version: 66.11
glider: 192
mission: 2
dive: 196
start: 10 20 113 4 20 16
data:
$ID,192
$MISSION,2
$DIVE,196
$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,-1400.2089
$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,17
$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
$GPS1,201013,041305,6704.200,-5651.224,26,1.8,26,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-68.5
$GPS2,201013,041929,6704.205,-5651.496,6,1.7,6,-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,176.6,3369,-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,-146.0,140,2510,1109,1081,0.0,0.0,0,104,0.00,0.00,-82.28,0.000,16386,0.000,0.000,140,2511,2814,2860,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.89,-146.0,140,2511,2860,2769,3.0,-2.0,14,144,9.77,2.55,-12.27,0.000,18948,0.416,0.122,2213,1096,3339,3505,3174,0,0,0,0,0,0,14.21,14.42,14.73
$GC,351,-0.81,-146.0,2213,1095,3506,3173,55.1,-20.7,58,359,0.17,2.55,0.00,0.000,3078,0.281,0.123,2244,2499,3339,3506,3173,0,0,0,0,0,0,14.36,14.48,28.83
$GC,672,-0.74,-146.0,2244,2499,3507,3173,109.8,-15.8,113,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2499,3339,3506,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,987,-0.68,-146.0,2244,2499,3506,3172,157.9,-15.3,144,996,0.15,2.45,0.00,0.000,2564,0.285,0.102,2285,1089,3339,3506,3172,0,0,0,0,0,0,14.42,14.54,28.83
$GC,1074,-0.66,-146.0,2285,1089,3506,3172,170.4,-12.1,152,1082,0.00,2.50,0.00,0.000,1030,0.000,0.120,2277,2495,3339,3506,3172,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1384,-0.63,-146.0,2277,2495,3506,3171,213.4,-13.8,183,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2495,3338,3506,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1694,-0.60,-146.0,1408,2493,3498,3168,254.2,-12.5,214,1700,0.12,0.00,0.00,0.000,2054,0.278,0.000,2310,2495,3339,3507,3171,0,0,0,0,0,0,14.45,28.83,28.83
$GC,2004,-0.60,-146.0,2310,2495,3506,3171,287.3,-10.1,245,2012,0.00,2.45,0.00,0.000,260,0.000,0.135,2302,3866,3339,3507,3171,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2031,-0.60,-146.0,1440,3865,3499,3168,289.9,-10.4,247,2039,0.00,2.33,0.00,0.000,1030,0.000,0.085,2301,2489,3338,3506,3171,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2342,-0.59,-146.0,2302,2489,3506,3170,323.9,-10.8,278,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2489,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,-0.59,-146.0,2301,2489,3507,3171,357.3,-10.7,309,2666,0.00,2.50,0.00,0.000,260,0.000,0.138,2292,3870,3339,3507,3171,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2716,-0.57,-146.0,2292,3870,3507,3171,364.4,-11.5,314,2723,0.12,2.33,0.00,0.000,3078,0.262,0.083,2320,2491,3339,3507,3171,0,0,0,0,0,0,14.50,14.66,28.83
$GC,3025,-0.57,-146.0,2319,2491,3507,3171,393.1,-8.8,345,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2491,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3342,-0.57,-146.0,2319,2491,3507,3171,420.8,-9.0,376,3351,0.00,2.50,0.00,0.000,260,0.000,0.139,2311,3872,3338,3506,3171,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3397,-0.57,-146.0,2310,3871,3507,3171,426.8,-9.4,381,3406,0.00,2.30,0.00,0.000,1030,0.000,0.085,2311,2498,3338,3506,3171,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3708,-0.57,-146.0,2311,2498,3507,3171,457.4,-10.0,412,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2498,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4023,-0.57,-146.0,2311,2498,3508,3171,487.9,-9.9,443,4033,0.00,2.40,0.00,0.000,516,0.000,0.103,2311,1101,3339,3508,3171,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4069,-0.57,-146.0,2310,1101,3508,3171,493.0,-9.7,447,4079,0.00,2.47,0.00,0.000,1030,0.000,0.122,2301,2494,3339,3508,3171,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,4083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4084,begin apogee
