version: 66.11
glider: 192
mission: 2
dive: 25
start: 9 20 113 19 20 1
data:
$ID,192
$MISSION,2
$DIVE,25
$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,160
$T_MISSION,190
$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,-1060.8698
$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,14
$R_STBD_OVSHOOT,12
$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,3
$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
$GPS1,200913,191035,6624.483,-6038.085,29,1.3,29,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.2
$GPS2,200913,191915,6624.301,-6038.250,5,1.4,5,-33.5
$SPEED_LIMITS,0.162,0.291
$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,100.2,181062,-14.5,-9.375,-17.87,2984
$D_GRID,422
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,21,-0.86,-184.9,121,2345,993,913,0.0,0.0,0,111,0.00,0.00,-88.32,0.000,16386,0.000,0.000,120,2346,2672,2744,2600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.86,-184.9,121,2346,2744,2602,3.2,-5.9,16,155,10.55,2.58,-18.08,0.000,18948,0.448,0.149,2250,938,3549,3762,3337,0,0,0,0,0,0,14.12,14.26,14.50
$GC,254,-0.75,-184.9,2250,937,3763,3337,36.3,-22.1,39,261,0.20,2.65,0.00,0.000,3078,0.288,0.148,2291,2349,3549,3762,3337,0,0,0,0,0,0,14.23,14.29,28.83
$GC,573,-0.65,-184.9,2291,2349,3763,3337,95.3,-17.7,100,580,0.12,2.62,0.00,0.000,2308,0.309,0.155,2315,3762,3550,3764,3336,0,0,0,0,0,0,14.31,14.37,28.83
$GC,740,-0.61,-184.9,2315,3762,3763,3337,120.1,-14.3,117,746,0.00,2.50,0.00,0.000,1030,0.000,0.109,2315,2342,3550,3764,3336,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1048,-0.57,-184.9,1424,2338,3760,3334,167.8,-15.2,148,1055,0.12,0.00,0.00,0.000,2054,0.315,0.000,2346,2341,3550,3763,3337,0,0,0,0,0,0,14.40,28.83,28.83
$GC,1358,-0.57,-184.9,2346,2341,3763,3336,206.8,-11.7,179,1366,0.00,2.65,0.00,0.000,260,0.000,0.164,2346,3766,3549,3764,3335,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1416,-0.60,-184.9,1456,3764,3760,3333,213.1,-11.3,184,1423,0.00,2.47,0.00,0.000,1030,0.000,0.109,2346,2348,3549,3763,3336,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1724,-0.60,-184.9,2347,2347,3763,3336,246.2,-9.4,215,1733,0.00,2.62,0.00,0.000,260,0.000,0.166,2346,3762,3549,3763,3336,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1793,-0.63,-184.9,2346,3762,3763,3336,252.6,-9.8,221,1800,0.00,2.47,0.00,0.000,1030,0.000,0.109,2346,2343,3549,3763,3335,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2102,-0.66,-184.9,2347,2342,3763,3335,286.0,-10.5,252,2111,0.00,2.62,0.00,0.000,260,0.000,0.164,2345,3761,3549,3764,3335,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2188,-0.71,-184.9,2346,3761,3763,3335,295.2,-10.5,260,2197,0.10,2.42,0.00,0.000,5126,0.128,0.110,2304,2353,3549,3763,3335,0,0,0,0,0,0,14.58,14.57,28.83
