version: 66.11
glider: 192
mission: 2
dive: 26
start: 9 20 113 21 42 20
data:
$ID,192
$MISSION,2
$DIVE,26
$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,-1067.538
$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,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,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
$GPS1,200913,213535,6623.078,-6037.076,32,1.2,32,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.2
$GPS2,200913,214134,6622.976,-6037.106,4,1.2,5,-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,99.4,181294,-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,-184.9,128,2339,996,910,0.0,0.0,0,111,0.00,0.00,-87.75,0.000,16386,0.000,0.000,124,2339,2662,2736,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.86,-184.9,124,2339,2736,2590,3.1,-5.4,16,155,10.40,2.55,-18.75,0.000,18948,0.447,0.148,2251,938,3549,3764,3335,0,0,0,0,0,0,14.20,14.33,14.56
$GC,217,-0.69,-184.9,2252,937,3765,3335,28.0,-24.4,32,225,0.25,2.62,0.00,0.000,3078,0.289,0.146,2305,2347,3550,3765,3335,0,0,0,0,0,0,14.28,14.34,28.83
$GC,535,-0.61,-184.9,1408,2345,3762,3332,81.7,-14.7,93,542,0.12,2.62,0.00,0.000,2308,0.311,0.155,2328,3763,3550,3765,3335,0,0,0,0,0,0,14.35,14.41,28.83
$GC,649,-0.61,-184.9,2328,3764,3765,3335,96.1,-11.8,114,655,0.00,2.50,0.00,0.000,1030,0.000,0.109,2328,2343,3550,3765,3335,0,0,0,0,0,0,28.83,14.46,28.83
$GC,962,-0.58,-184.9,2328,2341,3765,3334,134.7,-12.4,147,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2341,3550,3765,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1277,-0.56,-184.9,2328,2342,3765,3334,176.4,-14.1,178,1286,0.00,2.65,0.00,0.000,260,0.000,0.162,2324,3763,3549,3765,3334,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1306,-0.53,-184.9,1444,3761,3762,3331,180.7,-13.9,180,1313,0.15,2.47,0.00,0.000,3078,0.279,0.109,2357,2346,3550,3766,3334,0,0,0,0,0,0,14.48,14.54,28.83
$GC,1615,-0.56,-184.9,2358,2344,3765,3334,214.7,-10.1,211,1624,0.00,2.62,0.00,0.000,260,0.000,0.162,2351,3766,3549,3765,3334,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1684,-0.59,-184.9,2351,3766,3765,3334,221.2,-9.8,217,1691,0.00,2.47,0.00,0.000,1030,0.000,0.109,2351,2345,3549,3765,3334,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1993,-0.62,-184.9,2351,2344,3766,3334,254.4,-10.8,248,2001,0.00,2.62,0.00,0.000,260,0.000,0.165,2351,3762,3549,3765,3333,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2116,-0.67,-184.9,2351,3762,3765,3333,266.1,-9.6,259,2123,0.00,2.47,0.00,0.000,1030,0.000,0.110,2351,2339,3549,3766,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2425,-0.71,-184.9,2351,2339,3765,3333,295.7,-9.6,290,2434,0.12,2.62,0.00,0.000,4356,0.176,0.160,2294,3762,3549,3765,3333,0,0,0,0,0,0,14.62,14.57,28.83
$GC,2536,-0.67,-184.9,2294,3763,3765,3332,309.5,-13.6,300,2545,0.00,2.45,0.00,0.000,1030,0.000,0.109,2294,2348,3549,3766,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2847,-0.63,-184.9,2294,2349,3765,3332,352.6,-14.0,331,2856,0.12,2.60,0.00,0.000,2308,0.299,0.164,2317,3761,3548,3765,3332,0,0,0,0,0,0,14.54,14.57,28.83
$GC,2883,-0.60,-184.9,2317,3759,3765,3332,357.0,-12.3,334,2892,0.00,2.42,0.00,0.000,1030,0.000,0.109,2317,2352,3548,3765,3332,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3193,-0.60,-184.9,2317,2351,3765,3332,392.9,-11.8,365,3202,0.00,2.60,0.00,0.000,260,0.000,0.163,2308,3768,3548,3765,3332,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3218,-0.60,-184.9,2308,3768,3766,3332,395.7,-11.6,367,3229,0.08,2.45,0.00,0.000,3078,0.268,0.106,2330,2349,3548,3765,3332,0,0,0,0,0,0,14.54,14.60,28.83
$STATE,3474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3474,begin apogee
$GC,3488,-0.22,0.0,2330,2402,3765,3332,422.2,-10.5,393,3690,0.45,0.00,192.55,2.281,10246,0.237,0.000,2459,2402,2793,2922,2664,0,0,0,0,0,0,14.56,28.83,12.83
$STATE,3691,end apogee,CONTROL_FINISHED_OK
$STATE,3691,begin climb
$GC,3697,0.86,184.9,2459,2402,2921,2664,432.4,0.0,414,3909,1.20,2.90,201.85,2.204,10756,0.173,0.129,2818,992,2039,2121,1957,0,0,0,0,0,0,13.59,13.18,12.51
$GC,4141,0.72,184.9,1824,991,2074,1940,400.5,13.1,458,4149,0.20,2.72,0.00,0.000,5126,0.271,0.137,2774,2407,2031,2118,1945,0,0,0,0,0,0,13.75,13.80,28.83
