version: 66.11
glider: 192
mission: 2
dive: 46
start: 9 23 113 2 46 20
data:
$ID,192
$MISSION,2
$DIVE,46
$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,-1140.8052
$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,21
$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
$GPS1,230913,023735,6626.465,-5955.430,37,1.2,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.5
$GPS2,230913,024538,6626.445,-5955.546,4,1.1,4,-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,96.9,151414,-15.5,-9.429,-18.74,2659
$D_GRID,583
$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,-0.88,-165.5,125,2451,955,927,0.0,0.0,0,111,0.00,0.00,-89.00,0.000,16386,0.000,0.000,123,2451,2714,2777,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.88,-165.5,123,2451,2777,2652,3.2,-4.7,16,156,10.12,2.60,-15.98,0.000,18948,0.431,0.138,2243,1041,3473,3676,3271,0,0,0,0,0,0,14.19,14.31,14.54
$GC,251,-0.88,-165.5,2243,1040,3676,3271,36.3,-19.9,39,258,0.00,2.60,0.00,0.000,1030,0.000,0.134,2235,2456,3474,3677,3271,0,0,0,0,0,0,28.83,14.34,28.83
$GC,574,-0.88,-165.5,2235,2455,3676,3271,104.5,-20.9,99,583,0.00,2.58,0.00,0.000,260,0.000,0.151,2225,3859,3474,3677,3271,0,0,0,0,0,0,28.83,14.40,28.83
$GC,603,-0.88,-165.5,2225,3859,3677,3271,109.8,-21.4,101,609,0.00,2.45,0.00,0.000,1030,0.000,0.099,2225,2447,3474,3677,3271,0,0,0,0,0,0,28.83,14.45,28.83
$GC,916,-0.88,-165.5,2225,2446,3676,3271,174.2,-19.4,132,925,0.00,2.47,0.00,0.000,516,0.000,0.120,2225,1037,3474,3677,3271,0,0,0,0,0,0,28.83,14.48,28.83
$GC,964,-0.88,-165.5,2225,1037,3676,3271,184.1,-19.5,136,972,0.15,2.58,0.00,0.000,3078,0.319,0.135,2246,2450,3474,3677,3271,0,0,0,0,0,0,14.42,14.49,28.83
$GC,1274,-0.88,-165.5,2247,2450,3677,3271,237.1,-16.3,167,1283,0.00,2.58,0.00,0.000,260,0.000,0.155,2237,3856,3473,3676,3270,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1302,-0.88,-165.5,2238,3856,3676,3270,241.6,-16.6,169,1309,0.00,2.42,0.00,0.000,1030,0.000,0.099,2238,2448,3473,3676,3270,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1611,-0.88,-165.5,2238,2447,3676,3270,295.7,-17.2,200,1620,0.00,2.58,0.00,0.000,260,0.000,0.151,2227,3859,3472,3676,3269,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1636,-0.88,-165.5,2227,3859,3676,3269,300.1,-17.3,202,1645,0.00,2.40,0.00,0.000,1030,0.000,0.099,2228,2451,3472,3676,3269,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1947,-0.88,-165.5,2227,2451,3677,3269,355.4,-17.7,233,1956,0.00,2.47,0.00,0.000,516,0.000,0.120,2227,1039,3472,3676,3269,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2012,-0.88,-165.5,2228,1039,3676,3268,366.9,-17.0,239,2022,0.10,2.53,0.00,0.000,3078,0.294,0.133,2244,2449,3472,3676,3268,0,0,0,0,0,0,14.50,14.56,28.83
$GC,2323,-0.88,-165.5,2244,2449,3676,3268,414.4,-15.0,270,2332,0.00,2.58,0.00,0.000,260,0.000,0.152,2235,3863,3472,3676,3268,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2412,-0.88,-165.5,2236,3863,3677,3268,427.7,-15.1,278,2419,0.00,2.42,0.00,0.000,1030,0.000,0.099,2236,2445,3472,3676,3268,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2720,-0.88,-165.5,2236,2446,3676,3268,476.3,-16.1,309,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2445,3472,3677,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3036,-0.88,-165.5,2236,2445,3676,3268,525.2,-15.3,340,3045,0.00,2.58,0.00,0.000,260,0.000,0.151,2226,3863,3472,3676,3268,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3084,-0.88,-165.5,2226,3863,3676,3268,533.4,-16.1,344,3091,0.00,2.42,0.00,0.000,1030,0.000,0.099,2226,2443,3472,3677,3268,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,3376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3376,begin apogee
