version: 66.11
glider: 192
mission: 2
dive: 473
start: 12 15 113 2 36 12
data:
$ID,192
$MISSION,2
$DIVE,473
$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,-9044.6377
$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,25
$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
$GPS1,151213,022535,6706.284,-5658.628,49,0.8,49,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-60.9
$GPS2,151213,023533,6706.246,-5658.758,4,1.2,4,-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,180.2,9823,-15.5,-8.250,-18.49,2720
$D_GRID,492
$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,21,-0.89,-146.0,98,2517,1113,1072,0.0,0.0,0,106,0.00,0.00,-83.30,0.000,16386,0.000,0.000,96,2517,2716,2764,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.89,-146.0,95,2517,2765,2669,3.3,-4.5,14,146,10.32,1.50,-14.45,0.000,19204,0.411,0.151,2209,3348,3339,3506,3173,0,0,0,0,0,0,13.93,14.34,14.80
$GC,385,-0.81,-146.0,2209,3349,3507,3172,64.7,-22.4,64,392,0.15,1.50,0.00,0.000,3078,0.280,0.080,2242,2467,3339,3507,3171,0,0,0,0,0,0,14.12,14.42,28.83
$GC,705,-0.75,-146.0,2242,2467,3507,3170,118.8,-16.5,114,708,0.00,1.60,0.00,0.000,260,0.000,0.125,2237,3349,3338,3507,3170,0,0,0,0,0,0,28.83,14.31,28.83
$GC,825,-0.70,-146.0,2237,3349,3507,3169,138.5,-16.9,125,832,0.17,1.48,0.00,0.000,3078,0.260,0.079,2277,2505,3338,3507,3169,0,0,0,0,0,0,14.15,14.42,28.83
$GC,1135,-0.67,-146.0,2277,2505,3507,3169,181.8,-12.8,156,1138,0.00,1.50,0.00,0.000,516,0.000,0.093,2278,1628,3338,3507,3169,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1233,-0.66,-146.0,1412,1626,3500,3166,194.2,-12.7,165,1240,0.00,1.55,0.00,0.000,1030,0.000,0.112,2273,2499,3338,3507,3169,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1542,-0.63,-146.0,2273,2499,3507,3169,234.2,-12.9,196,1549,0.12,0.00,0.00,0.000,2054,0.278,0.000,2306,2499,3338,3507,3169,0,0,0,0,0,0,14.24,28.83,28.83
$GC,1851,-0.63,-146.0,2306,2499,3509,3169,267.6,-10.9,227,1855,0.00,1.52,0.00,0.000,260,0.000,0.125,2301,3349,3339,3509,3169,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1899,-0.63,-146.0,2301,3349,3509,3170,272.4,-10.8,231,1907,0.00,1.48,0.00,0.000,1030,0.000,0.080,2301,2506,3339,3509,3169,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2210,-0.63,-146.0,2301,2506,3510,3170,305.6,-9.8,262,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2506,3340,3510,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2525,-0.63,-146.0,2301,2505,3510,3169,337.0,-9.8,293,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2506,3340,3510,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2841,-0.63,-146.0,2301,2506,3512,3170,367.7,-9.8,324,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2505,3340,3512,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3153,-0.63,-146.0,2301,2506,3514,3169,398.7,-9.4,355,3157,0.00,1.50,0.00,0.000,516,0.000,0.090,2301,1626,3341,3513,3169,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3193,-0.63,-146.0,1424,1625,3506,3166,402.7,-9.6,358,3200,0.00,1.58,0.00,0.000,1030,0.000,0.109,2295,2509,3341,3514,3169,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3501,-0.63,-146.0,2295,2509,3514,3169,433.4,-9.9,389,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2509,3342,3514,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3818,-0.63,-146.0,2295,2509,3515,3170,463.7,-9.8,420,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2509,3342,3515,3170,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4125,begin apogee
