version: 66.11
glider: 192
mission: 2
dive: 48
start: 9 23 113 8 26 37
data:
$ID,192
$MISSION,2
$DIVE,48
$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,-1143.3177
$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,19
$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
$GPS1,230913,081753,6627.120,-5950.780,37,1.4,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.8
$GPS2,230913,082555,6627.099,-5950.658,13,1.3,14,-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,96.7,147716,-15.5,-9.429,-18.74,2659
$D_GRID,656
$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,-165.5,122,2438,950,932,0.0,0.0,0,112,0.00,0.00,-89.22,0.000,16386,0.000,0.000,121,2438,2735,2794,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.88,-165.5,121,2438,2795,2678,3.5,-6.1,16,151,10.15,2.60,-14.75,0.000,18948,0.431,0.144,2246,1037,3472,3672,3272,0,0,0,0,0,0,14.19,14.31,14.54
$GC,261,-0.88,-165.5,2246,1037,3674,3272,41.7,-18.7,41,268,0.00,2.60,0.00,0.000,1030,0.000,0.135,2238,2449,3473,3674,3272,0,0,0,0,0,0,28.83,14.35,28.83
$GC,585,-0.88,-165.5,2238,2448,3674,3272,109.1,-20.8,99,594,0.00,2.50,0.00,0.000,516,0.000,0.119,2238,1036,3473,3674,3272,0,0,0,0,0,0,28.83,14.42,28.83
$GC,620,-0.88,-165.5,2238,1035,3675,3272,116.1,-20.1,102,629,0.00,2.60,0.00,0.000,1030,0.000,0.137,2228,2453,3473,3674,3272,0,0,0,0,0,0,28.83,14.41,28.83
$GC,930,-0.88,-165.5,2228,2453,3674,3272,177.6,-19.2,133,939,0.00,2.58,0.00,0.000,260,0.000,0.154,2218,3856,3473,3674,3272,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1005,-0.88,-165.5,2218,3856,3674,3272,192.7,-19.9,140,1014,0.10,2.40,0.00,0.000,3078,0.290,0.101,2243,2455,3473,3675,3272,0,0,0,0,0,0,14.42,14.50,28.83
$GC,1317,-0.88,-165.5,2243,2455,3675,3272,246.3,-16.2,171,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2455,3473,3674,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1633,-0.88,-165.5,2243,2455,3675,3271,297.1,-15.7,202,1642,0.00,2.47,0.00,0.000,516,0.000,0.122,2244,1042,3473,3675,3271,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1679,-0.88,-165.5,2244,1042,3674,3271,305.1,-15.4,206,1687,0.00,2.53,0.00,0.000,1030,0.000,0.133,2236,2447,3472,3674,3271,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1988,-0.88,-165.5,2236,2447,3674,3270,355.8,-16.6,237,1997,0.00,2.55,0.00,0.000,260,0.000,0.150,2225,3856,3471,3673,3270,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2037,-0.88,-165.5,2225,3856,3675,3270,363.8,-17.9,241,2044,0.00,2.42,0.00,0.000,1030,0.000,0.101,2225,2443,3472,3674,3270,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2345,-0.88,-165.5,2225,2444,3674,3270,418.3,-17.3,272,2354,0.00,2.45,0.00,0.000,516,0.000,0.120,2225,1046,3472,3675,3270,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2385,-0.88,-165.5,1368,1045,3670,3266,424.5,-17.6,275,2393,0.15,2.55,0.00,0.000,3078,0.314,0.134,2247,2460,3472,3675,3270,0,0,0,0,0,0,14.53,14.59,28.83
