version: 66.11
glider: 192
mission: 2
dive: 30
start: 9 21 113 7 40 56
data:
$ID,192
$MISSION,2
$DIVE,30
$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,-1083.1461
$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,20
$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
$GPS1,210913,073359,6622.906,-6029.807,41,1.2,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.0
$GPS2,210913,074010,6622.784,-6029.858,4,1.2,4,-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,98.6,176680,-14.5,-9.375,-17.87,2984
$D_GRID,434
$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,-184.9,135,2340,989,913,0.0,0.0,0,112,0.00,0.00,-88.97,0.000,16386,0.000,0.000,132,2341,2710,2783,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.86,-184.9,132,2341,2783,2638,3.6,-6.6,16,156,10.30,2.58,-16.45,0.000,18948,0.444,0.148,2249,947,3550,3762,3338,0,0,0,0,0,0,14.20,14.33,14.57
$GC,308,-0.74,-184.9,2249,946,3764,3338,51.8,-19.1,50,315,0.20,2.60,0.00,0.000,3078,0.295,0.140,2289,2353,3551,3764,3338,0,0,0,0,0,0,14.32,14.38,28.83
$GC,632,-0.64,-184.9,2288,2353,3764,3338,104.3,-17.4,110,641,0.12,2.58,0.00,0.000,2308,0.311,0.153,2312,3758,3551,3764,3338,0,0,0,0,0,0,14.38,14.42,28.83
$GC,746,-0.60,-184.9,2313,3758,3764,3337,121.3,-15.2,120,753,0.00,2.47,0.00,0.000,1030,0.000,0.107,2313,2346,3550,3764,3337,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1055,-0.55,-184.9,2313,2345,3764,3338,167.2,-13.9,151,1064,0.12,2.62,0.00,0.000,2308,0.311,0.157,2337,3762,3550,3764,3337,0,0,0,0,0,0,14.45,14.49,28.83
$GC,1111,-0.55,-184.9,2337,3762,3764,3337,174.4,-12.4,156,1120,0.00,2.45,0.00,0.000,1030,0.000,0.107,2337,2349,3550,3764,3337,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1421,-0.55,-184.9,2337,2349,3764,3337,213.4,-12.3,187,1430,0.00,2.62,0.00,0.000,260,0.000,0.163,2328,3764,3550,3764,3337,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1498,-0.55,-184.9,1456,3763,3761,3334,223.2,-13.2,194,1505,0.00,2.47,0.00,0.000,1030,0.000,0.107,2328,2344,3550,3764,3337,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1807,-0.55,-184.9,2328,2343,3765,3337,260.5,-11.1,225,1815,0.00,2.62,0.00,0.000,260,0.000,0.161,2328,3764,3550,3764,3336,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1842,-0.55,-184.9,2328,3764,3764,3336,264.7,-11.9,228,1850,0.00,2.42,0.00,0.000,1030,0.000,0.108,2327,2354,3550,3764,3336,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2152,-0.55,-184.9,2327,2354,3764,3336,299.5,-11.2,259,2161,0.00,2.62,0.00,0.000,260,0.000,0.162,2327,3764,3550,3764,3336,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2228,-0.55,-184.9,2327,3763,3764,3336,307.7,-10.8,266,2237,0.00,2.45,0.00,0.000,1030,0.000,0.106,2327,2345,3550,3764,3336,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2538,-0.55,-184.9,2327,2344,3764,3336,342.8,-11.1,297,2547,0.00,2.58,0.00,0.000,260,0.000,0.160,2327,3766,3550,3764,3336,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2653,-0.58,-184.9,2327,3766,3764,3336,353.6,-9.7,307,2661,0.00,2.47,0.00,0.000,1030,0.000,0.107,2327,2339,3549,3764,3335,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