version: 66.11
glider: 192
mission: 2
dive: 100
start: 10 1 113 0 19 58
data:
$ID,192
$MISSION,2
$DIVE,100
$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,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,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,-1254.0732
$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,25
$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,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,0.003
$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
$GPS1,011013,001300,6703.537,-5652.968,40,0.8,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.4
$GPS2,011013,001911,6703.598,-5653.058,4,0.8,4,-33.5
$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,185.4,3817,-15.5,-8.250,-18.49,2720
$D_GRID,528
$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,-1.06,-146.0,118,2494,1107,1078,0.0,0.0,0,117,0.00,0.00,-94.75,0.000,16386,0.000,0.000,117,2494,3007,3078,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.06,-146.0,117,2494,3079,2936,3.2,-4.7,16,145,9.60,0.00,-7.03,0.000,18438,0.428,0.000,2153,2494,3340,3494,3186,0,0,0,0,0,0,14.31,28.83,14.70
$GC,458,-0.92,-146.0,2153,2494,3505,3179,88.1,-22.9,79,465,0.17,2.42,0.00,0.000,2564,0.316,0.097,2196,1088,3342,3505,3179,0,0,0,0,0,0,14.42,14.56,28.83
$GC,540,-0.82,-146.0,1352,1087,3498,3176,103.9,-18.6,91,547,0.17,2.50,0.00,0.000,3078,0.304,0.117,2226,2499,3342,3506,3179,0,0,0,0,0,0,14.47,14.56,28.83
$GC,849,-0.74,-146.0,2226,2499,3506,3177,158.4,-17.0,122,859,0.12,2.42,0.00,0.000,2308,0.314,0.132,2251,3869,3340,3504,3177,0,0,0,0,0,0,14.53,14.58,28.83
$GC,889,-0.67,-146.0,2251,3869,3507,3177,164.6,-17.4,125,897,0.12,2.33,0.00,0.000,3078,0.292,0.085,2277,2487,3342,3507,3177,0,0,0,0,0,0,14.54,14.64,28.83
$GC,1199,-0.63,-146.0,2277,2487,3507,3175,209.9,-13.5,156,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2487,3341,3507,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.59,-146.0,2277,2487,3507,3176,253.0,-13.7,187,1523,0.12,2.47,0.00,0.000,2308,0.287,0.140,2303,3867,3341,3507,3175,0,0,0,0,0,0,14.59,14.64,28.83
$GC,1561,-0.57,-146.0,2302,3866,3507,3175,259.6,-12.7,191,1570,0.00,2.28,0.00,0.000,1030,0.000,0.088,2303,2506,3341,3507,3175,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1871,-0.55,-146.0,2303,2505,3508,3175,295.9,-11.7,222,1881,0.00,2.40,0.00,0.000,516,0.000,0.103,2303,1092,3341,3507,3175,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1901,-0.53,-146.0,2303,1092,3507,3175,299.0,-11.9,224,1908,0.12,2.50,0.00,0.000,3078,0.285,0.120,2321,2509,3341,3507,3175,0,0,0,0,0,0,14.61,14.66,28.83
$GC,2211,-0.53,-146.0,2321,2509,3507,3174,332.4,-10.2,255,2220,0.00,2.42,0.00,0.000,260,0.000,0.136,2313,3874,3341,3507,3175,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2240,-0.53,-146.0,2313,3874,3507,3174,335.4,-11.4,257,2247,0.00,2.33,0.00,0.000,1030,0.000,0.087,2312,2487,3340,3507,3174,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2548,-0.53,-146.0,2312,2487,3507,3175,369.5,-11.1,288,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2487,3340,3507,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2865,-0.53,-146.0,2312,2487,3508,3175,402.5,-10.5,319,2873,0.00,2.45,0.00,0.000,260,0.000,0.144,2302,3863,3341,3508,3174,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2930,-0.52,-146.0,2303,3863,3508,3174,410.3,-11.2,325,2939,0.00,2.30,0.00,0.000,1030,0.000,0.086,2302,2498,3341,3508,3174,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3241,-0.51,-146.0,2301,2498,3508,3175,443.2,-10.5,356,3248,0.12,0.00,0.00,0.000,2054,0.289,0.000,2336,2498,3341,3508,3175,0,0,0,0,0,0,14.63,28.83,28.83
