version: 66.11
glider: 192
mission: 2
dive: 276
start: 11 5 113 16 40 31
data:
$ID,192
$MISSION,2
$DIVE,276
$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,-1524.4484
$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,38
$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
$GPS1,051113,163259,6704.111,-5654.067,59,0.8,59,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-65.2
$GPS2,051113,163949,6704.128,-5654.269,5,0.8,5,-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,185.2,4986,-15.5,-8.250,-18.49,2720
$D_GRID,515
$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,-0.89,-146.0,105,2526,1116,1072,0.0,0.0,0,96,0.00,0.00,-72.57,0.000,16386,0.000,0.000,104,2526,2581,2629,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.89,-146.0,103,2526,2630,2533,3.5,-5.4,12,141,10.02,2.42,-18.95,0.000,19204,0.411,0.153,2205,3841,3338,3510,3166,0,0,0,0,0,0,14.09,14.35,14.73
$GC,378,-0.80,-146.0,1352,3840,3503,3164,65.3,-19.9,63,385,0.20,2.33,0.00,0.000,3078,0.275,0.083,2250,2486,3338,3511,3166,0,0,0,0,0,0,14.18,14.45,28.83
$GC,699,-0.74,-146.0,2250,2486,3511,3166,122.7,-17.6,112,707,0.00,2.33,0.00,0.000,516,0.000,0.103,2251,1162,3338,3511,3165,0,0,0,0,0,0,28.83,14.42,28.83
$GC,785,-0.69,-146.0,2251,1162,3511,3165,137.8,-17.5,120,794,0.12,2.40,0.00,0.000,3078,0.239,0.119,2278,2492,3337,3511,3163,0,0,0,0,0,0,14.18,14.33,28.83
$GC,1096,-0.66,-146.0,2278,2492,3511,3165,182.4,-13.6,151,1105,0.00,2.45,0.00,0.000,260,0.000,0.133,2269,3842,3338,3511,3165,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1173,-0.62,-146.0,2269,3842,3511,3164,193.5,-14.7,158,1182,0.12,2.28,0.00,0.000,3078,0.233,0.085,2304,2496,3338,3511,3165,0,0,0,0,0,0,14.20,14.44,28.83
$GC,1484,-0.61,-146.0,2305,2496,3511,3164,229.5,-11.6,189,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2496,3337,3510,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1799,-0.60,-146.0,2305,2496,3511,3165,262.6,-10.1,220,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2496,3338,3511,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2114,-0.59,-146.0,2305,2496,3511,3165,293.5,-9.7,251,2123,0.00,2.45,0.00,0.000,260,0.000,0.133,2297,3843,3338,3511,3165,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2152,-0.57,-146.0,1428,3843,3504,3162,297.7,-9.9,254,2159,0.00,2.30,0.00,0.000,1030,0.000,0.084,2296,2492,3338,3511,3165,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2461,-0.56,-146.0,2296,2492,3511,3166,330.3,-10.8,285,2469,0.12,0.00,0.00,0.000,2054,0.265,0.000,2329,2492,3338,3512,3165,0,0,0,0,0,0,14.29,28.83,28.83
$GC,2771,-0.57,-146.0,2329,2492,3512,3165,357.4,-8.4,316,2780,0.00,2.45,0.00,0.000,260,0.000,0.135,2321,3835,3338,3512,3165,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2806,-0.58,-146.0,2321,3835,3512,3166,360.6,-9.0,319,2815,0.00,2.25,0.00,0.000,1030,0.000,0.085,2321,2502,3339,3512,3166,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3118,-0.58,-146.0,2321,2502,3513,3165,391.0,-9.9,350,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2502,3339,3512,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3434,-0.58,-146.0,2321,2502,3512,3166,421.3,-9.6,381,3444,0.00,2.42,0.00,0.000,260,0.000,0.133,2311,3835,3339,3513,3165,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3470,-0.58,-146.0,2311,3835,3512,3166,425.4,-9.4,384,3479,0.00,2.28,0.00,0.000,1030,0.000,0.083,2311,2490,3339