version: 66.11
glider: 192
mission: 2
dive: 38
start: 9 22 113 5 13 0
data:
$ID,192
$MISSION,2
$DIVE,38
$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,-1114.6451
$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,19
$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,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
$GPS1,220913,050605,6624.353,-6010.996,33,1.0,33,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.3
$GPS2,220913,051213,6624.307,-6011.051,5,1.0,5,-33.5
$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,97.5,163206,-13.8,-8.333,-17.43,2997
$D_GRID,486
$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,-165.5,131,2453,990,912,0.0,0.0,0,112,0.00,0.00,-89.18,0.000,16386,0.000,0.000,131,2453,2672,2743,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.80,-165.5,130,2453,2743,2602,3.1,-4.7,16,156,10.25,2.60,-17.20,0.000,18948,0.435,0.145,2271,1013,3471,3675,3268,0,0,0,0,0,0,14.23,14.34,14.58
$GC,207,-0.65,-165.5,1392,1012,3672,3265,25.3,-21.4,31,214,0.22,2.67,0.00,0.000,3078,0.295,0.142,2315,2456,3472,3677,3268,0,0,0,0,0,0,14.29,14.35,28.83
$GC,525,-0.56,-165.5,1416,2454,3673,3264,75.6,-14.0,92,532,0.12,2.60,0.00,0.000,2308,0.322,0.153,2339,3859,3472,3677,3267,0,0,0,0,0,0,14.35,14.42,28.83
$GC,594,-0.54,-165.5,1440,3859,3673,3264,84.9,-12.5,104,601,0.00,2.47,0.00,0.000,1030,0.000,0.105,2339,2441,3472,3677,3267,0,0,0,0,0,0,28.83,14.46,28.83
$GC,912,-0.50,-165.5,2338,2441,3677,3267,125.8,-12.1,146,922,0.12,2.65,0.00,0.000,2308,0.308,0.159,2360,3858,3472,3677,3267,0,0,0,0,0,0,14.44,14.46,28.83
$GC,961,-0.50,-165.5,1488,3857,3673,3265,130.6,-10.3,150,968,0.00,2.45,0.00,0.000,1030,0.000,0.105,2360,2448,3472,3677,3267,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1269,-0.50,-165.5,2360,2448,3677,3267,160.2,-10.0,181,1278,0.00,2.62,0.00,0.000,260,0.000,0.160,2352,3864,3472,3678,3267,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1325,-0.50,-165.5,2352,3864,3678,3267,166.1,-10.5,186,1334,0.00,2.42,0.00,0.000,1030,0.000,0.106,2351,2456,3472,3678,3267,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1635,-0.50,-165.5,2352,2456,3677,3267,199.8,-11.1,217,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2456,3471,3677,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-0.50,-165.5,2351,2456,3677,3267,234.6,-11.0,248,1960,0.00,2.60,0.00,0.000,260,0.000,0.163,2350,3859,3471,3677,3266,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2000,-0.50,-165.5,1472,3858,3673,3263,240.3,-10.9,252,2007,0.00,2.45,0.00,0.000,1030,0.000,0.106,2350,2441,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2308,-0.50,-165.5,2350,2440,3677,3266,273.7,-10.8,283,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2441,3472,3678,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.50,-165.5,2349,2440,3677,3266,306.3,-10.2,314,2634,0.00,2.45,0.00,0.000,516,0.000,0.128,2350,1045,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2683,-0.53,-165.5,1472,1044,3673,3262,312.6,-9.7,319,2690,0.00,2.55,0.00,0.000,1030,0.000,0.138,2345,2453,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2991,-0.53,-165.5,2345,2453,3677,3266,343.3,-9.9,350,3000,0.00,2.58,0.00,0.000,260,0.000,0.156,2336,3862,3471,3677,3265,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3087,-0.53,-165.5,2336,3861,3677,3265,353.0,-10.0,359,3095,0.00,2.42,0.00,0.000,1030,0.000,0.104,2336,2446,3471,3677,3265,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3397,-0.53,-165.5,2336,2446,3677,3264,383.2,-9.7,390,3406,0.00,2.58,0.00,0.000,260,0.000,0.156,2327,3854,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3434,-0.53,-165.5,2327,3854,3677,3265,386.6,-9.6,393,3443,0.10,2.40,0.00,0.000,3078,0.257,0.103,2355,2450,3471,3677,3265,0,0,0,0,0,0,14.56,14.62,28.83
$GC,3745,-0.57,-165.5,2355,2450,3677,3266,411.8,-8.0,424,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2450,3471,3677,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.60,-165.5,2355,2450,3677,3265,437.1,-8.5,455,4069,0.00,2.58,0.00,0.000,260,0.000,0.157,2355,3857,3471,3678,3265,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4106,-0.65,-165.5,2355,3857,3677,3266,441.5,-8.2,459,4115,0.00,2.40,0.00,0.000,1030,0.000,0.104,2355,2451,3471,3677,3266,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,4210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4223,-0.22,0.0,2355,2451,3677,3266,450.8,-8.3,470,4409,0.35,0.00,172.60,2.371,10246,0.233,0.000,2456,2451,2794,2925,2663,0,0,0,0,0,0,14.59,28.83,12.83
$STATE,4410,end apogee,CONTROL_FINISHED_OK
$STATE,4410,begin climb
$GC,4416,0.80,165.5,2456,2451,2924,2663,459.7,0.0,489,4617,1.12,2.85,184.77,2.252,10756,0.176,0.122,2791,1020,2119,2206,2033,0,0,0,0,1,0,13.62,13.18,12.45
