version: 66.11
glider: 192
mission: 2
dive: 471
start: 12 14 113 20 24 28
data:
$ID,192
$MISSION,2
$DIVE,471
$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,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,-9042.126
$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,18
$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
$GPS1,141213,201100,6705.527,-5656.446,42,1.0,42,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-63.4
$GPS2,141213,202339,6705.571,-5656.621,16,0.9,16,-33.6
$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,180.6,7838,-15.5,-8.250,-18.49,2720
$D_GRID,494
$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,-0.89,-146.0,95,2526,1126,1072,0.0,0.0,0,106,0.00,0.00,-83.47,0.000,16386,0.000,0.000,95,2526,2698,2746,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.89,-146.0,95,2526,2747,2650,3.1,-3.6,14,146,10.40,1.60,-15.88,0.000,18948,0.412,0.125,2215,1649,3338,3502,3175,0,0,0,0,0,0,13.88,14.40,14.81
$GC,383,-0.81,-146.0,2215,1649,3506,3175,58.0,-20.3,64,390,0.15,1.55,0.00,0.000,3078,0.285,0.115,2242,2508,3339,3505,3174,0,0,0,0,0,0,14.12,14.33,28.83
$GC,704,-0.75,-146.0,2243,2508,3506,3172,113.6,-16.7,117,707,0.00,1.50,0.00,0.000,260,0.000,0.124,2238,3346,3338,3506,3171,0,0,0,0,0,0,28.83,14.29,28.83
$GC,730,-0.70,-146.0,2238,3345,3506,3171,117.8,-16.7,119,734,0.15,1.48,0.00,0.000,3078,0.243,0.082,2279,2500,3338,3506,3171,0,0,0,0,0,0,14.08,14.40,28.83
$GC,1046,-0.67,-146.0,2279,2500,3506,3171,158.4,-11.5,150,1050,0.00,1.50,0.00,0.000,516,0.000,0.095,2279,1630,3338,3506,3171,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1122,-0.65,-146.0,2279,1630,3506,3171,166.9,-11.2,157,1126,0.00,1.55,0.00,0.000,1030,0.000,0.114,2275,2498,3338,3506,3171,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1439,-0.63,-146.0,2275,2498,3506,3171,203.3,-11.5,188,1446,0.12,0.00,0.00,0.000,2054,0.282,0.000,2307,2498,3338,3506,3170,0,0,0,0,0,0,14.23,28.83,28.83
$GC,1749,-0.63,-146.0,2307,2498,3506,3171,232.7,-9.3,219,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2498,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-0.63,-146.0,1408,2496,3499,3168,262.7,-10.0,250,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2498,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2374,-0.63,-146.0,2307,2498,3508,3171,293.3,-10.1,281,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2498,3339,3508,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.63,-146.0,2307,2498,3509,3171,324.1,-9.8,312,2692,0.00,1.48,0.00,0.000,516,0.000,0.092,2307,1663,3340,3509,3171,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2726,-0.63,-146.0,2307,1663,3509,3171,328.1,-9.8,315,2733,0.00,1.50,0.00,0.000,1030,0.000,0.112,2303,2501,3340,3509,3171,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3037,-0.63,-146.0,2303,2501,3510,3171,358.1,-9.6,346,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2501,3340,3510,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,-0.63,-146.0,2303,2501,3511,3171,388.5,-9.9,377,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2501,3341,3511,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3664,-0.63,-146.0,2303,2501,3513,3171,418.4,-9.3,408,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2501,3342,3513,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3978,-0.63,-146.0,2303,2501,3514,3171,448.3,-9.4,439,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2501,3342,3514,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4293,-0.63,-146.0,2303,2501,3514,3171,477.4,-8.8,470,4296,0.00,1.48,0.00,0.000,516,0.000,0.090,2303,1663,3342,3514,3170,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4330,-0.63,-146.0,1440,1662,3507,3168,481.6,-9.8,473,4338,0.00,1.50,0.00,0.000,1030,0.000,0.112,2298,2501,3342,3514,3171,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4467,-0.22,0.0,2298,2501,3514,3171,494.0,-8.7,486,4631,0.47,0.00,152.52,2.317,10246,0.212,0.000,2431,2501,2741,2853,2630,0,0,0,0,0,0,14.13,28.83,12.56
