version: 66.11
glider: 192
mission: 2
dive: 474
start: 12 15 113 5 38 44
data:
$ID,192
$MISSION,2
$DIVE,474
$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,-9045.8906
$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,11
$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
$GPS1,151213,052905,6705.816,-5659.277,35,1.0,35,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-63.7
$GPS2,151213,053801,6705.786,-5659.464,19,1.0,20,-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,160.6,9755,-15.5,-8.250,-18.49,2720
$D_GRID,510
$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,-0.89,-146.0,99,2510,1114,1072,0.0,0.0,0,113,0.00,0.00,-90.43,0.000,16386,0.000,0.000,97,2510,2879,2922,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.89,-146.0,97,2510,2935,2830,3.9,-6.3,15,147,10.45,1.52,-9.55,0.000,19204,0.415,0.150,2211,3353,3339,3494,3185,0,0,0,0,0,0,13.88,14.34,14.79
$GC,384,-0.80,-146.0,2211,3353,3500,3180,67.6,-19.8,64,392,0.15,1.50,0.00,0.000,3078,0.275,0.081,2244,2475,3340,3500,3180,0,0,0,0,0,0,14.13,14.43,28.83
$GC,710,-0.75,-146.0,2244,2475,3500,3178,123.0,-16.7,113,713,0.00,1.60,0.00,0.000,260,0.000,0.124,2239,3357,3339,3500,3178,0,0,0,0,0,0,28.83,14.33,28.83
$GC,808,-0.70,-146.0,1392,3356,3492,3174,138.6,-15.8,122,815,0.17,1.50,0.00,0.000,3078,0.259,0.081,2279,2481,3338,3500,3177,0,0,0,0,0,0,14.15,14.44,28.83
$GC,1117,-0.67,-146.0,2280,2481,3500,3177,177.6,-11.7,153,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2481,3338,3500,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1435,-0.65,-146.0,2279,2481,3500,3177,214.9,-11.8,184,1438,0.00,1.60,0.00,0.000,260,0.000,0.126,2274,3358,3338,3500,3177,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1480,-0.63,-146.0,2275,3357,3501,3177,221.3,-12.0,188,1485,0.12,1.50,0.00,0.000,3078,0.257,0.080,2303,2475,3338,3500,3177,0,0,0,0,0,0,14.23,14.45,28.83
$GC,1797,-0.63,-146.0,2302,2475,3501,3177,254.8,-10.4,219,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2475,3339,3501,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,-0.63,-146.0,2303,2475,3502,3177,286.0,-9.6,250,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2475,3339,3502,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2427,-0.63,-146.0,2303,2475,3504,3177,318.4,-10.4,281,2430,0.00,1.60,0.00,0.000,260,0.000,0.125,2298,3354,3340,3504,3177,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2462,-0.63,-146.0,2298,3355,3503,3177,322.8,-10.8,284,2465,0.00,1.50,0.00,0.000,1030,0.000,0.080,2298,2470,3340,3503,3177,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2778,-0.63,-146.0,2298,2470,3505,3177,356.2,-9.7,315,2781,0.00,1.42,0.00,0.000,516,0.000,0.093,2298,1660,3341,3505,3177,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2813,-0.63,-146.0,2296,1659,3506,3177,359.8,-10.1,318,2817,0.00,1.50,0.00,0.000,1030,0.000,0.110,2292,2509,3341,3506,3177,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3130,-0.63,-146.0,2292,2509,3506,3177,391.3,-9.9,349,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