version: 66.11
glider: 192
mission: 2
dive: 359
start: 11 23 113 1 51 18
data:
$ID,192
$MISSION,2
$DIVE,359
$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,-2550.5171
$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,23
$R_STBD_OVSHOOT,16
$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,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
$GPS1,231113,014100,6702.496,-5652.429,57,1.2,57,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-65.9
$GPS2,231113,015023,6702.503,-5652.390,37,1.1,37,-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,92.9,3301,-26.7,-8.250,-28.91,946
$D_GRID,567
$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,20,-1.24,-50.7,100,2508,1110,1074,0.0,0.0,0,89,0.00,0.00,-66.47,0.000,16386,0.000,0.000,95,2508,2438,2505,2371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.31,-96.5,96,2508,2507,2371,3.2,-3.3,11,134,9.50,1.50,-21.52,0.000,18692,0.410,0.145,2076,3349,3134,3264,3004,0,0,0,0,0,0,13.99,14.38,14.78
$GC,371,-1.21,-96.5,2076,3349,3269,2999,78.2,-28.6,62,379,0.17,1.50,0.00,0.000,3078,0.329,0.083,2111,2466,3134,3269,3000,0,0,0,0,0,0,14.07,14.46,28.83
$GC,691,-1.15,-96.5,2111,2466,3269,2999,151.5,-22.7,101,695,0.00,1.40,0.00,0.000,516,0.000,0.095,2112,1664,3134,3269,2999,0,0,0,0,0,0,28.83,14.42,28.83
$GC,777,-1.10,-96.5,2112,1664,3269,2998,170.4,-21.9,109,781,0.20,1.50,0.00,0.000,3078,0.307,0.115,2150,2509,3133,3269,2998,0,0,0,0,0,0,14.12,14.41,28.83
$GC,1093,-1.07,-96.5,2150,2509,3269,2998,232.1,-18.9,140,1097,0.00,1.48,0.00,0.000,516,0.000,0.092,2150,1661,3133,3269,2998,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1132,-1.04,-96.5,2151,1661,3269,2998,238.5,-18.5,143,1139,0.00,1.50,0.00,0.000,1030,0.000,0.114,2146,2508,3133,3269,2998,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1441,-1.02,-96.5,2146,2508,3269,2998,293.9,-17.8,174,1446,0.12,1.52,0.00,0.000,2308,0.327,0.119,2170,3345,3133,3269,2998,0,0,0,0,0,0,14.21,14.38,28.83
$GC,1501,-1.00,-96.5,1344,3344,3253,2995,304.0,-17.6,179,1507,0.00,1.48,0.00,0.000,1030,0.000,0.081,2170,2495,3133,3269,2998,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1811,-1.00,-96.5,2170,2495,3270,2999,353.2,-15.1,210,1815,0.00,1.45,0.00,0.000,516,0.000,0.092,2170,1661,3134,3270,2998,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1840,-1.00,-96.5,2170,1661,3270,2998,357.1,-15.3,212,1847,0.00,1.50,0.00,0.000,1030,0.000,0.113,2164,2507,3134,3270,2998,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2151,-0.98,-96.5,2164,2507,3271,2998,406.2,-15.0,243,2155,0.00,1.50,0.00,0.000,260,0.000,0.120,2157,3362,3134,3271,2998,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2218,-0.96,-96.5,2157,3362,3271,2998,416.6,-15.8,249,2222,0.17,1.48,0.00,0.000,3078,0.288,0.079,2194,2501,3134,3271,2998,0,0,0,0,0,0,14.19,14.50,28.83
