version: 66.11
glider: 192
mission: 2
dive: 51
start: 9 23 113 17 34 57
data:
$ID,192
$MISSION,2
$DIVE,51
$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,380
$T_MISSION,410
$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,150
$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,400
$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,-1147.2662
$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,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,20
$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,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,230913,172828,6630.474,-5942.847,37,1.3,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.5
$GPS2,230913,173410,6630.494,-5942.972,5,1.9,5,-33.5
$SPEED_LIMITS,0.150,0.256
$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,98.0,139964,-15.4,-8.684,-18.77,2546
$D_GRID,723
$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,-1.01,-146.0,117,2445,956,924,0.0,0.0,0,110,0.00,0.00,-87.97,0.000,16386,0.000,0.000,117,2445,2682,2740,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.01,-146.0,117,2445,2741,2625,3.0,-4.0,16,149,9.82,2.58,-15.65,0.000,18948,0.430,0.137,2191,1040,3392,3578,3206,0,0,0,0,0,0,14.23,14.38,14.60
$GC,270,-1.01,-146.0,2191,1039,3581,3206,45.5,-25.3,43,277,0.00,2.58,0.00,0.000,1030,0.000,0.129,2184,2453,3393,3581,3206,0,0,0,0,0,0,28.83,14.40,28.83
$GC,592,-1.01,-146.0,2184,2453,3581,3205,123.1,-22.4,95,601,0.00,2.58,0.00,0.000,260,0.000,0.145,2173,3861,3393,3581,3205,0,0,0,0,0,0,28.83,14.45,28.83
$GC,621,-1.01,-146.0,2173,3861,3581,3205,129.0,-22.5,97,628,0.00,2.45,0.00,0.000,1030,0.000,0.096,2173,2440,3393,3581,3205,0,0,0,0,0,0,28.83,14.50,28.83
$GC,929,-1.01,-146.0,1344,2438,3575,3202,201.0,-23.7,128,937,0.00,2.42,0.00,0.000,516,0.000,0.116,2173,1050,3393,3581,3205,0,0,0,0,0,0,28.83,14.51,28.83
$GC,966,-1.01,-146.0,1360,1049,3575,3202,209.2,-22.9,131,974,0.15,2.55,0.00,0.000,3078,0.330,0.133,2193,2458,3393,3581,3205,0,0,0,0,0,0,14.45,14.52,28.83
$GC,1275,-1.01,-146.0,2193,2457,3581,3205,274.4,-20.8,162,1284,0.00,2.47,0.00,0.000,516,0.000,0.117,2193,1047,3393,3581,3205,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1334,-1.01,-146.0,2193,1046,3581,3205,285.4,-19.2,167,1341,0.00,2.53,0.00,0.000,1030,0.000,0.129,2185,2455,3393,3581,3205,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1642,-1.01,-146.0,2185,2455,3581,3204,348.8,-20.2,198,1651,0.00,2.55,0.00,0.000,260,0.000,0.147,2175,3863,3392,3581,3204,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1691,-1.01,-146.0,2175,3863,3581,3204,358.4,-20.7,202,1698,0.00,2.42,0.00,0.000,1030,0.000,0.097,2174,2446,3392,3581,3204,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1999,-1.01,-146.0,2174,2446,3580,3204,420.2,-19.1,233,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2446,3392,3581,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2316,-1.01,-146.0,2174,2446,3581,3204,479.7,-18.9,264,2325,0.00,2.42,0.00,0.000,516,0.000,0.117,2174,1048,3392,3581,3204,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2381,-1.01,-146.0,2174,1049,3581,3204,493.3,-18.8,270,2390,0.12,2.50,0.00,0.000,3078,0.303,0.129,2196,2454,3392,3581,3204,0,0,0,0,0,0,14.52,14.59,28.83
