version: 66.11
glider: 192
mission: 2
dive: 278
start: 11 5 113 22 50 10
data:
$ID,192
$MISSION,2
$DIVE,278
$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,-1527.0515
$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,36
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,051113,224105,6702.870,-5647.802,29,1.0,29,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-65.8
$GPS2,051113,224931,6702.843,-5647.572,5,1.0,5,-33.5
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,291.1,163560,-15.5,-8.250,-18.49,2720
$D_GRID,532
$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,-146.0,106,2500,1119,1073,0.0,0.0,0,103,0.00,0.00,-80.65,0.000,16386,0.000,0.000,104,2500,2744,2791,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.89,-146.0,104,2500,2791,2698,3.4,-3.3,14,143,9.95,2.22,-13.52,0.000,19204,0.405,0.122,2213,1230,3339,3507,3172,0,0,0,0,0,0,14.07,14.39,14.74
$GC,155,-0.68,-146.0,2213,1230,3509,3172,14.7,-23.8,20,162,0.32,2.30,0.00,0.000,3078,0.278,0.117,2284,2499,3340,3509,3172,0,0,0,0,0,0,14.15,14.35,28.83
$GC,475,-0.63,-146.0,2284,2500,3510,3171,74.1,-18.8,81,481,0.00,2.25,0.00,0.000,516,0.000,0.101,2284,1221,3340,3510,3170,0,0,0,0,0,0,28.83,14.40,28.83
$GC,718,-0.60,-146.0,2284,1221,3510,3170,110.6,-13.7,120,727,0.10,2.30,0.00,0.000,3078,0.230,0.119,2307,2490,3340,3510,3170,0,0,0,0,0,0,14.17,14.31,28.83
$GC,1029,-0.59,-146.0,2307,2490,3510,3169,146.0,-10.9,151,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2490,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-0.57,-146.0,2307,2490,3510,3169,180.2,-10.8,182,1355,0.00,2.33,0.00,0.000,260,0.000,0.134,2299,3773,3339,3510,3169,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1372,-0.56,-146.0,2299,3773,3509,3169,183.8,-10.7,184,1382,0.08,2.15,0.00,0.000,3078,0.234,0.086,2321,2498,3339,3510,3169,0,0,0,0,0,0,14.21,14.42,28.83
$GC,1684,-0.56,-146.0,2321,2498,3510,3169,216.0,-10.6,215,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2498,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,-0.56,-146.0,2321,2498,3510,3169,247.8,-9.9,246,2003,0.00,2.20,0.00,0.000,516,0.000,0.103,2321,1235,3339,3510,3168,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2027,-0.56,-146.0,1440,1235,3502,3166,250.8,-9.8,248,2034,0.00,2.30,0.00,0.000,1030,0.000,0.122,2315,2503,3339,3510,3169,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2336,-0.56,-146.0,2315,2503,3510,3169,282.0,-9.6,279,2345,0.00,2.30,0.00,0.000,260,0.000,0.135,2305,3777,3339,3510,3169,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2385,-0.56,-146.0,2306,3776,3510,3169,286.6,-9.9,283,2392,0.00,2.17,0.00,0.000,1030,0.000,0.083,2306,2495,3340,3511,3169,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2693,-0.56,-146.0,2306,2495,3510,3169,318.0,-10.1,314,2703,0.00,2.30,0.00,0.000,260,0.000,0.134,2296,3767,3339,3509,3169,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2729,-0.56,-146.0,2296,3766,3510,3169,321.7,-10.3,317,2739,0.12,2.15,0.00,0.000,3078,0.257,0.084,2323,2501,3339,3510,3169,0,0,0,0,0,0,14.31,14.54,28.83
