version: 66.11
glider: 192
mission: 2
dive: 472
start: 12 14 113 23 41 50
data:
$ID,192
$MISSION,2
$DIVE,472
$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,-9043.3828
$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,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,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
$GPS1,141213,232429,6706.027,-5656.295,62,0.8,62,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-57.2
$GPS2,141213,234107,6706.093,-5656.470,9,0.8,10,-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,196.7,8380,-15.5,-8.250,-18.49,2720
$D_GRID,476
$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,-146.0,95,2525,497,468,0.0,0.0,0,140,0.00,0.00,-117.88,0.000,16386,0.000,0.000,95,2526,2779,2827,2731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,148,-0.89,-146.0,94,2526,2827,2731,3.2,-3.8,20,180,10.38,1.55,-12.85,0.000,18692,0.412,0.153,2210,3352,3339,3498,3181,0,0,0,0,0,0,13.90,14.31,14.80
$GC,418,-0.80,-146.0,2210,3351,3500,3180,65.4,-19.5,70,426,0.17,1.50,0.00,0.000,3078,0.277,0.083,2249,2473,3339,3500,3179,0,0,0,0,0,0,14.10,14.42,28.83
$GC,738,-0.75,-146.0,2249,2471,3500,3178,116.7,-15.1,120,741,0.00,1.60,0.00,0.000,260,0.000,0.126,2244,3352,3339,3500,3178,0,0,0,0,0,0,28.83,14.31,28.83
$GC,909,-0.70,-146.0,2244,3352,3500,3177,143.0,-15.7,136,916,0.15,1.50,0.00,0.000,3078,0.259,0.083,2278,2480,3339,3500,3178,0,0,0,0,0,0,14.16,14.42,28.83
$GC,1220,-0.67,-146.0,2278,2480,3500,3177,183.9,-12.5,167,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2480,3338,3500,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1538,-0.65,-146.0,2278,2480,3501,3177,220.8,-11.7,198,1541,0.00,1.45,0.00,0.000,516,0.000,0.094,2278,1660,3339,3501,3177,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1566,-0.63,-146.0,1408,1659,3494,3174,224.8,-11.6,200,1573,0.12,1.50,0.00,0.000,3078,0.262,0.114,2302,2499,3339,3501,3177,0,0,0,0,0,0,14.19,14.31,28.83
$GC,1875,-0.63,-146.0,2302,2499,3503,3176,256.8,-10.4,231,1878,0.00,1.52,0.00,0.000,260,0.000,0.128,2298,3346,3340,3504,3177,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1912,-0.63,-146.0,1440,3345,3496,3174,260.3,-10.1,234,1919,0.00,1.50,0.00,0.000,1030,0.000,0.081,2297,2465,3340,3503,3178,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2220,-0.63,-146.0,2298,2466,3506,3177,292.9,-10.5,265,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2465,3341,3506,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,-0.63,-146.0,2298,2465,3507,3177,326.0,-11.0,296,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2465,3342,3507,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2840,-0.63,-146.0,2298,2465,3508,3177,359.0,-10.3,327,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2465,3343,3509,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.63,-146.0,2297,2465,3510,3177,391.7,-10.6,358,3155,0.00,1.65,0.00,0.000,260,0.000,0.125,2291,3345,3343,3510,3177,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3201,-0.63,-146.0,1408,3343,3502,3174,396.6,-10.8,362,3207,0.00,1.48,0.00,0.000,1030,0.000,0.079,2291,2503,3343,3510,3177,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3510,-0.63,-146.0,2291,2503,3511,3178,430.0,-10.6,393,3514,0.00,1.50,0.00,0.000,516,0.000,0.092,2291,1630,3344,3511,3177,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3561,-0.63,-146.0,2291,1630,3511,3177,434.9,-10.8,397,3569,0.00,1.58,0.00,0.000,1030,0.000,0.112,2285,2508,3344,3511,3178,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3871,-0.62,-146.0,2285,2508,3512,3178,468.4,-11.3,428,3874,0.00,1.50,0.00,0.000,260,0.000,0.121,2278,3348,3345,3512,3178,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3926,-0.60,-146.0,2278,3347,3512,3178,474.5,-10.7,433,3931,0.10,1.48,0.00,0.000,3078,0.214,0.080,2307,2500,3345,3512,3178,0,0,0,0,0,0,14.14,14.39,28.83
