version: 66.11
glider: 192
mission: 2
dive: 42
start: 9 22 113 16 42 49
data:
$ID,192
$MISSION,2
$DIVE,42
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,350
$T_MISSION,380
$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,-1130.4559
$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
$PITCH_ADJ_DBAND,0
$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,16
$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
$GPS1,220913,163536,6626.468,-6002.573,40,0.9,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.6
$GPS2,220913,164202,6626.450,-6002.648,5,0.8,5,-33.5
$SPEED_LIMITS,0.163,0.278
$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,97.8,156014,-15.5,-9.429,-18.74,2659
$D_GRID,516
$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,21,-0.88,-165.5,129,2431,992,902,0.0,0.0,0,112,0.00,0.00,-88.32,0.000,16386,0.000,0.000,129,2431,2661,2734,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.88,-165.5,129,2431,2734,2590,3.0,-3.9,16,155,10.15,2.53,-17.80,0.000,18948,0.435,0.140,2243,1033,3471,3675,3268,0,0,0,0,0,0,14.21,14.34,14.57
$GC,202,-0.88,-165.5,2243,1033,3676,3267,24.9,-24.5,30,209,0.00,2.60,0.00,0.000,1030,0.000,0.134,2235,2448,3471,3676,3267,0,0,0,0,0,0,28.83,14.35,28.83
$GC,521,-0.88,-165.5,2235,2447,3677,3267,94.7,-18.9,91,527,0.00,2.60,0.00,0.000,260,0.000,0.149,2228,3861,3472,3677,3267,0,0,0,0,0,0,28.83,14.42,28.83
$GC,571,-0.88,-165.5,1384,3859,3672,3264,104.4,-19.9,97,578,0.00,2.45,0.00,0.000,1030,0.000,0.097,2228,2444,3472,3677,3267,0,0,0,0,0,0,28.83,14.46,28.83
$GC,880,-0.88,-165.5,2228,2444,3677,3267,164.1,-19.0,128,889,0.00,2.45,0.00,0.000,516,0.000,0.118,2228,1046,3472,3677,3267,0,0,0,0,0,0,28.83,14.47,28.83
$GC,935,-0.88,-165.5,2228,1046,3677,3267,174.7,-18.9,133,944,0.10,2.53,0.00,0.000,3078,0.298,0.131,2244,2448,3472,3677,3267,0,0,0,0,0,0,14.41,14.47,28.83
$GC,1246,-0.88,-165.5,2244,2448,3677,3267,230.0,-17.9,164,1255,0.00,2.47,0.00,0.000,516,0.000,0.119,2244,1039,3472,3677,3267,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1271,-0.88,-165.5,2244,1038,3677,3267,234.7,-18.2,166,1280,0.00,2.55,0.00,0.000,1030,0.000,0.134,2237,2457,3472,3677,3267,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1581,-0.88,-165.5,2237,2456,3677,3267,289.8,-17.3,197,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2457,3472,3677,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1897,-0.88,-165.5,2236,2457,3677,3266,343.5,-17.7,228,1906,0.00,2.53,0.00,0.000,260,0.000,0.152,2225,3853,3471,3677,3266,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1936,-0.88,-165.5,1376,3852,3672,3263,350.8,-17.7,231,1943,0.00,2.42,0.00,0.000,1030,0.000,0.099,2226,2440,3471,3677,3266,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2244,-0.88,-165.5,2226,2439,3677,3266,406.5,-17.2,262,2253,0.00,2.42,0.00,0.000,516,0.000,0.118,2226,1047,3471,3677,3266,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2290,-0.88,-165.5,2226,1046,3677,3266,414.4,-17.5,266,2300,0.10,2.50,0.00,0.000,3078,0.285,0.132,2243,2445,3471,3677,3266,0,0,0,0,0,0,14.52,14.57,28.83
$GC,2601,-0.88,-165.5,2243,2446,3676,3266,463.2,-14.9,297,2610,0.00,2.55,0.00,0.000,260,0.000,0.149,2235,3860,3471,3676,3266,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2698,-0.88,-165.5,2235,3860,3677,3266,478.0,-15.6,306,2706,0.00,2.40,0.00,0.000,1030,0.000,0.097,2235,2445,3470,3674,3266,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,2947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2947,begin apogee
$GC,2960,-0.22,0.0,2235,2444,3676,3266,516.8,-15.0,331,3149,0.80,0.00,174.85,2.400,10246,0.259,0.000,2457,2445,2793,2925,2661,0,0,0,0,0,0,14.54,28.83,12.79
$STATE,3150,end apogee,CONTROL_FINISHED_OK
$STATE,3150,begin climb
$GC,3156,0.88,165.5,2457,2444,2924,2661,525.9,0.0,351,3368,1.23,2.90,189.62,2.273,10500,0.172,0.148,2811,3840,2118,2205,2032,0,0,0,0,2,0,13.62,13.10,12.38
$GC,3470,0.88,165.5,2811,3840,2202,2028,502.3,14.3,382,3479,0.00,2.62,0.00,0.000,1030,0.000,0.101,2821,2439,2115,2203,2028,0,0,0,0,0,0,28.83,13.55,28.83
$GC,3780,0.88,165.5,2821,2439,2203,2022,462.6,11.9,413,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2439,2112,2203,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,0.88,165.5,2821,2439,2203,2021,426.3,11.5,444,4104,0.00,2.65,0.00,0.000,260,0.000,0.152,2821,3840,2112,2203,2021,0,0,0,0,0,0,28.83,14.13,28.83
