version: 66.11
glider: 192
mission: 2
dive: 418
start: 12 4 113 19 44 11
data:
$ID,192
$MISSION,2
$DIVE,418
$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,-2
$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,549.71729
$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,-7542.7227
$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,22
$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,0.0015
$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
$GPS1,041213,162709,6642.712,-6014.161,4,1.0,4,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,9.3
$GPS2,041213,162709,6642.712,-6014.161,4,1.0,4,-33.8
$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,64.6,153546,-27.8,-8.250,-30.00,870
$D_GRID,550
$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,19,-1.28,-46.6,2860,2489,1526,1342,0.0,0.0,0,103,0.00,0.00,-80.35,0.000,16390,0.000,0.000,2860,2489,2931,3047,2816,0,0,0,0,0,0,28.83,28.83,14.85
$GC,110,-1.33,-76.7,2860,2490,3048,2816,3.0,-4.7,14,124,2.53,1.62,-4.85,0.000,20740,0.178,0.154,2081,3352,3055,3187,2923,0,0,0,0,0,0,14.28,14.37,14.82
$GC,247,-1.24,-76.7,2081,3352,3188,2923,34.6,-28.5,38,254,0.12,1.50,0.00,0.000,3078,0.358,0.086,2103,2474,3055,3188,2923,0,0,0,0,0,0,14.03,14.43,28.83
$GC,571,-1.18,-76.7,2103,2474,3188,2923,121.4,-24.7,92,575,0.00,1.45,0.00,0.000,516,0.000,0.099,2103,1658,3055,3188,2923,0,0,0,0,0,0,28.83,14.35,28.83
$GC,810,-1.13,-76.7,2103,1659,3188,2923,179.7,-24.0,115,815,0.15,1.55,0.00,0.000,3078,0.323,0.114,2134,2501,3055,3188,2923,0,0,0,0,0,0,13.95,14.32,28.83
$GC,1127,-1.09,-76.7,2134,2500,3188,2922,244.0,-20.5,146,1130,0.00,1.48,0.00,0.000,516,0.000,0.098,2134,1665,3054,3188,2921,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1268,-1.07,-76.7,2134,1665,3187,2922,271.1,-19.4,159,1272,0.15,1.52,0.00,0.000,3078,0.339,0.122,2158,2511,3055,3188,2922,0,0,0,0,0,0,14.00,14.31,28.83
$GC,1585,-1.07,-76.7,2158,2511,3188,2922,328.9,-18.3,190,1589,0.00,1.50,0.00,0.000,516,0.000,0.098,2158,1663,3054,3188,2921,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1653,-1.07,-76.7,1352,1662,3168,2917,340.6,-18.1,196,1659,0.00,1.50,0.00,0.000,1030,0.000,0.119,2154,2501,3054,3188,2921,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1963,-1.06,-76.7,2154,2501,3188,2921,393.9,-17.0,227,1966,0.00,1.48,0.00,0.000,516,0.000,0.097,2154,1666,3054,3188,2921,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2087,-1.06,-76.7,1312,1664,3167,2917,413.4,-16.0,238,2093,0.00,1.50,0.00,0.000,1030,0.000,0.121,2148,2502,3054,3188,2921,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2397,-1.05,-76.7,2148,2503,3188,2921,468.4,-17.2,269,2400,0.00,1.48,0.00,0.000,516,0.000,0.097,2148,1665,3054,3188,2921,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2472,-1.05,-76.7,2148,1666,3188,2922,480.9,-15.9,276,2476,0.00,1.52,0.00,0.000,1030,0.000,0.119,2142,2499,3054,3188,2921,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2788,-1.04,-76.7,2141,2499,3188,2922,532.4,-16.4,307,2795,0.12,0.00,0.00,0.000,2054,0.349,0.000,2168,2499,3055,3188,2922,0,0,0,0,0,0,14.02,28.83,28.83
$STATE,2893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2893,begin apogee
$GC,2906,-0.22,0.0,2168,2499,3188,2922,550.4,-15.5,318,2996,1.00,0.00,83.90,2.559,10246,0.275,0.000,2426,2499,2742,2853,2631,0,0,0,0,0,0,13.93,28.83,12.70
