version: 66.11
glider: 192
mission: 2
dive: 45
start: 9 23 113 0 11 34
data:
$ID,192
$MISSION,2
$DIVE,45
$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,-1139.5527
$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,17
$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
$GPS1,230913,000306,6625.424,-5957.261,43,1.1,43,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.4
$GPS2,230913,001052,6625.330,-5957.217,4,1.1,5,-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,96.5,153422,-15.5,-9.429,-18.74,2659
$D_GRID,554
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.88,-165.5,122,2440,953,930,0.0,0.0,0,111,0.00,0.00,-89.50,0.000,16386,0.000,0.000,122,2440,2714,2775,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-165.5,121,2440,2775,2655,3.2,-4.8,16,150,10.10,2.60,-15.90,0.000,18948,0.429,0.140,2246,1034,3472,3673,3271,0,0,0,0,0,0,14.19,14.33,14.54
$GC,255,-0.88,-165.5,2246,1033,3676,3271,38.6,-22.4,40,262,0.00,2.60,0.00,0.000,1030,0.000,0.134,2239,2448,3472,3675,3270,0,0,0,0,0,0,28.83,14.35,28.83
$GC,578,-0.88,-165.5,2239,2448,3676,3271,102.5,-19.4,101,586,0.00,2.50,0.00,0.000,516,0.000,0.119,2239,1035,3473,3676,3271,0,0,0,0,0,0,28.83,14.42,28.83
$GC,623,-0.88,-165.5,2240,1035,3676,3271,111.3,-18.9,105,631,0.00,2.58,0.00,0.000,1030,0.000,0.135,2229,2455,3473,3676,3271,0,0,0,0,0,0,28.83,14.42,28.83
$GC,933,-0.88,-165.5,2229,2456,3676,3271,171.2,-19.0,136,941,0.00,2.58,0.00,0.000,260,0.000,0.152,2218,3860,3473,3676,3270,0,0,0,0,0,0,28.83,14.47,28.83
$GC,988,-0.88,-165.5,2219,3860,3676,3270,182.4,-20.0,141,997,0.10,2.42,0.00,0.000,3078,0.296,0.100,2244,2449,3473,3676,3270,0,0,0,0,0,0,14.41,14.50,28.83
$GC,1301,-0.88,-165.5,2244,2449,3676,3270,241.3,-18.2,172,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2449,3473,3676,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.88,-165.5,2244,2448,3676,3269,296.9,-17.3,203,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2448,3472,3676,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1923,-0.88,-165.5,1376,2446,3671,3265,351.2,-17.3,234,1932,0.00,2.47,0.00,0.000,516,0.000,0.121,2244,1037,3472,3676,3268,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1970,-0.88,-165.5,1408,1036,3672,3265,358.7,-16.1,238,1977,0.00,2.58,0.00,0.000,1030,0.000,0.135,2236,2458,3472,3676,3268,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2279,-0.88,-165.5,2237,2457,3676,3268,409.9,-16.4,269,2287,0.00,2.53,0.00,0.000,260,0.000,0.149,2226,3857,3472,3676,3268,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2317,-0.88,-165.5,2226,3857,3675,3268,416.0,-17.1,272,2323,0.00,2.42,0.00,0.000,1030,0.000,0.100,2226,2446,3472,3676,3268,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2625,-0.88,-165.5,2226,2446,3676,3268,470.4,-17.3,303,2629,0.00,2.45,0.00,0.000,516,0.000,0.119,2226,1045,3471,3675,3268,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2651,-0.88,-165.5,2226,1044,3676,3268,474.9,-17.3,305,2660,0.10,2.50,0.00,0.000,3078,0.285,0.132,2242,2442,3472,3676,3268,0,0,0,0,0,0,14.52,14.58,28.83