$STATE,3936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3936,begin apogee
$GC,3949,-0.22,0.0,2307,2500,3512,3178,476.2,-10.6,434,4115,0.43,0.00,153.43,2.318,10246,0.207,0.000,2430,2500,2742,2853,2631,0,0,0,0,0,0,14.14,28.83,12.55
$STATE,4116,end apogee,CONTROL_FINISHED_OK
$STATE,4116,begin climb
$GC,4122,0.89,146.0,2430,2500,2853,2631,483.6,0.0,451,4293,1.23,0.00,165.50,2.239,10502,0.161,0.000,2789,2500,2145,2242,2048,0,0,0,0,0,0,13.66,28.83,12.09
$GC,4595,0.86,146.0,2789,2500,2242,2040,445.3,9.8,499,4599,0.00,1.60,0.00,0.000,260,0.000,0.125,2789,3351,2141,2242,2040,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4737,0.81,146.0,2789,3351,2241,2039,430.5,10.6,512,4741,0.00,1.48,0.00,0.000,1030,0.000,0.084,2795,2516,2140,2241,2040,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5053,0.76,146.0,2795,2516,2241,2038,398.6,10.2,543,5059,0.12,0.00,0.00,0.000,4102,0.252,0.000,2762,2515,2139,2241,2038,0,0,0,0,0,0,14.34,28.83,28.83
$GC,5363,0.75,146.0,2762,2516,2241,2037,371.6,8.3,574,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2516,2139,2241,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,0.74,148.4,2762,2516,2241,2036,346.3,8.2,605,5683,0.00,1.58,0.00,0.000,260,0.000,0.126,2761,3358,2138,2241,2036,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5725,0.71,148.4,2762,3358,2241,2037,341.8,8.6,609,5729,0.00,1.48,0.00,0.000,1030,0.000,0.083,2766,2517,2139,2241,2037,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6043,0.70,150.0,2766,2517,2241,2036,315.6,8.2,640,6050,0.12,0.00,4.28,1.497,12294,0.249,0.000,2733,2517,2129,2232,2026,0,0,0,0,0,0,14.35,28.83,13.27
$GC,6352,0.76,192.7,2733,2516,2232,2026,295.0,6.6,671,6402,0.00,1.62,45.25,2.108,8452,0.000,0.128,2732,3361,1956,2062,1851,0,0,0,0,0,0,28.83,14.28,13.20
$GC,6439,0.79,206.8,2732,3360,2061,1850,289.5,7.7,678,6462,0.00,1.50,16.02,1.959,9222,0.000,0.083,2737,2493,1898,2005,1792,0,0,0,0,0,0,28.83,14.35,13.16
$GC,6764,0.82,212.3,2737,2493,2005,1786,263.4,8.0,711,6777,0.12,1.45,7.20,1.741,10756,0.149,0.098,2798,1676,1875,1983,1767,0,0,0,0,0,0,14.56,14.50,13.27
$GC,6820,0.81,212.3,2797,1675,1983,1767,257.7,11.0,716,6823,0.00,1.50,0.00,0.000,1030,0.000,0.113,2797,2523,1875,1983,1767,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7138,0.78,212.3,2797,2522,1983,1766,222.1,11.3,747,7142,0.12,1.50,0.00,0.000,4356,0.253,0.123,2763,3365,1874,1983,1766,0,0,0,0,0,0,14.39,14.42,28.83
$GC,7187,0.77,212.3,2763,3365,1983,1766,217.0,10.7,751,7195,0.00,1.50,0.00,0.000,1030,0.000,0.083,2768,2481,1874,1982,1766,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7497,0.77,212.3,2768,2481,1983,1765,187.0,9.5,782,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2481,1873,1982,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7813,0.77,212.3,2768,2481,1982,1765,157.8,9.3,813,7816,0.00,1.58,0.00,0.000,260,0.000,0.122,2768,3356,1873,1982,1765,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7848,0.77,212.3,2768,3356,1982,1765,153.7,9.7,816,7852,0.00,1.48,0.00,0.000,1030,0.000,0.082,2774,2512,1873,1982,1764,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8164,0.77,212.3,2775,2512,1982,1764,123.8,9.5,847,8167,0.00,1.50,0.00,0.000,516,0.000,0.096,2781,1639,1873,1983,1764,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8199,0.77,212.3,2781,1640,1982,1763,120.6,9.5,850,8203,0.00,1.55,0.00,0.000,1030,0.000,0.109,2781,2510,1872,1982,1763,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8515,0.79,223.5,2781,2510,1982,1763,92.3,7.8,888,8529,0.00,1.52,6.55,0.455,8452,0.000,0.120,2781,3366,1829,1936,1723,0,0,0,0,0,0,28.83,14.38,13.74