$STATE,2997,end apogee,CONTROL_FINISHED_OK
$STATE,2998,begin climb
$GC,3010,1.33,76.7,2427,2499,2853,2630,556.6,0.0,328,3107,1.67,1.75,89.28,2.430,10500,0.174,0.134,2929,3349,2428,2519,2337,0,0,0,0,0,0,13.84,13.22,12.14
$GC,3194,1.27,76.7,2929,3349,2516,2335,547.0,10.6,347,3197,0.00,1.52,0.00,0.000,1030,0.000,0.092,2935,2515,2425,2516,2335,0,0,0,0,0,0,28.83,13.60,28.83
$GC,3510,1.23,76.7,2935,2515,2514,2330,516.7,8.7,378,3513,0.00,1.58,0.00,0.000,260,0.000,0.138,2935,3365,2422,2514,2331,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3664,1.18,76.7,2935,3365,2513,2331,503.0,9.1,392,3671,0.22,1.50,0.00,0.000,5126,0.307,0.092,2893,2499,2421,2513,2330,0,0,0,0,0,0,14.03,14.34,28.83
$GC,3973,1.20,86.4,2893,2499,2513,2329,478.5,7.1,423,3990,0.00,1.55,10.77,2.173,8452,0.000,0.134,2893,3355,2388,2480,2296,0,0,0,0,0,0,28.83,14.42,13.14
$GC,4214,1.18,86.4,1920,3353,2434,2291,459.2,8.4,446,4221,0.00,1.50,0.00,0.000,1030,0.000,0.093,2898,2486,2388,2480,2296,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4523,1.18,92.6,2898,2486,2479,2296,434.3,7.5,477,4532,0.00,0.00,7.72,2.030,8710,0.000,0.000,2898,2486,2364,2458,2271,0,0,0,0,0,0,28.83,28.83,13.18
$GC,4846,1.18,92.6,2898,2487,2458,2270,407.5,9.2,509,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2486,2364,2458,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5159,1.18,92.6,2898,2486,2458,2269,379.2,9.1,540,5162,0.00,1.60,0.00,0.000,260,0.000,0.138,2898,3363,2364,2458,2270,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5283,1.16,92.6,1888,3362,2411,2265,367.9,9.6,551,5289,0.00,1.50,0.00,0.000,1030,0.000,0.093,2905,2491,2364,2458,2270,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5592,1.17,93.3,2905,2491,2458,2270,340.4,8.2,582,5595,0.00,1.45,0.00,0.000,516,0.000,0.107,2911,1670,2363,2458,2269,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5754,1.17,93.3,2911,1670,2457,2268,327.7,8.4,597,5762,0.00,1.50,0.00,0.000,1030,0.000,0.124,2911,2508,2363,2458,2268,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6064,1.17,94.5,2911,2509,2458,2268,301.5,8.1,628,6068,0.00,1.58,0.00,0.000,260,0.000,0.136,2911,3363,2362,2457,2268,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6305,1.14,94.6,2911,3363,2458,2268,281.7,8.2,651,6309,0.17,1.50,0.00,0.000,5126,0.306,0.093,2880,2485,2363,2458,2268,0,0,0,0,0,0,14.13,14.45,28.83
$GC,6622,1.19,118.7,2880,2484,2458,2268,260.8,5.4,682,6658,0.00,1.60,28.30,2.181,8452,0.000,0.136,2880,3359,2258,2356,2160,0,0,0,0,0,0,28.83,14.35,13.24
$GC,6890,1.20,123.9,1904,3358,2310,2155,241.1,7.6,708,6906,0.00,1.50,6.78,1.824,9222,0.000,0.093,2885,2489,2236,2333,2140,0,0,0,0,0,0,28.83,14.40,13.17
$GC,7208,1.23,127.7,2885,2489,2333,2140,216.0,7.8,740,7218,0.00,1.50,5.95,1.747,8708,0.000,0.107,2891,1658,2220,2317,2123,0,0,0,0,0,0,28.83,14.50,13.19
$GC,7324,1.26,127.7,1872,1657,2270,2118,207.4,8.4,750,7332,0.00,1.55,0.00,0.000,1030,0.000,0.123,2892,2523,2220,2317,2123,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7634,1.29,132.4,2892,2523,2317,2123,181.9,7.7,781,7644,0.00,0.00,6.47,1.776,8454,0.000,0.000,2891,2523,2201,2298,2104,0,0,0,0,0,0,28.83,28.83,13.24
$GC,7946,1.32,136.2,2892,2523,2298,2104,158.8,7.8,812,7957,0.12,1.58,6.10,1.728,10756,0.161,0.109,2946,1658,2184,2282,2087,0,0,0,0,0,0,14.52,14.52,13.24
