version: 66.11
glider: 192
mission: 2
dive: 35
start: 9 21 113 20 33 57
data:
$ID,192
$MISSION,2
$DIVE,35
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,200
$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,180
$T_MISSION,200
$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,170
$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,-1105.4896
$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,2450
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,14
$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,5
$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
$GPS1,210913,202729,6622.612,-6019.062,37,1.1,37,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.2
$GPS2,210913,203310,6622.509,-6019.080,4,1.1,4,-33.4
$SPEED_LIMITS,0.144,0.265
$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,97.2,169878,-13.8,-8.333,-17.43,2997
$D_GRID,459
$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,-0.80,-165.5,141,2450,759,673,0.0,0.0,0,127,0.00,0.00,-104.57,0.000,16386,0.000,0.000,141,2451,2771,2837,2706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-0.80,-165.5,141,2451,2837,2707,3.6,-7.1,19,165,10.12,2.55,-13.80,0.000,18948,0.431,0.141,2269,1033,3470,3664,3277,0,0,0,0,0,0,14.21,14.33,14.57
$GC,252,-0.67,-165.5,1364,1032,3662,3274,34.4,-22.1,39,259,0.20,2.65,0.00,0.000,3078,0.278,0.145,2310,2457,3471,3666,3277,0,0,0,0,0,0,14.31,14.35,28.83
$GC,572,-0.58,-165.5,2310,2457,3667,3275,88.6,-13.6,100,578,0.12,0.00,0.00,0.000,2054,0.314,0.000,2342,2457,3471,3668,3275,0,0,0,0,0,0,14.36,28.83,28.83
$GC,891,-0.54,-165.5,2342,2457,3668,3275,128.1,-14.2,140,900,0.00,2.58,0.00,0.000,260,0.000,0.157,2333,3857,3471,3668,3275,0,0,0,0,0,0,28.83,14.45,28.83
$GC,950,-0.52,-165.5,1456,3857,3663,3272,136.3,-14.4,145,957,0.12,2.45,0.00,0.000,3078,0.275,0.105,2361,2446,3471,3667,3275,0,0,0,0,0,0,14.44,14.50,28.83
$GC,1259,-0.52,-165.5,2361,2446,3668,3275,172.7,-10.7,176,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2446,3471,3668,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1568,-0.52,-165.5,1456,2444,3663,3272,202.9,-9.4,207,1577,0.00,2.62,0.00,0.000,260,0.000,0.161,2353,3861,3471,3668,3275,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1605,-0.54,-165.5,2353,3861,3668,3274,206.5,-9.8,210,1614,0.00,2.42,0.00,0.000,1030,0.000,0.106,2352,2453,3471,3668,3274,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1915,-0.54,-165.5,2353,2453,3668,3274,238.6,-10.7,241,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2453,3471,3668,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-0.54,-165.5,2352,2453,3668,3273,270.1,-9.6,272,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2453,3471,3668,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.54,-165.5,2353,2453,3667,3273,299.6,-9.6,303,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2453,3470,3668,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2857,-0.54,-165.5,2353,2453,3668,3273,329.1,-9.3,334,2866,0.00,2.60,0.00,0.000,260,0.000,0.164,2353,3860,3470,3668,3272,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2896,-0.56,-165.5,2353,3860,3668,3273,333.0,-9.6,337,2903,0.00,2.45,0.00,0.000,1030,0.000,0.106,2352,2443,3470,3668,3272,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3205,-0.59,-165.5,2352,2443,3668,3272,363.1,-9.9,368,3213,0.00,2.60,0.00,0.000,260,0.000,0.161,2352,3859,3470,3668,3272,