$GC,4131,0.88,165.5,2821,3840,2203,2021,421.3,12.0,447,4140,0.00,2.50,0.00,0.000,1030,0.000,0.102,2832,2423,2111,2203,2020,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4441,0.88,165.5,2832,2423,2203,2019,384.3,11.8,478,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2423,2111,2203,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4756,0.88,165.5,2832,2423,2203,2018,347.3,11.8,509,4765,0.00,2.65,0.00,0.000,260,0.000,0.153,2832,3842,2111,2203,2019,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4805,0.88,165.5,2832,3842,2203,2019,340.6,13.5,513,4812,0.00,2.47,0.00,0.000,1030,0.000,0.102,2843,2429,2110,2203,2018,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5113,0.88,165.5,1856,2427,2156,2013,302.8,12.0,544,5122,0.00,2.62,0.00,0.000,260,0.000,0.150,2843,3848,2110,2203,2018,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5228,0.88,165.5,2843,3848,2203,2018,287.6,13.1,555,5238,0.12,2.45,0.00,0.000,5126,0.314,0.102,2823,2431,2110,2203,2017,0,0,0,0,0,0,14.37,14.46,28.83
$GC,5539,0.88,165.5,2823,2430,2203,2017,252.7,10.4,586,5548,0.00,2.58,0.00,0.000,260,0.000,0.150,2823,3840,2110,2203,2018,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5584,0.88,165.5,2822,3840,2203,2017,247.4,12.0,590,5593,0.00,2.42,0.00,0.000,1030,0.000,0.103,2831,2430,2110,2203,2018,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5894,0.88,165.5,2832,2430,2203,2017,213.9,10.2,621,5903,0.00,2.60,0.00,0.000,260,0.000,0.151,2832,3843,2110,2203,2017,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5940,0.88,165.5,2832,3843,2203,2017,208.8,11.4,625,5948,0.00,2.42,0.00,0.000,1030,0.000,0.103,2843,2430,2110,2203,2017,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6250,0.88,165.5,2843,2430,2203,2017,178.1,9.8,656,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2430,2110,2203,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6567,0.88,165.5,2843,2430,2203,2016,147.5,9.9,687,6575,0.00,2.47,0.00,0.000,516,0.000,0.126,2854,1020,2109,2203,2016,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6757,0.88,167.9,2854,1019,2203,2015,128.2,9.3,705,6765,0.15,2.55,0.00,0.000,5126,0.316,0.133,2821,2434,2109,2203,2015,0,0,0,0,0,0,14.52,14.58,28.83
$GC,7067,0.92,197.4,2822,2434,2203,2015,101.2,8.3,736,7091,0.00,2.65,17.10,0.519,8452,0.000,0.154,2821,3840,1987,2085,1890,0,0,0,0,0,0,28.83,14.54,14.38
$GC,7131,0.92,197.4,1824,3839,2039,1887,95.1,10.2,746,7138,0.00,2.45,0.00,0.000,1030,0.000,0.106,2830,2426,1987,2083,1892,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7450,0.97,240.4,2830,2426,2083,1890,67.7,7.8,807,7480,0.00,2.70,23.90,0.397,8452,0.000,0.155,2830,3844,1812,1908,1717,0,0,0,0,0,0,28.83,14.49,14.39
$GC,7511,0.97,240.4,1840,3844,1865,1713,62.4,10.4,817,7518,0.00,2.47,0.00,0.000,1030,0.000,0.106,2841,2423,1810,1904,1716,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7829,1.03,286.2,1832,2421,1859,1709,32.3,7.7,878,7859,0.00,2.72,24.48,0.279,8452,0.000,0.155,2841,3849,1626,1713,1539,0,0,0,0,0,0,28.83,14.47,14.42
$GC,7921,1.03,286.2,2841,3848,1707,1539,23.3,10.6,894,7927,0.00,2.47,0.00,0.000,1030,0.000,0.106,2852,2430,1622,1706,1539,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,8133,end climb,SURFACE_DEPTH_REACHED
$STATE,8133,begin surface coast
$FINISH,0.5,1.024980
$STATE,8159,end surface coast,CONTROL_FINISHED_OK
$STATE,8159,begin surface
$SM_CCo,8188,88.88,0.181,0,0,957,450.13
$SM_GC,1.46,8.20,0.00,88.88,0.119,0.000,0.181,147,2429,957,-7.42,-0.59,450.13,0,0,0,0,0,0,14.53,28.83,14.40
$RAFOS_CLK,393
$RAFOS,6,1379868543,16.833334,16.817499,76,64,58,52,51,50,922,212,156,223,138,128
$RAFOS_FIX,6626.074707,-6002.633789,220913,161636,5,84,0.00
$IRIDIUM_FIX,6553.70,-6006.65,220913,131318
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.11
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,53
$24V_AH,12.4,21.599
$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,20.850,86.400,429.950,88.875,0.000,0.000,0.000,228.225,13.250,0.000,5.976,2138.208,3643.038,637.529,1740.430,516.013,0.000,1764.086,0.000,1533.649,360.000,0.536,0.000
$DEVICE_MAMPS,435.285,155.295,2399.805,180.540,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,40137,940
$CAP_FILE_SIZE,97518,0
$CFSIZE,259252224,248225792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1453.5
$GPS,220913,190236,6626.727,-6000.938,43,1.0,43,-33.5