version: 66.11
glider: 192
mission: 2
dive: 80
start: 9 27 113 12 10 28
data:
$ID,192
$MISSION,2
$DIVE,80
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,410
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1228.6774
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,14
$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,0.003
$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,12
$MINV_10V,12
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$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
$GPS1,270913,120406,6649.168,-5821.634,38,0.8,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.9
$GPS2,270913,120944,6649.217,-5821.560,5,0.8,5,-33.6
$SPEED_LIMITS,0.150,0.251
$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,89.5,72225,-16.2,-8.684,-19.07,2590
$D_GRID,763
$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,-0.90,-146.0,141,2501,1104,1085,0.0,0.0,0,99,0.00,0.00,-77.05,0.000,16386,0.000,0.000,141,2501,2639,2698,2580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.90,-146.0,141,2501,2698,2582,3.4,-5.1,13,139,10.02,2.53,-15.20,0.000,18692,0.444,0.164,2191,3873,3339,3515,3163,0,0,0,0,0,0,14.28,14.40,14.64
$GC,150,-0.90,-146.0,2193,3874,3518,3162,16.6,-29.7,19,157,0.00,2.38,0.00,0.000,1030,0.000,0.092,2193,2493,3340,3518,3162,0,0,0,0,0,0,28.83,14.45,28.83
$GC,470,-0.90,-146.0,2193,2492,3519,3162,96.1,-22.6,80,476,0.00,2.53,0.00,0.000,260,0.000,0.146,2182,3871,3340,3519,3162,0,0,0,0,0,0,28.83,14.48,28.83
$GC,528,-0.90,-146.0,2182,3872,3519,3162,110.3,-25.2,86,537,0.00,2.35,0.00,0.000,1030,0.000,0.093,2182,2502,3340,3519,3162,0,0,0,0,0,0,28.83,14.51,28.83
$GC,839,-0.90,-146.0,2183,2502,3519,3162,182.3,-21.9,117,848,0.00,2.45,0.00,0.000,516,0.000,0.110,2182,1085,3340,3519,3161,0,0,0,0,0,0,28.83,14.54,28.83
$GC,874,-0.90,-146.0,2182,1085,3519,3161,190.2,-22.1,120,879,0.12,2.53,0.00,0.000,3078,0.304,0.129,2202,2502,3340,3519,3161,0,0,0,0,0,0,14.47,14.54,28.83
$GC,1191,-0.90,-146.0,2202,2502,3519,3160,252.8,-18.5,151,1200,0.00,2.45,0.00,0.000,516,0.000,0.113,2203,1097,3339,3518,3160,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1267,-0.90,-146.0,2203,1097,3519,3160,266.4,-17.8,158,1276,0.00,2.50,0.00,0.000,1030,0.000,0.132,2194,2502,3339,3519,3160,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1578,-0.90,-146.0,2194,2502,3519,3160,324.8,-18.9,189,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2502,3339,3519,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1887,-0.90,-146.0,2195,2502,3519,3160,381.6,-18.1,220,1896,0.00,2.42,0.00,0.000,516,0.000,0.110,2195,1096,3339,3519,3159,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1923,-0.90,-146.0,2195,1096,3519,3159,387.6,-17.4,223,1931,0.00,2.50,0.00,0.000,1030,0.000,0.129,2185,2501,3339,3519,3159,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2234,-0.90,-146.0,2184,2500,3519,3159,442.5,-18.0,254,2243,0.00,2.42,0.00,0.000,516,0.000,0.109,2185,1096,3339,3519,3159,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2260,-0.90,-146.0,2185,1096,3519,3159,447.2,-18.1,256,2269,0.10,2.47,0.00,0.000,3078,0.292,0.129,2200,2500,3339,3519,3159,0,0,0,0,0,0,14.54,14.61,28.83