$GC,2537,-0.97,-96.5,2194,2501,3273,2999,461.0,-14.3,280,2541,0.00,1.48,0.00,0.000,516,0.000,0.093,2195,1655,3135,3273,2998,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2576,-0.99,-96.5,2195,1655,3273,2998,466.1,-14.1,283,2583,0.00,1.50,0.00,0.000,1030,0.000,0.112,2190,2502,3135,3273,2998,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2885,-0.99,-96.5,2190,2502,3273,2998,510.0,-13.8,314,2889,0.00,1.48,0.00,0.000,516,0.000,0.092,2190,1663,3136,3273,2999,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2941,-1.01,-96.5,2190,1662,3273,2999,517.7,-13.9,319,2945,0.00,1.52,0.00,0.000,1030,0.000,0.112,2184,2500,3136,3273,2999,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3259,-1.26,-146.0,2185,2500,3275,2998,542.2,-0.1,350,3263,0.20,1.52,0.00,0.000,4356,0.115,0.125,2097,3351,3137,3275,2999,0,0,0,0,0,0,14.59,14.40,28.83
$STATE,3279,end dive,NO_VERTICAL_VELOCITY
$STATE,3279,begin apogee
$GC,3294,-0.22,0.0,2097,2511,3275,2998,542.1,0.0,352,3401,1.10,0.00,99.70,2.398,10246,0.164,0.000,2435,2510,2742,2853,2632,0,0,0,0,0,0,14.31,28.83,12.93
$STATE,3408,end apogee,CONTROL_FINISHED_OK
$STATE,3408,begin climb
$GC,3414,1.38,146.0,2435,2510,2853,2632,542.3,0.0,364,3591,1.65,1.60,162.38,2.353,10756,0.138,0.097,2952,1669,2145,2235,2056,0,0,0,0,0,0,13.93,13.22,12.26
$GC,3749,1.34,146.0,2952,1669,2235,2046,501.8,17.4,397,3756,0.00,1.58,0.00,0.000,1030,0.000,0.113,2951,2514,2140,2235,2046,0,0,0,0,0,0,28.83,13.89,28.83
$GC,4058,1.29,146.0,1936,2512,2188,2038,446.6,17.0,428,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2514,2139,2235,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,1.25,146.0,2952,2515,2235,2042,392.7,17.1,459,4378,0.15,1.50,0.00,0.000,4356,0.321,0.122,2917,3356,2138,2235,2042,0,0,0,0,0,0,14.23,14.45,28.83
$GC,4423,1.21,146.0,2916,3356,2235,2042,384.3,16.2,463,4430,0.00,1.48,0.00,0.000,1030,0.000,0.086,2921,2513,2138,2235,2042,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4732,1.18,146.0,2921,2513,2235,2042,335.0,15.7,494,4736,0.12,1.52,0.00,0.000,4356,0.312,0.125,2891,3359,2138,2235,2042,0,0,0,0,0,0,14.30,14.47,28.83
$GC,4844,1.16,146.0,2891,3358,2235,2041,318.4,15.6,504,4848,0.00,1.48,0.00,0.000,1030,0.000,0.087,2897,2511,2138,2235,2041,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5160,1.16,146.0,2897,2511,2235,2041,272.4,14.4,535,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2510,2138,2235,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,1.16,146.0,2896,2511,2235,2041,229.3,13.6,566,5479,0.00,1.52,0.00,0.000,260,0.000,0.128,2896,3362,2138,2236,2041,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5601,1.14,146.0,1856,3361,2187,2036,212.0,14.5,577,5608,0.00,1.50,0.00,0.000,1030,0.000,0.087,2903,2479,2138,2235,2041,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5910,1.14,146.0,2903,2479,2235,2041,168.1,13.3,608,5914,0.00,1.62,0.00,0.000,260,0.000,0.126,2903,3360,2138,2235,2041,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5938,1.13,146.0,1920,3359,2190,2036,164.6,13.6,610,5946,0.15,1.48,0.00,0.000,5126,0.295,0.087,2877,2515,2138,2235,2041,0,0,0,0,0,0,14.28,14.54,28.83
