version: 66.11
glider: 192
mission: 2
dive: 195
start: 10 20 113 1 26 0
data:
$ID,192
$MISSION,2
$DIVE,195
$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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,-1398.8561
$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,2510
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,16
$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,0.0015
$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
$GPS1,201013,011854,6704.368,-5650.013,47,0.9,47,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.4
$GPS2,201013,012512,6704.396,-5650.118,6,0.9,6,-33.5
$SPEED_LIMITS,0.143,0.247
$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,202.1,3003,-15.5,-8.250,-18.49,2720
$D_GRID,495
$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,-0.89,-146.0,140,2505,1106,1085,0.0,0.0,0,106,0.00,0.00,-83.80,0.000,16386,0.000,0.000,140,2505,2853,2901,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.89,-146.0,140,2505,2901,2806,3.1,-2.0,14,140,9.77,2.55,-11.05,0.000,18948,0.415,0.122,2213,1092,3339,3501,3177,0,0,0,0,0,0,14.21,14.45,14.73
$GC,378,-0.81,-146.0,1344,1091,3498,3173,60.7,-21.5,63,386,0.17,2.55,0.00,0.000,3078,0.283,0.119,2243,2502,3340,3506,3175,0,0,0,0,0,0,14.35,14.48,28.83
$GC,699,-0.74,-146.0,2244,2502,3506,3175,116.6,-15.9,114,707,0.00,2.45,0.00,0.000,516,0.000,0.102,2244,1093,3340,3506,3174,0,0,0,0,0,0,28.83,14.50,28.83
$GC,754,-0.68,-146.0,2244,1093,3506,3175,125.4,-15.5,119,764,0.17,2.50,0.00,0.000,3078,0.240,0.118,2285,2493,3340,3506,3175,0,0,0,0,0,0,14.38,14.48,28.83
$GC,1066,-0.65,-146.0,2285,2493,3506,3174,168.0,-13.3,150,1075,0.00,2.47,0.00,0.000,260,0.000,0.135,2276,3865,3340,3506,3174,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1102,-0.62,-146.0,2276,3865,3506,3174,173.1,-13.5,153,1113,0.12,2.33,0.00,0.000,3078,0.268,0.084,2309,2494,3340,3506,3174,0,0,0,0,0,0,14.40,14.62,28.83
$GC,1414,-0.62,-146.0,2309,2494,3506,3173,208.8,-10.9,184,1423,0.00,2.42,0.00,0.000,516,0.000,0.104,2309,1090,3340,3507,3173,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1460,-0.62,-146.0,2309,1090,3506,3174,214.0,-11.5,188,1468,0.00,2.50,0.00,0.000,1030,0.000,0.118,2303,2499,3339,3506,3173,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1770,-0.61,-146.0,2303,2499,3506,3173,249.4,-11.1,219,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2499,3339,3506,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2088,-0.60,-146.0,2303,2499,3506,3173,282.8,-10.7,250,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2499,3339,3506,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2401,-0.60,-146.0,2303,2499,3506,3173,315.8,-10.8,281,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2499,3340,3506,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-0.60,-146.0,2303,2499,3506,3173,349.5,-10.6,312,2724,0.00,2.50,0.00,0.000,260,0.000,0.134,2292,3879,3340,3506,3174,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2751,-0.58,-146.0,2292,3878,3506,3173,353.9,-10.9,315,2755,0.00,2.35,0.00,0.000,1030,0.000,0.085,2291,2495,3340,3506,3174,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3068,-0.57,-146.0,2292,2495,3506,3174,389.3,-11.2,346,3074,0.12,0.00,0.00,0.000,2054,0.262,0.000,2325,2495,3339,3506,3173,0,0,0,0,0,0,14.47,28.83,28.83
$GC,3377,-0.58,-146.0,2326,2495,3507,3173,417.8,-9.0,377,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2495,3340,3507,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.59,-146.0,2326,2494,3507,3174,446.0,-9.2,408,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2495,3341,3508,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4007,-0.61,-146.0,2325,2495,3507,3174,473.8,-8.5,439,4016,0.00,2.40,0.00,0.000,516,0.000,0.103,2326,1099,3341,3508,3174,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4044,-0.62,-146.0,2326,1099,3507,3173,477.6,-8.9,442,4052,0.00,2.47,0.00,0.000,1030,0.000,0.120,2321,2494,3340,3507,3174,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,4268,end dive,NO_VERTICAL_VELOCITY
$STATE,4273,begin apogee
$GC,4286,-0.22,0.0,2321,2494,3508,3174,484.6,0.0,465,4446,0.35,0.00,148.30,2.358,10246,0.134,0.000,2440,2495,2742,2853,2632,0,0,0,0,0,0,14.61,28.83,13.05
$STATE,4447,end apogee,CONTROL_FINISHED_OK
$STATE,4447,begin climb
$GC,4453,0.89,146.0,2440,2495,2852,2632,484.7,0.0,482,4626,1.10,0.00,158.68,2.279,10502,0.123,0.000,2788,2494,2145,2236,2054,0,0,0,0,0,0,13.85,28.83,12.59
