version: 66.11
glider: 192
mission: 2
dive: 465
start: 12 14 113 1 6 19
data:
$ID,192
$MISSION,2
$DIVE,465
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9034.4043
$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,24
$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,10
$MINV_10V,9.5
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$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
$GPS1,141213,005657,6704.690,-5652.459,134,1.4,138,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-57.7
$GPS2,141213,010536,6704.654,-5652.550,4,1.3,4,-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,192.3,4491,-15.5,-8.250,-18.49,2720
$D_GRID,491
$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,19,-0.89,-146.0,96,2484,1123,1071,0.0,0.0,0,112,0.00,0.00,-90.03,0.000,16386,0.000,0.000,95,2484,2819,2868,2771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.89,-146.0,95,2484,2868,2771,3.5,-4.9,15,147,10.32,1.65,-11.65,0.000,18692,0.412,0.154,2209,3356,3339,3496,3183,0,0,0,0,0,0,13.91,14.35,14.80
$GC,385,-0.80,-146.0,1344,3355,3496,3175,63.1,-21.7,64,392,0.17,1.50,0.00,0.000,3078,0.270,0.083,2249,2479,3340,3504,3177,0,0,0,0,0,0,14.14,14.44,28.83
$GC,705,-0.75,-146.0,2249,2479,3504,3176,115.1,-14.7,115,708,0.00,1.45,0.00,0.000,516,0.000,0.097,2249,1662,3340,3504,3176,0,0,0,0,0,0,28.83,14.36,28.83
$GC,875,-0.70,-146.0,2249,1662,3504,3175,138.4,-13.4,131,879,0.15,1.50,0.00,0.000,3078,0.272,0.116,2278,2501,3339,3504,3175,0,0,0,0,0,0,14.19,14.36,28.83
$GC,1191,-0.67,-146.0,2279,2501,3504,3175,176.5,-11.8,162,1195,0.00,1.52,0.00,0.000,260,0.000,0.129,2274,3349,3339,3504,3174,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1230,-0.65,-146.0,1408,3348,3497,3171,180.8,-12.4,165,1236,0.00,1.50,0.00,0.000,1030,0.000,0.083,2274,2467,3339,3504,3174,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1538,-0.62,-146.0,2274,2466,3504,3175,217.7,-11.9,196,1545,0.12,0.00,0.00,0.000,2054,0.272,0.000,2306,2466,3339,3504,3174,0,0,0,0,0,0,14.26,28.83,28.83
$GC,1849,-0.62,-146.0,2306,2467,3506,3175,248.8,-9.8,227,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2467,3340,3505,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2163,-0.62,-146.0,2307,2467,3506,3175,280.4,-10.4,258,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2467,3340,3506,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2478,-0.62,-146.0,2306,2467,3507,3174,311.3,-9.7,289,2482,0.00,1.65,0.00,0.000,260,0.000,0.128,2302,3345,3341,3507,3175,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2536,-0.62,-146.0,2302,3345,3507,3175,317.2,-9.3,294,2544,0.00,1.48,0.00,0.000,1030,0.000,0.081,2301,2501,3340,3507,3174,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2846,-0.62,-146.0,2302,2501,3509,3175,346.9,-9.7,325,2850,0.00,1.48,0.00,0.000,516,0.000,0.094,2302,1664,3342,3509,3175,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2922,-0.62,-146.0,2302,1664,3509,3175,353.9,-9.2,332,2925,0.00,1.50,0.00,0.000,1030,0.000,0.116,2296,2505,3341,3508,3175,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3237,-0.62,-146.0,2296,2506,3510,3175,384.4,-10.0,363,3241,0.00,1.55,0.00,0.000,260,0.000,0.125,2290,3347,3342,3509,3175,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3276,-0.62,-146.0,2290,3347,3510,3175,388.0,-9.9,366,3283,0.00,1.48,0.00,0.000,1030,0.000,0.080,2290,2499,3342,3509,3175,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3585,-0.61,-146.0,2289,2499,3510,3175,418.8,-9.9,397,3589,0.00,1.48,0.00,0.000,516,0.000,0.093,2289,1658,3342,3510,3175,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3651,-0.61,-146.0,2289,1657,3510,3175,425.4,-10.0,403,3656,0.08,1.55,0.00,0.000,3078,0.227,0.113,2305,2504,3342,3510,3175,0,0,0,0,0,0,14.16,14.31,28.83
