version: 66.11
glider: 192
mission: 2
dive: 43
start: 9 22 113 19 9 8
data:
$ID,192
$MISSION,2
$DIVE,43
$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,-1131.7074
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,220913,190236,6626.727,-6000.938,43,1.0,43,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.1
$GPS2,220913,190821,6626.691,-6000.960,5,1.3,5,-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,97.7,154722,-15.5,-9.429,-18.74,2659
$D_GRID,530
$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,-0.88,-165.5,133,2455,958,927,0.0,0.0,0,111,0.00,0.00,-88.30,0.000,16386,0.000,0.000,131,2455,2688,2753,2623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-165.5,131,2456,2753,2624,3.1,-4.8,16,155,10.15,2.60,-16.67,0.000,18948,0.438,0.144,2244,1042,3471,3676,3267,0,0,0,0,0,0,14.23,14.35,14.59
$GC,221,-0.88,-165.5,2244,1042,3677,3267,30.7,-24.7,34,228,0.00,2.58,0.00,0.000,1030,0.000,0.137,2237,2443,3472,3677,3267,0,0,0,0,0,0,28.83,14.38,28.83
$GC,539,-0.88,-165.5,2236,2443,3677,3267,98.2,-20.3,95,546,0.00,2.62,0.00,0.000,260,0.000,0.151,2226,3867,3472,3677,3267,0,0,0,0,0,0,28.83,14.43,28.83
$GC,621,-0.88,-165.5,2226,3867,3677,3267,114.5,-20.7,103,627,0.00,2.47,0.00,0.000,1030,0.000,0.102,2226,2444,3472,3677,3267,0,0,0,0,0,0,28.83,14.47,28.83
$GC,934,-0.88,-165.5,2226,2444,3677,3267,175.4,-19.4,134,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2444,3472,3677,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1247,-0.88,-165.5,2226,2444,3677,3267,236.7,-19.0,165,1255,0.00,2.45,0.00,0.000,516,0.000,0.122,2226,1047,3471,3677,3266,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1302,-0.88,-165.5,2226,1047,3677,3266,248.3,-18.7,170,1311,0.10,2.53,0.00,0.000,3078,0.297,0.135,2242,2445,3472,3677,3267,0,0,0,0,0,0,14.47,14.53,28.83
$GC,1612,-0.88,-165.5,2242,2445,3677,3266,301.0,-16.4,201,1621,0.00,2.60,0.00,0.000,260,0.000,0.154,2234,3862,3471,3677,3266,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1649,-0.88,-165.5,2234,3861,3677,3266,307.0,-16.7,204,1658,0.00,2.42,0.00,0.000,1030,0.000,0.102,2233,2446,3471,3677,3266,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1959,-0.88,-165.5,2234,2446,3677,3266,359.2,-15.9,235,1968,0.00,2.45,0.00,0.000,516,0.000,0.121,2234,1042,3471,3677,3265,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1996,-0.88,-165.5,1408,1042,3673,3263,364.6,-15.9,238,2003,0.00,2.55,0.00,0.000,1030,0.000,0.133,2224,2457,3471,3677,3266,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2305,-0.88,-165.5,2225,2457,3677,3266,416.6,-17.1,269,2313,0.00,2.47,0.00,0.000,516,0.000,0.120,2225,1044,3471,3677,3266,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2350,-0.88,-165.5,2224,1044,3677,3266,424.2,-17.0,273,2359,0.12,2.50,0.00,0.000,3078,0.287,0.132,2248,2444,3471,3677,3266,0,0,0,0,0,0,14.52,14.59,28.83