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3230,-0.61,-165.5,2352,3859,3667,3272,365.6,-10.1,370,3239,0.00,2.42,0.00,0.000,1030,0.000,0.106,2352,2449,3469,3667,3272,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3541,-0.64,-165.5,2352,2448,3668,3272,396.0,-9.5,401,3550,0.00,2.47,0.00,0.000,516,0.000,0.127,2352,1037,3470,3668,3273,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3570,-0.67,-165.5,2352,1036,3668,3273,398.5,-10.0,403,3577,0.12,2.55,0.00,0.000,5126,0.194,0.138,2313,2450,3470,3668,3272,0,0,0,0,0,0,14.63,14.62,28.83
$GC,3879,-0.65,-165.5,2313,2450,3668,3273,434.7,-11.6,434,3888,0.00,2.58,0.00,0.000,260,0.000,0.161,2304,3866,3470,3668,3273,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3948,-0.62,-165.5,2304,3866,3668,3273,442.4,-11.9,440,3955,0.12,2.45,0.00,0.000,3078,0.301,0.104,2331,2440,3470,3668,3273,0,0,0,0,0,0,14.57,14.64,28.83
$STATE,4011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4011,begin apogee
$GC,4024,-0.22,0.0,2330,2440,3668,3273,450.2,-10.3,447,4209,0.43,0.00,172.70,2.373,10246,0.237,0.000,2453,2440,2794,2920,2668,0,0,0,0,0,0,14.58,28.83,12.82
$STATE,4210,end apogee,CONTROL_FINISHED_OK
$STATE,4210,begin climb
$GC,4216,0.80,165.5,2453,2440,2919,2668,459.9,0.0,466,4425,1.15,2.75,186.27,2.252,10756,0.181,0.123,2792,1018,2120,2210,2030,0,0,0,0,2,0,13.62,13.19,12.47
$GC,4567,0.68,165.5,1808,1018,2162,2015,441.3,10.3,501,4574,0.17,2.75,0.00,0.000,5126,0.286,0.132,2755,2436,2113,2208,2019,0,0,0,0,0,0,13.62,13.67,28.83
$GC,4876,0.58,165.5,2756,2436,2208,2015,414.1,8.7,532,4886,0.12,2.70,0.00,0.000,4356,0.294,0.151,2724,3844,2111,2208,2015,0,0,0,0,0,0,13.95,13.97,28.83
$GC,4990,0.50,165.5,1712,3844,2158,2009,404.5,9.2,542,4998,0.15,2.55,0.00,0.000,5126,0.282,0.103,2701,2424,2110,2206,2014,0,0,0,0,0,0,14.02,14.08,28.83
$GC,5299,0.57,222.0,2700,2424,2208,2013,382.8,6.4,573,5365,0.00,0.00,60.45,2.261,8198,0.000,0.000,2701,2424,1887,1992,1783,0,0,0,0,0,0,28.83,28.83,12.95
$GC,5670,0.65,256.3,2701,2424,1991,1777,356.4,7.2,610,5715,0.12,0.00,36.90,2.215,10502,0.197,0.000,2741,2424,1748,1846,1651,0,0,0,0,0,0,14.11,28.83,13.05
$GC,6020,0.63,256.3,2741,2424,1840,1651,323.3,9.3,645,6029,0.00,2.70,0.00,0.000,260,0.000,0.154,2741,3844,1745,1839,1651,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6079,0.58,256.3,2741,3844,1837,1651,317.5,11.0,650,6086,0.00,2.53,0.00,0.000,1030,0.000,0.104,2750,2431,1744,1837,1651,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6388,0.55,256.3,2751,2431,1837,1651,287.5,9.2,681,6397,0.15,2.58,0.00,0.000,4612,0.285,0.127,2721,1016,1743,1837,1650,0,0,0,0,0,0,14.23,14.26,28.83
$GC,6417,0.55,256.3,2721,1015,1836,1650,285.2,8.7,683,6423,0.00,2.62,0.00,0.000,1030,0.000,0.133,2721,2439,1743,1836,1650,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6725,0.62,295.3,1728,2437,1798,1646,263.2,7.0,714,6774,0.00,2.78,41.05,2.172,8452,0.000,0.152,2721,3847,1590,1680,1500,0,0,0,0,0,0,28.83,13.93,13.28
$GC,6850,0.62,295.3,2721,3847,1676,1500,253.2,9.4,726,6859,0.00,2.53,0.00,0.000,1030,0.000,0.103,2729,2429,1588,1676,1500,0,0,0,0,0,0,28.83,14.07,28.83
$GC,7161,0.66,295.3,2729,2429,1674,1499,226.4,8.7,757,7170,0.00,2.58,0.00,0.000,516,0.000,0.129,2738,1014,1586,1673,1499,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7201,0.70,295.3,2738,1014,1672,1499,223.2,9.2,760,7208,0.00,2.60,0.00,0.000,1030,0.000,0.131,2738,2429,1585,1672,1499,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7510,0.75,301.8,2738,2430,1672,1498,195.6,8.1,791,7528,0.12,2.62,7.30,1.868,10500,0.197,0.154,2781,3840,1563,1650,1477,0,0,0,0,0,0,14.39,14.29,13.62
