version: 66.11
glider: 192
mission: 2
dive: 470
start: 12 14 113 17 11 13
data:
$ID,192
$MISSION,2
$DIVE,470
$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,-9040.7744
$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,24
$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
$GPS1,141213,165627,6705.501,-5657.717,28,7.6,49,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.0
$GPS2,141213,171025,6705.431,-5658.014,48,1.2,48,-33.6
$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,165.3,8518,-15.5,-8.250,-18.49,2720
$D_GRID,509
$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,-146.0,102,2514,497,471,0.0,0.0,0,131,0.00,0.00,-108.12,0.000,16386,0.000,0.000,96,2514,2608,2655,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-0.89,-146.0,95,2514,2656,2562,3.0,-3.4,18,176,10.40,1.48,-19.65,0.000,18948,0.415,0.124,2215,1658,3335,3498,3172,0,0,0,0,0,0,13.92,14.40,14.80
$GC,413,-0.80,-146.0,1352,1656,3492,3168,56.8,-22.2,69,421,0.17,1.50,0.00,0.000,3078,0.281,0.112,2250,2501,3335,3500,3170,0,0,0,0,0,0,14.12,14.33,28.83
$GC,738,-0.74,-146.0,2250,2502,3500,3169,110.3,-15.8,125,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2501,3335,3500,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1054,-0.70,-146.0,2250,2501,3500,3169,157.6,-15.2,156,1058,0.12,1.48,0.00,0.000,2564,0.292,0.092,2283,1656,3334,3500,3169,0,0,0,0,0,0,14.23,14.40,28.83
$GC,1123,-0.68,-146.0,2283,1656,3500,3169,167.6,-13.0,162,1126,0.00,1.52,0.00,0.000,1030,0.000,0.115,2279,2506,3334,3500,3169,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1439,-0.66,-146.0,2279,2506,3500,3169,206.7,-11.7,193,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2506,3334,3500,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-0.63,-146.0,2279,2506,3501,3169,242.7,-11.6,224,1757,0.00,1.50,0.00,0.000,516,0.000,0.095,2279,1635,3335,3501,3169,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1803,-0.61,-146.0,1408,1633,3493,3166,248.7,-11.6,228,1810,0.15,1.55,0.00,0.000,3078,0.252,0.113,2307,2500,3335,3501,3169,0,0,0,0,0,0,14.20,14.34,28.83
$GC,2111,-0.61,-146.0,2308,2501,3503,3169,278.4,-9.2,259,2115,0.00,1.52,0.00,0.000,260,0.000,0.126,2303,3350,3336,3503,3169,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2147,-0.61,-146.0,2303,3350,3503,3169,281.7,-9.6,262,2151,0.00,1.48,0.00,0.000,1030,0.000,0.082,2303,2504,3336,3503,3169,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2462,-0.61,-146.0,2303,2504,3506,3169,310.6,-9.0,293,2466,0.00,1.50,0.00,0.000,516,0.000,0.095,2303,1629,3337,3505,3169,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2498,-0.61,-146.0,2303,1629,3505,3169,313.9,-9.3,296,2501,0.00,1.55,0.00,0.000,1030,0.000,0.114,2297,2500,3337,3505,3169,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2814,-0.61,-146.0,2297,2500,3506,3169,344.8,-9.4,327,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2500,3337,3506,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3129,-0.61,-146.0,2297,2500,3508,3170,374.2,-9.5,358,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2500,3338,3508,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3443,-0.61,-146.0,2296,2500,3509,3169,403.1,-9.0,389,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2501,3339,3509,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3757,-0.61,-146.0,2297,2500,3510,3169,432.7,-9.1,420,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2500,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4070,-0.61,-146.0,2297,2500,3510,3169,462.0,-9.4,451,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2500,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4385,-0.61,-146.0,2297,2500,3511,3169,492.9,-9.7,482,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2500,3340,3511,3170,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4537,begin apogee
