version: 66.11
glider: 192
mission: 2
dive: 56
start: 9 24 113 8 27 27
data:
$ID,192
$MISSION,2
$DIVE,56
$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,-1166.3098
$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,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
$GPS1,240913,082105,6632.218,-5932.115,27,2.0,27,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.5
$GPS2,240913,082642,6632.206,-5932.122,5,1.6,5,-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,87.1,131527,-16.2,-8.684,-19.07,2590
$D_GRID,776
$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,-1.04,-146.0,118,2451,1102,1080,0.0,0.0,0,99,0.00,0.00,-76.43,0.000,16386,0.000,0.000,117,2452,2643,2704,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.04,-146.0,117,2452,2704,2583,3.5,-6.0,13,138,9.70,2.50,-15.30,0.000,18948,0.428,0.132,2180,1041,3339,3518,3161,0,0,0,0,0,0,14.25,14.38,14.62
$GC,274,-1.04,-146.0,1344,1040,3512,3157,49.3,-24.4,43,282,0.00,2.55,0.00,0.000,1030,0.000,0.127,2172,2449,3340,3520,3161,0,0,0,0,0,0,28.83,14.42,28.83
$GC,594,-1.04,-146.0,2172,2449,3521,3160,130.7,-26.0,92,603,0.00,2.55,0.00,0.000,260,0.000,0.141,2161,3862,3340,3520,3160,0,0,0,0,0,0,28.83,14.46,28.83
$GC,639,-1.04,-146.0,2161,3861,3520,3160,142.3,-25.2,96,648,0.00,2.40,0.00,0.000,1030,0.000,0.093,2161,2450,3340,3520,3160,0,0,0,0,0,0,28.83,14.50,28.83
$GC,949,-1.04,-146.0,2161,2450,3520,3160,217.6,-23.7,127,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2450,3340,3521,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-1.04,-146.0,2161,2450,3520,3160,288.5,-22.1,158,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2450,3340,3520,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-1.04,-146.0,2161,2450,3520,3159,355.5,-21.4,189,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2451,3339,3520,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-1.04,-146.0,2161,2450,3520,3159,421.1,-20.4,220,1899,0.00,2.42,0.00,0.000,516,0.000,0.113,2161,1042,3339,3520,3158,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1919,-1.04,-146.0,2161,1042,3520,3158,427.5,-20.3,222,1926,0.15,2.53,0.00,0.000,3078,0.331,0.129,2181,2450,3339,3521,3158,0,0,0,0,0,0,14.52,14.60,28.83
$GC,2228,-1.04,-146.0,2181,2449,3520,3159,484.6,-17.8,253,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2450,3339,3520,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2544,-1.04,-146.0,2181,2450,3520,3158,538.3,-16.9,284,2553,0.00,2.45,0.00,0.000,516,0.000,0.117,2181,1040,3339,3520,3158,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2572,-1.04,-146.0,2181,1040,3520,3158,544.0,-17.4,286,2579,0.00,2.53,0.00,0.000,1030,0.000,0.128,2172,2458,3339,3520,3158,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2880,-1.04,-146.0,2173,2458,3520,3158,600.2,-18.0,317,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2458,3339,3520,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3181,-1.04,-146.0,2172,2458,3520,3158,654.3,-18.2,327,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2458,3339,3520,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3480,-1.04,-146.0,2173,2458,3521,3159,707.8,-17.6,337,3486,0.00,2.47,0.00,0.000,516,0.000,0.114,2172,1035,3340,3521,3159,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3506,-1.04,-146.0,2173,1035,3521,3159,707.8,-17.6,337,3513,0.00,2.53,0.00,0.000,1030,0.000,0.129,2162,2454,3340,3521,3159,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3813,-1.04,-146.0,2162,2454,3520,3159,769.1,-18.4,348,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2454,3340,3521,3159,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3867,begin apogee
