version: 66.11
glider: 192
mission: 2
dive: 709
start: 1 25 114 1 16 22
data:
$ID,192
$MISSION,2
$DIVE,709
$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,10
$SURFACE_URGENCY_FORCE,20
$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,-5
$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,-15565.122
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2580
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,12
$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
$GPS1,250114,010906,6408.982,-5351.847,34,1.2,34,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-63.4
$GPS2,250114,011534,6409.010,-5351.940,5,1.0,5,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6400.000,-5400.000
$TGT_RADIUS,5000.000
$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,190.8,17924,-15.5,-8.250,-18.49,2720
$D_GRID,542
$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,-146.0,117,2588,1115,1073,0.0,0.0,0,110,0.00,0.00,-87.03,0.000,16386,0.000,0.000,115,2588,2797,2846,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,115,2588,2846,2748,3.1,-2.0,9,147,10.32,1.55,-13.40,0.000,19204,0.417,0.121,2212,1734,3340,3498,3182,0,0,0,0,0,0,13.88,14.26,14.71
$GC,383,-0.85,-146.0,2212,1733,3500,3181,52.7,-18.5,35,386,0.00,1.58,0.00,0.000,1030,0.000,0.111,2208,2588,3340,3500,3181,0,0,0,0,0,0,28.83,14.04,28.83
$GC,715,-0.79,-146.0,2208,2588,3500,3179,112.3,-18.0,63,719,0.15,1.50,0.00,0.000,2564,0.292,0.081,2244,1731,3338,3499,3178,0,0,0,0,0,0,13.78,14.00,28.83
$GC,794,-0.75,-146.0,2244,1730,3498,3179,123.6,-16.7,65,798,0.00,1.58,0.00,0.000,1030,0.000,0.111,2240,2590,3339,3499,3179,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1116,-0.72,-146.0,2240,2590,3500,3178,169.5,-13.6,76,1118,0.15,0.00,0.00,0.000,2054,0.280,0.000,2272,2590,3339,3500,3178,0,0,0,0,0,0,13.83,28.83,28.83
$GC,1415,-0.70,-146.0,2272,2590,3500,3178,204.8,-11.6,86,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2590,3338,3500,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1715,-0.69,-146.0,2272,2590,3500,3177,239.4,-11.1,96,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2590,3338,3499,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,-0.67,-146.0,2272,2590,3500,3177,273.3,-11.4,106,2020,0.00,1.58,0.00,0.000,260,0.000,0.121,2268,3424,3339,3501,3178,0,0,0,0,0,0,28.83,13.73,28.83
$GC,2055,-0.66,-146.0,2268,3424,3501,3178,277.7,-11.5,107,2059,0.00,1.50,0.00,0.000,1030,0.000,0.075,2268,2573,3339,3500,3178,0,0,0,0,0,0,28.83,13.96,28.83
$GC,2387,-0.64,-146.0,2268,2574,3502,3178,316.4,-11.2,118,2389,0.12,0.00,0.00,0.000,2054,0.260,0.000,2295,2573,3340,3502,3178,0,0,0,0,0,0,13.96,28.83,28.83
$GC,2685,-0.64,-146.0,2294,2573,3504,3178,345.0,-9.2,128,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2573,3341,3504,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,-0.64,-146.0,2295,2573,3506,3178,372.6,-9.2,138,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2573,3342,3506,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-0.64,-146.0,2295,2573,3506,3178,399.3,-8.9,148,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2573,3342,3506,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3586,-0.64,-146.0,2294,2573,3507,3178,426.7,-9.2,158,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2573,3342,3506,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3885,-0.64,-146.0,2294,2573,3508,3178,452.8,-8.5,168,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