version: 66.11
glider: 192
mission: 2
dive: 40
start: 9 22 113 10 56 17
data:
$ID,192
$MISSION,2
$DIVE,40
$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,-1122.5184
$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,18
$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
$GPS1,220913,104935,6622.735,-6006.859,33,1.2,33,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.3
$GPS2,220913,105529,6622.687,-6006.761,5,1.1,5,-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,95.9,161791,-13.8,-8.333,-17.43,2997
$D_GRID,495
$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,-165.5,131,2431,976,884,0.0,0.0,0,117,0.00,0.00,-94.45,0.000,16386,0.000,0.000,131,2431,2776,2843,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.80,-165.5,130,2431,2844,2712,3.5,-6.4,17,155,10.25,2.58,-14.05,0.000,18948,0.436,0.144,2268,1038,3471,3666,3277,0,0,0,0,0,0,14.22,14.34,14.57
$GC,192,-0.63,-165.5,2269,1037,3669,3277,23.5,-23.8,28,200,0.28,2.60,0.00,0.000,3078,0.295,0.134,2325,2455,3473,3669,3277,0,0,0,0,0,0,14.28,14.35,28.83
$GC,512,-0.56,-165.5,2326,2455,3670,3276,73.2,-13.2,89,519,0.12,2.60,0.00,0.000,2308,0.309,0.151,2349,3862,3473,3671,3275,0,0,0,0,0,0,14.37,14.41,28.83
$GC,546,-0.52,-165.5,2349,3861,3671,3275,77.5,-11.3,94,553,0.00,2.47,0.00,0.000,1030,0.000,0.101,2349,2439,3473,3671,3275,0,0,0,0,0,0,28.83,14.45,28.83
$GC,864,-0.50,-165.5,2348,2439,3671,3276,115.7,-12.3,142,872,0.00,2.47,0.00,0.000,516,0.000,0.123,2349,1037,3473,3671,3275,0,0,0,0,0,0,28.83,14.47,28.83
$GC,889,-0.50,-165.5,2349,1037,3671,3275,118.7,-11.9,144,898,0.00,2.55,0.00,0.000,1030,0.000,0.135,2345,2448,3472,3670,3275,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1199,-0.50,-165.5,2345,2448,3671,3275,156.7,-12.0,175,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2448,3473,3671,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1516,-0.50,-165.5,2345,2448,3671,3275,191.6,-10.9,206,1524,0.00,2.58,0.00,0.000,260,0.000,0.155,2336,3860,3472,3671,3274,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1583,-0.50,-165.5,1472,3860,3666,3271,199.3,-10.6,212,1591,0.15,2.45,0.00,0.000,3078,0.282,0.102,2370,2439,3472,3671,3274,0,0,0,0,0,0,14.50,14.57,28.83
$GC,1893,-0.54,-165.5,2371,2439,3672,3274,225.7,-8.0,243,1902,0.00,2.62,0.00,0.000,260,0.000,0.161,2370,3860,3472,3671,3274,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1930,-0.59,-165.5,2370,3859,3671,3274,228.6,-8.1,246,1938,0.00,2.40,0.00,0.000,1030,0.000,0.102,2370,2455,3472,3670,3274,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2240,-0.63,-165.5,2370,2455,3671,3273,253.9,-8.6,277,2250,0.12,2.60,0.00,0.000,4356,0.214,0.158,2318,3860,3472,3672,3273,0,0,0,0,0,0,14.59,14.55,28.83
$GC,2287,-0.63,-165.5,2318,3860,3671,3273,258.8,-10.7,281,2295,0.00,2.40,0.00,0.000,1030,0.000,0.100,2318,2450,3472,3671,3273,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2597,-0.60,-165.5,2318,2450,3671,3273,294.6,-11.4,312,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2450,3472,3671,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,-0.57,-165.5,2318,2450,3671,3273,330.7,-11.6,343,2923,0.12,2.58,0.00,0.000,2308,0.317,0.152,2342,3863,3472,3671,3273,0,0,0,0,0,0,14.55,14.59,28.83