$GC,3880,-0.21,0.0,2162,2454,3521,3159,780.0,-18.4,350,4057,1.05,0.00,159.52,2.656,10246,0.283,0.000,2446,2454,2740,2854,2626,0,0,0,0,0,0,14.62,28.83,12.77
$STATE,4057,end apogee,CONTROL_FINISHED_OK
$STATE,4058,begin climb
$GC,4064,1.04,146.0,2446,2454,2854,2626,789.4,0.0,356,4252,1.40,2.92,172.15,2.574,11012,0.170,0.145,2853,3839,2145,2229,2061,0,0,0,0,0,0,13.66,13.01,12.27
$GC,4282,1.04,146.0,2853,3839,2228,2060,774.6,10.4,363,4287,0.00,2.67,0.00,0.000,1030,0.000,0.099,2863,2430,2143,2227,2060,0,0,0,0,0,0,28.83,13.32,28.83
$GC,4599,1.04,146.0,2864,2430,2227,2051,723.6,15.3,374,4605,0.00,2.70,0.00,0.000,260,0.000,0.148,2864,3836,2139,2227,2051,0,0,0,0,0,0,28.83,13.91,28.83
$GC,4631,1.04,146.0,2863,3836,2226,2051,718.3,15.4,375,4637,0.00,2.55,0.00,0.000,1030,0.000,0.100,2874,2430,2138,2226,2051,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4964,1.04,146.0,2874,2429,2227,2049,665.9,15.5,386,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2429,2137,2226,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5264,1.04,146.0,2874,2429,2226,2048,618.4,15.9,396,5269,0.00,2.62,0.00,0.000,260,0.000,0.151,2874,3840,2137,2226,2048,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5309,1.04,146.0,2874,3841,2226,2048,613.1,16.2,397,5314,0.00,2.47,0.00,0.000,1030,0.000,0.103,2885,2427,2137,2226,2048,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5632,1.04,146.0,2885,2426,2226,2047,560.0,16.0,424,5640,0.00,2.62,0.00,0.000,260,0.000,0.150,2885,3844,2136,2226,2047,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5678,1.04,146.0,2885,3844,2226,2047,551.0,17.3,428,5687,0.10,2.45,0.00,0.000,5126,0.320,0.102,2871,2431,2136,2226,2047,0,0,0,0,0,0,14.32,14.42,28.83
$GC,5988,1.04,146.0,2871,2431,2226,2046,502.9,15.3,459,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2431,2136,2226,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6303,1.04,146.0,2871,2431,2226,2046,455.2,15.4,490,6313,0.00,2.60,0.00,0.000,260,0.000,0.149,2871,3840,2136,2226,2046,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6332,1.04,146.0,1896,3839,2181,2041,450.3,15.7,492,6339,0.00,2.45,0.00,0.000,1030,0.000,0.103,2881,2428,2136,2226,2046,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6639,1.04,146.0,1888,2425,2180,2040,401.4,16.0,523,6649,0.00,2.58,0.00,0.000,260,0.000,0.151,2881,3840,2135,2226,2045,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6688,1.04,146.0,1920,3840,2181,2040,393.6,17.1,527,6696,0.12,2.45,0.00,0.000,5126,0.349,0.102,2866,2422,2135,2225,2045,0,0,0,0,0,0,14.47,14.56,28.83
$GC,6997,1.04,146.0,2866,2421,2226,2045,348.2,13.9,558,7006,0.00,2.60,0.00,0.000,260,0.000,0.151,2866,3840,2135,2226,2045,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7043,1.04,146.0,2866,3840,2226,2045,341.0,16.1,562,7051,0.00,2.42,0.00,0.000,1030,0.000,0.101,2876,2424,2135,2225,2045,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7353,1.04,146.0,2876,2425,2226,2044,295.3,14.5,593,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2425,2135,2226,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7670,1.04,146.0,2876,2425,2225,2044,252.1,13.1,624,7679,0.00,2.58,0.00,0.000,260,0.000,0.150,2876,3842,2135,2226,2044,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7735,1.04,146.0,2876,3841,2226,2044,241.6,14.8,630,7745,0.00,2.45,0.00,0.000,1030,0.000,0.102,2887,2417,2134,2225,2044,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8046,1.04,146.0,2887,2416,2226,2044,202.3,11.9,661,8055,0.00,2.60,0.00,0.000,260,0.000,0.150,2887,3846,2135,2226,2044,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8074,1.04,146.0,1920,3845,2180,2039,199.0,12.2,663,8083,0.15,2.45,0.00,0.000,5126,0.336,0.100,2866,2416,2135,2226,2044,0,0,0,0,0,0,14.54,14.64,28.83
