version: 66.11
glider: 192
mission: 2
dive: 50
start: 9 23 113 14 28 47
data:
$ID,192
$MISSION,2
$DIVE,50
$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,-1145.9159
$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,13
$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
$GPS1,230913,142205,6628.143,-5945.281,28,1.0,28,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.5
$GPS2,230913,142805,6628.111,-5945.314,5,1.0,5,-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,96.7,143426,-15.5,-9.429,-18.74,2659
$D_GRID,697
$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,14,begin dive
$GC,20,-0.88,-165.5,119,2452,953,929,0.0,0.0,0,111,0.00,0.00,-88.30,0.000,16386,0.000,0.000,118,2453,2708,2765,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-165.5,118,2453,2766,2652,3.3,-5.2,16,155,10.02,2.60,-16.10,0.000,18948,0.427,0.138,2244,1035,3472,3677,3267,0,0,0,0,0,0,14.23,14.34,14.58
$GC,256,-0.88,-165.5,2244,1035,3678,3267,38.4,-21.9,40,263,0.00,2.60,0.00,0.000,1030,0.000,0.134,2236,2451,3472,3678,3267,0,0,0,0,0,0,28.83,14.38,28.83
$GC,573,-0.88,-165.5,2236,2451,3678,3267,104.4,-19.4,99,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2451,3472,3678,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,888,-0.88,-165.5,2236,2451,3677,3267,166.8,-19.4,130,897,0.00,2.53,0.00,0.000,516,0.000,0.119,2236,1034,3472,3678,3267,0,0,0,0,0,0,28.83,14.50,28.83
$GC,954,-0.88,-165.5,2235,1034,3678,3267,180.2,-18.5,136,963,0.00,2.55,0.00,0.000,1030,0.000,0.134,2226,2449,3472,3678,3267,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1264,-0.88,-165.5,2226,2449,3677,3267,240.4,-18.4,167,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2449,3472,3677,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1581,-0.88,-165.5,2226,2449,3678,3267,297.0,-17.2,198,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2449,3472,3678,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1894,-0.88,-165.5,2226,2449,3678,3267,351.2,-17.3,229,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2449,3472,3678,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2206,-0.88,-165.5,2226,2449,3677,3267,406.6,-17.9,260,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2449,3472,3678,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.88,-165.5,2226,2449,3678,3267,461.2,-17.2,291,2529,0.00,2.55,0.00,0.000,260,0.000,0.148,2215,3867,3472,3678,3267,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2559,-0.88,-165.5,2215,3867,3678,3267,468.5,-17.4,294,2566,0.15,2.42,0.00,0.000,3078,0.305,0.099,2248,2448,3472,3678,3266,0,0,0,0,0,0,14.56,14.65,28.83
$GC,2868,-0.88,-165.5,2248,2447,3678,3267,516.7,-15.1,325,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2448,3472,3678,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,-0.88,-165.5,2247,2448,3678,3266,564.1,-15.1,356,3193,0.00,2.55,0.00,0.000,260,0.000,0.148,2239,3860,3472,3678,3266,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3220,-0.88,-165.5,2239,3860,3678,3267,570.8,-15.9,359,3228,0.00,2.38,0.00,0.000,1030,0.000,0.097,2239,2453,3472,3678,3267,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3530,-0.88,-165.5,2239,2453,3677,3267,619.9,-15.6,382,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2453,3472,3678,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.88,-165.5,2239,2453,3678,3267,667.3,-16.1,392,3835,0.00,2.55,0.00,0.000,260,0.000,0.151,2229,3864,3472,3678,3266,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3865,-0.88,-165.5,2229,3864,3678,3266,672.2,-15.8,393,3870,0.00,2.38,0.00,0.000,1030,0.000,0.099,2229,2456,3472,3678,3267,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,4036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4036,begin apogee