$GC,4934,0.84,146.0,2788,2495,2236,2043,438.9,11.0,530,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2495,2139,2235,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5250,0.78,146.0,2788,2495,2236,2042,405.8,10.6,561,5258,0.00,2.53,0.00,0.000,260,0.000,0.138,2788,3876,2138,2235,2042,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5315,0.70,146.0,2788,3875,2235,2042,397.0,12.8,567,5326,0.20,2.38,0.00,0.000,5126,0.246,0.090,2743,2512,2137,2233,2042,0,0,0,0,0,0,14.28,14.46,28.83
$GC,5629,0.68,152.3,2742,2512,2235,2041,370.4,8.0,598,5641,0.00,2.55,6.22,1.791,8452,0.000,0.139,2743,3876,2120,2219,2022,0,0,0,0,0,0,28.83,14.50,13.70
$GC,5693,0.64,152.3,2743,3876,2219,2022,364.0,10.2,604,5703,0.10,2.38,0.00,0.000,5126,0.278,0.090,2723,2503,2120,2219,2022,0,0,0,0,0,0,14.39,14.53,28.83
$GC,6005,0.66,159.3,2724,2503,2219,2022,340.5,8.0,635,6021,0.00,0.00,8.93,1.945,8198,0.000,0.000,2724,2503,2091,2190,1992,0,0,0,0,0,0,28.83,28.83,13.71
$GC,6325,0.66,161.3,2724,2503,2191,1992,313.9,8.2,667,6335,0.00,2.50,0.00,0.000,260,0.000,0.139,2724,3871,2091,2190,1992,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6393,0.64,161.3,2724,3871,2190,1992,307.7,9.9,673,6401,0.00,2.33,0.00,0.000,1030,0.000,0.091,2732,2507,2090,2190,1991,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6704,0.65,167.1,2732,2507,2190,1991,280.7,8.0,704,6721,0.00,2.47,9.57,1.961,8708,0.000,0.109,2742,1099,2059,2159,1959,0,0,0,0,0,0,28.83,14.56,13.68
$GC,6791,0.65,167.1,1768,1098,2113,1954,273.4,8.5,712,6798,0.00,2.55,0.00,0.000,1030,0.000,0.120,2742,2514,2058,2159,1958,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7099,0.63,167.1,2742,2515,2159,1958,245.7,8.8,743,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2514,2058,2159,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7417,0.62,167.1,2742,2514,2159,1958,217.9,8.8,774,7426,0.12,2.45,0.00,0.000,4356,0.252,0.136,2708,3876,2058,2159,1957,0,0,0,0,0,0,14.53,14.52,28.83
$GC,7476,0.62,167.1,2708,3875,2159,1957,212.2,9.1,779,7484,0.00,2.35,0.00,0.000,1030,0.000,0.090,2716,2500,2058,2159,1957,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7786,0.68,210.9,2716,2500,2159,1957,190.0,6.6,810,7834,0.00,0.00,45.42,2.086,8198,0.000,0.000,2716,2500,1880,1984,1776,0,0,0,0,0,0,28.83,28.83,13.59
$GC,8137,0.73,226.2,2716,2500,1982,1773,163.3,7.7,845,8163,0.00,2.45,16.00,1.948,8708,0.000,0.107,2726,1108,1818,1919,1717,0,0,0,0,0,0,28.83,14.36,13.66
$GC,8183,0.81,260.8,2726,1108,1919,1716,160.2,6.9,849,8227,0.12,2.55,36.85,1.989,11270,0.150,0.119,2774,2511,1677,1769,1585,0,0,0,0,0,0,14.42,14.37,13.48
$GC,8530,0.81,260.8,2774,2511,1762,1583,123.6,10.6,884,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2511,1672,1762,1583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,0.81,260.8,2774,2511,1761,1582,91.6,10.7,922,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2511,1671,1761,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9162,0.81,260.8,2773,2511,1760,1581,61.2,8.9,983,9170,0.00,2.50,0.00,0.000,516,0.000,0.109,2783,1094,1670,1760,1580,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9218,0.82,260.8,2783,1094,1760,1579,56.3,8.7,992,9225,0.00,2.55,0.00,0.000,1030,0.000,0.119,2783,2515,1669,1760,1579,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9536,0.82,260.8,1792,2513,1724,1576,27.4,8.8,1053,9543,0.00,2.50,0.00,0.000,516,0.000,0.111,2793,1101,1669,1759,1579,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9563,0.82,260.8,1792,1101,1725,1576,25.0,8.8,1057,9570,0.00,2.53,0.00,0.000,1030,0.000,0.119,2794,2510,1669,1759,1579,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,9807,end climb,SURFACE_DEPTH_REACHED
$STATE,9807,begin surface coast
$FINISH,1.0,1.013593
$STATE,9838,end surface coast,CONTROL_FINISHED_OK
$STATE,9838,begin surface
$SM_CCo,9866,70.35,0.165,0,0,1108,400.08
$SM_GC,1.96,7.68,0.00,70.35,0.081,0.000,0.165,141,2510,1108,-7.35,0.28,400.08,0,0,0,0,0,0,14.63,28.83,14.48
$RAFOS_CLK,431
$RAFOS,0,1382241665,4.033333,4.018055,96,62,59,58,58,51,1179,138,220,185,197,116
$RAFOS_FIX,6706.278320,-5650.947266,201013,000014,6,93,0.79
$IRIDIUM_FIX,6636.54,-5647.69,191013,222222
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.62
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,14.30
$XPDR_PINGS,44
$24V_AH,12.6,83.698
$10V_AH,12.9,0.000
$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,20.050,69.050,429.975,70.350,0.000,0.000,0.000,216.900,11.000,0.000,6.801,2713.737,4488.169,628.737,1912.828,578.481,0.000,1804.532,0.000,1719.801,720.000,0.539,0.000
$DEVICE_MAMPS,414.630,139.230,2358.495,165.240,0.000,0.000,0.000,143.820,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150812
$DATA_FILE_SIZE,46664,1110
$CAP_FILE_SIZE,110433,0
$CFSIZE,259252224,236670976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.0
$CURRENT,0.261,322.5,1
$GPS,201013,041305,6704.200,-5651.224,26,1.8,26,-33.5