,3512,3166,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3781,-0.58,-146.0,2311,2490,3512,3165,455.4,-9.8,415,3789,0.00,2.47,0.00,0.000,260,0.000,0.135,2301,3839,3339,3512,3166,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3819,-0.58,-146.0,1440,3838,3505,3163,459.0,-9.6,418,3826,0.00,2.30,0.00,0.000,1030,0.000,0.083,2301,2486,3339,3512,3166,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4127,-0.58,-146.0,2301,2486,3513,3166,491.7,-11.1,449,4137,0.00,2.47,0.00,0.000,260,0.000,0.135,2291,3845,3339,3513,3166,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4166,-0.58,-146.0,1424,3844,3505,3164,495.7,-11.2,452,4174,0.12,2.30,0.00,0.000,3078,0.256,0.083,2319,2490,3339,3512,3166,0,0,0,0,0,0,14.30,14.54,28.83
$STATE,4359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4359,begin apogee
$GC,4377,-0.22,0.0,2319,2490,3513,3167,515.0,-9.3,472,4539,0.38,0.00,151.15,2.393,10246,0.213,0.000,2428,2490,2740,2851,2630,0,0,0,0,0,0,14.28,28.83,12.85
$STATE,4540,end apogee,CONTROL_FINISHED_OK
$STATE,4540,begin climb
$GC,4546,0.89,146.0,2428,2490,2853,2630,523.7,0.0,489,4720,1.23,0.00,163.80,2.310,10502,0.164,0.000,2786,2490,2144,2237,2052,0,0,0,0,0,0,13.66,28.83,12.45
$GC,5028,0.84,146.0,2785,2490,2238,2042,483.9,11.0,538,5038,0.00,2.55,0.00,0.000,260,0.000,0.135,2785,3846,2140,2238,2042,0,0,0,0,0,0,28.83,14.03,28.83
$GC,5108,0.77,146.0,2786,3846,2236,2042,474.4,12.9,545,5116,0.15,2.33,0.00,0.000,5126,0.259,0.087,2762,2514,2139,2237,2042,0,0,0,0,0,0,14.12,14.27,28.83
$GC,5418,0.74,146.0,2763,2513,2236,2041,443.8,9.4,576,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2513,2138,2236,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5734,0.70,146.0,2762,2513,2236,2040,414.7,8.9,607,5743,0.00,2.45,0.00,0.000,260,0.000,0.135,2762,3857,2138,2236,2041,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5803,0.65,146.0,2762,3857,2236,2041,407.1,11.1,613,5810,0.20,2.33,0.00,0.000,5126,0.238,0.088,2722,2500,2138,2236,2041,0,0,0,0,0,0,14.33,14.52,28.83
$GC,6112,0.70,178.1,2722,2500,2236,2040,384.0,7.0,644,6151,0.00,2.40,32.90,2.254,8708,0.000,0.108,2730,1170,2014,2114,1914,0,0,0,0,0,0,28.83,14.33,13.54
$GC,6193,0.72,184.9,2730,1169,2114,1913,377.9,8.0,652,6210,0.00,2.42,8.38,1.834,9222,0.000,0.118,2730,2515,1987,2089,1885,0,0,0,0,0,0,28.83,14.27,13.45
$GC,6513,0.72,184.9,2730,2515,2088,1883,351.7,8.6,684,6522,0.00,2.42,0.00,0.000,260,0.000,0.133,2730,3856,1985,2088,1883,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6553,0.72,184.9,2730,3856,2087,1883,348.4,9.2,687,6560,0.00,2.33,0.00,0.000,1030,0.000,0.087,2740,2499,1985,2088,1883,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6861,0.72,184.9,2740,2499,2088,1883,320.8,8.7,718,6871,0.00,2.30,0.00,0.000,516,0.000,0.107,2749,1173,1985,2088,1882,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6887,0.72,184.9,2749,1173,2087,1882,318.4,9.0,720,6895,0.00,2.38,0.00,0.000,1030,0.000,0.117,2749,2509,1984,2087,1882,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7198,0.72,184.9,2749,2510,2087,1882,290.1,8.7,751,7206,0.00,2.42,0.00,0.000,260,0.000,0.133,2749,3855,1984,2087,1882,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7276,0.70,184.9,1792,3854,2044,1878,282.3,10.8,758,7284,0.00,2.30,0.00,0.000,1030,0.000,0.087,2759,2509,1984,2087,1882,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7586,0.68,184.9,2759,2509,2087,1881,253.8,8.6,789,7595,0.00,2.33,0.00,0.000,516,0.000,0.107,2769,1174,1984,2087,1881,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7621,0.67,184.9,2769,1174,2087,1880,250.8,8.8,792,7631,0.12,2.38,0.00,0.000,5126,0.205,0.116,2732,2516,1983,2087,1880,0,0,0,0,0,0,14.32,14.42,28.83