$GC,2571,-0.90,-146.0,2200,2500,3519,3159,497.7,-16.1,287,2580,0.00,2.45,0.00,0.000,260,0.000,0.146,2192,3870,3339,3519,3159,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2606,-0.90,-146.0,2192,3870,3519,3159,503.7,-16.4,290,2616,0.00,2.33,0.00,0.000,1030,0.000,0.094,2192,2492,3339,3519,3159,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2918,-0.90,-146.0,2192,2492,3519,3159,557.0,-17.4,321,2926,0.00,2.40,0.00,0.000,516,0.000,0.109,2192,1088,3339,3519,3160,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2975,-0.90,-146.0,1360,1087,3512,3157,566.4,-16.9,326,2983,0.00,2.50,0.00,0.000,1030,0.000,0.125,2181,2502,3339,3519,3160,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3285,-0.90,-146.0,2181,2501,3519,3160,622.0,-18.2,349,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2502,3339,3519,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3585,-0.90,-146.0,2181,2502,3519,3160,676.4,-17.9,359,3591,0.00,2.40,0.00,0.000,516,0.000,0.107,2181,1097,3339,3519,3160,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3649,-0.90,-146.0,1360,1095,3512,3157,687.5,-17.9,361,3656,0.12,2.45,0.00,0.000,3078,0.291,0.128,2203,2493,3339,3519,3160,0,0,0,0,0,0,14.60,14.67,28.83
$GC,3977,-0.90,-146.0,2203,2493,3520,3160,740.8,-16.4,372,3983,0.00,2.40,0.00,0.000,516,0.000,0.110,2203,1097,3339,3520,3159,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4010,-0.90,-146.0,2203,1096,3520,3160,746.1,-16.6,373,4015,0.00,2.50,0.00,0.000,1030,0.000,0.129,2196,2502,3339,3519,3160,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,4126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4126,begin apogee
$GC,4139,-0.14,0.0,2195,2531,3520,3160,766.8,-17.1,377,4306,0.93,0.00,154.50,2.593,10246,0.275,0.000,2446,2531,2740,2855,2626,0,0,0,0,0,0,14.62,28.83,12.83
$STATE,4307,end apogee,CONTROL_FINISHED_OK
$STATE,4307,begin climb
$GC,4313,0.90,146.0,2447,2531,2855,2626,775.5,0.0,382,4495,1.15,2.83,167.98,2.524,10500,0.170,0.142,2780,3873,2145,2232,2059,0,0,0,0,0,0,13.68,13.01,12.27
$GC,4505,1.10,210.7,2780,3873,2232,2059,768.3,6.1,389,4590,0.17,2.55,77.28,2.459,11270,0.110,0.096,2850,2532,1882,1966,1799,0,0,0,0,0,0,13.19,13.19,12.19
$GC,4892,1.10,210.7,2850,2533,1965,1783,701.2,17.8,402,4897,0.00,2.60,0.00,0.000,516,0.000,0.117,2861,1124,1874,1964,1784,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4938,1.10,210.7,2861,1124,1963,1783,695.3,17.8,403,4943,0.00,2.65,0.00,0.000,1030,0.000,0.131,2861,2532,1873,1964,1783,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5255,1.10,210.7,2861,2532,1964,1782,634.6,18.3,414,5260,0.00,2.47,0.00,0.000,260,0.000,0.147,2861,3866,1873,1964,1782,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5280,1.10,210.7,2861,3866,1963,1782,634.6,18.3,414,5287,0.00,2.38,0.00,0.000,1030,0.000,0.099,2870,2524,1872,1963,1782,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5587,1.10,210.7,2871,2523,1963,1782,572.6,19.0,433,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2523,1872,1963,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5903,1.10,210.7,2871,2523,1961,1780,514.1,18.7,464,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2523,1872,1962,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6215,1.10,210.7,2871,2524,1963,1782,455.3,18.7,495,6225,0.00,2.47,0.00,0.000,260,0.000,0.150,2871,3868,1872,1963,1782,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6234,1.10,210.7,2871,3868,1962,1782,452.1,18.1,496,6241,0.00,2.33,0.00,0.000,1030,0.000,0.102,2881,2529,1872,1962,1782,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6542,1.10,210.7,2881,2529,1962,1782,392.4,19.1,527,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2529,1872,1962,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6859,1.10,210.7,2881,2528,1962,1782,334.8,18.3,558,6868,0.00,2.45,0.00,0.000,260,0.000,0.151,2881,3871,1872,1962,1782,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6904,1.10,210.7,2881,3871,1960,1781,324.8,19.4,562,6913,0.12,2.30,0.00,0.000,5126,0.297,0.102,2860,2528,1871,1961,1781,0,0,0,0,0,0,14.48,14.58,28.83