$GC,8642,0.79,223.5,2781,3366,1936,1723,81.1,9.5,910,8649,0.00,1.50,0.00,0.000,1030,0.000,0.083,2787,2482,1829,1936,1722,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8961,0.79,223.5,1792,2480,1896,1719,53.3,8.4,971,8967,0.00,1.45,0.00,0.000,516,0.000,0.097,2793,1664,1829,1936,1722,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8986,0.80,223.8,2793,1664,1935,1722,51.4,8.2,974,8993,0.00,1.50,0.00,0.000,1030,0.000,0.111,2793,2511,1829,1936,1722,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9304,0.81,225.2,2793,2511,1935,1722,23.6,8.2,1035,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2511,1828,1935,1722,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.59,0.165,-1.805,0,1,0
$FREEZE,8.22,0.168,-1.805,0,1,0
$FREEZE,7.72,0.164,-1.804,0,1,0
$FREEZE,7.51,0.167,-1.804,0,1,0
$FREEZE,6.97,0.168,-1.804,0,1,0
$FREEZE,6.49,0.168,-1.803,0,1,0
$FREEZE,6.27,0.168,-1.803,0,1,0
$FREEZE,5.65,0.172,-1.803,0,1,0
$FREEZE,5.15,0.170,-1.802,0,1,0
$FREEZE,4.77,0.170,-1.802,0,1,0
$FREEZE,4.22,0.170,-1.802,0,1,0
$FREEZE,3.72,0.161,-1.802,0,1,0
$FREEZE,3.02,0.167,-1.801,0,1,0
$FREEZE,2.63,0.168,-1.801,0,1,0
$STATE,9555,end climb,SURFACE_DEPTH_REACHED
$STATE,9556,begin surface coast
$FREEZE,2.24,0.149,-1.801,0,1,0
$FREEZE,1.88,0.159,-1.800,0,1,0
$FREEZE,1.63,0.157,-1.800,0,1,0
$FREEZE,0.91,0.189,-1.797,0,1,0
$FREEZE,0.81,0.085,-1.799,0,1,0
$FINISH,0.8,1.026349
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9589,begin surface
$SM_CCo,9617,93.28,0.161,0,0,1109,400.08
$SM_GC,1.94,7.75,0.00,93.28,0.080,0.000,0.161,140,2513,1109,-7.35,0.31,400.08,0,0,0,0,0,0,14.46,28.83,14.23
$RAFOS_CLK,417
$RAFOS,6,1387068547,0.833333,0.818611,60,60,55,54,52,50,137,204,188,113,213,158
$RAFOS,5,1387068063,0.700000,0.684167,60,58,53,50,50,44,215,174,149,131,120,226
$RAFOS,4,1387067585,0.566667,0.551389,63,63,58,55,52,49,121,184,204,214,168,88
$RAFOS,3,1387067105,0.433333,0.418056,67,64,61,58,54,53,197,206,221,118,150,177
$RAFOS,2,1387066624,0.300000,0.284444,71,55,54,52,52,50,211,201,190,165,155,112
$RAFOS,1,1387066148,0.166667,0.152222,58,56,56,55,55,48,193,131,207,112,222,1395
$RAFOS,0,1387065662,0.033333,0.017222,58,58,56,53,52,49,190,212,160,141,171,119
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5659.96,141213,232351
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.24
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,14.20
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,12.1,209.613
$10V_AH,11.5,0.000
$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,20.825,48.575,398.225,93.275,0.000,0.000,0.000,664.225,9.500,0.000,11.359,2728.405,4377.498,602.251,2286.958,712.828,0.000,2199.540,0.000,1704.197,2520.000,9.903,0.000
$DEVICE_MAMPS,411.570,153.000,2317.950,160.650,0.000,0.000,0.000,144.585,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150708
$DATA_FILE_SIZE,46837,1089
$CAP_FILE_SIZE,121905,0
$CFSIZE,259252224,214290432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.1
$CURRENT,0.338,321.4,1
$GPS,151213,022535,6706.284,-5658.628,49,0.8,49,-33.6