$GC,2962,-0.88,-165.5,2244,2443,3676,3268,524.2,-15.6,336,2970,0.00,2.58,0.00,0.000,260,0.000,0.151,2234,3872,3472,3676,3268,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3019,-0.88,-165.5,1392,3871,3672,3265,533.2,-16.4,341,3026,0.00,2.42,0.00,0.000,1030,0.000,0.099,2234,2451,3472,3676,3268,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,3141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3141,begin apogee
$GC,3154,-0.22,0.0,2235,2451,3676,3268,555.0,-17.4,354,3343,0.80,0.00,176.85,2.440,10246,0.257,0.000,2457,2451,2794,2920,2669,0,0,0,0,0,0,14.54,28.83,12.80
$STATE,3343,end apogee,CONTROL_FINISHED_OK
$STATE,3344,begin climb
$GC,3350,0.88,165.5,2457,2452,2920,2668,566.5,0.0,373,3570,1.23,2.88,192.55,2.299,10756,0.171,0.124,2823,1017,2119,2205,2033,0,0,0,0,3,0,13.60,13.12,12.38
$GC,3668,0.88,165.5,2823,1017,2205,2026,548.9,11.2,405,3677,0.00,2.78,0.00,0.000,1030,0.000,0.131,2823,2437,2115,2205,2025,0,0,0,0,0,0,28.83,13.53,28.83
$GC,3979,0.88,165.5,2823,2437,2205,2022,512.2,11.8,436,3988,0.00,2.67,0.00,0.000,260,0.000,0.151,2823,3835,2113,2205,2022,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4074,0.88,165.5,2824,3836,2204,2021,499.2,14.0,445,4083,0.00,2.53,0.00,0.000,1030,0.000,0.103,2834,2429,2112,2204,2020,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4384,0.88,165.5,2834,2429,2204,2020,458.9,12.5,476,4393,0.00,2.67,0.00,0.000,260,0.000,0.151,2834,3836,2112,2204,2020,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4440,0.88,165.5,2834,3836,2204,2019,451.2,14.6,481,4448,0.00,2.47,0.00,0.000,1030,0.000,0.103,2844,2434,2111,2204,2019,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4750,0.88,165.5,2844,2435,2204,2018,408.9,13.2,512,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2434,2111,2204,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,0.88,165.5,2844,2434,2204,2018,369.9,12.3,543,5075,0.00,2.60,0.00,0.000,260,0.000,0.154,2844,3840,2111,2204,2018,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5207,0.88,165.5,2845,3840,2205,2018,349.4,15.0,556,5217,0.12,2.45,0.00,0.000,5126,0.307,0.105,2824,2432,2110,2204,2017,0,0,0,0,0,0,14.33,14.42,28.83
$GC,5519,0.88,165.5,2824,2432,2204,2017,312.0,11.1,587,5528,0.00,2.53,0.00,0.000,516,0.000,0.126,2833,1018,2110,2204,2017,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5558,0.88,165.5,2833,1018,2204,2016,307.7,11.7,590,5565,0.00,2.58,0.00,0.000,1030,0.000,0.132,2833,2435,2110,2204,2016,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5866,0.88,165.5,2833,2436,2204,2016,270.2,11.9,621,5875,0.00,2.58,0.00,0.000,260,0.000,0.151,2833,3842,2110,2204,2016,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5945,0.88,165.5,2833,3841,2204,2016,260.1,13.7,628,5952,0.00,2.47,0.00,0.000,1030,0.000,0.103,2844,2422,2110,2204,2016,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6253,0.88,165.5,2844,2420,2204,2016,222.8,12.1,659,6262,0.00,2.62,0.00,0.000,260,0.000,0.153,2844,3845,2110,2204,2016,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6292,0.88,165.5,2843,3844,2204,2016,218.4,12.6,662,6300,0.15,2.45,0.00,0.000,5126,0.330,0.103,2822,2426,2110,2204,2016,0,0,0,0,0,0,14.47,14.56,28.83