$GC,3040,-0.57,-146.0,2324,2501,3511,3169,349.8,-8.9,348,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2501,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3357,-0.58,-146.0,2324,2501,3512,3169,376.2,-8.5,379,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2501,3340,3512,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.59,-146.0,2324,2501,3512,3169,401.9,-8.2,410,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2501,3341,3513,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3986,-0.60,-146.0,2324,2501,3513,3170,427.4,-8.0,441,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2501,3341,3513,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,-0.62,-146.0,2324,2501,3513,3169,452.7,-8.2,472,4308,0.00,2.30,0.00,0.000,260,0.000,0.135,2316,3766,3341,3513,3170,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4338,-0.63,-146.0,1440,3766,3506,3166,456.1,-8.3,475,4344,0.00,2.15,0.00,0.000,1030,0.000,0.084,2316,2501,3341,3513,3170,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4646,-0.63,-146.0,2317,2501,3513,3169,482.6,-8.4,506,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2501,3342,3514,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4962,-0.74,-146.0,2316,2500,3514,3170,499.3,0.3,537,4971,0.12,2.30,0.00,0.000,4356,0.161,0.132,2265,3767,3342,3514,3170,0,0,0,0,0,0,14.54,14.28,28.83
$STATE,5002,end dive,NO_VERTICAL_VELOCITY
$STATE,5002,begin apogee
$GC,5018,-0.22,0.0,2265,2515,3513,3171,499.2,0.0,541,5180,0.55,0.00,150.32,2.320,10246,0.151,0.000,2438,2514,2741,2852,2630,0,0,0,0,0,0,14.37,28.83,12.90
$STATE,5181,end apogee,CONTROL_FINISHED_OK
$STATE,5181,begin climb
$GC,5187,0.89,146.0,2437,2514,2852,2630,498.9,0.0,558,5364,1.15,2.55,162.52,2.268,10756,0.142,0.125,2795,1236,2144,2235,2054,0,0,0,0,0,0,13.72,13.24,12.46
$GC,5601,1.22,360.6,1808,1236,2189,2038,498.3,0.1,598,5855,0.32,2.38,238.85,2.260,11270,0.107,0.115,2906,2514,1270,1330,1210,0,0,0,0,0,0,14.08,14.00,12.48
$GC,6158,1.10,360.6,2906,2514,1327,1203,398.7,27.8,654,6168,0.15,2.35,0.00,0.000,4356,0.295,0.130,2870,3783,1264,1326,1203,0,0,0,0,0,0,14.00,14.07,28.83
$GC,6300,1.02,360.6,2870,3783,1326,1203,362.9,23.8,667,6311,0.12,2.20,0.00,0.000,5126,0.250,0.092,2844,2510,1264,1326,1202,0,0,0,0,0,0,14.13,14.29,28.83
$GC,6612,0.95,360.6,2844,2509,1326,1200,297.1,20.9,698,6621,0.00,2.22,0.00,0.000,516,0.000,0.111,2853,1234,1263,1326,1200,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6662,0.91,360.6,2853,1233,1325,1199,288.1,20.2,702,6669,0.20,2.30,0.00,0.000,5126,0.243,0.118,2802,2510,1262,1326,1198,0,0,0,0,0,0,14.34,14.45,28.83
$GC,6971,0.89,360.6,2802,2510,1325,1198,237.0,15.5,733,6980,0.00,2.22,0.00,0.000,516,0.000,0.112,2810,1242,1261,1325,1198,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7010,0.87,360.6,1824,1242,1308,1196,231.3,15.7,736,7016,0.00,2.28,0.00,0.000,1030,0.000,0.118,2810,2510,1261,1325,1197,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7318,0.85,360.6,2810,2510,1325,1197,184.1,14.8,767,7327,0.00,2.22,0.00,0.000,516,0.000,0.112,2820,1240,1261,1325,1197,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7347,0.83,360.6,1824,1239,1308,1196,180.3,14.0,769,7355,0.15,2.28,0.00,0.000,5126,0.236,0.118,2782,2510,1261,1325,1197,0,0,0,0,0,0,14.40,14.50,28.83