$GC,2962,-0.57,-165.5,1472,3862,3666,3270,336.5,-10.8,347,2969,0.00,2.42,0.00,0.000,1030,0.000,0.100,2341,2446,3472,3671,3273,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3271,-0.57,-165.5,2341,2446,3671,3273,367.4,-9.6,378,3280,0.00,2.60,0.00,0.000,260,0.000,0.155,2341,3862,3472,3671,3273,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3308,-0.57,-165.5,2341,3862,3671,3273,371.2,-10.4,381,3316,0.00,2.40,0.00,0.000,1030,0.000,0.100,2341,2445,3472,3671,3273,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3618,-0.57,-165.5,2341,2446,3671,3273,401.0,-9.3,412,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2445,3472,3671,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-0.57,-165.5,2341,2445,3671,3273,429.4,-9.1,443,3941,0.00,2.58,0.00,0.000,260,0.000,0.158,2341,3856,3472,3671,3273,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3978,-0.59,-165.5,2341,3856,3670,3273,433.9,-9.0,447,3987,0.00,2.38,0.00,0.000,1030,0.000,0.100,2342,2456,3472,3672,3273,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,4162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4162,begin apogee
$GC,4176,-0.22,0.0,2341,2429,3671,3273,450.4,-8.6,466,4363,0.40,0.00,173.68,2.293,10246,0.236,0.000,2455,2429,2793,2920,2667,0,0,0,0,1,0,14.58,28.83,12.87
$STATE,4364,end apogee,CONTROL_FINISHED_OK
$STATE,4364,begin climb
$GC,4370,0.80,165.5,2455,2429,2919,2667,459.4,0.0,485,4563,1.15,2.83,182.40,2.238,10756,0.182,0.120,2793,1025,2119,2206,2032,0,0,0,0,0,0,13.62,13.15,12.46
$GC,4771,0.67,165.5,2794,1025,2205,2019,434.6,10.7,525,4778,0.17,2.70,0.00,0.000,5126,0.289,0.131,2757,2431,2111,2205,2018,0,0,0,0,0,0,13.70,13.76,28.83
$GC,5080,0.58,165.5,2757,2431,2205,2015,406.5,9.0,556,5090,0.12,2.67,0.00,0.000,4868,0.295,0.150,2725,3843,2110,2205,2015,0,0,0,0,0,0,14.02,14.01,28.83
$GC,5106,0.49,165.5,2725,3843,2205,2015,404.1,9.3,558,5116,0.12,2.50,0.00,0.000,5126,0.245,0.100,2700,2436,2109,2205,2014,0,0,0,0,0,0,14.00,14.06,28.83
$GC,5418,0.56,216.1,2700,2435,2205,2014,383.2,6.6,589,5476,0.00,2.72,52.35,2.185,8708,0.000,0.122,2706,1020,1913,2014,1812,0,0,0,0,0,0,28.83,13.70,13.03
$GC,5644,0.66,266.3,2706,1020,2013,1805,368.1,6.6,611,5708,0.12,2.65,54.30,2.170,11270,0.184,0.128,2745,2432,1707,1802,1613,0,0,0,0,0,0,14.02,14.00,12.91
$GC,6011,0.63,266.3,2745,2433,1796,1610,334.6,9.8,648,6019,0.00,2.65,0.00,0.000,260,0.000,0.148,2745,3836,1702,1795,1610,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6099,0.58,266.3,1792,3836,1758,1607,324.8,11.5,656,6106,0.15,2.53,0.00,0.000,5126,0.283,0.100,2722,2422,1701,1793,1610,0,0,0,0,0,0,14.07,14.12,28.83
$GC,6409,0.59,278.5,2721,2421,1793,1609,298.7,7.9,687,6429,0.00,2.75,12.75,2.026,8452,0.000,0.151,2722,3836,1658,1747,1569,0,0,0,0,0,0,28.83,14.11,13.45
$GC,6450,0.61,294.2,2722,3836,1747,1569,295.5,7.8,691,6477,0.00,2.47,18.65,2.050,9222,0.000,0.099,2729,2433,1593,1681,1506,0,0,0,0,0,0,28.83,14.14,13.30
$GC,6781,0.62,301.5,2729,2433,1681,1504,269.1,8.1,724,6797,0.00,0.00,8.95,1.925,8198,0.000,0.000,2728,2433,1563,1651,1476,0,0,0,0,0,0,28.83,28.83,13.44
$GC,7101,0.62,301.5,2729,2433,1651,1475,242.2,8.6,756,7110,0.00,2.62,0.00,0.000,260,0.000,0.150,2729,3846,1563,1651,1475,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7146,0.62,301.5,2729,3846,1650,1475,237.7,10.1,760,7155,0.00,2.47,0.00,0.000,1030,0.000,0.100,2738,2426,1562,1650,1475,0,0,0,0,0,0,28.83,14.30,28.83
$GC,7457,0.62,301.5,2737,2426,1649,1475,209.2,8.8,791,7466,0.00,2.62,0.00,0.000,260,0.000,0.150,2737,3844,1562,1650,1475,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7494,0.62,301.5,2738,3844,1649,1475,205.7,9.5,794,7502,0.00,2.45,0.00,0.000,1030,0.000,0.099,2747,2429,1562,1649,1475,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7804,0.62,301.5,2747,2429,1649,1475,176.7,8.4,825,7812,0.00,2.50,0.00,0.000,516,0.000,0.124,2755,1017,1561,1649,1474,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7832,0.62,301.5,2756,1017,1649,1474,174.4,8.8,827,7839,0.00,2.58,0.00,0.000,1030,0.000,0.129,2755,2438,1561,1649,1474,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8140,0.65,324.8,2755,2438,1649,1474,148.1,7.5,858,8171,0.00,2.60,24.58,2.010,8708,0.000,0.122,2762,1012,1470,1557,1383,0,0,0,0,0,0,28.83,14.24,13.60
