version: 66.11
glider: 192
mission: 2
dive: 47
start: 9 23 113 5 30 12
data:
$ID,192
$MISSION,2
$DIVE,47
$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,-1142.0587
$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,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
$GPS1,230913,052135,6627.689,-5953.357,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.8
$GPS2,230913,052930,6627.649,-5953.440,4,1.1,4,-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,97.4,149062,-15.5,-9.429,-18.74,2659
$D_GRID,626
$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,19,-0.88,-165.5,119,2455,954,928,0.0,0.0,0,111,0.00,0.00,-89.20,0.000,16386,0.000,0.000,119,2455,2719,2779,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-165.5,119,2455,2779,2661,3.3,-5.0,16,150,10.15,2.62,-15.48,0.000,18948,0.431,0.138,2243,1031,3473,3675,3272,0,0,0,0,0,0,14.19,14.32,14.54
$GC,276,-0.88,-165.5,2243,1031,3676,3272,43.2,-19.7,44,283,0.00,2.62,0.00,0.000,1030,0.000,0.142,2235,2447,3474,3676,3272,0,0,0,0,0,0,28.83,14.35,28.83
$GC,594,-0.88,-165.5,2235,2447,3676,3272,109.0,-21.2,101,603,0.00,2.60,0.00,0.000,260,0.000,0.151,2223,3867,3474,3677,3272,0,0,0,0,0,0,28.83,14.41,28.83
$GC,679,-0.88,-165.5,2225,3867,3677,3272,127.3,-20.7,109,688,0.00,2.45,0.00,0.000,1030,0.000,0.100,2225,2448,3474,3677,3272,0,0,0,0,0,0,28.83,14.45,28.83
$GC,989,-0.88,-165.5,1376,2446,3672,3269,187.5,-19.4,140,998,0.00,2.50,0.00,0.000,516,0.000,0.121,2225,1035,3474,3677,3272,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1045,-0.88,-165.5,2225,1034,3677,3271,197.6,-18.0,145,1054,0.12,2.58,0.00,0.000,3078,0.287,0.137,2247,2458,3474,3676,3272,0,0,0,0,0,0,14.43,14.47,28.83
$GC,1356,-0.88,-165.5,2247,2458,3677,3272,247.7,-15.9,176,1365,0.00,2.55,0.00,0.000,260,0.000,0.151,2239,3857,3474,3676,3272,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1395,-0.88,-165.5,2239,3857,3677,3271,253.5,-16.0,179,1402,0.00,2.42,0.00,0.000,1030,0.000,0.100,2238,2447,3474,3677,3271,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1703,-0.88,-165.5,2239,2447,3676,3271,305.3,-16.2,210,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2447,3474,3677,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2018,-0.88,-165.5,2238,2447,3677,3271,354.4,-15.8,241,2027,0.00,2.60,0.00,0.000,260,0.000,0.154,2228,3860,3473,3676,3270,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2036,-0.88,-165.5,2229,3860,3677,3270,357.3,-16.3,242,2043,0.00,2.42,0.00,0.000,1030,0.000,0.100,2228,2446,3473,3676,3270,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2344,-0.88,-165.5,2228,2445,3677,3270,409.9,-17.0,273,2353,0.00,2.45,0.00,0.000,516,0.000,0.120,2228,1043,3473,3676,3270,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2390,-0.88,-165.5,2229,1043,3676,3269,417.3,-16.5,277,2399,0.10,2.53,0.00,0.000,3078,0.288,0.134,2245,2454,3472,3676,3269,0,0,0,0,0,0,14.52,14.58,28.83