$GC,4049,-0.22,0.0,2229,2456,3678,3267,700.9,-16.0,399,4245,0.80,0.00,180.02,2.586,10246,0.253,0.000,2453,2454,2794,2918,2670,0,0,0,0,1,0,14.61,28.83,12.74
$STATE,4246,end apogee,CONTROL_FINISHED_OK
$STATE,4246,begin climb
$GC,4252,0.88,165.5,2454,2454,2918,2670,708.6,0.0,405,4524,1.23,2.85,210.25,2.351,10756,0.168,0.119,2818,1023,2119,2205,2033,0,0,0,0,10,0,13.59,13.12,12.33
$GC,4585,0.88,165.5,2818,1022,2205,2029,685.6,11.5,417,4590,0.00,2.78,0.00,0.000,1030,0.000,0.128,2818,2427,2117,2205,2029,0,0,0,0,0,0,28.83,13.42,28.83
$GC,4912,0.88,165.5,2819,2427,2205,2024,642.6,13.0,428,4917,0.00,2.70,0.00,0.000,260,0.000,0.149,2819,3848,2114,2205,2024,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4997,0.88,165.5,2819,3847,2205,2024,633.2,14.1,430,5004,0.00,2.55,0.00,0.000,1030,0.000,0.102,2829,2436,2113,2204,2023,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5304,0.88,165.5,2829,2435,2205,2022,589.2,12.3,445,5313,0.00,2.65,0.00,0.000,260,0.000,0.150,2829,3845,2113,2205,2022,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5370,0.88,165.5,2829,3844,2205,2022,580.3,14.4,451,5378,0.00,2.50,0.00,0.000,1030,0.000,0.103,2840,2428,2113,2205,2022,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5680,0.88,165.5,2840,2427,2205,2020,536.7,13.8,482,5688,0.00,2.62,0.00,0.000,260,0.000,0.149,2840,3846,2113,2205,2021,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5748,0.88,165.5,2840,3846,2204,2021,527.1,15.3,488,5756,0.15,2.50,0.00,0.000,5126,0.325,0.102,2820,2425,2112,2205,2020,0,0,0,0,0,0,14.27,14.35,28.83
$GC,6058,0.88,165.5,2820,2423,2205,2020,489.7,11.7,519,6066,0.00,2.62,0.00,0.000,260,0.000,0.151,2820,3847,2112,2205,2020,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6096,0.88,165.5,2820,3848,2204,2020,485.0,13.2,522,6102,0.00,2.47,0.00,0.000,1030,0.000,0.102,2829,2430,2112,2205,2019,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6404,0.88,165.5,2830,2429,2205,2019,445.4,12.6,553,6413,0.00,2.60,0.00,0.000,260,0.000,0.148,2830,3837,2112,2205,2019,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6459,0.88,165.5,2830,3837,2204,2019,437.4,15.0,558,6468,0.00,2.42,0.00,0.000,1030,0.000,0.102,2840,2430,2112,2205,2019,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6769,0.88,165.5,2840,2430,2204,2019,395.8,12.7,589,6778,0.00,2.47,0.00,0.000,516,0.000,0.124,2851,1022,2111,2204,2019,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6797,0.88,165.5,2852,1022,2204,2018,392.6,12.9,591,6805,0.15,2.55,0.00,0.000,5126,0.308,0.130,2818,2434,2111,2205,2018,0,0,0,0,0,0,14.45,14.50,28.83
$GC,7106,0.88,165.5,2818,2434,2205,2018,356.7,10.7,622,7115,0.00,2.55,0.00,0.000,260,0.000,0.149,2817,3838,2111,2205,2018,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7221,0.88,165.5,2818,3839,2205,2018,341.7,13.5,633,7230,0.00,2.42,0.00,0.000,1030,0.000,0.101,2827,2425,2111,2205,2017,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7532,0.88,165.5,2828,2425,2205,2018,305.2,11.0,664,7540,0.00,2.60,0.00,0.000,260,0.000,0.151,2828,3846,2111,2205,2017,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7640,0.88,165.5,2828,3846,2205,2017,291.8,13.5,674,7647,0.00,2.45,0.00,0.000,1030,0.000,0.102,2838,2425,2111,2205,2017,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7951,0.88,165.5,2838,2425,2205,2018,258.0,9.9,705,7960,0.00,2.45,0.00,0.000,516,0.000,0.123,2849,1021,2111,2205,2018,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8009,0.88,165.5,2849,1021,2205,2017,252.0,10.6,710,8017,0.12,2.53,0.00,0.000,5126,0.314,0.129,2823,2430,2110,2204,2017,0,0,0,0,0,0,14.52,14.59,28.83