$GC,4138,-0.22,0.0,2295,2508,3516,3170,492.5,-9.7,451,4307,0.50,0.00,153.40,2.330,10246,0.220,0.000,2434,2508,2742,2854,2630,0,0,0,0,0,0,14.11,28.83,12.57
$STATE,4308,end apogee,CONTROL_FINISHED_OK
$STATE,4308,begin climb
$GC,4315,0.89,146.0,2434,2509,2854,2629,499.5,0.0,469,4492,1.20,1.60,162.85,2.196,10756,0.164,0.090,2790,1671,2145,2241,2049,0,0,0,0,0,0,13.69,13.23,12.12
$GC,4542,0.86,146.0,2791,1672,2241,2043,486.9,8.9,491,4550,0.00,1.60,0.00,0.000,1030,0.000,0.108,2790,2513,2142,2241,2043,0,0,0,0,0,0,28.83,13.58,28.83
$GC,4852,0.82,146.0,2790,2513,2241,2040,458.8,9.0,522,4856,0.00,1.50,0.00,0.000,260,0.000,0.123,2789,3356,2140,2241,2040,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4920,0.77,146.0,1808,3355,2195,2035,452.4,10.0,528,4928,0.15,1.48,0.00,0.000,5126,0.244,0.083,2762,2516,2140,2241,2039,0,0,0,0,0,0,14.28,14.43,28.83
$GC,5230,0.75,146.0,2762,2516,2241,2038,426.6,8.4,559,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2516,2139,2241,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5540,0.73,146.0,1760,2514,2194,2033,400.7,8.4,590,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2516,2139,2241,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5857,0.72,148.4,2762,2516,2241,2037,374.9,8.2,621,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2516,2138,2241,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6165,0.70,148.4,2761,2516,2241,2036,348.3,8.6,652,6169,0.00,1.52,0.00,0.000,260,0.000,0.122,2761,3360,2138,2241,2036,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6211,0.68,148.4,2761,3360,2241,2036,344.0,9.3,656,6215,0.15,1.50,0.00,0.000,5126,0.240,0.083,2731,2482,2138,2240,2036,0,0,0,0,0,0,14.31,14.50,28.83
$GC,6529,0.69,159.3,2731,2481,2241,2036,318.9,7.8,687,6546,0.00,0.00,13.45,1.984,8454,0.000,0.000,2731,2482,2092,2197,1987,0,0,0,0,0,0,28.83,28.83,13.26
$GC,6849,0.74,183.3,2731,2482,2197,1986,294.4,7.3,719,6885,0.00,1.67,26.12,2.046,8452,0.000,0.125,2731,3364,1994,2100,1888,0,0,0,0,0,0,28.83,14.40,13.26
$GC,6932,0.74,183.3,2731,3364,2099,1887,287.9,8.7,727,6936,0.00,1.50,0.00,0.000,1030,0.000,0.082,2735,2515,1993,2099,1887,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7248,0.80,215.3,2735,2515,2099,1884,264.4,7.0,758,7286,0.00,1.48,33.33,2.020,8708,0.000,0.093,2741,1661,1865,1973,1757,0,0,0,0,0,0,28.83,14.38,13.29
$GC,7322,0.84,222.7,2741,1661,1973,1756,259.2,8.0,765,7338,0.12,1.52,9.52,1.806,11270,0.151,0.110,2789,2514,1833,1939,1728,0,0,0,0,0,0,14.40,14.35,13.20
$GC,7640,0.82,222.7,2789,2514,1938,1724,226.0,10.4,797,7644,0.00,1.50,0.00,0.000,260,0.000,0.122,2789,3357,1831,1938,1724,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7719,0.80,222.7,2789,3357,1937,1724,217.7,11.3,804,7725,0.00,1.48,0.00,0.000,1030,0.000,0.082,2796,2516,1830,1937,1724,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8029,0.78,222.7,2795,2516,1936,1723,184.8,10.7,835,8036,0.12,0.00,0.00,0.000,4102,0.252,0.000,2762,2516,1829,1936,1723,0,0,0,0,0,0,14.35,28.83,28.83