$GC,4451,0.64,184.9,2773,2407,2119,1940,369.5,9.7,489,4460,0.12,2.67,0.00,0.000,4356,0.285,0.158,2742,3809,2029,2118,1941,0,0,0,0,0,0,14.01,14.02,28.83
$GC,4517,0.56,187.3,2742,3809,2118,1941,363.5,9.3,495,4527,0.10,2.53,0.00,0.000,5126,0.250,0.108,2724,2402,2029,2118,1941,0,0,0,0,0,0,14.04,14.09,28.83
$GC,4828,0.68,279.1,2724,2402,2118,1940,342.2,6.2,526,4934,0.00,0.00,100.60,2.182,8198,0.000,0.000,2724,2402,1655,1744,1566,0,0,0,0,0,0,28.83,28.83,12.84
$GC,5239,0.81,359.7,2724,2402,1738,1562,316.5,6.6,567,5335,0.20,2.88,86.85,2.099,10500,0.145,0.158,2793,3807,1327,1408,1246,0,0,0,0,0,0,14.06,13.42,12.78
$GC,5374,0.76,359.7,2793,3807,1405,1245,301.7,13.0,580,5383,0.00,2.62,0.00,0.000,1030,0.000,0.109,2803,2401,1325,1405,1246,0,0,0,0,0,0,28.83,13.62,28.83
$GC,5685,0.72,359.7,2803,2399,1400,1242,263.9,11.9,611,5694,0.12,2.72,0.00,0.000,4356,0.289,0.155,2772,3810,1321,1400,1242,0,0,0,0,0,0,13.97,13.99,28.83
$GC,5711,0.68,359.7,2772,3810,1399,1241,261.0,11.1,613,5720,0.00,2.55,0.00,0.000,1030,0.000,0.107,2779,2401,1320,1399,1241,0,0,0,0,0,0,28.83,14.03,28.83
$GC,6021,0.69,369.1,2779,2399,1398,1240,231.1,9.0,644,6039,0.00,2.72,9.40,1.891,8452,0.000,0.158,2779,3810,1289,1368,1211,0,0,0,0,0,0,28.83,14.09,13.46
$GC,6098,0.69,369.1,2779,3810,1367,1211,224.0,10.0,651,6106,0.12,2.55,0.00,0.000,5126,0.271,0.108,2762,2395,1289,1367,1211,0,0,0,0,0,0,14.10,14.15,28.83
$GC,6408,0.73,369.1,2762,2395,1367,1210,196.7,9.9,682,6416,0.00,2.55,0.00,0.000,516,0.000,0.133,2770,988,1288,1366,1210,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6443,0.78,369.1,2770,988,1366,1210,193.1,10.2,685,6451,0.00,2.58,0.00,0.000,1030,0.000,0.136,2770,2394,1288,1366,1210,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6753,0.81,369.1,2770,2394,1365,1209,161.9,9.8,716,6762,0.00,2.62,0.00,0.000,260,0.000,0.157,2770,3805,1287,1365,1209,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6832,0.81,369.1,2770,3804,1365,1208,153.4,11.7,723,6838,0.00,2.50,0.00,0.000,1030,0.000,0.109,2779,2393,1286,1365,1208,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7140,0.84,370.2,2780,2392,1365,1208,121.5,9.3,754,7149,0.00,2.53,0.00,0.000,516,0.000,0.135,2787,986,1286,1364,1208,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7179,0.87,370.2,2788,985,1363,1208,118.2,9.5,757,7186,0.00,2.60,0.00,0.000,1030,0.000,0.136,2788,2409,1286,1364,1208,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7493,0.92,389.8,2788,2409,1364,1208,89.2,8.7,799,7512,0.12,2.60,12.23,0.484,10500,0.195,0.157,2833,3809,1203,1281,1125,0,0,0,0,0,0,14.47,14.42,14.28
$GC,7534,0.87,389.8,2833,3809,1282,1125,84.8,13.0,805,7541,0.00,2.50,0.00,0.000,1030,0.000,0.111,2843,2390,1203,1282,1125,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7852,0.82,389.8,1840,2387,1265,1122,46.0,12.0,866,7858,0.15,0.00,0.00,0.000,4102,0.278,0.000,2804,2389,1202,1281,1123,0,0,0,0,0,0,14.42,28.83,28.83
$GC,8170,0.88,391.0,2804,2389,1280,1121,17.8,9.3,927,8177,0.00,2.53,0.00,0.000,516,0.000,0.135,2811,986,1200,1280,1121,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8235,1.01,454.3,2811,986,1279,1121,13.0,7.2,938,8277,0.15,2.58,36.08,0.219,11270,0.165,0.141,2862,2399,941,1019,863,0,0,0,0,0,0,14.53,14.50,14.42
$STATE,8325,end climb,SURFACE_DEPTH_REACHED
$STATE,8325,begin surface coast
$FINISH,0.4,1.023265
$STATE,8352,end surface coast,CONTROL_FINISHED_OK
$STATE,8352,begin surface
$SM_CCo,8440,0.00,0.000,0,0,935,456.01
$SM_GC,1.43,8.00,0.12,0.00,0.092,0.181,0.000,140,2346,935,-7.44,0.40,456.01,0,0,0,0,0,0,14.49,14.48,28.83
$RAFOS_CLK,402
$RAFOS_FIX,6621.393066,-6026.824219,200913,161644,2,90,2.78
$IRIDIUM_FIX,6553.70,-6040.58,200913,191930
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.65
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.30
$XPDR_PINGS,50
$24V_AH,12.5,14.646
$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,22.200,93.475,639.550,0.000,0.000,0.000,0.000,206.150,12.500,0.000,11.259,2149.360,3645.788,699.360,1773.275,533.854,0.000,1852.473,0.000,1586.340,360.000,0.536,0.000
$DEVICE_MAMPS,446.760,209.610,2281.230,0.000,0.000,0.000,0.000,140.760,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,40175,958
$CAP_FILE_SIZE,106426,0
$CFSIZE,259252224,249212928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.9
$GPS,210913,000459,6623.405,-6035.116,64,0.9,64,-33.5