$GC,6602,0.88,169.9,2823,2427,2204,2016,185.6,9.3,693,6612,0.00,2.67,3.85,1.465,8452,0.000,0.151,2823,3842,2101,2197,2006,0,0,0,0,0,0,28.83,14.52,13.81
$GC,6649,0.88,169.9,2823,3841,2197,2006,180.8,10.4,697,6658,0.00,2.42,0.00,0.000,1030,0.000,0.103,2833,2426,2101,2197,2006,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6960,0.93,206.3,2833,2426,2197,2006,153.0,8.0,728,7006,0.00,2.67,38.92,2.084,8452,0.000,0.151,2833,3840,1952,2050,1855,0,0,0,0,0,0,28.83,14.14,13.50
$GC,7055,0.93,206.3,2833,3840,2048,1855,143.8,11.6,737,7062,0.00,2.50,0.00,0.000,1030,0.000,0.102,2844,2429,1951,2048,1855,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7364,0.93,206.3,2844,2429,2048,1851,108.7,12.2,768,7372,0.00,2.50,0.00,0.000,516,0.000,0.125,2854,1025,1949,2048,1851,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7402,0.93,206.3,1872,1025,2004,1846,104.5,12.0,771,7409,0.00,2.58,0.00,0.000,1030,0.000,0.133,2855,2432,1949,2048,1850,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7715,0.93,206.3,2854,2431,2048,1850,68.1,9.7,829,7722,0.00,2.60,0.00,0.000,260,0.000,0.154,2855,3840,1949,2048,1850,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7893,0.93,206.3,2854,3840,2047,1850,50.0,10.9,862,7900,0.15,2.45,0.00,0.000,5126,0.331,0.102,2834,2427,1948,2046,1850,0,0,0,0,0,0,14.40,14.50,28.83
$GC,8212,1.01,275.6,2834,2427,2046,1850,26.3,6.7,923,8259,0.00,2.70,36.90,0.256,8452,0.000,0.151,2833,3846,1669,1759,1579,0,0,0,0,0,0,28.83,14.44,14.40
$GC,8360,1.03,287.9,1824,3845,1714,1574,15.2,9.0,949,8373,0.00,2.47,6.15,0.233,9222,0.000,0.103,2843,2423,1618,1702,1534,0,0,0,0,0,0,28.83,14.48,14.42
$STATE,8499,end climb,SURFACE_DEPTH_REACHED
$STATE,8499,begin surface coast
$FINISH,0.5,1.009046
$STATE,8529,end surface coast,CONTROL_FINISHED_OK
$STATE,8530,begin surface
$SM_CCo,8559,87.05,0.180,0,0,958,450.13
$SM_GC,1.61,8.18,0.08,87.05,0.116,0.230,0.180,143,2450,958,-7.43,-0.51,450.13,0,0,0,0,0,0,14.50,14.49,14.38
$RAFOS_CLK,410
$RAFOS,6,1379897347,0.833333,0.818611,94,59,59,58,56,53,890,216,166,183,196,225
$RAFOS,5,1379896861,0.700000,0.683611,87,60,59,56,56,51,970,127,193,215,160,226
$RAFOS,4,1379896387,0.566667,0.551944,128,69,63,62,56,53,734,210,198,173,158,230
$RAFOS,3,1379895911,0.433333,0.419722,84,68,61,59,53,49,629,190,158,216,201,134
$RAFOS,2,1379895421,0.300000,0.283611,74,66,65,52,49,48,568,217,195,121,175,230
$RAFOS_FIX,6626.073730,-5954.062988,230913,000024,5,93,1.85
$IRIDIUM_FIX,6558.99,-5954.66,220913,212141
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.68
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,86
$24V_AH,12.4,22.603
$10V_AH,12.6,0.000
$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,20.925,97.150,455.225,87.050,0.000,0.000,0.000,312.825,21.500,0.000,5.898,2278.575,3740.324,666.247,1791.949,655.457,0.000,1922.637,0.000,1608.489,1800.000,0.536,0.000
$DEVICE_MAMPS,429.165,230.265,2439.585,179.775,0.000,0.000,0.000,132.345,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150776
$DATA_FILE_SIZE,43487,981
$CAP_FILE_SIZE,104266,0
$CFSIZE,259252224,248037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$SOUNDSPEED,1454.7
$GPS,230913,023735,6626.465,-5955.430,37,1.2,37,-33.5