$GC,2700,-0.88,-165.5,2245,2454,3677,3270,463.6,-14.8,308,2710,0.00,2.55,0.00,0.000,260,0.000,0.150,2237,3860,3473,3677,3270,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2739,-0.88,-165.5,1392,3859,3672,3267,469.0,-14.9,311,2746,0.00,2.42,0.00,0.000,1030,0.000,0.099,2237,2441,3473,3676,3270,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3047,-0.88,-165.5,2237,2441,3677,3270,516.9,-15.1,342,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2441,3473,3677,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3362,-0.88,-165.5,2236,2441,3676,3270,562.9,-15.1,373,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2441,3473,3676,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.88,-165.5,2237,2440,3677,3270,609.4,-14.7,400,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2441,3473,3677,3270,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3784,begin apogee
$GC,3796,-0.22,0.0,2237,2441,3677,3270,627.3,-14.9,404,3984,0.77,0.00,176.65,2.488,10246,0.256,0.000,2453,2441,2794,2919,2670,0,0,0,0,0,0,14.59,28.83,12.77
$STATE,3985,end apogee,CONTROL_FINISHED_OK
$STATE,3985,begin climb
$GC,3991,0.88,165.5,2453,2441,2919,2670,636.4,0.0,410,4232,1.23,2.90,200.15,2.353,10756,0.168,0.122,2818,1025,2119,2205,2034,0,0,0,0,6,0,13.61,13.10,12.35
$GC,4320,0.88,165.5,2818,1025,2205,2027,617.1,11.5,421,4329,0.00,2.75,0.00,0.000,1030,0.000,0.132,2818,2427,2115,2204,2027,0,0,0,0,0,0,28.83,13.50,28.83
$GC,4637,0.88,165.5,2819,2427,2205,2024,574.3,13.4,444,4646,0.00,2.75,0.00,0.000,260,0.000,0.155,2819,3846,2114,2205,2024,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4705,0.88,165.5,1840,3845,2159,2019,564.4,14.5,450,4712,0.00,2.58,0.00,0.000,1030,0.000,0.103,2829,2425,2114,2205,2023,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5014,0.88,165.5,2829,2423,2205,2022,523.3,12.9,481,5023,0.00,2.70,0.00,0.000,260,0.000,0.154,2829,3843,2113,2205,2022,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5039,0.88,165.5,2829,3843,2205,2022,519.7,13.4,483,5048,0.00,2.53,0.00,0.000,1030,0.000,0.104,2840,2430,2113,2204,2022,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5350,0.88,165.5,2840,2430,2205,2021,478.5,12.7,514,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2430,2112,2204,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,0.88,165.5,2840,2429,2205,2020,438.2,12.8,545,5674,0.00,2.62,0.00,0.000,260,0.000,0.151,2840,3845,2112,2205,2020,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5720,0.88,165.5,2840,3845,2203,2020,429.6,15.0,550,5730,0.10,2.47,0.00,0.000,5126,0.308,0.105,2825,2427,2112,2205,2020,0,0,0,0,0,0,14.31,14.40,28.83
$GC,6031,0.88,165.5,2825,2426,2205,2019,392.0,11.7,581,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2426,2112,2205,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6348,0.88,165.5,2825,2426,2205,2019,357.5,11.1,612,6357,0.00,2.50,0.00,0.000,516,0.000,0.125,2835,1014,2111,2205,2018,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6538,0.88,165.5,2835,1014,2205,2016,336.4,10.7,630,6547,0.00,2.55,0.00,0.000,1030,0.000,0.135,2835,2426,2110,2204,2016,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6848,0.88,165.5,2835,2426,2204,2016,301.8,11.1,661,6857,0.00,2.50,0.00,0.000,516,0.000,0.127,2845,1024,2110,2205,2016,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7089,0.88,165.5,2846,1024,2205,2015,273.9,12.2,684,7097,0.00,2.55,0.00,0.000,1030,0.000,0.135,2845,2434,2110,2205,2016,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