$GC,6248,1.14,146.0,2877,2515,2235,2041,127.2,12.0,641,6252,0.00,1.55,0.00,0.000,260,0.000,0.128,2877,3354,2138,2235,2041,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6297,1.14,146.0,2877,3354,2235,2041,121.5,12.6,645,6305,0.00,1.48,0.00,0.000,1030,0.000,0.087,2883,2511,2138,2235,2041,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6611,1.17,146.0,2883,2511,2235,2041,84.5,10.8,689,6619,0.00,1.48,0.00,0.000,516,0.000,0.101,2889,1670,2137,2235,2040,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6731,1.19,146.0,2889,1670,2235,2040,71.9,9.2,711,6737,0.00,1.50,0.00,0.000,1030,0.000,0.115,2889,2516,2137,2235,2040,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7050,1.25,163.4,2889,2516,2235,2040,48.4,6.4,772,7064,0.00,1.58,8.50,0.306,8452,0.000,0.128,2889,3357,2073,2173,1974,0,0,0,0,0,0,28.83,14.43,14.10
$GC,7181,1.27,163.4,1856,3356,2125,1970,38.0,8.8,795,7188,0.00,1.48,0.00,0.000,1030,0.000,0.086,2896,2512,2073,2172,1974,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7506,1.30,163.4,2895,2512,2173,1973,11.1,9.4,856,7512,0.00,1.50,0.00,0.000,516,0.000,0.102,2902,1637,2072,2172,1973,0,0,0,0,0,0,28.83,14.45,28.83
$FREEZE,8.94,1.453,-1.774,0,1,0
$FREEZE,8.47,1.452,-1.774,0,1,0
$FREEZE,8.01,1.452,-1.774,0,1,0
$FREEZE,7.60,1.451,-1.773,0,1,0
$FREEZE,7.16,1.447,-1.773,0,1,0
$FREEZE,6.87,1.445,-1.773,0,1,0
$FREEZE,6.27,1.444,-1.772,0,1,0
$FREEZE,6.07,1.442,-1.772,0,1,0
$GC,7561,1.34,167.7,2901,1637,2173,1973,6.1,7.8,865,7570,0.12,1.55,2.20,0.213,11270,0.161,0.113,2946,2510,2053,2155,1952,0,0,0,0,0,0,14.52,14.45,14.35
$FREEZE,4.25,1.441,-1.771,0,1,0
$FREEZE,3.79,1.442,-1.770,0,1,0
$FREEZE,3.33,1.443,-1.770,0,1,0
$FREEZE,2.83,1.443,-1.770,0,1,0
$STATE,7592,end climb,SURFACE_DEPTH_REACHED
$STATE,7592,begin surface coast
$FREEZE,2.26,1.441,-1.769,0,1,0
$FREEZE,1.68,1.445,-1.769,0,1,0
$FREEZE,1.30,1.431,-1.769,0,1,0
$FREEZE,1.27,1.144,-1.442,0,1,0
$FREEZE,1.29,1.427,-0.908,0,1,0
$FINISH,1.3,1.013393
$STATE,7624,end surface coast,CONTROL_FINISHED_OK
$STATE,7624,begin surface
$SM_CCo,7653,118.62,0.163,0,0,1107,400.08
$SM_GC,2.52,8.35,0.00,118.62,0.096,0.000,0.163,142,2511,1107,-7.35,0.31,400.08,0,0,0,0,0,0,14.51,28.83,14.29
$RAFOS_CLK,330
$RAFOS_FIX,6703.485840,-5709.395996,221113,161656,2,78,0.58
$IRIDIUM_FIX,6631.12,-5701.34,221113,212157
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.49
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,14.20
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.8,19.0
$24V_AH,12.3,159.145
$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,22.025,54.150,272.775,118.625,0.000,0.000,0.000,341.975,11.750,0.000,38.144,2258.893,3267.115,479.132,1741.748,595.021,0.000,1606.476,0.000,1425.247,0.000,11.476,0.000
$DEVICE_MAMPS,410.040,144.585,2397.510,162.945,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150744
$DATA_FILE_SIZE,36739,875
$CAP_FILE_SIZE,102773,0
$CFSIZE,259252224,223199232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.4
$CURRENT,0.174,344.6,1
$GPS,231113,040235,6703.686,-5650.987,42,0.8,42,-33.5