$GC,3551,-0.52,-146.0,2336,2498,3509,3174,470.0,-8.6,387,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2498,3341,3508,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3869,-0.54,-146.0,2336,2498,3509,3175,495.2,-8.0,418,3878,0.00,2.45,0.00,0.000,260,0.000,0.141,2327,3873,3341,3509,3174,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3908,-0.56,-146.0,2327,3873,3509,3175,498.9,-8.4,421,3915,0.00,2.30,0.00,0.000,1030,0.000,0.086,2327,2495,3341,3509,3174,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4217,-0.56,-146.0,2327,2495,3509,3174,526.6,-9.2,452,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2495,3341,3508,3174,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4230,begin apogee
$GC,4244,-0.20,0.0,2327,2539,3509,3175,528.4,-9.2,454,4410,0.35,0.00,148.88,2.371,10246,0.226,0.000,2428,2539,2741,2850,2633,0,0,0,0,0,0,14.67,28.83,13.05
$STATE,4411,end apogee,CONTROL_FINISHED_OK
$STATE,4411,begin climb
$GC,4417,1.06,146.0,2428,2539,2850,2633,535.7,0.0,471,4583,1.35,0.00,156.85,2.305,10246,0.168,0.000,2830,2539,2145,2232,2058,0,0,0,0,0,0,13.85,28.83,12.66
$GC,4888,0.96,146.0,2830,2539,2232,2048,482.3,13.9,519,4897,0.00,2.47,0.00,0.000,260,0.000,0.134,2830,3873,2140,2232,2048,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4924,0.85,146.0,2830,3872,2232,2048,476.6,15.5,522,4935,0.22,2.38,0.00,0.000,5126,0.275,0.088,2784,2532,2139,2231,2048,0,0,0,0,0,0,14.03,14.15,28.83
$GC,5237,0.79,146.0,2784,2532,2231,2046,439.2,11.7,553,5245,0.00,2.47,0.00,0.000,516,0.000,0.106,2793,1116,2138,2231,2046,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5285,0.73,146.0,1808,1116,2185,2039,433.7,12.0,557,5292,0.22,2.55,0.00,0.000,5126,0.256,0.116,2739,2536,2138,2232,2045,0,0,0,0,0,0,14.31,14.37,28.83
$GC,5595,0.71,146.0,2739,2536,2231,2044,403.6,9.7,588,5604,0.00,2.42,0.00,0.000,260,0.000,0.135,2739,3874,2137,2231,2044,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5631,0.67,146.0,2738,3874,2231,2044,399.8,10.5,591,5635,0.00,2.30,0.00,0.000,1030,0.000,0.088,2747,2529,2137,2231,2044,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5948,0.64,146.0,2747,2529,2231,2044,368.5,9.8,622,5955,0.12,0.00,0.00,0.000,4102,0.269,0.000,2714,2529,2137,2231,2044,0,0,0,0,0,0,14.50,28.83,28.83
$GC,6257,0.66,153.6,2714,2529,2232,2043,343.4,8.0,653,6276,0.00,2.45,7.43,1.862,8708,0.000,0.107,2721,1117,2114,2211,2018,0,0,0,0,0,0,28.83,14.54,13.78
$GC,6312,0.66,153.6,2722,1116,2210,2018,338.9,8.7,658,6322,0.00,2.50,0.00,0.000,1030,0.000,0.117,2721,2534,2114,2211,2018,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6624,0.66,153.6,2722,2534,2211,2018,311.2,9.2,689,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2534,2114,2211,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6941,0.66,153.6,2722,2534,2211,2018,283.9,8.6,720,6949,0.00,2.35,0.00,0.000,260,0.000,0.135,2722,3871,2114,2211,2018,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6969,0.65,153.6,1744,3870,2164,2013,280.8,8.9,722,6977,0.00,2.28,0.00,0.000,1030,0.000,0.088,2732,2519,2114,2211,2018,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7279,0.63,153.6,2731,2519,2210,2018,252.8,9.0,753,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2519,2114,2210,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7596,0.64,158.8,2731,2519,2211,2018,225.6,8.1,784,7608,0.00,0.00,6.78,1.765,8198,0.000,0.000,2732,2519,2092,2189,1995,0,0,0,0,0,0,28.83,28.83,13.85