$GC,8384,1.04,146.0,2866,2416,2226,2044,165.8,10.6,694,8393,0.00,2.60,0.00,0.000,260,0.000,0.151,2866,3838,2135,2226,2044,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8474,1.04,146.0,2866,3839,2226,2044,155.8,11.5,702,8481,0.00,2.42,0.00,0.000,1030,0.000,0.101,2876,2422,2135,2226,2044,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8782,1.04,146.0,2876,2421,2226,2044,125.8,9.2,733,8791,0.00,2.58,0.00,0.000,260,0.000,0.151,2877,3839,2134,2226,2043,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8871,1.04,146.0,2877,3839,2225,2044,116.5,11.4,741,8877,0.00,2.42,0.00,0.000,1030,0.000,0.102,2888,2423,2135,2226,2044,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9184,1.04,146.0,2888,2423,2226,2044,85.1,10.4,787,9191,0.00,2.60,0.00,0.000,260,0.000,0.153,2888,3844,2135,2226,2044,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9258,1.04,146.0,2888,3843,2225,2044,77.7,9.6,800,9266,0.15,2.42,0.00,0.000,5126,0.339,0.102,2866,2426,2134,2225,2044,0,0,0,0,0,0,14.56,14.66,28.83
$GC,9577,1.08,160.4,1864,2424,2179,2038,51.8,8.1,861,9590,0.00,2.45,6.62,0.348,8708,0.000,0.119,2876,1021,2084,2177,1992,0,0,0,0,0,0,28.83,14.62,14.52
$GC,9662,1.13,180.3,2876,1021,2177,1991,45.3,7.9,876,9681,0.00,2.53,10.70,0.321,9222,0.000,0.130,2876,2433,2004,2098,1911,0,0,0,0,0,0,28.83,14.62,14.50
$GC,9998,1.40,289.7,2876,2433,2098,1908,20.5,4.3,939,10066,0.28,2.55,58.62,0.233,10756,0.138,0.125,2982,1018,1558,1634,1482,0,0,0,0,0,0,14.62,14.52,14.48
$STATE,10137,end climb,SURFACE_DEPTH_REACHED
$STATE,10137,begin surface coast
$FINISH,0.7,1.025056
$STATE,10153,end surface coast,CONTROL_FINISHED_OK
$STATE,10153,begin surface
$SM_CCo,10184,57.25,0.182,0,0,1109,400.08
$SM_GC,1.70,8.40,2.65,57.25,0.097,0.131,0.182,143,2450,1109,-7.40,-0.48,400.08,0,0,0,0,0,0,14.54,14.52,14.45
$RAFOS_CLK,493
$RAFOS,6,1380012543,8.833333,8.817500,73,56,56,53,53,52,848,215,160,137,188,173
$RAFOS,5,1380012070,8.700000,8.686111,69,67,63,61,60,57,827,204,157,189,221,840
$RAFOS,4,1380011584,8.566667,8.551111,68,62,59,57,56,54,202,213,141,679,226,153
$RAFOS,2,1380010626,8.300000,8.285000,63,63,60,58,53,51,161,197,209,222,178,136
$RAFOS_FIX,6633.755371,-5931.925293,240913,080842,3,69,8.16
$IRIDIUM_FIX,6604.29,-5939.18,240913,050522
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.03
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.20
$XPDR_PINGS,85
$24V_AH,12.3,26.308
$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,21.500,96.375,407.625,57.250,0.000,0.000,0.000,185.025,21.250,0.000,10.827,2418.531,5246.073,605.822,1743.590,580.482,0.000,1702.961,0.000,1586.817,1080.000,0.536,0.000
$DEVICE_MAMPS,427.635,356.490,2656.080,182.070,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,43421,966
$CAP_FILE_SIZE,106874,0
$CFSIZE,259252224,247365632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.0
$CURRENT,0.206,191.7,1
$GPS,240913,111959,6632.022,-5929.880,41,1.0,41,-33.5