2962,-0.58,-184.9,2327,2339,3764,3335,384.0,-9.7,338,2971,0.00,2.62,0.00,0.000,260,0.000,0.158,2327,3761,3549,3764,3335,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3028,-0.61,-184.9,2327,3760,3764,3335,390.4,-9.8,344,3037,0.00,2.40,0.00,0.000,1030,0.000,0.106,2327,2339,3549,3764,3335,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3338,-0.61,-184.9,2327,2338,3764,3335,420.4,-10.2,375,3347,0.00,2.60,0.00,0.000,260,0.000,0.157,2327,3762,3549,3764,3335,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3417,-0.64,-184.9,2327,3762,3765,3335,428.2,-10.7,382,3424,0.00,2.45,0.00,0.000,1030,0.000,0.105,2327,2343,3549,3764,3335,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3469,begin apogee
$GC,3483,-0.22,0.0,2327,2411,3764,3335,434.6,-10.3,388,3682,0.45,0.00,193.43,2.296,10246,0.236,0.000,2455,2411,2793,2922,2665,0,0,0,0,0,0,14.54,28.83,12.81
$STATE,3683,end apogee,CONTROL_FINISHED_OK
$STATE,3683,begin climb
$GC,3689,0.86,184.9,2455,2411,2921,2666,445.4,0.0,409,3912,1.20,2.90,204.18,2.202,10756,0.172,0.128,2814,994,2040,2123,1957,0,0,0,0,1,0,13.55,13.12,12.45
$GC,4065,0.73,184.9,2814,994,2121,1945,423.3,11.3,446,4075,0.15,2.72,0.00,0.000,5126,0.250,0.135,2776,2394,2033,2122,1944,0,0,0,0,0,0,13.60,13.65,28.83
$GC,4377,0.64,184.9,2776,2394,2121,1940,394.4,9.5,477,4386,0.12,2.70,0.00,0.000,4356,0.288,0.152,2744,3810,2030,2121,1940,0,0,0,0,0,0,13.94,13.97,28.83
$GC,4515,0.56,184.9,2744,3810,2121,1940,380.7,10.1,490,4525,0.12,2.53,0.00,0.000,5126,0.255,0.106,2719,2403,2030,2121,1940,0,0,0,0,0,0,14.02,14.07,28.83
$GC,4826,0.64,251.0,2719,2403,2120,1939,358.0,7.1,521,4902,0.00,0.00,69.72,2.160,8198,0.000,0.000,2719,2403,1769,1864,1675,0,0,0,0,0,0,28.83,28.83,12.93
$GC,5207,0.74,297.9,2719,2403,1859,1670,327.2,7.8,559,5273,0.15,2.83,52.45,2.067,10500,0.167,0.153,2770,3818,1578,1666,1490,0,0,0,0,1,0,14.10,13.63,13.00
$GC,5335,0.68,297.9,1792,3818,1632,1487,312.9,12.9,571,5342,0.00,2.62,0.00,0.000,1030,0.000,0.106,2780,2396,1576,1663,1490,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5644,0.64,297.9,2780,2396,1660,1490,273.6,12.0,602,5653,0.12,2.70,0.00,0.000,4356,0.285,0.155,2749,3806,1575,1660,1490,0,0,0,0,0,0,14.09,14.09,28.83
$GC,5731,0.64,297.9,2749,3806,1658,1490,263.1,12.5,610,5740,0.00,2.50,0.00,0.000,1030,0.000,0.106,2757,2402,1574,1659,1490,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6042,0.64,297.9,2757,2401,1658,1490,229.5,10.7,641,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2401,1573,1658,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,0.64,297.9,2757,2401,1658,1489,198.6,9.8,672,6367,0.00,2.53,0.00,0.000,516,0.000,0.132,2767,991,1573,1658,1489,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6394,0.64,299.4,2767,991,1657,1489,194.6,9.3,675,6403,0.00,2.58,0.00,0.000,1030,0.000,0.135,2767,2403,1573,1657,1489,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6704,0.72,370.0,2767,2403,1657,1489,170.4,6.9,706,6790,0.00,2.83,74.85,2.023,8452,0.000,0.154,2766,3812,1285,1365,1205,0,0,0,0,0,0,28.83,13.75,13.16