$GC,3389,-0.22,0.0,2226,2442,3677,3268,583.0,-17.0,374,3584,0.82,0.00,176.80,2.438,10246,0.263,0.000,2453,2443,2794,2919,2669,0,0,0,0,1,0,14.56,28.83,12.78
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3592,0.88,165.5,2453,2442,2919,2669,592.8,0.0,394,3822,1.23,2.88,194.62,2.298,10756,0.171,0.122,2819,1028,2119,2205,2033,0,0,0,0,5,0,13.62,13.10,12.36
$GC,3857,0.88,165.5,2819,1028,2205,2030,579.0,12.0,421,3864,0.00,2.80,0.00,0.000,1030,0.000,0.131,2819,2430,2117,2205,2030,0,0,0,0,0,0,28.83,13.33,28.83
$GC,4165,0.88,165.5,2820,2430,2205,2023,537.9,13.3,452,4174,0.00,2.72,0.00,0.000,260,0.000,0.153,2819,3845,2114,2205,2023,0,0,0,0,0,0,28.83,13.87,28.83
$GC,4231,0.88,165.5,2820,3844,2204,2022,528.4,14.8,458,4240,0.00,2.53,0.00,0.000,1030,0.000,0.103,2830,2439,2113,2204,2022,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4542,0.88,165.5,2830,2438,2204,2020,487.3,13.4,489,4550,0.00,2.65,0.00,0.000,260,0.000,0.152,2830,3844,2112,2204,2021,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4599,0.88,165.5,1856,3844,2159,2015,479.5,14.8,494,4606,0.00,2.53,0.00,0.000,1030,0.000,0.103,2840,2427,2112,2204,2020,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4909,0.88,165.5,2841,2426,2204,2019,438.2,12.7,525,4917,0.00,2.62,0.00,0.000,260,0.000,0.150,2841,3834,2111,2204,2019,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4994,0.88,165.5,2841,3834,2204,2019,425.8,15.0,533,5003,0.10,2.45,0.00,0.000,5126,0.314,0.103,2826,2433,2111,2204,2019,0,0,0,0,0,0,14.23,14.31,28.83
$GC,5305,0.88,165.5,2826,2433,2204,2018,386.8,12.3,564,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2433,2111,2204,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5614,0.88,165.5,1824,2430,2158,2013,349.4,11.5,595,5622,0.00,2.60,0.00,0.000,260,0.000,0.152,2826,3839,2111,2204,2018,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5679,0.88,165.5,2826,3838,2204,2018,340.7,14.0,601,5688,0.00,2.45,0.00,0.000,1030,0.000,0.103,2836,2432,2111,2204,2018,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5990,0.88,165.5,2836,2432,2204,2017,303.5,11.5,632,5999,0.00,2.60,0.00,0.000,260,0.000,0.150,2836,3845,2110,2204,2017,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6078,0.88,165.5,2836,3844,2204,2017,292.9,12.8,640,6085,0.00,2.47,0.00,0.000,1030,0.000,0.104,2847,2421,2110,2204,2017,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6386,0.88,165.5,2847,2421,2204,2017,258.1,11.1,671,6395,0.00,2.60,0.00,0.000,260,0.000,0.154,2847,3836,2110,2204,2017,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6492,0.88,165.5,2847,3836,2203,2017,244.8,13.0,681,6501,0.12,2.42,0.00,0.000,5126,0.298,0.104,2825,2425,2110,2204,2017,0,0,0,0,0,0,14.45,14.54,28.83