$GC,2694,-0.88,-165.5,2247,2460,3675,3270,471.9,-15.2,306,2703,0.00,2.53,0.00,0.000,260,0.000,0.150,2239,3859,3472,3675,3270,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2719,-0.88,-165.5,2239,3859,3675,3270,475.6,-15.0,308,2728,0.00,2.40,0.00,0.000,1030,0.000,0.099,2239,2449,3472,3675,3269,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3029,-0.88,-165.5,2239,2448,3675,3269,523.9,-15.1,339,3038,0.00,2.42,0.00,0.000,516,0.000,0.118,2239,1041,3472,3674,3270,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3064,-0.88,-165.5,2238,1041,3674,3270,529.2,-15.3,342,3073,0.00,2.50,0.00,0.000,1030,0.000,0.131,2229,2449,3472,3674,3270,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3375,-0.88,-165.5,2229,2449,3675,3270,576.8,-15.8,373,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2449,3472,3674,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3685,-0.88,-165.5,2229,2449,3675,3271,624.5,-15.4,394,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2449,3472,3675,3269,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3889,begin apogee
$GC,3902,-0.22,0.0,2229,2449,3674,3270,657.6,-16.2,401,4092,0.82,0.00,178.00,2.537,10246,0.261,0.000,2458,2449,2794,2918,2670,0,0,0,0,0,0,14.57,28.83,12.76
$STATE,4093,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin climb
$GC,4100,0.88,165.5,2458,2449,2918,2670,663.9,0.0,407,4344,1.20,0.00,201.57,2.330,10758,0.162,0.000,2809,2449,2119,2205,2033,0,0,0,0,7,0,13.62,28.83,12.36
$GC,4645,0.88,165.5,2809,2449,2205,2024,611.8,12.3,426,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2449,2114,2205,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,0.88,165.5,2809,2448,2205,2022,574.2,12.6,448,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2449,2113,2205,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5260,0.88,165.5,2810,2449,2205,2020,535.7,12.5,479,5269,0.00,2.58,0.00,0.000,260,0.000,0.146,2808,3835,2113,2205,2021,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5289,0.88,165.5,2809,3834,2205,2021,531.8,12.7,481,5295,0.00,2.47,0.00,0.000,1030,0.000,0.101,2820,2431,2112,2205,2020,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5597,0.88,165.5,2820,2430,2205,2019,490.8,13.1,512,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2430,2112,2205,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5912,0.88,165.5,2820,2430,2205,2018,451.8,11.9,543,5921,0.00,2.58,0.00,0.000,260,0.000,0.148,2820,3837,2112,2205,2019,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5957,0.88,165.5,2820,3838,2205,2018,444.9,13.6,547,5966,0.00,2.42,0.00,0.000,1030,0.000,0.103,2830,2436,2111,2205,2018,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6267,0.88,165.5,2831,2436,2205,2018,404.1,12.8,578,6276,0.00,2.60,0.00,0.000,260,0.000,0.148,2831,3846,2111,2205,2018,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6293,0.88,165.5,2831,3846,2205,2018,400.6,13.2,580,6302,0.00,2.45,0.00,0.000,1030,0.000,0.102,2842,2429,2111,2205,2018,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6603,0.88,165.5,2842,2429,2205,2018,360.5,12.7,611,6612,0.00,2.58,0.00,0.000,260,0.000,0.149,2842,3840,2111,2205,2018,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6649,0.88,165.5,2842,3840,2205,2017,354.1,14.2,615,6658,0.10,2.42,0.00,0.000,5126,0.310,0.103,2826,2428,2111,2205,2017,0,0,0,0,0,0,14.42,14.52,28.83
$GC,6959,0.88,165.5,2826,2427,2205,2017,317.6,11.0,646,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2427,2111,2205,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7276,0.88,165.5,2826,2427,2205,2017,283.9,11.0,677,7285,0.00,2.58,0.00,0.000,260,0.000,0.151,2826,3844,2111,2205,2017,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7325,0.88,165.5,2826,3844,2205,2017,277.8,11.9,681,7331,0.00,2.45,0.00,0.000,1030,0.000,0.103,2836,2425,2110,2205,2016,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7633,0.88,165.5,2836,2424,2205,2016,240