$GC,2661,-0.88,-165.5,2248,2444,3677,3266,470.1,-15.2,304,2670,0.00,2.58,0.00,0.000,260,0.000,0.151,2239,3863,3471,3677,3266,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2726,-0.88,-165.5,2239,3863,3677,3266,480.5,-15.8,310,2734,0.00,2.40,0.00,0.000,1030,0.000,0.100,2239,2445,3471,3677,3266,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3036,-0.88,-165.5,2239,2445,3677,3266,528.1,-15.3,341,3045,0.00,2.42,0.00,0.000,516,0.000,0.117,2239,1042,3472,3678,3266,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,3055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3055,begin apogee
$GC,3071,-0.22,0.0,2230,2431,3677,3266,531.6,-14.5,343,3257,0.82,0.00,174.68,2.411,10246,0.262,0.000,2458,2431,2794,2924,2664,0,0,0,0,0,0,14.54,28.83,12.81
$STATE,3258,end apogee,CONTROL_FINISHED_OK
$STATE,3258,begin climb
$GC,3264,0.88,165.5,2458,2431,2922,2664,540.0,0.0,362,3481,1.23,2.95,189.70,2.270,11012,0.181,0.149,2809,3837,2119,2205,2034,0,0,0,0,3,0,13.61,13.10,12.39
$GC,3544,0.88,165.5,2809,3837,2203,2032,519.5,14.1,390,3553,0.00,2.62,0.00,0.000,1030,0.000,0.101,2820,2436,2117,2203,2032,0,0,0,0,0,0,28.83,13.47,28.83
$GC,3855,0.88,165.5,2819,2436,2203,2024,480.6,12.5,421,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2436,2114,2203,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,0.88,165.5,2820,2436,2203,2022,443.8,12.4,452,4174,0.00,2.65,0.00,0.000,260,0.000,0.153,2820,3837,2113,2203,2023,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4224,0.88,165.5,2820,3837,2203,2022,435.9,14.5,457,4231,0.00,2.53,0.00,0.000,1030,0.000,0.103,2830,2423,2112,2203,2022,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4532,0.88,165.5,2830,2423,2203,2022,396.4,13.1,488,4540,0.00,2.53,0.00,0.000,516,0.000,0.126,2841,1018,2112,2203,2021,0,0,0,0,0,0,28.83,14.25,28.83
$GC,4557,0.88,165.5,2841,1018,2203,2020,393.2,12.9,490,4562,0.00,2.60,0.00,0.000,1030,0.000,0.134,2841,2430,2111,2203,2020,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4875,0.88,165.5,2841,2430,2203,2020,347.8,14.8,521,4883,0.00,2.62,0.00,0.000,260,0.000,0.155,2842,3845,2111,2203,2020,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4899,0.88,165.5,2841,3846,2203,2020,343.8,14.4,523,4909,0.10,2.47,0.00,0.000,5126,0.326,0.103,2827,2425,2111,2203,2020,0,0,0,0,0,0,14.28,14.35,28.83
$GC,5210,0.88,165.5,2827,2425,2203,2019,303.7,11.8,554,5219,0.00,2.62,0.00,0.000,260,0.000,0.154,2826,3840,2111,2203,2020,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5238,0.88,165.5,2826,3841,2203,2020,300.4,12.9,556,5245,0.00,2.47,0.00,0.000,1030,0.000,0.103,2836,2421,2111,2203,2020,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5547,0.88,165.5,2836,2421,2203,2019,262.9,11.4,587,5555,0.00,2.62,0.00,0.000,260,0.000,0.153,2836,3847,2110,2202,2019,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5601,0.88,165.5,2836,3847,2202,2019,256.0,13.2,592,5611,0.10,2.45,0.00,0.000,5126,0.319,0.103,2822,2425,2111,2203,2020,0,0,0,0,0,0,14.40,14.47,28.83
$GC,5912,0.88,165.5,2822,2425,2203,2019,223.5,9.8,623,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2425,2110,2201,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,0.88,165.5,2822,2425,2203,2019,193.7,9.5,654,6236,0.00,2.62,0.00,0.000,260,0.000,0.155,2821,3839,2111,2203,2019,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6296,0.88,165.5,2822,3839,2203,2019,186.3,11.0,660,6303,0.00,2.45,0.00,0.000,1030,0.000,0.105,2832,2424,2111,2203,2019,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6605,0.88,170.0,2832,2425,2203,2018,154.8,9.3,691,6612,0.00,0.00,4.18,1.526,8198,0.000,0.000,2832,2425,2099,2193,2006,0,0,0,0,0,0,28.83,28.83,13.81
