin surface coast
$FINISH,0.4,1.025005
$STATE,6468,end surface coast,CONTROL_FINISHED_OK
$STATE,6468,begin surface
$SM_CCo,6499,6.25,0.198,0,0,957,450.13
$SM_GC,1.14,8.32,2.67,6.25,0.107,0.111,0.198,142,2351,957,-7.43,0.51,450.13,0,0,0,0,0,0,14.33,14.31,14.28
$RAFOS_CLK,299
$RAFOS_FIX,6621.393066,-6026.824219,200913,161644,2,90,2.78
$IRIDIUM_FIX,6558.99,-6042.63,200913,151533
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.24
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,27
$24V_AH,12.5,13.755
$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,21.950,68.775,640.000,6.250,0.000,0.000,0.000,199.125,6.750,0.000,33.033,1636.522,2680.436,661.703,1473.279,443.171,0.000,1648.012,0.000,1270.280,0.000,0.537,0.000
$DEVICE_MAMPS,451.350,197.370,2293.470,198.135,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,33435,735
$CAP_FILE_SIZE,82657,0
$CFSIZE,259252224,249344000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1451.7
$GPS,200913,191035,6624.483,-6038.085,29,1.3,29,-33.5