$STATE,4632,end apogee,CONTROL_FINISHED_OK
$STATE,4632,begin climb
$GC,4638,0.89,146.0,2431,2502,2853,2630,502.0,0.0,503,4808,1.20,0.00,164.38,2.240,10758,0.153,0.000,2787,2501,2145,2241,2050,0,0,0,0,0,0,13.69,28.83,12.11
$GC,5116,0.85,146.0,2787,2501,2240,2041,464.4,9.6,551,5119,0.00,1.55,0.00,0.000,260,0.000,0.125,2787,3363,2141,2241,2041,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5193,0.81,146.0,2787,3363,2240,2041,456.6,10.6,558,5196,0.00,1.50,0.00,0.000,1030,0.000,0.083,2793,2484,2140,2240,2041,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5508,0.77,146.0,2793,2484,2241,2040,424.8,10.2,589,5515,0.12,0.00,0.00,0.000,4102,0.256,0.000,2761,2484,2139,2239,2040,0,0,0,0,0,0,14.33,28.83,28.83
$GC,5819,0.75,146.0,2761,2484,2240,2039,398.6,8.3,620,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2483,2140,2241,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,0.73,146.0,2761,2484,2240,2038,372.4,8.7,651,6139,0.00,1.58,0.00,0.000,260,0.000,0.125,2761,3357,2139,2240,2038,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6185,0.71,146.0,2760,3358,2240,2038,367.8,9.0,655,6192,0.00,1.50,0.00,0.000,1030,0.000,0.083,2765,2479,2139,2240,2038,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6495,0.69,146.0,2765,2479,2241,2038,340.6,8.5,686,6499,0.12,1.62,0.00,0.000,4356,0.259,0.121,2732,3353,2139,2240,2038,0,0,0,0,0,0,14.38,14.37,28.83
$GC,6535,0.70,152.8,2732,3353,2240,2038,337.8,8.0,689,6551,0.00,1.50,7.15,1.812,9222,0.000,0.083,2736,2475,2118,2221,2015,0,0,0,0,0,0,28.83,14.50,13.29
$GC,6852,0.75,184.2,2736,2475,2221,2015,314.6,7.1,721,6891,0.00,1.60,33.83,2.150,8452,0.000,0.122,2736,3357,1990,2095,1886,0,0,0,0,0,0,28.83,14.35,13.24
$GC,6936,0.75,187.5,2737,3357,2095,1884,308.7,8.1,729,6945,0.00,1.50,5.07,1.585,9222,0.000,0.083,2742,2485,1976,2081,1872,0,0,0,0,0,0,28.83,14.40,13.11
$GC,7247,0.77,200.9,2742,2485,2081,1871,284.2,7.7,760,7268,0.00,1.45,15.32,1.984,8708,0.000,0.098,2748,1669,1921,2027,1815,0,0,0,0,0,0,28.83,14.47,13.33
$GC,7303,0.79,202.9,2748,1669,2027,1815,280.1,8.2,765,7311,0.00,1.50,0.00,0.000,1030,0.000,0.112,2748,2513,1920,2027,1814,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7613,0.79,202.9,2748,2513,2027,1812,252.3,9.0,796,7617,0.00,1.52,0.00,0.000,260,0.000,0.125,2748,3350,1920,2027,1813,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7668,0.79,202.9,2748,3350,2027,1813,246.5,10.7,801,7672,0.00,1.48,0.00,0.000,1030,0.000,0.084,2754,2502,1919,2026,1813,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7984,0.79,202.9,2754,2502,2027,1812,215.9,9.7,832,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2502,1920,2027,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8298,0.79,202.9,2754,2502,2027,1812,185.2,9.2,863,8302,0.00,1.48,0.00,0.000,516,0.000,0.096,2760,1665,1919,2027,1812,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8344,0.79,202.9,2760,1664,2027,1811,180.6,9.2,867,8347,0.00,1.52,0.00,0.000,1030,0.000,0.112,2760,2503,1919,2027,1811,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8659,0.79,202.9,2760,2503,2027,1811,153.5,8.3,898,8663,0.00,1.52,0.00,0.000,260,0.000,0.126,2760,3361,1919,2027,1811,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8757,0.79,202.9,2760,3361,2027,1811,144.7,9.1,907,8764,0.00,1.50,0.00,0.000,1030,0.000,0.083,2767,2479,1919,2027,1811,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9066,0.79,202.9,2767,2479,2026,1811,118.3,8.5,938,9070,0.00,1.62,0.00,0.000,260,0.000,0.125,2767,3356,1919,2027,1811,0,0,0,0,0,0,28.83,14.35,28.83