$GC,3968,-0.61,-146.0,2305,2504,3511,3175,452.3,-9.0,434,3972,0.00,1.50,0.00,0.000,260,0.000,0.125,2301,3347,3343,3511,3175,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4026,-0.61,-146.0,2301,3347,3511,3175,457.3,-8.8,439,4033,0.00,1.48,0.00,0.000,1030,0.000,0.080,2301,2500,3343,3511,3175,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4335,-0.61,-146.0,2301,2500,3512,3175,485.7,-9.6,470,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2500,3343,3512,3175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4389,begin apogee
$GC,4402,-0.22,0.0,2301,2500,3512,3175,491.5,-9.8,476,4568,0.47,0.00,152.57,2.297,10246,0.214,0.000,2434,2500,2742,2853,2631,0,0,0,0,0,0,14.16,28.83,12.59
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4575,0.89,146.0,2434,2500,2853,2630,499.0,0.0,493,4744,1.20,0.00,164.00,2.211,10502,0.152,0.000,2792,2500,2145,2241,2050,0,0,0,0,0,0,13.71,28.83,12.14
$GC,5047,0.85,146.0,2791,2500,2241,2041,460.5,10.9,541,5051,0.00,1.60,0.00,0.000,260,0.000,0.128,2792,3352,2141,2241,2041,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5163,0.80,146.0,2791,3352,2241,2041,447.6,10.7,552,5167,0.12,1.50,0.00,0.000,5126,0.259,0.086,2770,2508,2140,2240,2041,0,0,0,0,0,0,14.28,14.43,28.83
$GC,5481,0.77,146.0,2770,2508,2240,2039,419.5,8.9,583,5485,0.00,1.58,0.00,0.000,260,0.000,0.128,2770,3353,2140,2241,2039,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5527,0.74,146.0,2770,3353,2239,2039,415.2,9.1,587,5531,0.00,1.48,0.00,0.000,1030,0.000,0.085,2774,2513,2140,2241,2039,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5845,0.71,146.0,2774,2513,2241,2038,386.0,9.2,618,5852,0.12,0.00,0.00,0.000,4102,0.251,0.000,2741,2513,2139,2241,2038,0,0,0,0,0,0,14.35,28.83,28.83
$GC,6155,0.76,178.6,2741,2513,2241,2038,362.7,7.0,649,6194,0.00,1.60,33.62,2.095,8452,0.000,0.130,2741,3356,2012,2116,1909,0,0,0,0,0,0,28.83,14.35,13.25
$GC,6239,0.76,178.6,2740,3356,2116,1908,356.3,8.5,657,6246,0.00,1.50,0.00,0.000,1030,0.000,0.083,2745,2487,2012,2116,1908,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6548,0.78,188.7,2745,2486,2116,1905,330.8,7.9,688,6563,0.00,0.00,11.73,1.926,8710,0.000,0.000,2745,2486,1972,2077,1867,0,0,0,0,0,0,28.83,28.83,13.35
$GC,6868,0.78,191.3,2745,2486,2077,1865,305.0,8.2,720,6875,0.00,0.00,3.95,1.409,8198,0.000,0.000,2745,2486,1961,2067,1856,0,0,0,0,0,0,28.83,28.83,13.21
$GC,7180,0.80,205.1,2745,2486,2067,1856,280.2,7.7,751,7205,0.00,1.58,16.17,1.942,8452,0.000,0.125,2745,3361,1904,2011,1798,0,0,0,0,0,0,28.83,14.50,13.40
$GC,7242,0.80,205.1,2745,3360,2012,1798,274.9,9.1,757,7245,0.00,1.50,0.00,0.000,1030,0.000,0.084,2751,2479,1904,2011,1797,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7557,0.80,205.1,2751,2479,2011,1795,247.2,9.1,788,7561,0.00,1.60,0.00,0.000,260,0.000,0.126,2751,3366,1903,2011,1795,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7605,0.80,205.1,2751,3366,2011,1795,243.0,9.1,792,7612,0.00,1.50,0.00,0.000,1030,0.000,0.083,2757,2487,1903,2011,1795,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7915,0.80,205.1,2758,2487,2011,1794,215.3,8.8,823,7918,0.00,1.60,0.00,0.000,260,0.000,0.128,2758,3350,1903,2012,1795,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7961,0.80,205.