$GC,7933,0.77,254.1,2732,2516,2087,1880,230.4,5.6,823,8010,0.00,2.58,70.10,2.030,8452,0.000,0.135,2732,3860,1704,1797,1612,0,0,0,0,0,0,28.83,14.13,13.41
$GC,8046,0.84,284.4,2732,3860,1795,1614,223.9,7.1,833,8086,0.12,2.38,32.67,1.944,11270,0.149,0.087,2785,2500,1582,1666,1498,0,0,0,0,0,0,14.25,14.24,13.36
$GC,8387,0.84,284.4,2786,2500,1661,1491,184.5,13.1,868,8396,0.00,2.35,0.00,0.000,516,0.000,0.108,2795,1159,1575,1660,1491,0,0,0,0,0,0,28.83,14.33,28.83
$GC,8416,0.84,284.4,2795,1159,1660,1490,180.9,13.2,870,8423,0.00,2.45,0.00,0.000,1030,0.000,0.116,2795,2517,1575,1660,1490,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8725,0.82,284.4,2795,2517,1659,1489,137.2,13.1,901,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2517,1574,1659,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9040,0.82,284.4,2795,2517,1659,1489,102.5,10.1,932,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2517,1573,1659,1488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9353,0.82,284.4,2795,2517,1659,1488,66.3,11.3,991,9360,0.00,2.42,0.00,0.000,260,0.000,0.136,2795,3851,1573,1659,1488,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9446,0.82,284.4,1792,3851,1627,1486,55.6,11.4,1008,9453,0.00,2.30,0.00,0.000,1030,0.000,0.089,2805,2503,1573,1658,1488,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9765,0.81,284.4,2806,2503,1657,1488,29.8,9.7,1069,9773,0.12,2.33,0.00,0.000,4612,0.262,0.107,2779,1172,1572,1657,1488,0,0,0,0,0,0,14.35,14.48,28.83
$GC,9840,0.95,356.7,2778,1172,1657,1487,25.3,5.5,1082,9884,0.12,2.40,38.12,0.226,11270,0.157,0.120,2826,2511,1284,1362,1207,0,0,0,0,0,0,14.54,14.48,14.35
$STATE,10071,end climb,SURFACE_DEPTH_REACHED
$STATE,10071,begin surface coast
$FINISH,0.9,1.025771
$STATE,10092,end surface coast,CONTROL_FINISHED_OK
$STATE,10093,begin surface
$SM_CCo,10121,21.70,0.159,0,0,1107,400.08
$SM_GC,1.94,7.93,0.00,21.70,0.086,0.000,0.159,144,2511,1107,-7.35,0.31,400.08,0,0,0,0,0,0,14.50,28.83,14.40
$RAFOS_CLK,438
$RAFOS,6,1383670142,16.833334,16.817223,76,64,62,60,59,57,170,223,206,188,840,138
$RAFOS,5,1383669663,16.700001,16.684166,64,63,56,55,54,51,196,169,185,207,115,139
$RAFOS,3,1383668706,16.433332,16.418333,60,59,56,54,54,50,176,197,136,187,117,213
$RAFOS_FIX,6659.508301,-5718.634277,041113,121244,3,105,0.55
$IRIDIUM_FIX,6620.33,-5719.17,051113,131353
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.62
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,14.30
$XPDR_PINGS,64
$24V_AH,12.5,120.609
$10V_AH,12.8,0.000
$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,21.100,90.425,497.125,21.700,0.000,0.000,0.000,232.850,16.000,0.000,6.698,2706.876,4583.084,643.777,1997.914,617.689,0.000,1895.294,0.000,1787.586,720.000,0.538,0.000
$DEVICE_MAMPS,410.805,153.000,2392.920,159.120,0.000,0.000,0.000,153.765,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150800
$DATA_FILE_SIZE,50054,1129
$CAP_FILE_SIZE,118819,0
$CFSIZE,259252224,229933056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.7
$CURRENT,0.062,308.0,1
$GPS,051113,193105,6703.058,-5653.274,27,1.2,27,-33.5