$GC,7568,0.70,301.8,2781,3840,1650,1477,189.9,11.7,796,7574,0.00,2.50,0.00,0.000,1030,0.000,0.106,2791,2425,1563,1650,1477,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7876,0.65,301.8,2790,2423,1649,1477,159.2,9.7,827,7883,0.15,0.00,0.00,0.000,4102,0.288,0.000,2752,2423,1562,1649,1476,0,0,0,0,0,0,14.36,28.83,28.83
$GC,8187,0.70,319.9,2752,2423,1649,1476,134.9,7.7,858,8213,0.00,2.62,20.02,2.056,8708,0.000,0.129,2757,1017,1490,1577,1403,0,0,0,0,0,0,28.83,14.25,13.60
$GC,8240,0.77,336.3,2757,1017,1577,1403,131.0,7.8,863,8266,0.00,2.58,18.95,2.010,9222,0.000,0.132,2758,2423,1422,1510,1334,0,0,0,0,0,0,28.83,14.26,13.43
$GC,8570,0.86,373.9,2757,2423,1508,1330,107.5,7.0,896,8600,0.15,2.67,22.90,0.559,10500,0.184,0.155,2807,3841,1269,1352,1186,0,0,0,0,0,0,14.32,14.23,14.07
$GC,8626,0.84,373.9,2807,3842,1352,1186,101.9,11.0,901,8635,0.00,2.50,0.00,0.000,1030,0.000,0.108,2816,2427,1268,1351,1186,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8942,0.81,373.9,2816,2427,1345,1183,65.2,11.2,961,8948,0.00,2.55,0.00,0.000,516,0.000,0.131,2826,1015,1264,1346,1183,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8975,0.81,373.9,2826,1015,1345,1183,61.7,10.7,966,8982,0.12,2.60,0.00,0.000,5126,0.278,0.136,2798,2430,1263,1345,1182,0,0,0,0,0,0,14.33,14.38,28.83
$GC,9294,0.84,403.1,2798,2430,1344,1180,36.0,7.3,1027,9318,0.00,2.67,15.48,0.304,8452,0.000,0.156,2797,3838,1149,1229,1069,0,0,0,0,0,0,28.83,14.39,14.34
$GC,9340,0.85,405.6,2798,3838,1229,1069,32.7,8.2,1034,9347,0.00,2.47,0.00,0.000,1030,0.000,0.106,2805,2424,1148,1228,1069,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9664,0.91,434.3,1792,2422,1210,1063,9.3,7.3,1095,9688,0.00,2.53,16.90,0.213,8708,0.000,0.129,2805,1017,1019,1098,941,0,0,0,0,0,0,28.83,14.43,14.40
$GC,9730,1.06,485.6,2805,1017,1097,941,4.0,6.6,1106,9744,0.22,2.58,8.27,0.209,11266,0.171,0.134,2877,2430,955,1033,877,0,0,0,0,0,0,14.45,14.44,28.83
$STATE,9745,end climb,SURFACE_DEPTH_REACHED
$STATE,9746,begin surface coast
$FINISH,0.4,1.025007
$STATE,9776,end surface coast,CONTROL_FINISHED_OK
$STATE,9777,begin surface
$SM_CCo,9866,0.00,0.000,0,0,952,451.84
$SM_GC,1.42,8.23,0.00,0.00,0.109,0.000,0.000,143,2431,952,-7.43,-0.57,451.84,0,0,0,0,0,0,14.45,28.83,28.83
$RAFOS_CLK,480
$RAFOS,6,1379796547,20.833334,20.818611,95,68,54,54,53,53,953,187,196,151,217,140
$RAFOS,5,1379796066,20.700001,20.684999,78,60,55,55,55,54,1010,177,192,214,157,201
$RAFOS_FIX,6623.137207,-6018.300293,210913,202048,5,84,0.00
$IRIDIUM_FIX,6553.70,-6021.30,210913,171720
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.41
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,36
$24V_AH,12.5,18.732
$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,22.125,97.950,607.200,0.000,0.000,0.000,0.000,185.725,9.000,0.000,5.849,2519.323,4439.631,708.888,1961.635,592.805,0.000,1947.209,0.000,1790.607,720.000,0.537,0.000
$DEVICE_MAMPS,430.695,163.710,2373.030,0.000,0.000,0.000,0.000,150.705,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150744
$DATA_FILE_SIZE,46756,1114
$CAP_FILE_SIZE,120092,0
$CFSIZE,259252224,248635392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1452.5
$GPS,210913,232005,6621.765,-6016.686,32,1.0,32,-33.4