$GC,4750,0.68,165.5,2791,1020,2205,2024,442.3,10.0,522,4757,0.17,2.75,0.00,0.000,5126,0.288,0.131,2755,2436,2114,2205,2024,0,0,0,0,0,0,13.59,13.64,28.83
$GC,5060,0.59,165.5,2754,2436,2205,2020,414.1,9.3,553,5069,0.00,2.70,0.00,0.000,260,0.000,0.151,2754,3843,2112,2205,2020,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5145,0.46,165.5,2754,3843,2205,2020,405.1,10.6,561,5155,0.28,2.55,0.00,0.000,5126,0.252,0.103,2690,2432,2112,2205,2020,0,0,0,0,0,0,13.97,14.04,28.83
$GC,5457,0.55,242.2,2690,2431,2205,2019,385.7,5.7,592,5546,0.00,2.88,81.53,2.196,8452,0.000,0.151,2690,3843,1806,1903,1709,0,0,0,0,0,0,28.83,13.52,12.87
$GC,5573,0.63,273.1,2691,3843,1899,1709,378.7,7.3,603,5615,0.10,2.60,35.05,2.102,11270,0.145,0.101,2734,2432,1679,1767,1591,0,0,0,0,0,0,13.68,13.69,12.81
$GC,5917,0.63,273.1,2735,2432,1761,1587,348.2,8.9,638,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2431,1674,1761,1587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,0.63,273.1,2734,2432,1760,1585,320.5,9.1,669,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2432,1672,1760,1585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6547,0.63,273.1,2734,2432,1760,1585,293.3,8.5,700,6556,0.00,2.55,0.00,0.000,516,0.000,0.128,2743,1024,1671,1759,1584,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6585,0.63,273.1,2743,1024,1759,1583,289.9,8.5,703,6592,0.00,2.60,0.00,0.000,1030,0.000,0.132,2743,2435,1671,1759,1584,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6893,0.63,273.1,1760,2433,1724,1580,261.2,9.1,734,6902,0.00,2.62,0.00,0.000,260,0.000,0.152,2743,3844,1671,1759,1584,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6962,0.60,273.1,2743,3844,1757,1584,254.5,10.7,740,6969,0.00,2.50,0.00,0.000,1030,0.000,0.103,2750,2422,1670,1757,1583,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7270,0.60,273.1,2751,2420,1757,1583,226.1,8.7,771,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2421,1670,1757,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7588,0.60,273.8,2750,2420,1757,1583,200.1,8.3,802,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2420,1670,1757,1584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7900,0.60,273.8,2750,2420,1757,1584,172.8,8.4,833,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2420,1670,1757,1583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8213,0.66,323.7,2750,2420,1757,1583,148.8,6.6,864,8274,0.00,2.75,50.95,2.018,8452,0.000,0.155,2750,3840,1474,1559,1390,0,0,0,0,0,0,28.83,14.03,13.42
$GC,8325,0.66,323.7,2751,3840,1556,1389,140.7,8.6,875,8335,0.00,2.55,0.00,0.000,1030,0.000,0.106,2751,2424,1472,1556,1389,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8637,0.72,331.4,2750,2425,1553,1385,116.4,8.1,906,8647,0.00,2.62,4.40,1.482,8708,0.000,0.129,2750,1020,1442,1527,1358,0,0,0,0,0,0,28.83,14.29,13.62
$GC,8677,0.78,336.9,2751,1020,1526,1358,113.4,8.1,909,8688,0.12,2.60,3.60,1.313,11270,0.186,0.132,2790,2432,1419,1504,1335,0,0,0,0,0,0,14.33,14.31,13.61
$GC,8999,0.78,336.9,2790,2432,1503,1335,80.9,10.1,959,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2432,1418,1503,1334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9317,0.78,336.9,2790,2431,1501,1334,51.1,8.9,1020,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2432,1418,1502,1334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9634,0.90,400.2,1792,2429,1478,1330,25.8,6.2,1081,9676,0.12,2.70,35.35,0.259,10500,0.204,0.158,2834,3839,1161,1241,1081,0,0,0,0,0,0,14.48,14.41,14.37
$GC,9729,0.87,400.2,2835,3839,1236,1081,17.6,11.4,1096,9736,0.12,2.47,0.00,0.000,5126,0.296,0.109,2818,2431,1158,1236,1080,0,0,0,0,0,0,14.39,14.45,28.83
$STATE,9881,end climb,SURFACE_DEPTH_REACHED
$STATE,9882,begin surface coast
$FINISH,0.3,1.015849
$STATE,9913,end surface coast,CONTROL_FINISHED_OK
$STATE,9913,begin surface
$SM_CCo,9942,26.75,0.187,0,0,957,450.13
$SM_GC,1.24,8.05,0.00,26.75,0.109,0.000,0.187,144,2429,957,-7.43,-0.59,450.13,0,0,0,0,0,0,14.47,28.83,14.41
$RAFOS_CLK,482
$RAFOS_FIX,6625.061035,-6010.544434,220913,040458,7,87,0.58
$IRIDIUM_FIX,6553.70,-6021.30,220913,020210
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.10
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,79
$24V_AH,12.4,20.016
$10V_AH,12.5,0.000
$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,21.275,87.800,568.250,26.750,0.000,0.000,0.000,211.175,19.750,0.000,5.828,2588.355,4465.271,684.434,2010.781,595.027,0.000,1948.048,0.000,1818.943,0.000,0.536,0.000
$DEVICE_MAMPS,435.285,162.945,2370.735,186.660,0.000,0.000,0.000,143.820,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150824
$DATA_FILE_SIZE,50050,1131
$CAP_FILE_SIZE,115175,0
$CFSIZE,259252224,248438784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1452.4
$GPS,220913,080053,6623.465,-6008.697,41,0.9,41,-33.5