$GC,6915,0.92,202.3,2832,2425,2194,2006,126.6,8.2,722,6954,0.00,2.70,33.20,1.991,8452,0.000,0.155,2832,3844,1968,2065,1872,0,0,0,0,0,0,28.83,14.21,13.59
$GC,7019,0.92,202.3,2832,3844,2061,1873,117.1,11.7,731,7026,0.00,2.53,0.00,0.000,1030,0.000,0.106,2842,2423,1967,2062,1872,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7332,0.96,233.5,1856,2420,2017,1866,87.1,8.2,776,7355,0.00,0.00,17.95,0.470,8198,0.000,0.000,2843,2423,1840,1936,1744,0,0,0,0,0,0,28.83,28.83,14.21
$GC,7665,0.96,233.5,1856,2421,1892,1736,55.5,10.6,840,7672,0.00,2.53,0.00,0.000,516,0.000,0.130,2853,1018,1836,1932,1740,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7739,0.96,233.5,2853,1018,1932,1738,48.0,10.3,853,7746,0.00,2.60,0.00,0.000,1030,0.000,0.136,2853,2438,1835,1932,1738,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8057,1.13,369.2,2853,2438,1931,1738,27.0,4.2,914,8143,0.12,2.67,74.45,0.256,10500,0.192,0.158,2897,3838,1286,1362,1210,0,0,0,0,0,0,14.48,14.35,14.33
$GC,8239,1.13,369.2,2897,3838,1349,1210,5.7,16.6,946,8246,0.00,2.50,0.00,0.000,1030,0.000,0.109,2907,2422,1278,1348,1209,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,8258,end climb,SURFACE_DEPTH_REACHED
$STATE,8258,begin surface coast
$FINISH,0.4,1.011448
$STATE,8274,end surface coast,CONTROL_FINISHED_OK
$STATE,8274,begin surface
$SM_CCo,8304,42.58,0.185,0,0,957,450.13
$SM_GC,1.30,8.38,0.08,42.58,0.112,0.233,0.185,142,2448,957,-7.44,-0.51,450.13,0,0,0,0,0,0,14.43,14.42,14.35
$RAFOS_CLK,400
$RAFOS,6,1379882944,20.833334,20.817778,59,57,56,55,54,53,156,217,178,916,139,200
$RAFOS,5,1379882468,20.700001,20.685556,86,68,60,54,51,51,940,205,128,165,221,230
$RAFOS,4,1379881982,20.566668,20.550556,72,69,64,62,61,50,764,211,199,222,144,154
$RAFOS,3,1379881508,20.433332,20.418888,73,62,52,51,50,50,649,214,191,124,176,160
$RAFOS,2,1379881026,20.299999,20.285000,86,57,56,55,54,53,535,196,151,175,120,142
$RAFOS,1,1379880546,20.166666,20.151667,86,58,54,54,53,52,644,175,214,203,191,161
$RAFOS,0,1379880064,20.033333,20.017778,60,56,56,53,53,51,182,197,211,133,655,170
$RAFOS_FIX,6626.859375,-5959.279297,220913,202031,5,81,0.27
$IRIDIUM_FIX,6558.99,-5953.92,220913,161621
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.88
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.40
$XPDR_PINGS,62
$24V_AH,12.4,21.931
$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,21.125,92.075,494.150,42.575,0.000,0.000,0.000,192.700,15.500,0.000,5.826,2162.521,3678.946,648.662,1697.422,530.503,0.000,1750.870,0.000,1528.236,2520.000,0.536,0.000
$DEVICE_MAMPS,437.580,237.150,2411.280,185.130,0.000,0.000,0.000,138.465,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150724
$DATA_FILE_SIZE,40111,952
$CAP_FILE_SIZE,100678,0
$CFSIZE,259252224,248160256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$SOUNDSPEED,1454.0
$GPS,220913,213005,6625.776,-5959.099,31,1.1,31,-33.5