$GC,7215,1.10,210.7,2860,2527,1961,1782,272.6,16.1,593,7224,0.00,2.47,0.00,0.000,516,0.000,0.120,2869,1121,1871,1961,1781,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7240,1.10,210.7,2869,1120,1961,1781,268.7,15.1,595,7250,0.00,2.50,0.00,0.000,1030,0.000,0.132,2869,2527,1871,1961,1781,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7551,1.10,210.7,2868,2527,1961,1781,218.8,16.3,626,7560,0.00,2.40,0.00,0.000,260,0.000,0.150,2869,3863,1871,1961,1781,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7609,1.10,210.7,2869,3863,1961,1781,209.5,18.0,631,7617,0.00,2.30,0.00,0.000,1030,0.000,0.101,2879,2522,1871,1961,1781,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7919,1.10,210.7,2879,2521,1961,1781,160.3,15.2,662,7927,0.00,2.45,0.00,0.000,516,0.000,0.119,2890,1116,1871,1961,1781,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7946,1.10,210.7,1920,1116,1922,1777,156.7,14.9,664,7954,0.15,2.53,0.00,0.000,5126,0.304,0.131,2857,2531,1870,1961,1780,0,0,0,0,0,0,14.56,14.62,28.83
$GC,8255,1.10,210.7,2857,2531,1961,1780,115.7,12.3,695,8265,0.00,2.40,0.00,0.000,260,0.000,0.150,2856,3865,1870,1961,1780,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8281,1.10,210.7,2856,3865,1961,1780,112.1,13.2,697,8291,0.00,2.30,0.00,0.000,1030,0.000,0.100,2866,2527,1870,1960,1780,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8597,1.10,210.7,1872,2525,1920,1776,73.0,11.4,749,8604,0.00,2.47,0.00,0.000,516,0.000,0.120,2876,1116,1870,1961,1780,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8645,1.10,210.7,1888,1115,1921,1776,67.4,11.7,757,8652,0.00,2.53,0.00,0.000,1030,0.000,0.132,2876,2530,1870,1960,1780,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8962,1.10,210.7,2876,2530,1961,1779,32.6,10.7,818,8969,0.00,2.42,0.00,0.000,260,0.000,0.151,2876,3873,1870,1961,1780,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8996,1.10,210.7,2876,3873,1961,1779,29.1,11.5,823,9004,0.15,2.30,0.00,0.000,5126,0.313,0.101,2854,2529,1870,1961,1779,0,0,0,0,0,0,14.56,14.66,28.83
$GC,9315,1.28,273.5,1856,2526,1920,1775,10.1,6.2,884,9352,0.15,0.00,32.12,0.196,10758,0.157,0.000,2909,2529,1623,1708,1539,0,0,0,0,0,0,14.64,28.83,14.56
$STATE,9393,end climb,SURFACE_DEPTH_REACHED
$STATE,9393,begin surface coast
$FINISH,0.9,1.011221
$STATE,9424,end surface coast,CONTROL_FINISHED_OK
$STATE,9424,begin surface
$SM_CCo,9453,66.45,0.174,0,0,1109,400.08
$SM_GC,1.80,8.27,0.03,66.45,0.109,0.349,0.174,140,2501,1109,-7.33,0.76,400.08,0,0,0,0,0,0,14.62,14.62,14.50
$RAFOS_CLK,453
$RAFOS,6,1380286142,12.833333,12.817223,94,63,60,56,54,54,722,193,170,210,114,153
$RAFOS,5,1380285670,12.700000,12.686111,101,65,61,59,57,53,605,192,171,204,150,138
$RAFOS,4,1380285190,12.566667,12.552778,116,66,63,55,54,53,610,186,216,195,133,115
$RAFOS,3,1380284706,12.433333,12.418333,117,62,61,54,53,52,760,220,190,165,140,179
$RAFOS,2,1380284225,12.300000,12.284722,80,61,59,57,53,52,814,202,173,140,217,161
$RAFOS,0,1380283262,12.033333,12.017222,64,64,58,57,56,53,214,935,119,188,147,179
$RAFOS_FIX,6649.900879,-5822.177734,270913,121212,5,102,0.88
$IRIDIUM_FIX,6620.33,-5818.19,270913,090902
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.15
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.60
$XPDR_PINGS,89
$24V_AH,12.2,34.659
$10V_AH,12.5,0.000
$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,21.475,103.125,431.875,66.450,0.000,0.000,0.000,182.700,22.250,0.000,6.060,2280.068,4712.800,639.709,1677.582,567.284,0.000,1718.568,0.000,1518.643,1800.000,0.536,0.000
$DEVICE_MAMPS,443.700,348.840,2592.585,174.420,0.000,0.000,0.000,141.525,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,40044,903
$CAP_FILE_SIZE,106578,0
$CFSIZE,259252224,245927936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.9
$CURRENT,0.093,125.8,1
$GPS,270913,145105,6649.826,-5817.488,40,1.0,40,-33.6