$GC,2499,-0.68,-184.9,2304,2352,3764,3335,334.6,-12.7,291,2507,0.00,2.60,0.00,0.000,260,0.000,0.164,2295,3761,3549,3764,3334,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2564,-0.65,-184.9,2296,3761,3763,3334,343.6,-13.8,297,2573,0.00,2.45,0.00,0.000,1030,0.000,0.109,2295,2347,3548,3763,3334,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2876,-0.61,-184.9,2295,2346,3764,3334,386.9,-13.1,328,2885,0.12,2.60,0.00,0.000,2308,0.306,0.161,2319,3759,3548,3763,3334,0,0,0,0,0,0,14.54,14.56,28.83
$GC,2935,-0.61,-184.9,2318,3759,3763,3334,393.7,-11.5,333,2941,0.00,2.45,0.00,0.000,1030,0.000,0.108,2319,2345,3548,3763,3334,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,3193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3194,begin apogee
$GC,3207,-0.22,0.0,2319,2413,3763,3334,422.6,-10.6,359,3408,0.47,0.00,190.30,2.267,10246,0.239,0.000,2454,2413,2793,2920,2666,0,0,0,0,0,0,14.54,28.83,12.83
$STATE,3409,end apogee,CONTROL_FINISHED_OK
$STATE,3409,begin climb
$GC,3415,0.86,184.9,2454,2413,2920,2666,434.0,0.0,381,3632,1.20,2.90,201.62,2.181,10756,0.177,0.129,2811,995,2039,2122,1956,0,0,0,0,1,0,13.59,13.21,12.56
$GC,3784,0.74,184.9,2811,994,2121,1945,411.4,11.4,417,3792,0.15,2.72,0.00,0.000,5126,0.278,0.137,2780,2396,2032,2121,1944,0,0,0,0,0,0,13.66,13.70,28.83
$GC,4094,0.67,202.4,2780,2396,2121,1940,382.3,8.8,448,4120,0.00,2.78,18.17,2.070,8452,0.000,0.156,2780,3820,1968,2065,1872,0,0,0,0,0,0,28.83,13.81,13.17
$GC,4150,0.56,202.4,2780,3820,2065,1872,377.6,9.6,453,4158,0.30,2.60,0.00,0.000,5126,0.266,0.107,2717,2402,1968,2065,1872,0,0,0,0,0,0,13.82,13.89,28.83
$GC,4459,0.66,286.0,2718,2402,2064,1869,357.6,6.5,484,4565,0.00,0.00,93.65,2.128,8454,0.000,0.000,2717,2402,1628,1718,1538,0,0,0,0,1,0,28.83,28.83,12.83
$GC,4873,0.82,366.1,2717,2402,1714,1533,330.0,6.6,525,4969,0.22,2.92,87.95,2.122,10500,0.136,0.157,2792,3804,1301,1381,1221,0,0,0,0,0,0,14.02,13.36,12.74
$GC,5019,0.77,366.1,2791,3804,1378,1220,313.7,13.1,539,5026,0.00,2.65,0.00,0.000,1030,0.000,0.108,2803,2398,1298,1377,1220,0,0,0,0,0,0,28.83,13.62,28.83
$GC,5328,0.72,366.1,2803,2396,1373,1216,276.0,11.5,570,5337,0.12,2.72,0.00,0.000,4356,0.290,0.156,2772,3809,1294,1373,1215,0,0,0,0,0,0,13.94,13.96,28.83
$GC,5364,0.70,366.1,2772,3808,1372,1215,272.0,11.0,573,5373,0.00,2.55,0.00,0.000,1030,0.000,0.109,2780,2399,1293,1372,1215,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5674,0.70,366.1,2779,2399,1372,1213,239.1,10.6,604,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2399,1292,1372,1213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5991,0.70,366.1,2780,2399,1371,1212,207.5,9.7,635,5999,0.00,2.67,0.00,0.000,260,0.000,0.161,2780,3811,1291,1371,1212,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6096,0.70,366.1,2780,3811,1371,1212,194.9,11.2,645,6105,0.00,2.50,0.00,0.000,1030,0.000,0.111,2789,2393,1291,1370,1212,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6406,0.73,390.9,2789,2393,1370,1212,166.5,8.5,676,6442,0.00,2.60,25.12,2.017,8708,0.000,0.134,2798,990,1200,1279,1121,0,0,0,0,0,0,28.83,14.12,13.50