$GC,4550,-0.22,0.0,2297,2500,3512,3169,509.7,-9.8,498,4715,0.47,0.00,152.07,2.291,10246,0.214,0.000,2430,2500,2741,2854,2629,0,0,0,0,0,0,14.13,28.83,12.59
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4722,0.89,146.0,2430,2500,2854,2629,518.4,0.0,515,4906,1.20,1.77,164.07,2.222,11012,0.154,0.122,2788,3360,2145,2241,2049,0,0,0,0,0,0,13.70,13.21,12.14
$GC,4933,0.85,146.0,2788,3360,2239,2049,505.1,10.4,536,4937,0.00,1.55,0.00,0.000,1030,0.000,0.082,2794,2511,2144,2240,2049,0,0,0,0,0,0,28.83,13.54,28.83
$GC,5249,0.80,146.0,2794,2510,2240,2041,472.9,10.0,567,5252,0.00,1.50,0.00,0.000,516,0.000,0.098,2800,1666,2140,2239,2041,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5286,0.76,146.0,2800,1666,2240,2040,469.2,10.3,570,5290,0.15,1.55,0.00,0.000,5126,0.203,0.114,2757,2510,2140,2240,2040,0,0,0,0,0,0,14.21,14.33,28.83
$GC,5602,0.77,162.3,2757,2510,2240,2039,442.9,7.6,601,5628,0.00,1.50,16.85,2.101,8452,0.000,0.123,2756,3353,2080,2183,1978,0,0,0,0,0,0,28.83,14.42,13.23
$GC,5676,0.75,162.3,2757,3353,2183,1978,436.8,8.8,608,5679,0.00,1.48,0.00,0.000,1030,0.000,0.086,2761,2510,2080,2182,1978,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5992,0.73,162.3,2761,2510,2183,1976,410.6,8.9,639,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2510,2078,2182,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6307,0.72,162.3,2761,2510,2182,1974,384.2,8.6,670,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2510,2078,2182,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,0.70,162.3,2761,2510,2182,1974,358.2,8.3,701,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2510,2078,2182,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6936,0.69,162.3,2761,2510,2182,1974,331.6,8.4,732,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2510,2078,2182,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7250,0.68,162.3,2761,2510,2182,1973,305.0,8.4,763,7254,0.12,1.55,0.00,0.000,4356,0.252,0.125,2727,3363,2077,2182,1973,0,0,0,0,0,0,14.39,14.40,28.83
$GC,7319,0.72,190.3,2727,3363,2182,1973,299.5,7.2,769,7354,0.00,1.50,30.02,2.069,9222,0.000,0.083,2732,2488,1964,2071,1858,0,0,0,0,0,0,28.83,14.49,13.28
$GC,7667,0.77,211.6,2732,2488,2071,1856,273.6,7.4,804,7695,0.00,1.48,23.12,2.021,8708,0.000,0.099,2738,1663,1878,1986,1771,0,0,0,0,0,0,28.83,14.42,13.32
$GC,7720,0.81,219.8,2738,1663,1986,1770,270.0,7.9,809,7736,0.00,1.52,9.98,1.828,9222,0.000,0.114,2737,2519,1845,1952,1739,0,0,0,0,0,0,28.83,14.39,13.25
$GC,8039,0.84,228.9,2737,2519,1951,1737,245.2,7.9,841,8058,0.12,1.50,10.88,1.831,10500,0.149,0.126,2792,3365,1806,1908,1704,0,0,0,0,0,0,14.58,14.50,13.35
$GC,8089,0.83,228.9,2792,3365,1909,1704,240.6,10.3,845,8096,0.00,1.50,0.00,0.000,1030,0.000,0.085,2798,2484,1806,1909,1704,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8398,0.81,228.9,2798,2484,1908,1704,204.0,11.3,876,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2484,1806,1908,1704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8716,0.79,228.9,2799,2484,1906,1704,169.0,11.4,907,8722,0.12,0.00,0.00,0.000,4102,0.246,0.000,2765,2484,1805,1907,1704,0,0,0,0,0,0,14.35,28.83,28.83