$GC,4096,-0.22,0.0,2302,2494,3508,3171,495.0,-9.9,449,4261,0.45,0.00,149.12,2.398,10246,0.207,0.000,2433,2494,2742,2852,2632,0,0,0,0,0,0,14.50,28.83,13.03
$STATE,4262,end apogee,CONTROL_FINISHED_OK
$STATE,4262,begin climb
$GC,4268,0.89,146.0,2434,2494,2852,2632,502.9,0.0,466,4444,1.17,2.78,161.00,2.302,10756,0.163,0.107,2794,1109,2144,2236,2053,0,0,0,0,0,0,13.81,13.28,12.59
$GC,4472,0.84,146.0,2794,1108,2236,2050,490.4,10.3,486,4480,0.00,2.70,0.00,0.000,1030,0.000,0.117,2794,2506,2143,2236,2050,0,0,0,0,0,0,28.83,13.53,28.83
$GC,4782,0.77,146.0,2794,2506,2236,2043,453.1,12.4,517,4792,0.12,2.53,0.00,0.000,4356,0.273,0.133,2763,3870,2139,2236,2043,0,0,0,0,0,0,14.10,14.12,28.83
$GC,4842,0.71,146.0,2763,3870,2236,2042,446.1,12.9,522,4850,0.12,2.38,0.00,0.000,5126,0.272,0.089,2744,2510,2139,2236,2042,0,0,0,0,0,0,14.16,14.28,28.83
$GC,5152,0.69,146.0,2744,2510,2236,2042,416.0,9.2,553,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2510,2139,2236,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5469,0.66,146.0,2745,2510,2236,2041,388.0,8.6,584,5478,0.00,2.45,0.00,0.000,260,0.000,0.138,2743,3868,2138,2236,2041,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5498,0.63,146.0,2744,3868,2236,2041,385.0,8.9,586,5505,0.15,2.33,0.00,0.000,5126,0.256,0.089,2717,2510,2138,2236,2041,0,0,0,0,0,0,14.44,14.56,28.83
$GC,5807,0.69,183.7,2717,2510,2236,2040,363.0,6.8,617,5854,0.00,2.55,37.90,2.212,8452,0.000,0.138,2718,3871,1992,2093,1892,0,0,0,0,0,0,28.83,14.24,13.54
$GC,5893,0.69,183.7,1760,3871,2049,1888,356.9,8.6,625,5900,0.00,2.38,0.00,0.000,1030,0.000,0.088,2726,2507,1992,2091,1893,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6202,0.70,190.0,2726,2507,2090,1890,331.6,8.0,656,6219,0.00,2.50,7.68,1.885,8452,0.000,0.138,2726,3869,1967,2067,1867,0,0,0,0,0,0,28.83,14.42,13.64
$GC,6246,0.70,190.0,2726,3870,2066,1867,327.6,9.1,660,6255,0.00,2.35,0.00,0.000,1030,0.000,0.088,2736,2502,1966,2066,1867,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6557,0.70,190.0,2736,2502,2067,1865,299.2,9.1,691,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2502,1966,2066,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6873,0.70,190.0,2736,2502,2066,1865,270.7,8.8,722,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2501,1965,2066,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7187,0.70,190.0,2736,2502,2066,1863,243.3,8.7,753,7195,0.00,2.47,0.00,0.000,260,0.000,0.139,2736,3871,1964,2066,1863,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7222,0.70,190.0,2736,3871,2066,1863,239.5,9.1,756,7231,0.00,2.33,0.00,0.000,1030,0.000,0.089,2746,2505,1964,2066,1863,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7533,0.71,201.1,2746,2505,2066,1863,212.8,7.8,787,7552,0.00,2.45,12.12,2.023,8708,0.000,0.107,2756,1103,1922,2023,1821,0,0,0,0,0,0,28.83,14.57,13.76