2509,3341,3506,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.63,-146.0,2292,2509,3507,3177,422.6,-9.9,380,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2509,3342,3507,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.63,-146.0,2292,2509,3508,3177,454.5,-10.7,411,3763,0.00,1.50,0.00,0.000,260,0.000,0.122,2286,3347,3342,3508,3177,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3795,-0.63,-146.0,2285,3347,3508,3177,458.9,-10.3,414,3799,0.00,1.48,0.00,0.000,1030,0.000,0.079,2285,2501,3342,3508,3177,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4111,-0.63,-146.0,2286,2501,3509,3177,490.2,-10.1,445,4114,0.00,1.48,0.00,0.000,516,0.000,0.090,2286,1663,3343,3509,3177,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4190,-0.63,-146.0,2286,1662,3509,3177,498.0,-10.2,452,4196,0.00,1.50,0.00,0.000,1030,0.000,0.112,2280,2502,3343,3509,3177,0,0,0,0,0,0,28.83,14.31,28.83
$STATE,4302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4302,begin apogee
$GC,4315,-0.22,0.0,2280,2501,3509,3177,510.9,-10.5,464,4480,0.55,0.00,153.43,2.324,10246,0.214,0.000,2434,2501,2741,2852,2631,0,0,0,0,0,0,14.10,28.83,12.52
$STATE,4481,end apogee,CONTROL_FINISHED_OK
$STATE,4482,begin climb
$GC,4488,0.89,146.0,2434,2502,2852,2631,518.5,0.0,481,4668,1.20,0.00,164.85,2.264,10758,0.157,0.000,2788,2501,2145,2240,2050,0,0,0,0,0,0,13.68,28.83,12.09
$GC,4976,0.86,146.0,2788,2501,2240,2041,479.7,10.3,530,4980,0.00,1.58,0.00,0.000,260,0.000,0.125,2788,3352,2140,2240,2041,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5005,0.81,146.0,1808,3351,2194,2036,476.2,10.6,532,5012,0.00,1.48,0.00,0.000,1030,0.000,0.083,2794,2517,2140,2240,2041,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5314,0.77,146.0,2794,2517,2240,2040,443.1,10.5,563,5321,0.12,0.00,0.00,0.000,4102,0.253,0.000,2761,2517,2140,2240,2040,0,0,0,0,0,0,14.33,28.83,28.83
$GC,5624,0.75,146.0,2761,2517,2240,2039,414.6,9.3,594,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2516,2139,2240,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,0.73,146.0,2761,2517,2240,2038,386.8,8.6,625,5943,0.00,1.52,0.00,0.000,260,0.000,0.125,2761,3363,2139,2240,2038,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5988,0.71,146.0,1792,3362,2194,2034,382.0,9.3,629,5995,0.00,1.50,0.00,0.000,1030,0.000,0.083,2766,2483,2139,2240,2038,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6297,0.69,146.0,2766,2484,2240,2038,354.6,8.9,660,6304,0.12,0.00,0.00,0.000,4102,0.251,0.000,2733,2484,2139,2240,2038,0,0,0,0,0,0,14.35,28.83,28.83
$GC,6608,0.74,177.9,2733,2484,2240,2037,332.1,7.0,691,6647,0.00,1.65,33.00,2.160,8452,0.000,0.126,2732,3360,2016,2120,1912,0,0,0,0,0,0,28.83,14.34,13.20
$GC,6691,0.74,177.9,1792,3358,2077,1907,325.9,8.4,699,6698,0.00,1.50,0.00,0.000,1030,0.000,0.083,2737,2512,2015,2119,1911,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7001,0.77,195.3,2737,2512,2119,1907,302.3,7.6,730,7028,0.00,1.45,19.08,2.046,8708,0.000,0.094,2742,1663,1944,2050,1838,0,0,0,0,0,0,28.83,14.47,13.31