.9,12.1,712,7642,0.00,2.60,0.00,0.000,260,0.000,0.151,2836,3848,2110,2205,2016,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7731,0.88,165.5,2836,3848,2205,2016,227.7,14.1,721,7738,0.00,2.45,0.00,0.000,1030,0.000,0.103,2847,2423,2110,2205,2016,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8040,0.88,165.5,2847,2423,2205,2016,190.4,11.3,752,8049,0.00,2.60,0.00,0.000,260,0.000,0.151,2847,3849,2110,2205,2016,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8115,0.88,165.5,2847,3849,2205,2017,181.1,12.2,759,8125,0.12,2.40,0.00,0.000,5126,0.296,0.103,2825,2436,2110,2205,2016,0,0,0,0,0,0,14.52,14.62,28.83
$GC,8426,0.88,165.5,2825,2436,2205,2016,152.2,9.5,790,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2436,2110,2205,2016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8742,0.91,195.2,2825,2436,2205,2016,126.1,8.3,821,8774,0.00,2.65,24.05,1.983,8452,0.000,0.152,2825,3851,1998,2095,1901,0,0,0,0,0,0,28.83,14.37,13.74
$GC,8841,0.91,195.2,2825,3852,2093,1901,116.2,10.4,831,8850,0.00,2.47,0.00,0.000,1030,0.000,0.103,2834,2427,1997,2093,1901,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9155,0.91,195.2,2834,2427,2093,1899,86.5,10.0,875,9162,0.00,2.50,0.00,0.000,516,0.000,0.125,2845,1019,1995,2092,1898,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9209,0.91,195.2,2845,1019,2092,1897,81.0,10.4,884,9216,0.00,2.58,0.00,0.000,1030,0.000,0.132,2845,2439,1995,2093,1897,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9527,0.97,239.8,2845,2439,2093,1897,50.1,7.7,945,9558,0.00,2.65,24.48,0.334,8452,0.000,0.151,2845,3843,1815,1914,1717,0,0,0,0,0,0,28.83,14.46,14.38
$GC,9578,0.97,239.8,1856,3842,1871,1713,45.8,9.9,953,9585,0.00,2.47,0.00,0.000,1030,0.000,0.104,2856,2422,1814,1911,1717,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9897,1.07,320.0,2856,2421,1905,1713,22.3,6.3,1014,9943,0.00,0.00,43.42,0.243,8198,0.000,0.000,2856,2421,1487,1573,1401,0,0,0,0,0,0,28.83,28.83,14.41
$STATE,10099,end climb,SURFACE_DEPTH_REACHED
$STATE,10099,begin surface coast
$FINISH,0.6,1.024925
$STATE,10125,end surface coast,CONTROL_FINISHED_OK
$STATE,10126,begin surface
$SM_CCo,10155,69.03,0.181,0,0,958,450.13
$SM_GC,1.48,8.15,0.08,69.03,0.106,0.241,0.181,139,2447,958,-7.44,-0.59,450.13,0,0,0,0,0,0,14.50,14.49,14.40
$RAFOS_CLK,490
$RAFOS,6,1379926148,8.833333,8.818889,83,60,57,53,51,51,875,195,210,162,230,186
$RAFOS,5,1379925661,8.700000,8.683611,67,63,62,56,55,55,212,184,955,119,167,144
$RAFOS,4,1379925185,8.566667,8.551389,72,61,60,56,55,51,726,212,179,191,233,157
$RAFOS,1,1379923743,8.166667,8.150833,139,61,58,57,57,52,663,201,190,213,179,152
$RAFOS_FIX,6628.017578,-5947.974121,230913,080836,4,105,0.00
$IRIDIUM_FIX,6558.99,-5953.92,230913,050509
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.07
$INTERNAL_PRESSURE,8.65461
$TCM_TEMP,12.40
$XPDR_PINGS,98
$24V_AH,12.4,23.665
$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,20.800,90.675,471.525,69.025,0.000,0.000,0.000,321.500,24.500,0.000,15.236,2484.198,4943.071,683.533,1932.965,682.646,0.000,2017.919,0.000,1731.350,1080.000,0.535,0.000
$DEVICE_MAMPS,431.460,240.975,2536.740,181.305,0.000,0.000,0.000,135.405,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46767,1057
$CAP_FILE_SIZE,111304,0
$CFSIZE,259252224,247844864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$SOUNDSPEED,1455.9
$GPS,230913,111858,6626.591,-5947.816,37,1.0,41,-33.5