version: 66.11
glider: 192
mission: 2
dive: 29
start: 9 21 113 5 7 5
data:
$ID,192
$MISSION,2
$DIVE,29
$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,-1076.5568
$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,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
$GPS1,210913,050035,6624.719,-6031.197,30,1.2,30,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.3
$GPS2,210913,050619,6624.625,-6031.310,4,1.2,5,-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,99.7,176229,-14.5,-9.375,-17.87,2984
$D_GRID,439
$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,20,-0.86,-184.9,128,2344,923,827,0.0,0.0,0,112,0.00,0.00,-89.20,0.000,16386,0.000,0.000,127,2345,2603,2681,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.86,-184.9,127,2345,2681,2527,3.1,-5.7,16,157,10.35,2.65,-20.48,0.000,19204,0.446,0.156,2249,935,3550,3765,3335,0,0,0,0,0,0,14.20,14.33,14.57
$GC,249,-0.71,-184.9,2248,935,3767,3335,32.7,-21.4,38,256,0.25,2.62,0.00,0.000,3078,0.286,0.141,2304,2351,3551,3767,3335,0,0,0,0,0,0,14.31,14.36,28.83
$GC,568,-0.62,-184.9,2304,2351,3767,3334,89.9,-17.7,99,575,0.00,2.62,0.00,0.000,260,0.000,0.156,2295,3768,3551,3767,3335,0,0,0,0,0,0,28.83,14.42,28.83
$GC,680,-0.56,-184.9,2295,3768,3767,3335,108.6,-16.4,114,687,0.22,2.50,0.00,0.000,3078,0.275,0.107,2350,2342,3551,3767,3335,0,0,0,0,0,0,14.39,14.47,28.83
$GC,989,-0.56,-184.9,2350,2340,3767,3334,145.7,-12.1,145,997,0.00,2.62,0.00,0.000,260,0.000,0.160,2349,3761,3551,3767,3335,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1132,-0.59,-184.9,1424,3760,3764,3332,162.8,-12.9,158,1139,0.00,2.47,0.00,0.000,1030,0.000,0.109,2350,2345,3551,3767,3335,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1440,-0.59,-184.9,2350,2345,3767,3335,202.9,-11.8,189,1449,0.00,2.65,0.00,0.000,260,0.000,0.161,2350,3764,3550,3767,3334,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1536,-0.63,-184.9,2351,3764,3767,3335,213.9,-11.4,198,1545,0.00,2.45,0.00,0.000,1030,0.000,0.109,2350,2348,3550,3767,3334,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1847,-0.65,-184.9,2350,2348,3767,3334,249.3,-11.3,229,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2348,3550,3767,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.68,-184.9,2350,2348,3767,3333,283.0,-10.6,260,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2348,3549,3766,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2477,-0.72,-184.9,2351,2348,3767,3333,313.6,-9.1,291,2486,0.12,2.62,0.00,0.000,4356,0.173,0.165,2295,3761,3550,3767,3333,0,0,0,0,0,0,14.63,14.57,28.83
$GC,2548,-0.68,-184.9,1408,3760,3763,3330,321.8,-12.5,297,2554,0.00,2.45,0.00,0.000,1030,0.000,0.109,2295,2349,3549,3767,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2856,-0.63,-184.9,2295,2349,3767,3332,359.2,-11.8,328,2866,0.12,2.60,0.00,0.000,2308,0.308,0.161,2317,3762,3549,3767,3332,0,0,0,0,0,0,14.56,14.58,28.83
$GC,2912,-0.63,-184.9,2318,3762,3767,3332,364.9,-10.0,333,2921,0.00,2.42,0.00,0.000,1030,0.000,0.109,2317,2350,3549,3767,3332,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3222,-0.63,-184.9,2317,2350,3767,3332,395.6,-10.1,364,3231,0.00,2.60,0.00,0.000,260,0.000,0.162,2309,3762,3549,3767,3332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3312,-0.63,-184.9,1424,3761,3764,3329,404.4,-10.6,372,3319,0.00,2.45,0.00,0.000,1030,0.000,0.107,2308,2346,3549,3767,3332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3620,-0.63,-184.9,2309,2344,3767,3332,438.5,-11.2,403,3629,0.00,2.60,0.00,0.000,260,0.000,0.161,2299,3761,3549,3767,3332,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3632,begin apogee
$GC,3648,-0.22,0.0,2299,2389,3767,3332,439.9,-11.5,404,3848,0.55,0.00,194.27,2.290,10246,0.245,0.000,2457,2389,2793,2923,2664,0,0,0,0,0,0,14.54,28.83,12.82
$STATE,3849,end apogee,CONTROL_FINISHED_OK
$STATE,3849,begin climb
$GC,3855,0.86,184.9,2457,2389,2922,2664,451.6,0.0,425,4083,1.17,2.88,207.00,2.179,10756,0.168,0.129,2813,989,2039,2123,1955,0,0,0,0,2,0,13.56,13.16,12.48
$GC,4286,0.73,184.9,2813,989,2120,1945,423.3,11.5,468,4294,0.17,2.75,0.00,0.000,5126,0.272,0.137,2776,2410,2032,2120,1944,0,0,0,0,0,0,13.69,13.74,28.83
$GC,4596,0.64,184.9,2775,2410,2120,1939,392.6,9.5,499,4605,0.12,2.65,0.00,0.000,4356,0.288,0.155,2744,3805,2030,2120,1941,0,0,0,0,0,0,13.97,14.00,28.83