2573,3343,3508,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.64,-146.0,2294,2573,3509,3178,478.7,-8.7,178,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2573,3343,3509,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,-0.64,-146.0,2294,2573,3509,3178,505.7,-8.9,188,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2573,3343,3509,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-0.64,-146.0,2294,2573,3509,3178,532.3,-8.9,198,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2573,3343,3509,3178,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4899,begin apogee
$GC,4913,-0.22,0.0,2295,2480,3510,3178,543.2,-9.2,202,5081,0.50,0.00,156.90,2.370,10246,0.201,0.000,2432,2480,2741,2853,2630,0,0,0,0,0,0,13.54,28.83,12.66
$STATE,5082,end apogee,CONTROL_FINISHED_OK
$STATE,5082,begin climb
$GC,5089,0.89,146.0,2432,2480,2852,2631,550.0,0.0,207,5269,1.20,0.00,168.95,2.294,10758,0.149,0.000,2786,2479,2144,2242,2047,0,0,0,0,0,0,13.57,28.83,11.98
$GC,5561,0.87,146.0,2786,2479,2242,2040,511.0,10.9,223,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2479,2141,2242,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,0.84,146.0,2786,2479,2242,2038,477.8,10.9,233,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2479,2140,2242,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6162,0.82,146.0,2786,2479,2242,2037,447.4,9.9,243,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2479,2139,2242,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,0.79,146.0,2786,2479,2242,2036,418.6,9.6,253,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2479,2139,2242,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6761,0.77,146.0,2786,2479,2242,2035,390.1,9.3,263,6764,0.00,1.58,0.00,0.000,260,0.000,0.109,2786,3330,2139,2242,2036,0,0,0,0,0,0,28.83,14.09,28.83
$GC,6820,0.74,146.0,2786,3330,2242,2036,386.7,9.3,264,6827,0.17,1.50,0.00,0.000,5126,0.239,0.073,2751,2470,2139,2242,2036,0,0,0,0,0,0,13.97,14.22,28.83
$GC,7126,0.79,181.1,2751,2470,2242,2034,362.6,6.9,275,7169,0.00,1.50,36.80,2.197,8708,0.000,0.088,2755,1645,2003,2108,1898,0,0,0,0,0,0,28.83,14.19,13.19
$GC,7199,0.83,206.6,2755,1645,2108,1897,358.0,7.3,277,7234,0.00,1.50,29.40,2.163,9222,0.000,0.101,2755,2486,1898,2004,1792,0,0,0,0,0,0,28.83,14.21,13.09
$GC,7547,0.83,206.6,2755,2486,2003,1786,327.3,8.6,289,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2487,1894,2003,1786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7846,0.83,206.6,2755,2486,2003,1784,300.0,9.3,299,7849,0.00,1.50,0.00,0.000,516,0.000,0.089,2761,1617,1893,2003,1784,0,0,0,0,0,0,28.83,14.21,28.83
$GC,7905,0.83,206.6,2761,1616,2003,1783,296.7,9.3,300,7911,0.00,1.55,0.00,0.000,1030,0.000,0.099,2761,2481,1893,2003,1783,0,0,0,0,0,0,28.83,14.22,28.83
$GC,8211,0.83,206.6,2761,2482,2003,1783,263.6,10.2,311,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2482,1893,2003,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,0.83,206.6,2761,2482,2002,1783,232.2,10.4,321,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2482,1892,2003,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8812,0.83,206.6,2761,2482,2003,1782,203.1,9.5,331,8815,0.00,1.50,0.00,0.000,516,0.000,0.089,2767,1634,1892,2003,1782,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8849,0.83,206.6,1792,1633,1961,1778,199.8,9.3,332,8853,0.00,1.52,0.00,0.000,1030,0.000,0.100,2767,2482,1892,2003,1782,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9180,0.83,206.6,2767,2482,2003,1782,170.3,8.9,343,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2482,1892,2003,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9481,0.83,206.6,2768,2481,2003,1782,142.5,9.5,353,9484,0.00,1.50,0.00,0.000,516,0.000,0.090,2773,1637,1892,2003,1782,0,0,0,0,0,0,28.83,13.97,28.83