$GC,9112,0.79,202.9,2767,3356,2027,1811,114.2,9.1,942,9116,0.00,1.48,0.00,0.000,1030,0.000,0.083,2773,2512,1919,2027,1811,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9429,0.79,203.6,2773,2512,2027,1811,88.4,8.2,986,9435,0.00,1.50,0.00,0.000,516,0.000,0.097,2779,1642,1918,2027,1810,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9528,0.82,220.2,2780,1641,2027,1810,81.1,7.6,1004,9547,0.00,1.55,11.30,0.411,9222,0.000,0.113,2779,2510,1842,1950,1735,0,0,0,0,0,0,28.83,14.40,13.81
$GC,9865,0.87,241.0,2779,2510,1950,1732,53.7,7.5,1067,9884,0.00,1.52,11.77,0.318,8452,0.000,0.123,2779,3357,1757,1859,1656,0,0,0,0,0,0,28.83,14.35,13.92
$GC,9941,0.88,241.0,2780,3357,1858,1656,45.6,9.6,1080,9948,0.00,1.50,0.00,0.000,1030,0.000,0.083,2786,2479,1757,1858,1657,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10266,0.95,274.2,2786,2479,1855,1656,23.0,7.0,1141,10292,0.00,1.40,18.20,0.221,8708,0.000,0.092,2791,1665,1621,1715,1528,0,0,0,0,0,0,28.83,14.40,14.04
$GC,10355,1.16,386.1,1760,1663,1681,1523,18.0,4.0,1155,10423,0.28,1.52,60.05,0.199,11270,0.107,0.112,2891,2519,1164,1233,1096,0,0,0,0,0,0,14.50,14.35,14.19
$FREEZE,8.42,0.218,-1.804,0,2,0
$FREEZE,7.48,0.219,-1.803,0,2,0
$FREEZE,6.88,0.213,-1.803,0,2,0
$FREEZE,6.51,0.208,-1.803,0,2,0
$FREEZE,6.05,0.205,-1.802,0,2,0
$FREEZE,5.78,0.208,-1.802,0,2,0
$FREEZE,5.24,0.222,-1.802,0,2,0
$FREEZE,4.64,0.230,-1.801,0,2,0
$FREEZE,4.13,0.212,-1.801,0,2,0
$FREEZE,3.74,0.218,-1.801,0,2,0
$FREEZE,3.07,0.209,-1.800,0,2,0
$FREEZE,2.46,0.210,-1.799,0,2,0
$STATE,10525,end climb,SURFACE_DEPTH_REACHED
$STATE,10525,begin surface coast
$FREEZE,2.11,0.205,-1.799,0,2,0
$FREEZE,1.75,0.204,-1.799,0,2,0
$FREEZE,1.13,0.200,-1.799,0,2,0
$FREEZE,0.84,0.200,-1.798,0,2,0
$FREEZE,0.80,0.101,-1.686,0,2,0
$FINISH,0.8,1.024741
$STATE,10559,end surface coast,CONTROL_FINISHED_OK
$STATE,10560,begin surface
$SM_CCo,10588,83.70,0.157,0,0,498,549.72
$SM_GC,1.77,8.12,0.00,83.70,0.086,0.000,0.157,142,2519,498,-7.35,0.57,549.72,0,0,0,0,0,0,14.40,28.83,14.23
$RAFOS_CLK,462
$RAFOS,6,1387054151,20.833334,20.819723,61,60,55,55,53,49,211,782,152,177,129,108
$RAFOS,5,1387053668,20.700001,20.685556,63,59,54,54,53,50,214,134,182,161,197,170
$RAFOS,4,1387053184,20.566668,20.551111,66,56,56,54,53,49,208,193,1351,218,869,174
$RAFOS,3,1387052705,20.433332,20.418056,54,54,51,51,50,50,109,162,146,124,198,221
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5659.96,141213,202025
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.77
$INTERNAL_PRESSURE,8.69367
$TCM_TEMP,14.00
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.9,18.9
$24V_AH,12.1,209.273
$10V_AH,11.2,0.000
$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,21.150,51.550,479.600,83.700,0.000,0.000,0.000,433.725,9.000,0.000,17.622,2896.915,4963.857,640.786,2260.910,676.035,0.000,2084.344,0.000,1837.419,1440.000,9.699,0.000
$DEVICE_MAMPS,412.335,126.225,2317.185,156.825,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.674,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150720
$DATA_FILE_SIZE,50046,1190
$CAP_FILE_SIZE,125467,0
$CFSIZE,259252224,214331392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.4
$CURRENT,0.307,336.9,1
$GPS,141213,232429,6706.027,-5656.295,62,0.8,62,-33.6