$GC,8339,0.78,222.7,2762,2516,1936,1723,158.4,8.3,866,8342,0.00,1.50,0.00,0.000,516,0.000,0.094,2766,1666,1829,1936,1723,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8377,0.79,222.7,1792,1666,1897,1719,155.5,8.3,869,8384,0.00,1.50,0.00,0.000,1030,0.000,0.111,2766,2511,1829,1936,1722,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8686,0.79,222.7,2766,2511,1936,1723,128.3,8.5,900,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2511,1829,1936,1723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9002,0.79,222.7,2766,2511,1936,1722,100.8,8.4,931,9005,0.00,1.48,0.00,0.000,516,0.000,0.096,2772,1670,1829,1936,1723,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9062,0.83,240.6,1768,1668,1896,1718,95.7,7.6,941,9081,0.00,1.50,10.43,0.461,9222,0.000,0.111,2772,2518,1759,1860,1659,0,0,0,0,0,0,28.83,14.41,13.76
$GC,9399,0.84,240.6,2772,2518,1859,1659,69.0,8.7,1004,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2518,1759,1859,1659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9717,0.95,292.7,2772,2518,1859,1659,45.5,6.3,1065,9755,0.12,1.50,30.23,0.288,10500,0.150,0.122,2827,3356,1546,1637,1455,0,0,0,0,0,0,14.57,14.35,14.00
$GC,9778,0.94,292.7,2827,3356,1636,1454,40.4,10.6,1074,9785,0.00,1.48,0.00,0.000,1030,0.000,0.084,2834,2516,1545,1635,1455,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10103,0.95,304.8,2834,2515,1630,1454,11.1,7.8,1135,10117,0.00,1.50,5.72,0.196,8708,0.000,0.098,2840,1673,1496,1583,1409,0,0,0,0,0,0,28.83,14.31,14.21
$FREEZE,8.29,0.162,-1.805,0,1,0
$FREEZE,7.61,0.166,-1.804,0,1,0
$FREEZE,7.24,0.155,-1.804,0,1,0
$FREEZE,6.72,0.153,-1.803,0,1,0
$FREEZE,6.22,0.154,-1.803,0,1,0
$FREEZE,5.68,0.154,-1.803,0,1,0
$FREEZE,5.21,0.153,-1.802,0,1,0
$FREEZE,4.50,0.164,-1.802,0,1,0
$FREEZE,4.07,0.162,-1.802,0,1,0
$FREEZE,3.43,0.159,-1.801,0,1,0
$FREEZE,2.82,0.154,-1.801,0,1,0
$STATE,10180,end climb,SURFACE_DEPTH_REACHED
$STATE,10180,begin surface coast
$FREEZE,1.44,0.154,-1.799,0,1,0
$FREEZE,0.89,0.150,-1.799,0,1,0
$FINISH,0.9,1.026353
$STATE,10192,end surface coast,CONTROL_FINISHED_OK
$STATE,10192,begin surface
$SM_CCo,10222,50.08,0.162,0,0,1108,400.08
$SM_GC,1.85,7.95,1.60,50.08,0.087,0.145,0.162,143,2502,1108,-7.35,-0.37,400.08,0,0,0,0,0,0,14.46,14.30,14.24
$RAFOS_CLK,441
$RAFOS,6,1387082949,4.833333,4.819167,60,56,55,55,50,49,216,792,124,163,228,134
$RAFOS,5,1387082464,4.700000,4.684444,62,62,58,53,53,52,170,207,133,188,228,219
$RAFOS,4,1387081983,4.566667,4.550833,63,59,56,52,52,47,188,198,160,124,207,138
$RAFOS,3,1387081504,4.433333,4.417778,60,54,53,53,51,51,211,133,191,124,200,152
$RAFOS,2,1387081030,4.300000,4.286111,71,60,59,52,52,51,196,157,217,117,177,205
$RAFOS,1,1387080546,4.166667,4.151667,58,56,55,55,52,52,113,174,202,218,132,184
$RAFOS,0,1387080065,4.033333,4.018055,66,63,59,59,53,52,207,225,126,191,175,157
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5655.33,141213,232305
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.63
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,14.10
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,19.3
$24V_AH,12.1,209.945
$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,21.100,45.600,445.050,50.075,0.000,0.000,0.000,418.525,9.750,0.000,5.512,2840.635,4628.535,568.290,2178.416,650.673,0.000,1989.214,0.000,1804.127,2520.000,15.671,0.000
$DEVICE_MAMPS,410.805,150.705,2330.190,162.180,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150704
$DATA_FILE_SIZE,50078,1150
$CAP_FILE_SIZE,120456,0
$CFSIZE,259252224,214224896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.8
$CURRENT,0.211,307.9,1
$GPS,151213,052905,6705.816,-5659.277,35,1.0,35,-33.6