1,2758,3350,2011,1794,211.0,9.4,827,7965,0.00,1.48,0.00,0.000,1030,0.000,0.084,2764,2507,1902,2011,1794,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8277,0.81,207.2,2764,2507,2011,1794,183.5,8.2,858,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2508,1902,2011,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8592,0.81,207.2,2764,2507,2011,1794,156.5,8.9,889,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2507,1902,2011,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8905,0.81,207.2,2764,2507,2011,1793,129.1,8.9,920,8909,0.00,1.58,0.00,0.000,260,0.000,0.123,2764,3354,1902,2011,1793,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8955,0.81,207.2,1792,3354,1968,1789,124.6,8.8,924,8962,0.00,1.48,0.00,0.000,1030,0.000,0.082,2770,2512,1902,2011,1793,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9265,0.84,232.3,2771,2512,2011,1793,99.6,7.3,955,9290,0.00,1.50,16.20,0.477,8708,0.000,0.096,2777,1672,1794,1897,1691,0,0,0,0,0,0,28.83,14.42,13.89
$GC,9432,0.88,244.3,2776,1672,1896,1690,87.0,7.8,985,9447,0.00,1.50,7.12,0.438,9222,0.000,0.113,2777,2514,1745,1844,1646,0,0,0,0,0,0,28.83,14.40,13.88
$GC,9764,0.89,244.3,2777,2515,1842,1645,60.0,9.1,1047,9771,0.00,1.50,0.00,0.000,260,0.000,0.126,2777,3356,1744,1842,1646,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9855,0.93,262.4,2777,3356,1841,1645,52.2,7.6,1063,9870,0.00,1.50,10.35,0.317,9222,0.000,0.083,2783,2508,1670,1764,1576,0,0,0,0,0,0,28.83,14.46,14.00
$GC,10189,1.01,312.8,2783,2507,1763,1575,31.0,6.3,1125,10228,0.12,1.62,28.50,0.241,10500,0.154,0.129,2838,3362,1464,1552,1376,0,0,0,0,0,0,14.55,14.25,14.12
$GC,10245,1.01,312.8,2838,3362,1552,1376,24.4,13.4,1133,10251,0.00,1.50,0.00,0.000,1030,0.000,0.086,2845,2487,1463,1552,1375,0,0,0,0,0,0,28.83,14.44,28.83
$FREEZE,8.88,0.492,-1.804,0,1,0
$FREEZE,8.26,0.492,-1.804,0,1,0
$FREEZE,7.33,0.494,-1.803,0,1,0
$FREEZE,6.66,0.495,-1.803,0,1,0
$FREEZE,5.82,0.496,-1.802,0,1,0
$FREEZE,5.28,0.497,-1.802,0,1,0
$FREEZE,4.73,0.493,-1.801,0,1,0
$FREEZE,3.98,0.490,-1.801,0,1,0
$FREEZE,3.34,0.488,-1.800,0,1,0
$FREEZE,2.68,0.485,-1.799,0,1,0
$STATE,10439,end climb,SURFACE_DEPTH_REACHED
$STATE,10439,begin surface coast
$FREEZE,2.39,0.488,-1.799,0,1,0
$FREEZE,2.15,0.479,-1.799,0,1,0
$FREEZE,2.22,0.480,-1.799,0,1,0
$FREEZE,2.05,0.480,-1.799,0,1,0
$FINISH,2.0,1.026320
$STATE,10461,end surface coast,CONTROL_FINISHED_OK
$STATE,10461,begin surface
$SM_CCo,10490,45.62,0.155,0,0,1109,400.08
$SM_GC,1.93,8.00,0.00,45.62,0.087,0.000,0.155,140,2486,1109,-7.36,-0.40,400.08,0,0,0,0,0,0,14.45,28.83,14.27
$RAFOS_CLK,455
$RAFOS,6,1386982146,0.833333,0.818333,66,59,58,58,57,56,202,151,189,212,174,117
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5647.69,131213,212142
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.55
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,14.20
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,12.1,207.232
$10V_AH,11.3,0.000
$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,20.900,54.925,444.225,45.625,0.000,0.000,0.000,339.800,11.000,0.000,5.445,2933.024,4724.616,585.746,2120.771,691.635,0.000,1924.178,0.000,1838.207,0.000,9.907,0.000
$DEVICE_MAMPS,411.570,153.765,2296.530,155.295,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150808
$DATA_FILE_SIZE,49946,1174
$CAP_FILE_SIZE,123182,0
$CFSIZE,259252224,214740992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.1
$CURRENT,0.216,310.0,1
$GPS,141213,040405,6704.167,-5653.739,63,1.0,63,-33.5