$GC,6826,0.78,390.2,2767,3811,1363,1205,161.9,8.7,717,6857,0.00,2.60,22.67,1.925,9222,0.000,0.106,2776,2393,1203,1283,1123,0,0,0,0,0,0,28.83,13.93,13.15
$GC,7158,0.82,390.2,2776,2393,1278,1119,132.3,9.5,751,7167,0.00,2.58,0.00,0.000,516,0.000,0.132,2784,991,1198,1278,1119,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7197,0.86,391.2,1800,991,1262,1117,129.0,9.3,754,7204,0.00,2.62,0.00,0.000,1030,0.000,0.135,2785,2401,1198,1277,1119,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7511,0.90,391.2,2785,2400,1277,1116,95.3,10.7,788,7518,0.12,2.65,0.00,0.000,2308,0.187,0.155,2830,3814,1196,1277,1116,0,0,0,0,0,0,14.34,14.31,28.83
$GC,7540,0.88,391.2,1824,3814,1260,1114,91.6,13.1,792,7547,0.00,2.53,0.00,0.000,1030,0.000,0.108,2840,2392,1195,1275,1116,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7858,0.84,391.2,2840,2391,1275,1115,50.2,12.4,853,7865,0.12,2.67,0.00,0.000,4356,0.290,0.158,2808,3813,1194,1275,1114,0,0,0,0,0,0,14.34,14.38,28.83
$GC,7942,0.84,391.2,2808,3813,1274,1114,40.4,10.8,868,7949,0.00,2.50,0.00,0.000,1030,0.000,0.110,2816,2399,1194,1274,1114,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8261,0.95,448.9,2816,2398,1273,1113,14.1,7.4,929,8302,0.00,2.72,31.50,0.224,8452,0.000,0.158,2816,3813,962,1041,884,0,0,0,0,0,0,28.83,14.38,14.36
$GC,8313,1.07,508.9,2817,3813,1040,885,10.3,7.3,937,8355,0.17,2.50,33.30,0.209,11270,0.168,0.108,2882,2393,715,779,652,0,0,0,0,0,0,14.42,14.42,14.34
$STATE,8370,end climb,SURFACE_DEPTH_REACHED
$STATE,8370,begin surface coast
$FINISH,0.4,1.024150
$STATE,8397,end surface coast,CONTROL_FINISHED_OK
$STATE,8398,begin surface
$SM_CCo,8487,0.00,0.000,0,0,712,510.71
$SM_GC,1.24,8.10,0.10,0.00,0.092,0.190,0.000,144,2344,712,-7.42,0.40,510.71,0,0,0,0,0,0,14.40,14.40,28.83
$RAFOS_CLK,406
$RAFOS,6,1379753346,8.833333,8.818334,67,59,58,58,57,53,219,177,201,153,119,237
$RAFOS,5,1379752866,8.700000,8.685000,64,61,59,57,55,51,209,190,171,154,219,136
$RAFOS,4,1379752388,8.566667,8.552222,80,66,65,58,53,53,802,226,206,151,793,168
$RAFOS,3,1379751914,8.433333,8.420555,61,57,56,55,53,51,177,144,195,219,186,164
$RAFOS,2,1379751427,8.300000,8.285277,82,64,58,54,53,52,608,189,143,162,210,200
$RAFOS,1,1379750947,8.166667,8.151944,69,68,61,56,53,52,689,192,217,151,162,248
$RAFOS,0,1379750471,8.033334,8.019722,95,69,63,57,57,53,619,190,208,225,134,146
$RAFOS_FIX,6623.937012,-6027.217285,210913,080836,4,82,1.29
$IRIDIUM_FIX,6553.70,-6025.96,210913,050514
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.29
$INTERNAL_PRESSURE,8.62531
$TCM_TEMP,12.30
$XPDR_PINGS,67
$24V_AH,12.4,16.488
$10V_AH,12.7,0.000
$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,21.600,98.700,682.100,0.000,0.000,0.000,0.000,217.500,16.750,0.000,11.170,2157.199,3612.917,741.317,1812.696,550.648,0.000,1941.381,0.000,1614.511,2520.000,0.536,0.000
$DEVICE_MAMPS,444.465,192.015,2295.765,0.000,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150768
$DATA_FILE_SIZE,40065,951
$CAP_FILE_SIZE,107908,0
$CFSIZE,259252224,248958976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1452.0
$GPS,210913,100407,6621.582,-6028.433,32,1.3,32,-33.4