version: 66.11
glider: 192
mission: 2
dive: 52
start: 9 23 113 20 35 36
data:
$ID,192
$MISSION,2
$DIVE,52
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$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,-1148.5181
$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,18
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$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
$GPS1,230913,202835,6630.768,-5940.207,34,1.0,34,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.7
$GPS2,230913,203459,6630.729,-5940.183,1,1.0,2,-33.5
$SPEED_LIMITS,0.150,0.251
$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,97.8,137960,-16.2,-8.684,-19.07,2590
$D_GRID,743
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-1.04,-146.0,116,2451,1155,1131,0.0,0.0,0,98,0.00,0.00,-75.03,0.000,16386,0.000,0.000,116,2451,2621,2683,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.04,-146.0,116,2451,2684,2561,3.0,-4.3,13,138,9.77,2.60,-16.42,0.000,18948,0.430,0.136,2179,1034,3339,3522,3156,0,0,0,0,0,0,14.23,14.36,14.59
$GC,369,-1.04,-146.0,2179,1033,3525,3156,74.4,-23.1,62,376,0.00,2.60,0.00,0.000,1030,0.000,0.135,2171,2456,3340,3524,3156,0,0,0,0,0,0,28.83,14.42,28.83
$GC,687,-1.04,-146.0,2171,2456,3524,3156,148.9,-23.2,103,697,0.00,2.58,0.00,0.000,260,0.000,0.145,2160,3865,3340,3525,3156,0,0,0,0,0,0,28.83,14.45,28.83
$GC,764,-1.04,-146.0,2160,3864,3525,3156,167.4,-24.2,110,772,0.00,2.42,0.00,0.000,1030,0.000,0.097,2160,2446,3340,3524,3156,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1074,-1.04,-146.0,2160,2446,3525,3156,241.7,-23.3,141,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2446,3340,3524,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1389,-1.04,-146.0,2160,2446,3524,3155,310.8,-22.0,172,1398,0.00,2.42,0.00,0.000,516,0.000,0.117,2160,1048,3339,3524,3155,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1448,-1.04,-146.0,2160,1048,3525,3155,324.4,-21.9,177,1455,0.15,2.53,0.00,0.000,3078,0.335,0.132,2181,2450,3340,3525,3155,0,0,0,0,0,0,14.48,14.56,28.83
$GC,1757,-1.04,-146.0,2181,2450,3525,3155,388.0,-20.1,208,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2450,3339,3524,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-1.04,-146.0,2181,2450,3524,3155,448.6,-19.6,239,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2449,3340,3525,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2387,-1.04,-146.0,2181,2450,3524,3155,508.2,-18.5,270,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2450,3339,3524,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2700,-1.04,-146.0,2181,2450,3525,3154,565.8,-18.0,301,2708,0.00,2.42,0.00,0.000,516,0.000,0.116,2181,1050,3339,3524,3155,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2727,-1.04,-146.0,1360,1048,3517,3152,571.5,-18.2,303,2735,0.00,2.53,0.00,0.000,1030,0.000,0.134,2173,2456,3339,3524,3155,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3037,-1.04,-146.0,2172,2456,3525,3155,629.0,-18.3,324,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2455,3340,3525,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3336,-1.04,-146.0,2173,2455,3525,3155,684.1,-18.5,334,3342,0.00,2.45,0.00,0.000,516,0.000,0.116,2173,1043,3340,3525,3155,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3368,-1.04,-146.0,2172,1043,3525,3155,690.1,-18.5,335,3374,0.00,2.47,0.00,0.000,1030,0.000,0.127,2162,2445,3339,3524,3155,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,3664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3664,begin apogee
$GC,3677,-0.21,0.0,2162,2445,3525,3156,747.8,-19.1,345,3851,1.08,0.00,159.65,2.618,10246,0.288,0.000,2450,2445,2740,2857,2624,0,0,0,0,0,0,14.59,28.83,12.78
$STATE,3852,end apogee,CONTROL_FINISHED_OK
$STATE,3852,begin climb
$GC,3858,1.04,146.0,2451,2445,2856,2624,757.2,0.0,351,4039,1.40,2.90,170.80,2.536,10756,0.169,0.122,2864,1032,2144,2228,2061,0,0,0,0,0,0,13.66,13.07,12.32
$GC,4079,1.04,146.0,2864,1032,2228,2058,743.4,10.0,358,4085,0.00,2.75,0.00,0.000,1030,0.000,0.129,2864,2423,2143,2228,2058,0,0,0,0,0,0,28.83,13.35,28.83
$GC,4396,1.04,146.0,2865,2423,2228,2050,694.6,14.4,369,4402,0.00,2.72,0.00,0.000,260,0.000,0.150,2864,3849,2139,2228,2050,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4502,1.04,146.0,2864,3849,2227,2050,679.5,16.0,372,4507,0.00,2.53,0.00,0.000,1030,0.000,0.102,2874,2437,2138,2227,2050,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4818,1.04,146.0,2875,2436,2228,2049,628.5,15.3,383,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2436,2138,2227,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,1.04,146.0,2875,2436,2227,2048,581.7,15.4,399,5127,0.00,2.62,0.00,0.000,260,0.000,0.149,2875,3844,2137,2227,2048,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5197,1.04,146.0,2874,3844,2226,2048,568.7,17.8,406,5204,0.00