$GC,8320,0.91,189.3,2823,2430,2204,2016,223.9,8.5,741,8354,0.00,2.62,23.90,2.088,8452,0.000,0.150,2822,3846,2021,2118,1924,0,0,0,0,0,0,28.83,14.33,13.66
$GC,8479,0.91,189.3,2821,3846,2116,1924,206.3,12.1,756,8485,0.00,2.47,0.00,0.000,1030,0.000,0.100,2832,2428,2020,2116,1924,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8787,0.91,189.3,2832,2427,2115,1923,173.3,10.8,787,8791,0.00,2.60,0.00,0.000,260,0.000,0.148,2832,3862,2020,2116,1924,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8843,0.91,189.3,2832,3863,2115,1923,166.5,13.1,792,8851,0.00,2.47,0.00,0.000,1030,0.000,0.100,2843,2423,2019,2115,1923,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9153,0.91,189.3,2843,2423,2115,1922,133.1,10.7,823,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2423,2018,2115,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9469,0.91,189.3,2843,2423,2115,1922,103.8,9.6,854,9478,0.00,2.60,0.00,0.000,260,0.000,0.154,2843,3844,2018,2115,1921,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9669,0.91,189.3,2843,3845,2114,1921,80.1,11.4,889,9677,0.00,2.45,0.00,0.000,1030,0.000,0.103,2854,2426,2017,2114,1921,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9987,0.97,241.8,1856,2423,2069,1916,50.8,7.4,950,10023,0.00,2.62,28.62,0.334,8452,0.000,0.151,2854,3849,1806,1903,1710,0,0,0,0,0,0,28.83,14.51,14.42
$GC,10164,0.97,241.8,2855,3849,1895,1710,33.8,10.8,982,10170,0.00,2.47,0.00,0.000,1030,0.000,0.103,2865,2420,1802,1895,1710,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10482,1.07,324.9,2865,2420,1893,1707,9.7,6.2,1043,10534,0.00,2.65,44.65,0.200,8452,0.000,0.154,2865,3847,1467,1551,1383,0,0,0,0,0,0,28.83,14.48,14.45
$STATE,10549,end climb,SURFACE_DEPTH_REACHED
$STATE,10549,begin surface coast
$FINISH,0.7,1.025058
$STATE,10566,end surface coast,CONTROL_FINISHED_OK
$STATE,10566,begin surface
$SM_CCo,10597,66.45,0.181,0,0,958,450.13
$SM_GC,1.47,8.20,2.50,66.45,0.111,0.104,0.181,140,2448,958,-7.44,0.59,450.13,0,0,0,0,0,0,14.52,14.52,14.42
$RAFOS_CLK,511
$RAFOS,6,1379954941,16.833334,16.816944,84,63,62,61,56,51,865,181,157,209,132,190
$RAFOS,5,1379954469,16.700001,16.685833,66,65,62,62,59,58,877,199,166,180,222,867
$RAFOS,4,1379953983,16.566668,16.550833,79,69,56,54,54,52,699,153,175,201,119,228
$RAFOS,3,1379953507,16.433332,16.418612,64,59,59,57,55,53,192,236,640,211,146,161
$RAFOS,2,1379953030,16.299999,16.286112,83,58,58,56,50,48,522,189,178,210,144,99
$RAFOS,1,1379952548,16.166666,16.152222,65,60,59,52,50,50,210,193,614,161,229,175
$RAFOS,0,1379952071,16.033333,16.019722,60,60,60,57,55,55,158,211,228,178,195,666
$RAFOS_FIX,6631.686035,-5944.577148,230913,161648,4,78,0.86
$IRIDIUM_FIX,6558.99,-5920.62,230913,111147
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.35
$INTERNAL_PRESSURE,8.65461
$TCM_TEMP,12.40
$XPDR_PINGS,94
$24V_AH,12.3,24.399
$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,20.825,101.875,487.450,66.450,0.000,0.000,0.000,204.600,23.500,0.000,5.986,2490.216,5249.484,722.294,1980.367,596.936,0.000,1967.758,0.000,1798.713,2520.000,0.536,0.000
$DEVICE_MAMPS,426.870,153.765,2586.465,181.305,0.000,0.000,0.000,143.820,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150736
$DATA_FILE_SIZE,46811,1057
$CAP_FILE_SIZE,114529,0
$CFSIZE,259252224,247721984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$SOUNDSPEED,1456.0
$GPS,230913,172828,6630.474,-5942.847,37,1.3,41,-33.5