$GC,8198,0.68,324.8,2762,1012,1557,1383,143.5,8.4,863,8206,0.00,2.58,0.00,0.000,1030,0.000,0.128,2762,2425,1469,1556,1383,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8508,0.69,335.9,2762,2425,1557,1381,117.4,8.0,894,8525,0.00,2.65,7.20,1.745,8452,0.000,0.151,2762,3853,1424,1511,1338,0,0,0,0,0,0,28.83,14.29,13.66
$GC,8542,0.70,347.1,2762,3853,1511,1338,114.5,8.0,897,8559,0.00,2.47,7.40,1.717,9222,0.000,0.101,2772,2431,1379,1464,1294,0,0,0,0,0,0,28.83,14.33,13.61
$GC,8866,0.70,347.1,2772,2432,1463,1291,85.9,8.8,944,8873,0.00,2.55,0.00,0.000,516,0.000,0.126,2781,1013,1376,1462,1291,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8900,0.74,347.1,2781,1012,1462,1290,83.0,8.8,949,8907,0.00,2.60,0.00,0.000,1030,0.000,0.130,2780,2438,1376,1462,1290,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9218,0.74,347.1,2781,2438,1461,1289,53.1,9.0,1010,9225,0.00,2.58,0.00,0.000,260,0.000,0.148,2781,3839,1375,1461,1289,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9281,0.74,347.1,2781,3839,1460,1290,46.8,10.3,1021,9288,0.00,2.45,0.00,0.000,1030,0.000,0.100,2791,2426,1374,1460,1289,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9604,0.91,448.2,1760,2423,1436,1287,23.6,4.9,1082,9669,0.12,2.53,56.75,0.249,10756,0.195,0.122,2845,1013,965,1042,888,0,0,0,0,0,0,14.49,14.40,14.35
$GC,9723,0.93,448.2,2845,1014,1037,886,14.1,9.3,1101,9730,0.00,2.58,0.00,0.000,1030,0.000,0.129,2845,2430,961,1037,886,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,9824,end climb,SURFACE_DEPTH_REACHED
$STATE,9825,begin surface coast
$FINISH,0.4,1.024965
$STATE,9856,end surface coast,CONTROL_FINISHED_OK
$STATE,9856,begin surface
$SM_CCo,9945,0.00,0.000,0,0,956,450.86
$SM_GC,1.37,8.18,0.00,0.00,0.113,0.000,0.000,143,2430,956,-7.44,-0.57,450.86,0,0,0,0,0,0,14.45,28.83,28.83
$RAFOS_CLK,481
$RAFOS,6,1379854142,12.833333,12.817223,60,59,57,55,51,50,199,174,937,219,140,117
$RAFOS,5,1379853669,12.700000,12.685833,64,58,56,56,56,55,958,164,212,223,203,189
$RAFOS,4,1379853181,12.566667,12.550278,69,63,60,55,55,54,799,210,149,126,170,201
$RAFOS,3,1379852709,12.433333,12.419167,59,55,54,52,51,50,199,181,214,190,158,115
$RAFOS,2,1379852231,12.300000,12.286389,66,56,56,55,55,54,170,182,213,204,132,157
$RAFOS,1,1379851752,12.166667,12.153334,58,57,56,53,52,50,129,148,223,170,190,204
$RAFOS,0,1379851269,12.033333,12.019167,75,60,58,58,51,49,653,200,218,154,125,184
$RAFOS_FIX,6624.688965,-6007.174316,220913,121222,3,69,0.68
$IRIDIUM_FIX,6553.70,-6006.65,220913,080835
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.57
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,53
$24V_AH,12.5,20.872
$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,21.600,112.600,599.000,0.000,0.000,0.000,0.000,197.350,13.250,0.000,5.853,2580.352,4413.645,690.766,2021.018,603.956,0.000,1977.320,0.000,1838.869,2520.000,0.535,0.000
$DEVICE_MAMPS,436.050,345.780,2293.470,0.000,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46831,1126
$CAP_FILE_SIZE,123296,0
$CFSIZE,259252224,248311808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1453.1
$GPS,220913,134336,6624.210,-6004.788,28,1.1,28,-33.5