$GC,7657,0.84,360.6,2781,2510,1325,1196,143.7,11.6,800,7661,0.00,2.25,0.00,0.000,516,0.000,0.112,2789,1233,1260,1325,1196,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7694,0.86,360.6,2789,1232,1325,1196,139.6,11.5,803,7698,0.00,2.30,0.00,0.000,1030,0.000,0.118,2789,2512,1260,1325,1196,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8009,0.86,360.6,2789,2512,1325,1196,101.4,12.4,834,8018,0.00,2.25,0.00,0.000,516,0.000,0.111,2797,1234,1260,1325,1195,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8045,0.88,360.6,2798,1233,1325,1196,97.3,12.0,838,8052,0.00,2.30,0.00,0.000,1030,0.000,0.118,2798,2519,1260,1325,1195,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8365,0.89,360.6,2797,2519,1325,1196,60.8,10.9,899,8373,0.00,2.30,0.00,0.000,260,0.000,0.136,2797,3784,1260,1325,1195,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8444,0.91,360.6,1792,3784,1307,1194,52.1,10.3,913,8451,0.00,2.20,0.00,0.000,1030,0.000,0.090,2807,2495,1260,1325,1195,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8763,0.93,360.6,2807,2494,1325,1195,24.3,8.8,974,8770,0.00,2.20,0.00,0.000,516,0.000,0.110,2816,1242,1260,1325,1195,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8817,0.95,360.6,1808,1241,1307,1194,19.1,8.3,983,8825,0.00,2.30,0.00,0.000,1030,0.000,0.120,2816,2520,1260,1325,1195,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,8971,end climb,SURFACE_DEPTH_REACHED
$STATE,8971,begin surface coast
$FINISH,1.3,1.025821
$STATE,8994,end surface coast,CONTROL_FINISHED_OK
$STATE,8994,begin surface
$SM_CCo,9022,19.45,0.160,0,0,1108,400.08
$SM_GC,2.31,7.95,0.00,19.45,0.095,0.000,0.160,137,2521,1108,-7.36,0.59,400.08,0,0,0,0,0,0,14.57,28.83,14.43
$RAFOS_CLK,392
$RAFOS,6,1383698942,0.833333,0.817222,63,62,61,52,49,48,194,153,211,120,131,234
$RAFOS,5,1383698462,0.700000,0.683889,64,58,58,57,57,57,123,140,664,200,215,179
$RAFOS,4,1383697982,0.566667,0.550556,64,58,51,51,51,50,215,175,143,187,161,120
$RAFOS,3,1383697502,0.433333,0.417222,60,53,51,50,49,48,167,204,106,155,91,217
$RAFOS,2,1383697021,0.300000,0.283611,63,58,58,52,49,48,197,180,221,121,153,234
$RAFOS,1,1383696550,0.166667,0.152778,61,61,57,55,53,49,127,170,207,184,152,109
$RAFOS,0,1383696067,0.033333,0.018611,68,68,54,54,51,47,196,214,164,175,121,137
$RAFOS_FIX,6659.508301,-5718.634277,041113,121244,3,105,0.55
$IRIDIUM_FIX,6625.71,-5653.52,051113,191953
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.29
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,14.40
$XPDR_PINGS,54
$24V_AH,12.5,121.362
$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,21.300,77.150,551.700,19.450,0.000,0.000,0.000,281.150,13.500,0.000,6.672,2442.097,3976.835,640.273,1917.684,567.108,0.000,1895.890,0.000,1658.156,2520.000,0.538,0.000
$DEVICE_MAMPS,405.450,136.170,2320.245,159.885,0.000,0.000,0.000,146.115,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150756
$DATA_FILE_SIZE,43424,1016
$CAP_FILE_SIZE,110048,0
$CFSIZE,259252224,229826560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.0
$CURRENT,0.210, 15.5,1
$GPS,061113,012322,6703.570,-5649.532,85,1.0,85,-33.5