version: 66.11
glider: 192
mission: 2
dive: 194
start: 10 19 113 22 21 1
data:
$ID,192
$MISSION,2
$DIVE,194
$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,-1397.5057
$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,22
$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
$GPS1,191013,221330,6703.137,-5652.924,40,1.3,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-69.8
$GPS2,191013,222006,6703.163,-5652.922,18,1.3,18,-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,134.3,3567,-16.0,-8.250,-18.90,2582
$D_GRID,555
$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,-0.90,-138.5,142,2510,1109,1082,0.0,0.0,0,104,0.00,0.00,-82.00,0.000,16386,0.000,0.000,141,2510,2806,2853,2760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-146.0,142,2510,2853,2761,3.0,-2.1,14,137,9.73,0.00,-12.75,0.000,18950,0.415,0.000,2206,2510,3339,3504,3174,0,0,0,0,0,0,14.19,28.83,14.74
$GC,450,-0.82,-146.0,2206,2510,3508,3173,77.1,-19.5,78,457,0.12,2.50,0.00,0.000,2564,0.308,0.098,2239,1086,3340,3508,3173,0,0,0,0,0,0,14.31,14.51,28.83
$GC,569,-0.76,-146.0,1344,1085,3500,3169,96.5,-16.3,99,576,0.15,2.55,0.00,0.000,3078,0.276,0.118,2264,2507,3340,3508,3173,0,0,0,0,0,0,14.39,14.50,28.83
$GC,888,-0.71,-146.0,2264,2507,3508,3172,148.6,-15.4,131,897,0.00,2.42,0.00,0.000,260,0.000,0.131,2256,3867,3340,3508,3172,0,0,0,0,0,0,28.83,14.47,28.83
$GC,954,-0.66,-146.0,2256,3867,3508,3171,159.0,-15.9,137,964,0.12,2.35,0.00,0.000,3078,0.239,0.084,2291,2487,3339,3508,3171,0,0,0,0,0,0,14.38,14.60,28.83
$GC,1267,-0.64,-146.0,2290,2487,3508,3171,199.5,-12.3,168,1275,0.00,2.40,0.00,0.000,516,0.000,0.104,2291,1095,3339,3508,3171,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1336,-0.63,-146.0,1408,1094,3500,3168,207.5,-12.1,174,1343,0.00,2.53,0.00,0.000,1030,0.000,0.119,2283,2504,3339,3508,3171,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1645,-0.61,-146.0,2283,2505,3508,3170,247.6,-12.4,205,1653,0.12,0.00,0.00,0.000,2054,0.275,0.000,2316,2505,3339,3508,3170,0,0,0,0,0,0,14.44,28.83,28.83
$GC,1955,-0.61,-146.0,2315,2505,3508,3171,278.7,-9.4,236,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2505,3339,3508,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2272,-0.61,-146.0,2316,2505,3508,3170,307.0,-8.7,267,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2505,3339,3508,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-0.61,-146.0,2316,2505,3508,3171,334.6,-9.2,298,2594,0.00,2.40,0.00,0.000,516,0.000,0.101,2316,1100,3339,3508,3171,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2614,-0.61,-146.0,2316,1100,3508,3171,337.4,-9.4,300,2620,0.00,2.50,0.00,0.000,1030,0.000,0.119,2313,2501,3339,3508,3171,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2922,-0.61,-146.0,2313,2501,3508,3171,366.1,-9.4,331,2931,0.00,2.45,0.00,0.000,260,0.000,0.133,2302,3870,3340,3509,3171,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2970,-0.61,-146.0,2302,3870,3508,3171,370.5,-9.6,335,2977,0.00,2.33,0.00,0.000,1030,0.000,0.083,2302,2490,3340,3509,3171,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3279,-0.61,-146.0,2302,2490,3509,3171,400.0,-9.6,366,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2491,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3594,-0.61,-146.0,2302,2491,3509,3171,429.5,-9.6,397,3604,0.00,2.40,0.00,0.000,516,0.000,0.099,2302,1097,3340,3509,3171,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3623,-0.61,-146.0,2303,1096,3509,3171,432.5,-