$GC,2692,-1.01,-146.0,2197,2455,3581,3204,547.5,-17.0,301,2700,0.00,2.53,0.00,0.000,260,0.000,0.147,2188,3863,3392,3581,3204,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2720,-1.01,-146.0,2188,3862,3581,3204,551.9,-17.3,303,2726,0.00,2.42,0.00,0.000,1030,0.000,0.097,2188,2440,3392,3581,3204,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3053,-1.01,-146.0,2188,2440,3581,3204,611.3,-18.3,332,3059,0.00,2.42,0.00,0.000,516,0.000,0.117,2188,1039,3392,3581,3204,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3088,-1.01,-146.0,2188,1037,3581,3204,618.2,-18.5,333,3094,0.00,2.50,0.00,0.000,1030,0.000,0.127,2178,2447,3392,3581,3204,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3415,-1.01,-146.0,2178,2447,3581,3204,681.0,-19.0,344,3421,0.00,2.45,0.00,0.000,516,0.000,0.117,2178,1042,3392,3581,3204,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3451,-1.01,-146.0,2178,1042,3581,3204,686.9,-18.7,345,3458,0.10,2.50,0.00,0.000,3078,0.298,0.128,2192,2449,3392,3581,3204,0,0,0,0,0,0,14.57,14.64,28.83
$STATE,3653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3653,begin apogee
$GC,3666,-0.21,0.0,2192,2449,3581,3204,724.6,-17.5,352,3841,0.93,0.00,160.02,2.610,10246,0.271,0.000,2448,2449,2794,2919,2669,0,0,0,0,0,0,14.59,28.83,12.77
$STATE,3842,end apogee,CONTROL_FINISHED_OK
$STATE,3842,begin climb
$GC,3848,1.01,146.0,2448,2449,2919,2669,734.5,0.0,358,4031,1.35,0.00,169.60,2.518,10758,0.171,0.000,2842,2449,2198,2280,2117,0,0,0,0,0,0,13.65,28.83,12.31
$GC,4353,1.01,146.0,2842,2449,2279,2104,684.4,13.0,375,4359,0.00,2.67,0.00,0.000,516,0.000,0.125,2854,1027,2191,2279,2104,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4399,1.01,146.0,2853,1027,2279,2103,680.3,12.8,376,4404,0.00,2.65,0.00,0.000,1030,0.000,0.132,2853,2433,2191,2279,2103,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4716,1.01,146.0,2853,2433,2279,2102,635.9,13.4,387,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2433,2190,2279,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5016,1.01,146.0,2853,2433,2279,2100,596.9,13.1,397,5025,0.00,2.62,0.00,0.000,260,0.000,0.151,2853,3847,2189,2279,2100,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5043,1.01,146.0,1872,3847,2232,2095,593.4,13.3,399,5050,0.00,2.50,0.00,0.000,1030,0.000,0.103,2864,2433,2189,2279,2100,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5352,1.01,146.0,2864,2431,2278,2099,549.8,13.9,430,5361,0.00,2.62,0.00,0.000,260,0.000,0.151,2864,3840,2189,2279,2099,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5398,1.01,146.0,2864,3840,2279,2099,542.6,15.7,434,5406,0.00,2.47,0.00,0.000,1030,0.000,0.103,2874,2422,2188,2278,2099,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5708,1.01,146.0,2875,2422,2279,2098,497.7,14.3,465,5717,0.00,2.62,0.00,0.000,260,0.000,0.152,2874,3837,2188,2279,2098,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5754,1.01,146.0,2874,3837,2279,2098,490.7,15.7,469,5763,0.12,2.42,0.00,0.000,5126,0.309,0.103,2854,2431,2188,2279,2098,0,0,0,0,0,0,14.37,14.47,28.83
$GC,6064,1.01,146.0,2854,2431,2278,2098,449.0,13.0,500,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2431,2188,2279,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6381,1.01,146.0,2853,2431,2279,2097,407.7,13.6,531,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2431,2188,2279,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6694,1.01,146.0,2854,2431,2279,2097,366.2,12.9,562,6702,0.00,2.58,0.00,0.000,260,0.000,0.151,2854,3842,2187,2278,2097,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6762,1.01,146.0,2854,3842,2278,2097,356.3,14.4,568,6769,0.00,2.45,0.00,0.000,1030,0.000,0.105,2864,2426,2187,2278,2097,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7070,1.01,146.0,2864,2426,2279,2097,314.6,13.1,599,7079,0.00,2.60,0.00,0.000,260,0.000,0.152,2864,3843,2187,2278,2097,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7156,1.01,146.0,2864,3843,2279,2097,302.3,15.1,607,7164,0.00,2.42,0.00,0.000,1030,0.000,0.105,2874,2429,2188,2279,2097,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7466,1.01,146.0,2874,2429,2279,2097,263.8,12.2,638,7475,0.00,2.60,0.00,0.000,260,0.000,0.151,2874,3843,2188,2279,2097,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7532,1.01,146.0,2874,3843,2278,2097,255.0,13.7,644,7541,0.12,2.42,0.00,0.000,5126,0.305,0.104,2853,2430,2188,2279,2097,0,0,0,0,0,0,14.51,14.60,28.83