$GC,7910,0.67,168.9,2732,2519,2190,1995,200.0,7.9,816,7928,0.00,2.45,11.15,1.896,8452,0.000,0.136,2732,3873,2054,2153,1956,0,0,0,0,0,0,28.83,14.54,13.85
$GC,7948,0.68,178.3,2732,3873,2153,1956,197.3,7.9,819,7966,0.00,2.30,11.02,1.873,9222,0.000,0.089,2741,2520,2015,2113,1917,0,0,0,0,0,0,28.83,14.57,13.74
$GC,8278,0.71,191.2,2742,2520,2113,1916,170.9,7.8,852,8295,0.00,0.00,14.57,1.914,8198,0.000,0.000,2742,2520,1960,2060,1861,0,0,0,0,0,0,28.83,28.83,13.72
$GC,8598,0.75,204.3,2742,2520,2061,1860,145.8,7.8,884,8618,0.00,2.50,14.40,1.889,8708,0.000,0.108,2751,1127,1908,2009,1807,0,0,0,0,0,0,28.83,14.40,13.72
$GC,8642,0.75,204.3,1792,1126,1969,1803,142.3,8.4,888,8649,0.00,2.50,0.00,0.000,1030,0.000,0.115,2752,2531,1908,2009,1807,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8951,0.75,204.3,2752,2530,2009,1805,114.1,9.5,919,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2531,1907,2009,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9265,0.75,204.3,2752,2531,2009,1803,85.1,8.5,966,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2530,1906,2009,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9583,0.79,217.4,2751,2531,2009,1803,59.2,7.8,1027,9596,0.00,0.00,6.93,0.360,8198,0.000,0.000,2751,2531,1853,1955,1751,0,0,0,0,0,0,28.83,28.83,14.47
$GC,9913,0.90,249.9,2752,2531,1955,1747,33.4,7.0,1089,9939,0.12,2.50,16.58,0.269,10756,0.163,0.110,2811,1128,1720,1815,1626,0,0,0,0,0,0,14.64,14.59,14.52
$GC,10006,0.89,249.9,1792,1127,1775,1621,25.1,9.6,1104,10013,0.00,2.47,0.00,0.000,1030,0.000,0.116,2811,2531,1718,1813,1624,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,10212,end climb,SURFACE_DEPTH_REACHED
$STATE,10212,begin surface coast
$FINISH,0.5,1.014997
$STATE,10239,end surface coast,CONTROL_FINISHED_OK
$STATE,10239,begin surface
$SM_CCo,10268,74.38,0.170,0,0,1110,400.08
$SM_GC,1.65,7.82,0.00,74.38,0.096,0.000,0.170,143,2531,1110,-7.32,0.88,400.08,0,0,0,0,0,0,14.64,28.83,14.53
$RAFOS_CLK,456
$RAFOS,6,1380588543,0.833333,0.817500,84,71,70,60,57,57,847,210,175,121,149,190
$RAFOS,5,1380588070,0.700000,0.686111,81,63,59,54,53,51,627,197,222,210,122,137
$RAFOS,4,1380587591,0.566667,0.553056,63,61,60,59,57,56,213,200,114,854,189,170
$RAFOS,3,1380587103,0.433333,0.417500,68,66,62,57,57,52,209,181,195,128,1021,220
$RAFOS,1,1380586141,0.166667,0.150278,64,62,58,58,53,48,222,157,208,136,119,232
$RAFOS_FIX,6703.500977,-5654.885742,011013,000056,2,82,0.80
$IRIDIUM_FIX,6636.54,-5650.71,300913,212153
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.93
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,14.00
$XPDR_PINGS,73
$24V_AH,12.7,42.558
$10V_AH,13.0,0.000
$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,20.800,72.650,394.575,74.375,0.000,0.000,0.000,209.875,18.250,0.000,6.050,2822.152,4717.184,643.982,1932.702,608.115,0.000,1817.778,0.000,1749.328,1440.000,0.537,0.000
$DEVICE_MAMPS,427.635,201.960,2370.735,169.830,0.000,0.000,0.000,146.115,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150812
$DATA_FILE_SIZE,50038,1149
$CAP_FILE_SIZE,117677,0
$CFSIZE,259252224,244379648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1470.2
$CURRENT,0.169,329.6,1
$GPS,011013,031406,6703.086,-5652.568,37,0.9,37,-33.5