9.7,399,3630,0.00,2.53,0.00,0.000,1030,0.000,0.119,2297,2508,3340,3509,3171,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3932,-0.61,-146.0,2298,2509,3509,3171,462.7,-9.6,430,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2509,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4247,-0.61,-146.0,2297,2508,3509,3171,492.1,-9.5,461,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2509,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4561,-0.72,-146.0,2297,2509,3510,3171,517.0,0.2,492,4570,0.00,2.47,0.00,0.000,260,0.000,0.143,2297,3867,3340,3509,3171,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,4651,end dive,NO_VERTICAL_VELOCITY
$STATE,4651,begin apogee
$GC,4667,-0.22,0.0,2297,2512,3510,3171,516.8,0.0,501,4829,0.43,0.00,150.23,2.404,10246,0.156,0.000,2433,2511,2741,2852,2631,0,0,0,0,0,0,14.57,28.83,13.02
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4836,0.91,146.0,2434,2511,2852,2631,516.7,0.0,518,5010,1.20,0.00,160.52,2.331,10758,0.144,0.000,2800,2512,2144,2235,2054,0,0,0,0,0,0,13.81,28.83,12.57
$GC,5317,0.85,146.0,2800,2512,2235,2044,467.5,12.9,566,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2510,2139,2235,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5632,0.78,146.0,2800,2512,2235,2042,427.5,13.0,597,5641,0.12,2.50,0.00,0.000,4356,0.262,0.135,2767,3871,2138,2235,2042,0,0,0,0,0,0,14.31,14.35,28.83
$GC,5691,0.72,146.0,2765,3871,2235,2042,419.6,13.1,602,5699,0.12,2.35,0.00,0.000,5126,0.266,0.089,2748,2513,2138,2235,2041,0,0,0,0,0,0,14.33,14.45,28.83
$GC,6001,0.70,146.0,2748,2513,2235,2041,389.6,9.7,633,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2513,2138,2235,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6316,0.68,146.0,2748,2513,2235,2040,359.9,9.5,664,6325,0.00,2.50,0.00,0.000,260,0.000,0.138,2747,3875,2137,2235,2040,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6393,0.64,146.0,2748,3875,2235,2040,350.8,11.4,671,6403,0.12,2.33,0.00,0.000,5126,0.222,0.089,2721,2509,2137,2235,2040,0,0,0,0,0,0,14.43,14.55,28.83
$GC,6705,0.64,146.8,2721,2509,2235,2040,324.4,8.2,702,6713,0.00,2.45,0.00,0.000,260,0.000,0.138,2721,3866,2137,2235,2040,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6773,0.62,146.8,1744,3866,2190,2035,318.1,10.0,708,6780,0.00,2.33,0.00,0.000,1030,0.000,0.089,2729,2504,2137,2235,2039,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7081,0.62,146.8,2729,2505,2235,2039,291.0,8.4,739,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2505,2137,2235,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7391,0.62,146.8,2729,2504,2235,2039,264.8,8.4,770,7400,0.00,2.40,0.00,0.000,516,0.000,0.106,2739,1110,2136,2235,2038,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7428,0.62,146.8,1792,1109,2190,2033,261.8,8.3,773,7435,0.00,2.50,0.00,0.000,1030,0.000,0.119,2739,2511,2136,2235,2037,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7737,0.63,152.1,2740,2511,2235,2038,235.5,8.0,804,7749,0.00,2.50,5.55,1.788,8452,0.000,0.137,2739,3871,2121,2221,2021,0,0,0,0,0,0,28.83,14.62,13.78
$GC,7839,0.60,152.1,1728,3871,2173,2017,226.6,9.4,813,7847,0.17,2.33,0.00,0.000,5126,0.240,0.088,2706,2506,2121,2220,2022,0,0,0,0,0,0,14.51,14.62,28.83
$GC,8149,0.70,203.2,2706,2506,2221,2022,205.1,6.2,844,8204,0.00,0.00,52.88,2.070,8198,0.000,0.000,2706,2506,1912,2014,1810,0,0,0,0,0,0,28.83,28.83,13.54
$GC,8511,0.78,240.6,2707,2506,2013,1804,180.8,6.8,880,8557,0.15,2.53,37.95,2.008,10756,0.140,0.105,2774,1100,1761,1856,1666,0,0,0,0,0,0,14.48,14.19,13.52