$GC,7842,1.01,146.0,2853,2430,2279,2097,222.7,10.3,675,7851,0.00,2.58,0.00,0.000,260,0.000,0.151,2853,3847,2187,2278,2097,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7931,1.01,146.0,2853,3847,2279,2097,213.2,11.3,683,7938,0.00,2.45,0.00,0.000,1030,0.000,0.103,2863,2423,2187,2278,2097,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8239,1.01,146.0,2863,2423,2278,2097,181.8,10.2,714,8248,0.00,2.60,0.00,0.000,260,0.000,0.153,2863,3847,2187,2278,2097,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8317,1.01,146.0,1888,3847,2232,2092,173.1,11.7,721,8324,0.00,2.45,0.00,0.000,1030,0.000,0.103,2874,2419,2187,2278,2097,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8625,1.01,146.0,2874,2419,2278,2097,142.1,9.0,752,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2419,2188,2279,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8942,1.05,165.3,2874,2419,2279,2096,116.9,7.9,783,8959,0.00,2.62,10.48,1.840,8452,0.000,0.152,2874,3844,2119,2213,2026,0,0,0,0,0,0,28.83,14.53,13.89
$GC,9193,1.05,165.3,2874,3845,2212,2026,90.0,10.0,816,9200,0.00,2.45,0.00,0.000,1030,0.000,0.104,2885,2428,2119,2213,2026,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9512,1.17,210.1,2885,2429,2212,2025,65.5,6.9,877,9547,0.00,2.65,25.02,0.385,8452,0.000,0.152,2885,3834,1935,2031,1840,0,0,0,0,0,0,28.83,14.49,14.40
$GC,9689,1.17,210.1,2885,3834,2024,1839,45.1,13.1,909,9695,0.00,2.45,0.00,0.000,1030,0.000,0.105,2895,2425,1931,2024,1839,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10008,1.25,242.2,2895,2425,2024,1834,19.5,7.4,970,10032,0.00,2.62,16.62,0.237,8452,0.000,0.152,2895,3846,1803,1897,1710,0,0,0,0,0,0,28.83,14.50,14.46
$GC,10099,1.25,242.2,2896,3846,1892,1710,11.4,12.3,986,10106,0.00,2.47,0.00,0.000,1030,0.000,0.106,2906,2424,1801,1892,1710,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,10166,end climb,SURFACE_DEPTH_REACHED
$STATE,10166,begin surface coast
$FINISH,0.6,1.024895
$STATE,10199,end surface coast,CONTROL_FINISHED_OK
$STATE,10200,begin surface
$SM_CCo,10229,85.40,0.179,0,0,1160,400.08
$SM_GC,1.64,8.18,0.08,85.40,0.098,0.232,0.179,142,2449,1160,-7.40,-0.42,400.08,0,0,0,0,0,0,14.54,14.54,14.42
$RAFOS_CLK,501
$RAFOS,2,1379967423,20.299999,20.284166,123,66,62,60,56,53,569,205,227,154,216,145
$RAFOS,1,1379966942,20.166666,20.150555,63,62,58,57,52,50,186,205,163,151,217,649
$RAFOS,0,1379966466,20.033333,20.018333,124,69,61,58,55,53,697,178,222,146,197,120
$RAFOS_FIX,6631.048828,-5943.269043,230913,202040,2,124,0.11
$IRIDIUM_FIX,6604.29,-5946.55,230913,141444
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.35
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.40
$XPDR_PINGS,121
$24V_AH,12.3,24.719
$10V_AH,12.7,0.000
$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,20.900,105.975,381.750,85.400,0.000,0.000,0.000,186.950,30.250,0.000,5.929,2384.416,5211.821,613.475,1867.517,593.990,0.000,1783.340,0.000,1704.299,1080.000,0.536,0.000
$DEVICE_MAMPS,429.930,231.795,2610.180,179.010,0.000,0.000,0.000,143.820,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.732,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43445,1004
$CAP_FILE_SIZE,112344,0
$CFSIZE,259252224,247664640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.9
$GPS,230913,202835,6630.768,-5940.207,34,1.0,34,-33.5