7398,0.88,165.5,2845,2434,2205,2016,235.7,11.7,715,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2434,2110,2205,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7714,0.88,165.5,2845,2434,2205,2016,201.6,10.4,746,7722,0.00,2.55,0.00,0.000,260,0.000,0.154,2845,3834,2110,2205,2016,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7883,0.88,165.5,2845,3834,2205,2016,181.8,11.5,762,7892,0.12,2.42,0.00,0.000,5126,0.296,0.106,2823,2424,2110,2204,2016,0,0,0,0,0,0,14.52,14.61,28.83
$GC,8194,0.88,165.5,2823,2424,2204,2016,153.1,9.9,793,8203,0.00,2.60,0.00,0.000,260,0.000,0.155,2823,3846,2110,2205,2015,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8337,0.88,165.5,1800,3845,2157,2011,138.7,10.9,806,8344,0.00,2.45,0.00,0.000,1030,0.000,0.106,2832,2427,2110,2204,2016,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8645,0.94,220.6,2832,2426,2204,2016,110.7,7.3,837,8685,0.00,2.67,33.45,2.021,8452,0.000,0.154,2832,3842,1892,1992,1793,0,0,0,0,0,0,28.83,14.26,13.66
$GC,8721,0.94,220.6,2833,3842,1990,1794,103.6,10.4,844,8730,0.00,2.47,0.00,0.000,1030,0.000,0.106,2843,2435,1892,1990,1794,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9037,0.95,222.5,2843,2435,1989,1788,71.8,9.4,902,9043,0.00,2.62,0.00,0.000,260,0.000,0.152,2843,3846,1888,1988,1788,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9101,0.95,222.5,2843,3846,1986,1788,64.6,10.9,913,9108,0.00,2.50,0.00,0.000,1030,0.000,0.106,2855,2420,1887,1986,1788,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9418,0.97,244.9,1856,2418,1943,1782,32.6,8.6,974,9437,0.00,2.65,12.27,0.280,8452,0.000,0.155,2855,3839,1794,1890,1698,0,0,0,0,0,0,28.83,14.44,14.39
$GC,9454,0.97,244.9,2854,3840,1889,1698,29.2,10.1,979,9461,0.00,2.47,0.00,0.000,1030,0.000,0.106,2866,2424,1793,1889,1698,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9773,1.01,272.9,2865,2424,1883,1696,5.5,8.3,1040,9798,0.00,2.70,14.50,0.197,8452,0.000,0.157,2865,3843,1680,1770,1590,0,0,0,0,0,0,28.83,14.45,14.45
$STATE,9803,end climb,SURFACE_DEPTH_REACHED
$STATE,9803,begin surface coast
$FINISH,0.6,1.003045
$STATE,9835,end surface coast,CONTROL_FINISHED_OK
$STATE,9835,begin surface
$SM_CCo,9866,95.82,0.181,0,0,958,450.13
$SM_GC,1.53,8.12,2.50,95.82,0.104,0.102,0.181,145,2441,958,-7.42,0.40,450.13,0,0,0,0,0,0,14.50,14.50,14.37
$RAFOS_CLK,480
$RAFOS,0,1379923266,8.033334,8.018333,126,60,60,53,52,48,696,183,173,206,127,225
$RAFOS_FIX,6628.092285,-5952.236816,230913,040455,5,105,0.60
$IRIDIUM_FIX,6558.99,-5959.31,230913,020211
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,8.64484
$TCM_TEMP,12.50
$XPDR_PINGS,92
$24V_AH,12.3,23.309
$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,20.725,97.350,437.025,95.825,0.000,0.000,0.000,323.900,23.000,0.000,5.911,2493.682,4570.283,682.868,1992.307,705.011,0.000,2043.496,0.000,1807.537,720.000,0.536,0.000
$DEVICE_MAMPS,431.460,156.825,2487.780,180.540,0.000,0.000,0.000,134.640,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150728
$DATA_FILE_SIZE,46740,1051
$CAP_FILE_SIZE,112101,0
$CFSIZE,259252224,247906304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$SOUNDSPEED,1455.6
$GPS,230913,081753,6627.120,-5950.780,37,1.4,37,-33.5