$GC,9564,0.83,206.6,2772,1637,2003,1782,136.2,9.5,355,9567,0.00,1.52,0.00,0.000,1030,0.000,0.101,2773,2483,1892,2003,1782,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9879,0.83,206.6,2773,2483,2003,1782,105.5,8.4,366,9884,0.00,1.55,0.00,0.000,260,0.000,0.116,2773,3325,1892,2003,1782,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9947,0.83,206.6,2773,3324,2003,1782,99.3,8.8,368,9950,0.00,1.52,0.00,0.000,1030,0.000,0.077,2779,2484,1892,2003,1782,0,0,0,0,0,0,28.83,14.05,28.83
$GC,10263,0.86,227.6,2779,2484,2003,1782,73.9,7.5,399,10278,0.00,0.00,11.75,0.380,8198,0.000,0.000,2779,2484,1812,1918,1707,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10583,0.86,227.6,2779,2484,1916,1707,45.6,9.0,431,10587,0.00,1.58,0.00,0.000,260,0.000,0.118,2779,3328,1811,1916,1707,0,0,0,0,0,0,28.83,14.02,28.83
$GC,10610,0.86,227.6,1808,3326,1876,1704,43.5,8.5,433,10618,0.00,1.50,0.00,0.000,1030,0.000,0.078,2785,2477,1811,1916,1707,0,0,0,0,0,0,28.83,14.14,28.83
$GC,10921,0.90,249.6,2786,2477,1916,1707,18.6,7.4,464,10939,0.00,1.55,11.82,0.206,8708,0.000,0.091,2792,1632,1721,1821,1622,0,0,0,0,0,0,28.83,14.19,14.00
$FREEZE,8.31,0.103,-1.844,0,1,0
$FREEZE,8.31,0.103,-1.844,0,1,0
$FREEZE,7.18,0.102,-1.843,0,1,0
$FREEZE,7.18,0.102,-1.843,0,1,0
$FREEZE,6.13,0.096,-1.843,0,1,0
$FREEZE,6.13,0.096,-1.843,0,1,0
$FREEZE,5.08,0.095,-1.842,0,1,0
$FREEZE,5.08,0.095,-1.842,0,1,0
$FREEZE,4.11,0.094,-1.841,0,1,0
$FREEZE,4.11,0.094,-1.841,0,1,0
$FREEZE,3.29,0.091,-1.841,0,1,0
$FREEZE,3.29,0.091,-1.841,0,1,0
$GC,11096,0.91,249.6,2792,1632,1818,1620,3.3,9.4,480,11103,0.00,1.55,0.00,0.000,1030,0.000,0.103,2791,2487,1719,1818,1621,0,0,0,0,0,0,28.83,14.07,28.83
$FREEZE,1.31,0.069,-1.840,0,1,0
$STATE,11109,end climb,SURFACE_DEPTH_REACHED
$STATE,11109,begin surface coast
$FREEZE,1.08,-0.082,-0.126,0,1,0
$FREEZE,1.10,0.202,-1.689,0,1,0
$FREEZE,1.09,0.127,-1.487,0,1,0
$FINISH,1.1,1.021883
$STATE,11141,end surface coast,CONTROL_FINISHED_OK
$STATE,11141,begin surface
$SM_CCo,11170,81.00,0.153,0,0,1107,400.08
$SM_GC,2.04,7.90,0.17,81.00,0.076,0.156,0.153,144,2582,1107,-7.34,-0.65,400.08,0,0,0,0,0,0,14.19,14.19,14.19
$RAFOS_CLK,505
$RAFOS,1,1390622948,4.166667,4.152222,65,62,60,54,51,48,163,208,182,140,124,113
$RAFOS,0,1390622465,4.033333,4.018055,62,60,54,54,53,53,158,195,132,226,204,169
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5352.19,240114,222216
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,13.90
$XPDR_PINGS,66
$ALTIM_TOP_PING,19.5,19.2
$24V_AH,12.0,287.461
$10V_AH,12.2,0.000
$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,20.525,34.025,415.625,81.000,0.000,0.000,0.000,220.775,18.000,0.000,6.758,1407.576,8053.843,502.392,1188.992,500.224,0.000,1351.649,0.000,1000.517,1080.000,11.474,0.000
$DEVICE_MAMPS,416.925,156.060,2369.970,153.000,0.000,0.000,0.000,131.580,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227292
$DATA_FILE_SIZE,20128,485
$CAP_FILE_SIZE,86805,0
$CFSIZE,259252224,199385088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1468.9
$CURRENT,0.223,348.6,1
$GPS,250114,042552,6408.889,-5351.392,53,1.3,53,-29.8