$GC,8190,1.32,136.2,2946,1658,2282,2086,138.3,8.3,835,8196,0.00,1.55,0.00,0.000,1030,0.000,0.122,2946,2514,2184,2282,2086,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8499,1.35,156.6,2946,2514,2282,2086,117.3,5.8,866,8516,0.00,1.55,13.27,1.919,8708,0.000,0.109,2952,1660,2101,2200,2003,0,0,0,0,0,0,28.83,14.51,13.38
$GC,8750,1.36,160.8,1952,1660,2156,1994,99.2,7.8,891,8758,0.00,1.52,2.28,0.497,9222,0.000,0.125,2952,2509,2084,2184,1984,0,0,0,0,0,0,28.83,14.35,13.81
$GC,9070,1.38,174.3,2952,2509,2184,1984,74.0,6.6,952,9084,0.00,1.55,7.75,0.401,8708,0.000,0.110,2958,1664,2029,2130,1929,0,0,0,0,0,0,28.83,14.39,13.92
$GC,9220,1.38,174.3,2958,1664,2130,1928,61.9,8.8,979,9227,0.00,1.52,0.00,0.000,1030,0.000,0.125,2958,2513,2029,2130,1928,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9539,1.38,174.3,2958,2512,2130,1926,35.0,8.5,1040,9546,0.00,1.52,0.00,0.000,260,0.000,0.140,2958,3356,2027,2129,1926,0,0,0,0,0,0,28.83,14.31,28.83
$GC,9776,1.38,174.3,1968,3355,2086,1922,13.4,8.6,1085,9784,0.00,1.50,0.00,0.000,1030,0.000,0.096,2964,2492,2027,2128,1926,0,0,0,0,0,0,28.83,14.42,28.83
$FREEZE,8.68,-1.280,-1.763,2,9,0
$FREEZE,8.26,-1.280,-1.763,2,9,0
$FREEZE,7.80,-1.280,-1.763,2,9,0
$FREEZE,7.44,-1.283,-1.762,2,9,0
$FREEZE,7.05,-1.283,-1.762,2,9,0
$FREEZE,6.62,-1.283,-1.762,2,9,0
$FREEZE,6.19,-1.283,-1.761,2,9,0
$FREEZE,5.72,-1.282,-1.761,2,9,0
$FREEZE,5.47,-1.283,-1.761,2,9,0
$FREEZE,4.58,-1.283,-1.760,2,9,0
$FREEZE,4.22,-1.282,-1.760,2,9,0
$FREEZE,3.64,-1.283,-1.759,2,9,0
$FREEZE,3.37,-1.283,-1.759,2,9,0
$FREEZE,2.85,-1.284,-1.759,2,9,0
$STATE,9900,end climb,SURFACE_DEPTH_REACHED
$STATE,9900,begin surface coast
$FREEZE,2.41,-1.285,-1.759,2,9,0
$FREEZE,1.96,-1.289,-1.758,2,9,0
$FREEZE,1.80,-1.291,-1.758,2,9,0
$FREEZE,1.61,-1.285,-1.758,2,9,0
$FREEZE,1.76,-1.284,-1.758,2,9,0
$FREEZE,1.64,-1.291,-1.758,2,9,0
$FREEZE,1.79,-1.290,-1.758,2,9,0
$FINISH,1.8,1.025814
$STATE,9937,end surface coast,CONTROL_FINISHED_OK
$STATE,9938,begin surface
$RAFOS_CLK,538
$RAFOS,6,1386190148,20.833334,20.818890,104,59,57,55,54,51,843,120,177,204,215,98
$RAFOS,5,1386189663,20.700001,20.684166,72,65,58,57,56,55,953,191,445,166,182,145
$RAFOS,4,1386189184,20.566668,20.551111,62,61,57,57,55,53,176,206,188,116,133,159
$RAFOS,3,1386188707,20.433332,20.418612,148,64,58,56,54,52,729,204,222,191,162,213
$RAFOS,2,1386188222,20.299999,20.283890,121,61,51,50,50,48,608,193,148,222,178,316
$RAFOS,1,1386187749,20.166666,20.152500,63,58,56,53,51,50,207,179,188,164,228,139
$RAFOS,0,1386187261,20.033333,20.016945,118,59,59,58,54,53,634,212,194,165,227,137
$RAFOS_FIX,6638.776855,-6010.360352,041213,202048,5,113,0.54
$IRIDIUM_FIX,6614.97,-6011.26,041213,161639
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.18
$INTERNAL_PRESSURE,8.71321
$TCM_TEMP,12.20
$XPDR_PINGS,56
$ALTIM_TOP_PING,19.6,18.0
$24V_AH,12.1,186.118
$10V_AH,11.8,0.000
$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,6.275,55.075,268.575,0.000,0.000,0.000,0.000,0.000,15.750,0.000,0.000,2856.654,4455.283,337.529,1997.241,507.272,0.000,1368.828,0.000,1970.344,2520.000,13.238,0.000
$DEVICE_MAMPS,358.020,153.765,2558.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150728
$DATA_FILE_SIZE,46786,1115
$CAP_FILE_SIZE,117811,0
$CFSIZE,259252224,218443776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$CURRENT,3.373,165.8,1
$GPS,041213,202848,6638.777,-6010.360,0,5112.6,0,-33.8