$GC,9025,0.81,228.9,2765,2484,1906,1703,139.6,9.2,938,9028,0.00,1.58,0.00,0.000,260,0.000,0.127,2765,3357,1805,1907,1703,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9071,0.81,228.9,2764,3357,1906,1703,134.9,10.3,942,9075,0.00,1.48,0.00,0.000,1030,0.000,0.084,2769,2512,1804,1905,1704,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9388,0.81,230.7,2769,2512,1905,1703,105.1,8.2,973,9391,0.00,1.50,0.00,0.000,516,0.000,0.099,2775,1639,1804,1905,1703,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9459,0.82,230.7,2776,1638,1905,1702,98.7,9.0,980,9465,0.00,1.55,0.00,0.000,1030,0.000,0.112,2775,2513,1803,1905,1702,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9776,0.86,252.6,1792,2511,1866,1699,72.0,7.4,1041,9796,0.00,1.52,13.40,0.380,8452,0.000,0.125,2775,3361,1712,1810,1614,0,0,0,0,0,0,28.83,14.37,13.88
$GC,9914,0.87,254.4,2776,3362,1808,1614,61.3,8.2,1065,9923,0.00,1.50,0.00,0.000,1030,0.000,0.086,2782,2481,1711,1808,1614,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10243,0.94,286.1,2782,2481,1808,1614,40.4,7.1,1126,10268,0.00,1.48,19.10,0.277,8708,0.000,0.097,2787,1666,1573,1666,1481,0,0,0,0,0,0,28.83,14.40,14.04
$GC,10401,1.13,378.4,2787,1666,1665,1477,29.7,4.8,1154,10462,0.25,1.52,50.97,0.239,11270,0.113,0.113,2879,2521,1196,1273,1120,0,0,0,0,0,0,14.50,14.37,14.08
$FREEZE,8.45,0.342,-1.803,0,1,0
$FREEZE,7.85,0.342,-1.803,0,1,0
$FREEZE,6.87,0.342,-1.802,0,1,0
$FREEZE,6.11,0.335,-1.801,0,1,0
$FREEZE,5.53,0.335,-1.801,0,1,0
$FREEZE,4.84,0.338,-1.800,0,1,0
$FREEZE,4.16,0.340,-1.800,0,1,0
$FREEZE,3.44,0.340,-1.799,0,1,0
$FREEZE,2.65,0.332,-1.799,0,1,0
$STATE,10612,end climb,SURFACE_DEPTH_REACHED
$STATE,10612,begin surface coast
$FREEZE,1.87,0.335,-1.798,0,1,0
$FREEZE,1.06,0.317,-1.798,0,1,0
$FREEZE,0.86,0.312,-1.797,0,1,0
$FREEZE,0.92,0.325,-1.796,0,1,0
$FINISH,0.9,1.026292
$STATE,10640,end surface coast,CONTROL_FINISHED_OK
$STATE,10640,begin surface
$SM_CCo,10669,9.93,0.167,0,0,1108,400.08
$SM_GC,1.57,8.15,0.00,9.93,0.092,0.000,0.167,140,2523,1108,-7.36,0.65,400.08,0,0,0,0,0,0,14.42,28.83,14.27
$RAFOS_CLK,461
$RAFOS,0,1387051261,20.033333,20.016945,63,62,61,52,50,47,225,205,193,126,166,143
$RAFOS,6,1387039745,16.833334,16.818056,70,58,58,55,52,51,201,165,153,134,178,214
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5655.33,141213,161640
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.83
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,14.10
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.6,18.3
$24V_AH,12.1,208.947
$10V_AH,11.2,0.000
$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,21.450,45.600,490.475,9.925,0.000,0.000,0.000,537.375,11.250,0.000,49.633,2892.846,4960.318,600.153,2344.585,725.236,0.000,2151.510,0.000,1835.082,360.000,20.379,0.000
$DEVICE_MAMPS,414.630,126.990,2291.175,166.770,0.000,0.000,0.000,148.410,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,830.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50056,1196
$CAP_FILE_SIZE,127474,0
$CFSIZE,259252224,214409216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.3
$CURRENT,0.195,332.5,1
$GPS,141213,201100,6705.527,-5656.446,42,1.0,42,-33.6