$GC,7589,0.71,201.1,2756,1102,2024,1820,208.4,8.3,792,7598,0.00,2.50,0.00,0.000,1030,0.000,0.120,2756,2505,1921,2023,1820,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7900,0.70,201.1,2756,2504,2023,1819,180.6,8.8,823,7910,0.00,2.45,0.00,0.000,260,0.000,0.136,2756,3871,1920,2023,1818,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7930,0.69,201.1,2756,3871,2023,1819,177.8,9.4,825,7938,0.15,2.33,0.00,0.000,5126,0.248,0.090,2730,2507,1920,2023,1818,0,0,0,0,0,0,14.50,14.61,28.83
$GC,8240,0.76,242.5,2730,2508,2023,1818,154.4,6.7,856,8289,0.00,2.50,43.17,2.057,8708,0.000,0.107,2738,1105,1751,1847,1656,0,0,0,0,0,0,28.83,14.26,13.59
$GC,8333,0.80,254.9,2738,1105,1846,1655,148.1,7.8,864,8353,0.00,2.55,13.65,1.868,9222,0.000,0.119,2738,2512,1702,1795,1609,0,0,0,0,0,0,28.83,14.30,13.55
$GC,8665,0.82,254.9,2738,2513,1793,1607,117.7,9.3,897,8675,0.12,2.45,0.00,0.000,2308,0.146,0.135,2790,3870,1700,1792,1608,0,0,0,0,0,0,14.52,14.40,28.83
$GC,8692,0.82,254.9,2790,3870,1790,1607,114.7,9.9,899,8702,0.00,2.35,0.00,0.000,1030,0.000,0.090,2801,2509,1699,1791,1608,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9008,0.81,254.9,1792,2507,1754,1604,76.4,10.7,949,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2509,1698,1790,1607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9325,0.80,254.9,2801,2509,1789,1606,43.8,9.1,1010,9333,0.12,2.50,0.00,0.000,4356,0.254,0.137,2767,3877,1698,1789,1607,0,0,0,0,0,0,14.45,14.54,28.83
$GC,9387,0.80,254.9,2767,3877,1788,1607,38.2,9.2,1020,9393,0.00,2.35,0.00,0.000,1030,0.000,0.091,2776,2503,1697,1788,1607,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9704,0.81,262.2,1792,2501,1753,1604,13.9,8.0,1081,9717,0.00,2.50,3.38,0.223,8708,0.000,0.108,2786,1102,1669,1759,1580,0,0,0,0,0,0,28.83,14.53,14.50
$GC,9819,0.83,271.0,1760,1102,1722,1576,4.8,7.9,1101,9832,0.00,2.53,4.45,0.189,9222,0.000,0.119,2786,2521,1633,1722,1544,0,0,0,0,0,0,28.83,14.58,14.50
$STATE,9838,end climb,SURFACE_DEPTH_REACHED
$STATE,9838,begin surface coast
$FINISH,1.0,1.001332
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9898,65.90,0.166,0,0,1109,400.08
$SM_GC,1.87,7.65,0.00,65.90,0.079,0.000,0.166,142,2521,1109,-7.35,0.59,400.08,0,0,0,0,0,0,14.62,28.83,14.48
$RAFOS_CLK,436
$RAFOS,6,1382244544,4.833333,4.817778,109,62,62,62,59,57,847,147,200,131,213,182
$RAFOS,5,1382244063,4.700000,4.684166,78,62,57,56,52,51,669,199,210,170,219,152
$RAFOS,4,1382243591,4.566667,4.553056,103,62,62,58,50,49,860,200,153,174,218,117
$RAFOS,3,1382243105,4.433333,4.418056,115,67,60,57,51,51,1003,219,189,142,202,154
$RAFOS,1,1382242145,4.166667,4.151389,66,60,55,54,53,51,194,174,148,135,215,158
$RAFOS_FIX,6705.641602,-5650.890625,201013,040438,5,100,3.45
$IRIDIUM_FIX,6636.54,-5652.31,201013,010141
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.26
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,14.50
$XPDR_PINGS,69
$24V_AH,12.6,84.042
$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,20.425,88.500,432.475,65.900,0.000,0.000,0.000,224.375,17.250,0.000,6.701,2718.378,4445.856,656.550,1938.392,607.592,0.000,1863.077,0.000,1733.704,1440.000,0.538,0.000
$DEVICE_MAMPS,416.160,139.230,2397.510,166.005,0.000,0.000,0.000,140.760,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,46732,1110
$CAP_FILE_SIZE,117111,0
$CFSIZE,259252224,236597248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.6
$CURRENT,0.117,265.9,1
$GPS,201013,070805,6703.056,-5650.876,30,0.9,30,-33.5