$GC,8576,0.78,240.6,2774,1100,1855,1665,175.0,10.5,886,8583,0.00,2.60,0.00,0.000,1030,0.000,0.119,2774,2515,1760,1855,1665,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8885,0.77,240.6,2774,2514,1850,1664,141.0,10.6,917,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2514,1756,1849,1664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9201,0.77,240.6,2774,2514,1850,1663,108.2,10.7,948,9210,0.00,2.45,0.00,0.000,260,0.000,0.138,2774,3868,1756,1849,1663,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9239,0.75,240.6,1792,3868,1809,1660,103.6,10.9,951,9247,0.12,2.33,0.00,0.000,5126,0.259,0.090,2755,2510,1755,1847,1663,0,0,0,0,0,0,14.46,14.57,28.83
$GC,9559,0.77,240.6,1728,2508,1807,1660,74.1,10.2,1009,9566,0.00,2.45,0.00,0.000,516,0.000,0.108,2764,1101,1755,1848,1663,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9653,0.80,240.6,2764,1101,1847,1662,64.7,8.9,1026,9660,0.00,2.53,0.00,0.000,1030,0.000,0.118,2764,2513,1754,1847,1662,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9977,0.84,258.5,1736,2511,1806,1659,38.7,7.5,1087,9992,0.00,2.55,8.77,0.282,8708,0.000,0.110,2774,1104,1687,1778,1596,0,0,0,0,0,0,28.83,14.57,14.42
$GC,10046,0.87,263.8,2774,1104,1778,1596,33.1,8.0,1098,10054,0.00,2.53,3.00,0.287,9222,0.000,0.119,2774,2513,1664,1755,1573,0,0,0,0,0,0,28.83,14.57,14.42
$GC,10373,0.89,263.8,2774,2512,1753,1572,7.5,8.4,1159,10381,0.00,2.45,0.00,0.000,260,0.000,0.138,2774,3869,1662,1753,1571,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10398,0.90,263.8,2774,3870,1752,1571,4.7,8.7,1162,10404,0.00,2.33,0.00,0.000,1030,0.000,0.089,2784,2506,1661,1752,1571,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,10414,end climb,SURFACE_DEPTH_REACHED
$STATE,10414,begin surface coast
$FINISH,1.0,1.025827
$STATE,10446,end surface coast,CONTROL_FINISHED_OK
$STATE,10446,begin surface
$SM_CCo,10475,69.28,0.158,0,0,1107,400.08
$SM_GC,2.07,7.75,0.00,69.28,0.090,0.000,0.158,140,2506,1107,-7.36,0.17,400.08,0,0,0,0,0,0,14.62,28.83,14.48
$RAFOS_CLK,460
$RAFOS,6,1382230151,0.833333,0.819722,87,60,60,57,52,51,805,206,141,112,166,191
$RAFOS,5,1382229669,0.700000,0.685833,61,60,60,56,55,54,166,132,221,201,211,122
$RAFOS,4,1382229183,0.566667,0.550833,80,70,68,54,52,51,904,217,196,115,134,433
$RAFOS,3,1382228701,0.433333,0.416944,82,65,60,53,50,50,1033,152,165,203,104,182
$RAFOS,2,1382228226,0.300000,0.285000,112,64,58,58,53,51,1075,197,217,184,166,145
$RAFOS,1,1382227750,0.166667,0.152778,115,70,62,59,55,54,1039,217,193,158,117,170
$RAFOS,0,1382227267,0.033333,0.018611,83,73,56,56,55,49,1180,214,135,191,118,179
$RAFOS_FIX,6706.278320,-5650.947266,201013,000014,6,93,0.79
$IRIDIUM_FIX,6631.12,-5658.34,191013,181841
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.46
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,14.40
$XPDR_PINGS,59
$24V_AH,12.6,83.358
$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,20.450,83.075,418.900,69.275,0.000,0.000,0.000,208.950,14.750,0.000,19.477,2875.179,4798.110,637.087,2020.474,638.096,0.000,1854.248,0.000,1823.180,2520.000,0.538,0.000
$DEVICE_MAMPS,414.630,143.055,2404.395,158.355,0.000,0.000,0.000,150.705,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150744
$DATA_FILE_SIZE,50064,1171
$CAP_FILE_SIZE,120671,0
$CFSIZE,259252224,236716032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.3
$CURRENT,0.255,347.9,1
$GPS,201013,011854,6704.368,-5650.013,47,0.9,47,-33.5