$GC,4632,0.56,184.9,2744,3805,2120,1940,389.1,9.5,502,4642,0.12,2.53,0.00,0.000,5126,0.255,0.106,2719,2401,2029,2119,1940,0,0,0,0,0,0,13.99,14.04,28.83
$GC,4944,0.65,254.0,2719,2400,2119,1939,366.9,7.0,533,5024,0.00,2.85,73.43,2.202,8452,0.000,0.154,2719,3817,1757,1852,1663,0,0,0,0,0,0,28.83,13.55,12.91
$GC,5066,0.67,272.3,2719,3817,1847,1664,357.8,8.7,544,5093,0.00,2.62,20.83,2.036,9222,0.000,0.106,2725,2394,1684,1773,1595,0,0,0,0,0,0,28.83,13.74,12.94
$GC,5405,0.73,298.0,2726,2395,1770,1590,328.0,8.5,578,5442,0.12,2.80,28.20,2.082,10500,0.171,0.155,2770,3809,1579,1666,1493,0,0,0,0,0,0,14.07,13.76,13.12
$GC,5507,0.67,298.0,2770,3809,1663,1493,317.1,12.6,587,5514,0.00,2.60,0.00,0.000,1030,0.000,0.106,2780,2393,1577,1662,1493,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5816,0.64,298.0,2780,2392,1661,1492,281.6,11.3,618,5823,0.12,0.00,0.00,0.000,4102,0.283,0.000,2750,2392,1576,1661,1491,0,0,0,0,0,0,14.12,28.83,28.83
$GC,6126,0.69,335.6,2749,2392,1660,1491,254.4,8.1,649,6173,0.00,2.72,40.67,2.076,8708,0.000,0.131,2757,986,1425,1510,1341,0,0,0,0,0,0,28.83,13.87,13.24
$GC,6235,0.79,375.6,2757,986,1509,1338,246.1,8.0,659,6286,0.00,2.67,44.28,2.046,9222,0.000,0.133,2757,2399,1261,1342,1180,0,0,0,0,0,0,28.83,13.97,13.02
$GC,6590,0.84,385.6,2757,2400,1337,1178,215.9,9.0,695,6608,0.12,2.72,10.85,1.898,10500,0.174,0.152,2802,3821,1222,1301,1144,0,0,0,0,0,0,14.14,14.00,13.35
$GC,6635,0.84,385.6,2802,3821,1301,1143,210.6,11.5,699,6644,0.00,2.58,0.00,0.000,1030,0.000,0.108,2813,2395,1222,1301,1144,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6945,0.82,385.6,2813,2393,1300,1142,169.4,13.6,730,6954,0.00,2.55,0.00,0.000,516,0.000,0.132,2823,991,1221,1300,1142,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6971,0.80,385.6,2823,991,1299,1142,166.0,12.9,732,6981,0.08,2.62,0.00,0.000,5126,0.242,0.136,2800,2400,1221,1300,1142,0,0,0,0,0,0,14.18,14.23,28.83
$GC,7282,0.80,385.6,2800,2400,1299,1141,131.4,10.0,763,7291,0.00,2.60,0.00,0.000,260,0.000,0.155,2800,3808,1220,1299,1141,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7330,0.80,385.6,2800,3809,1298,1141,126.6,10.9,767,7337,0.00,2.50,0.00,0.000,1030,0.000,0.109,2808,2398,1219,1298,1141,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7644,0.80,385.6,2808,2398,1297,1140,96.0,9.8,801,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2398,1219,1298,1141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,0.81,394.1,2808,2397,1298,1139,65.1,9.1,862,7974,0.00,2.67,4.62,0.404,8452,0.000,0.160,2808,3814,1186,1266,1107,0,0,0,0,0,0,28.83,14.42,14.33
$GC,8030,0.81,394.1,2808,3814,1265,1107,58.6,9.4,874,8037,0.00,2.50,0.00,0.000,1030,0.000,0.110,2818,2398,1186,1265,1107,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8348,0.86,404.3,1808,2394,1250,1105,27.8,9.0,935,8362,0.00,2.67,5.55,0.285,8452,0.000,0.161,2818,3819,1144,1223,1065,0,0,0,0,0,0,28.83,14.45,14.40
$GC,8389,0.88,404.3,2818,3818,1222,1065,24.2,9.9,941,8395,0.00,2.50,0.00,0.000,1030,0.000,0.110,2827,2396,1143,1222,1065,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,8630,end climb,SURFACE_DEPTH_REACHED
$STATE,8630,begin surface coast
$FINISH,0.4,1.019056
$STATE,8657,end surface coast,CONTROL_FINISHED_OK
$STATE,8657,begin surface
$SM_CCo,8686,25.45,0.185,0,0,957,450.13
$SM_GC,1.53,7.97,0.10,25.45,0.103,0.191,0.185,146,2341,957,-7.42,0.42,450.13,0,0,0,0,0,0,14.51,14.51,14.45
$RAFOS_CLK,418
$RAFOS_FIX,6625.674805,-6028.249512,210913,040423,5,84,0.62
$IRIDIUM_FIX,6553.70,-6037.95,210913,020238
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.00
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.50
$XPDR_PINGS,34
$24V_AH,12.5,16.040
$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,21.650,93.875,629.700,25.450,0.000,0.000,0.000,190.325,8.500,0.000,5.830,2271.599,3705.862,700.911,1844.757,540.414,0.000,1885.878,0.000,1667.882,0.000,0.536,0.000
$DEVICE_MAMPS,445.995,191.250,2289.645,185.130,0.000,0.000,0.000,143.820,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150820
$DATA_FILE_SIZE,43405,993
$CAP_FILE_SIZE,108551,0
$CFSIZE,259252224,249020416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1451.9
$GPS,210913,073359,6622.906,-6029.807,41,1.2,41,-33.5