$GC,6482,0.79,415.2,2799,990,1279,1121,160.7,8.5,683,6515,0.00,2.65,27.20,1.991,9222,0.000,0.138,2798,2404,1100,1179,1022,0,0,0,0,0,0,28.83,14.15,13.31
$GC,6818,0.79,415.2,2798,2403,1176,1022,128.2,10.7,717,6827,0.00,2.67,0.00,0.000,260,0.000,0.159,2799,3812,1098,1175,1022,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6856,0.79,415.2,2798,3811,1174,1022,124.0,11.5,720,6864,0.00,2.50,0.00,0.000,1030,0.000,0.110,2808,2406,1098,1174,1022,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7170,0.79,415.2,1808,2402,1162,1019,85.3,11.2,762,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2405,1097,1174,1020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,0.79,415.2,2808,2405,1173,1019,50.0,11.5,823,7493,0.00,2.58,0.00,0.000,516,0.000,0.136,2818,988,1095,1173,1018,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7520,0.83,415.2,2818,988,1173,1018,46.2,11.7,828,7527,0.00,2.62,0.00,0.000,1030,0.000,0.140,2818,2410,1095,1172,1019,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7839,0.87,425.1,2818,2410,1172,1017,14.7,9.0,889,7852,0.00,2.62,4.88,0.245,8452,0.000,0.162,2818,3809,1059,1136,982,0,0,0,0,0,0,28.83,14.42,14.40
$GC,7884,0.90,425.1,2818,3809,1135,982,9.6,12.2,896,7891,0.00,2.50,0.00,0.000,1030,0.000,0.112,2826,2395,1058,1135,982,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,7955,end climb,SURFACE_DEPTH_REACHED
$STATE,7956,begin surface coast
$FINISH,0.5,1.024889
$STATE,7993,end surface coast,CONTROL_FINISHED_OK
$STATE,7993,begin surface
$SM_CCo,8022,13.85,0.190,0,0,956,450.13
$SM_GC,1.32,8.07,0.10,13.85,0.112,0.190,0.190,140,2344,956,-7.44,0.40,450.13,0,0,0,0,0,0,14.48,14.47,14.41
$RAFOS_CLK,379
$RAFOS,6,1379710142,20.833334,20.817223,68,66,60,56,55,51,213,996,159,193,171,225
$RAFOS,5,1379709664,20.700001,20.684444,59,58,58,55,54,49,220,198,182,145,171,124
$RAFOS,4,1379709184,20.566668,20.551111,59,57,55,53,51,50,188,217,146,205,231,1013
$RAFOS,3,1379708708,20.433332,20.418888,65,64,59,58,52,51,139,747,187,213,178,225
$RAFOS,2,1379708224,20.299999,20.284445,60,58,55,53,52,50,196,184,218,171,85,148
$RAFOS,1,1379707747,20.166666,20.151945,69,61,60,60,57,57,199,131,210,681,170,155
$RAFOS,0,1379707263,20.033333,20.017500,57,56,51,50,50,50,194,215,138,125,164,235
$RAFOS_FIX,6621.393066,-6026.824219,200913,161644,2,90,2.78
$IRIDIUM_FIX,6553.70,-6037.95,200913,191909
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.67
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,32
$24V_AH,12.6,14.213
$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,21.775,83.750,648.900,13.850,0.000,0.000,0.000,311.600,8.000,0.000,5.902,2063.414,3465.268,707.840,1794.643,540.924,0.000,1944.496,0.000,1533.895,2520.000,0.536,0.000
$DEVICE_MAMPS,448.290,198.900,2267.460,190.485,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150788
$DATA_FILE_SIZE,40080,916
$CAP_FILE_SIZE,103897,0
$CFSIZE,259252224,249270272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1451.1
$GPS,200913,213535,6623.078,-6037.076,32,1.2,32,-33.5