,2.50,0.00,0.000,1030,0.000,0.102,2886,2423,2136,2227,2045,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5505,1.04,146.0,2886,2422,2227,2046,519.8,15.8,437,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2422,2136,2227,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,1.04,146.0,2886,2422,2227,2045,472.0,15.1,468,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2422,2135,2226,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6135,1.04,146.0,2886,2422,2227,2045,424.1,15.5,499,6144,0.00,2.60,0.00,0.000,260,0.000,0.152,2886,3839,2136,2227,2045,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6224,1.04,146.0,2886,3839,2227,2045,408.7,17.3,507,6231,0.15,2.45,0.00,0.000,5126,0.338,0.103,2866,2426,2136,2227,2045,0,0,0,0,0,0,14.45,14.54,28.83
$GC,6533,1.04,146.0,2866,2426,2226,2044,363.2,15.0,538,6542,0.00,2.62,0.00,0.000,260,0.000,0.151,2866,3846,2135,2226,2045,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6588,1.04,146.0,2866,3846,2227,2045,354.1,17.0,543,6597,0.00,2.42,0.00,0.000,1030,0.000,0.103,2876,2436,2135,2226,2044,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6898,1.04,146.0,2876,2436,2226,2044,309.0,14.2,574,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2435,2135,2226,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,1.04,146.0,2876,2436,2227,2044,268.2,12.5,605,7224,0.00,2.58,0.00,0.000,260,0.000,0.149,2875,3849,2135,2227,2044,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7303,1.04,146.0,1896,3848,2182,2039,255.7,13.8,613,7310,0.00,2.45,0.00,0.000,1030,0.000,0.103,2886,2424,2135,2226,2044,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7611,1.04,146.0,2887,2423,2227,2043,217.7,11.6,644,7621,0.00,2.60,0.00,0.000,260,0.000,0.151,2887,3847,2135,2227,2043,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7698,1.04,146.0,2887,3847,2227,2044,205.8,13.8,652,7708,0.12,2.42,0.00,0.000,5126,0.308,0.103,2866,2426,2134,2226,2043,0,0,0,0,0,0,14.52,14.61,28.83
$GC,8010,1.04,146.0,2866,2425,2226,2043,167.9,11.6,683,8018,0.00,2.58,0.00,0.000,260,0.000,0.151,2866,3838,2134,2226,2043,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8105,1.04,146.0,2866,3838,2226,2043,155.4,13.3,692,8115,0.00,2.40,0.00,0.000,1030,0.000,0.103,2875,2432,2134,2226,2043,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8416,1.04,146.0,2875,2433,2226,2043,122.4,9.6,723,8425,0.00,2.60,0.00,0.000,260,0.000,0.151,2875,3851,2134,2226,2043,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8502,1.04,146.0,2875,3852,2226,2043,113.3,10.6,731,8511,0.00,2.45,0.00,0.000,1030,0.000,0.103,2886,2427,2134,2226,2043,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8817,1.09,165.3,2886,2427,2227,2043,87.6,7.9,777,8830,0.00,0.00,9.57,0.467,8710,0.000,0.000,2886,2427,2066,2160,1972,0,0,0,0,0,0,28.83,28.83,14.46
$GC,9141,1.09,165.3,2886,2427,2160,1971,57.7,9.1,839,9148,0.00,2.47,0.00,0.000,516,0.000,0.126,2897,1021,2065,2160,1971,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9175,1.09,165.3,2897,1021,2160,1970,54.7,9.3,844,9182,0.00,2.55,0.00,0.000,1030,0.000,0.133,2897,2440,2065,2160,1970,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9495,1.26,232.4,2897,2440,2160,1969,26.9,6.0,905,9538,0.00,2.62,36.30,0.256,8708,0.000,0.128,2908,1014,1791,1886,1697,0,0,0,0,0,0,28.83,14.55,14.50
$GC,9649,1.26,232.4,2908,1014,1876,1693,14.1,9.2,932,9657,0.00,2.58,0.00,0.000,1030,0.000,0.132,2907,2434,1784,1876,1693,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,9752,end climb,SURFACE_DEPTH_REACHED
$STATE,9752,begin surface coast
$FINISH,1.0,1.025072
$STATE,9785,end surface coast,CONTROL_FINISHED_OK
$STATE,9785,begin surface
$SM_CCo,9814,89.68,0.184,0,0,1108,400.08
$SM_GC,1.58,8.20,0.00,89.68,0.103,0.000,0.184,143,2435,1108,-7.39,-0.42,400.08,0,0,0,0,0,0,14.59,28.83,14.44
$RAFOS_CLK,474
$RAFOS,6,1379969344,20.833334,20.817778,87,66,60,59,58,52,865,199,156,181,119,167
$RAFOS,5,1379968863,20.700001,20.684166,79,69,60,56,54,53,908,205,156,171,187,214
$RAFOS_FIX,6631.873535,-5942.719727,230913,202020,4,103,0.00
$IRIDIUM_FIX,6558.99,-5941.90,230913,171707
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.39
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.40
$XPDR_PINGS,92
$24V_AH,12.3,25.032
$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,20.875,81.450,376.325,89.675,0.000,0.000,0.000,226.825,23.000,0.000,7.873,2382.612,4973.261,624.038,1779.858,538.179,0.000,1727.262,0.000,1581.365,720.000,0.536,0.000
$DEVICE_MAMPS,429.930,152.235,2617.830,183.600,0.000,0.000,0.000,140.760,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150692
$DATA_FILE_SIZE,40113,957
$CAP_FILE_SIZE,101464,0
$CFSIZE,259252224,247619584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.6
$CURRENT,0.228,185.4,1
$GPS,230913,232235,6630.218,-5937.493,41,1.1,41,-33.5