$GC,6803,0.88,165.5,2824,2424,2204,2017,214.1,9.5,712,6812,0.00,2.62,0.00,0.000,260,0.000,0.152,2824,3847,2110,2204,2017,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6852,0.88,165.5,2824,3847,2204,2017,209.2,11.0,716,6859,0.00,2.45,0.00,0.000,1030,0.000,0.103,2834,2427,2110,2204,2017,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7160,0.88,165.5,2834,2427,2204,2016,178.7,9.9,747,7168,0.00,2.58,0.00,0.000,260,0.000,0.151,2834,3837,2110,2204,2017,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7265,0.88,165.5,2834,3837,2204,2016,167.9,10.4,757,7274,0.00,2.42,0.00,0.000,1030,0.000,0.103,2845,2424,2110,2204,2016,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7575,0.89,173.3,2845,2424,2204,2016,140.1,9.1,788,7592,0.00,2.50,7.30,1.821,8708,0.000,0.126,2856,1023,2087,2183,1992,0,0,0,0,0,0,28.83,14.51,13.83
$GC,7652,0.92,198.4,2856,1023,2183,1991,133.8,8.5,795,7685,0.00,2.55,27.27,2.026,9222,0.000,0.132,2856,2431,1984,2082,1886,0,0,0,0,0,0,28.83,14.52,13.60
$GC,7989,0.92,198.4,2856,2431,2082,1883,99.3,10.6,829,7996,0.00,2.62,0.00,0.000,260,0.000,0.155,2856,3849,1982,2081,1884,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8226,0.92,198.4,2856,3848,2080,1883,72.7,11.0,874,8234,0.15,2.47,0.00,0.000,5126,0.325,0.103,2834,2428,1982,2080,1884,0,0,0,0,0,0,14.38,14.47,28.83
$GC,8546,1.01,269.6,2835,2428,2080,1883,48.7,6.7,935,8593,0.00,2.65,39.30,0.328,8452,0.000,0.152,2835,3850,1694,1784,1604,0,0,0,0,0,0,28.83,14.40,14.32
$GC,8644,1.01,269.6,2835,3850,1777,1604,39.4,11.3,952,8651,0.00,2.50,0.00,0.000,1030,0.000,0.105,2844,2422,1690,1776,1604,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8963,1.02,283.1,2844,2421,1772,1598,12.0,8.9,1013,8976,0.00,2.53,6.45,0.225,8708,0.000,0.124,2855,1011,1637,1721,1553,0,0,0,0,0,0,28.83,14.47,14.43
$STATE,9062,end climb,SURFACE_DEPTH_REACHED
$STATE,9062,begin surface coast
$FINISH,1.6,1.024974
$STATE,9073,end surface coast,CONTROL_FINISHED_OK
$STATE,9073,begin surface
$SM_CCo,9104,90.30,0.181,0,0,957,450.13
$SM_GC,1.50,8.15,2.67,90.30,0.109,0.131,0.181,140,2452,957,-7.44,-0.51,450.13,0,0,0,0,0,0,14.50,14.49,14.38
$RAFOS_CLK,437
$RAFOS,6,1379911749,4.833333,4.819167,121,66,54,54,52,52,863,202,218,151,229,160
$RAFOS,5,1379911264,4.700000,4.684444,101,68,56,55,52,51,940,216,122,180,162,140
$RAFOS,4,1379910785,4.566667,4.551389,74,61,56,55,51,50,719,212,199,186,145,117
$RAFOS,3,1379910303,4.433333,4.417500,127,64,57,54,54,54,671,141,177,194,214,127
$RAFOS,2,1379909828,4.300000,4.285555,94,57,56,56,54,52,502,174,201,116,216,144
$RAFOS,1,1379909342,4.166667,4.150556,103,61,58,57,55,54,657,198,154,122,225,212
$RAFOS,0,1379908865,4.033333,4.018055,60,58,57,57,54,53,186,172,221,682,205,151
$RAFOS_FIX,6628.092285,-5952.236816,230913,040455,5,105,0.60
$IRIDIUM_FIX,6553.70,-5954.66,230913,000046
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.80
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.30
$XPDR_PINGS,86
$24V_AH,12.4,22.952
$10V_AH,12.4,0.000
$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,20.950,107.150,451.750,90.300,0.000,0.000,0.000,330.425,21.500,0.000,5.869,2393.715,4049.546,698.248,1896.947,662.885,0.000,2015.491,0.000,1696.051,2520.000,0.535,0.000
$DEVICE_MAMPS,431.460,154.530,2438.055,181.305,0.000,0.000,0.000,133.110,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150764
$DATA_FILE_SIZE,43369,1033
$CAP_FILE_SIZE,109878,0
$CFSIZE,259252224,247975936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$SOUNDSPEED,1455.2
$GPS,230913,052135,6627.689,-5953.357,38,0.8,38,-33.5