$GC,7055,0.80,200.4,2743,1663,2050,1838,298.2,8.1,735,7067,0.00,1.50,6.80,1.735,9222,0.000,0.112,2743,2514,1924,2031,1817,0,0,0,0,0,0,28.83,14.40,13.21
$GC,7381,0.81,203.6,2743,2514,2030,1815,271.2,8.1,767,7388,0.00,0.00,4.57,1.513,8198,0.000,0.000,2743,2514,1911,2018,1804,0,0,0,0,0,0,28.83,28.83,13.22
$GC,7691,0.86,226.2,2742,2514,2018,1803,246.5,7.4,798,7719,0.12,0.00,25.38,2.043,10246,0.148,0.000,2797,2514,1818,1922,1714,0,0,0,0,0,0,14.59,28.83,13.35
$GC,8022,0.84,226.2,2797,2514,1919,1713,212.0,10.3,831,8025,0.00,1.52,0.00,0.000,260,0.000,0.122,2797,3352,1816,1919,1713,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8072,0.81,226.2,1792,3351,1877,1710,207.0,10.8,835,8079,0.12,1.48,0.00,0.000,5126,0.250,0.083,2776,2510,1815,1918,1713,0,0,0,0,0,0,14.35,14.48,28.83
$GC,8381,0.81,226.2,2775,2510,1918,1713,177.8,10.0,866,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2510,1815,1918,1713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8697,0.81,226.2,2775,2510,1918,1711,145.5,9.9,897,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2510,1815,1918,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9006,0.81,226.2,2775,2510,1918,1711,116.6,8.7,928,9009,0.00,1.48,0.00,0.000,516,0.000,0.096,2779,1670,1814,1918,1711,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9061,0.82,234.0,2779,1670,1918,1710,112.0,8.0,933,9071,0.00,1.50,4.07,1.297,9222,0.000,0.112,2779,2522,1787,1888,1686,0,0,0,0,0,0,28.83,14.41,13.35
$GC,9377,0.82,234.0,1792,2521,1850,1683,84.9,8.5,980,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2523,1787,1888,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9695,0.91,277.6,2779,2522,1888,1686,58.4,6.6,1041,9727,0.00,1.58,25.75,0.335,8452,0.000,0.126,2779,3364,1608,1701,1515,0,0,0,0,0,0,28.83,14.43,14.12
$GC,9759,0.96,297.6,2777,3364,1701,1516,54.2,7.5,1051,9778,0.00,1.50,11.68,0.326,9222,0.000,0.083,2785,2485,1526,1617,1436,0,0,0,0,0,0,28.83,14.47,14.07
$GC,10095,1.02,318.3,2785,2485,1614,1430,26.9,7.5,1114,10110,0.12,1.48,10.82,0.236,10756,0.154,0.099,2847,1668,1443,1533,1353,0,0,0,0,0,0,14.54,14.40,14.12
$GC,10218,1.02,318.3,2847,1668,1533,1349,15.8,10.9,1135,10224,0.00,1.50,0.00,0.000,1030,0.000,0.113,2845,2510,1441,1533,1349,0,0,0,0,0,0,28.83,14.36,28.83
$FREEZE,8.94,0.133,-1.805,0,1,0
$FREEZE,8.41,0.130,-1.805,0,1,0
$FREEZE,7.81,0.131,-1.804,0,1,0
$FREEZE,7.23,0.130,-1.804,0,1,0
$FREEZE,6.61,0.129,-1.803,0,1,0
$FREEZE,5.92,0.126,-1.803,0,1,0
$FREEZE,5.53,0.129,-1.803,0,1,0
$FREEZE,4.89,0.129,-1.802,0,1,0
$FREEZE,4.36,0.130,-1.802,0,1,0
$FREEZE,3.71,0.130,-1.801,0,1,0
$FREEZE,3.12,0.130,-1.801,0,1,0
$FREEZE,2.28,0.122,-1.800,0,1,0
$STATE,10326,end climb,SURFACE_DEPTH_REACHED
$STATE,10326,begin surface coast
$FREEZE,1.85,0.120,-1.800,0,1,0
$FREEZE,1.55,0.114,-1.800,0,1,0
$FREEZE,1.15,0.106,-1.799,0,1,0
$FREEZE,0.94,0.021,-1.775,0,1,0
$FREEZE,0.95,0.082,-0.912,0,1,0
$FINISH,1.0,1.013468
$STATE,10354,end surface coast,CONTROL_FINISHED_OK
$STATE,10354,begin surface
$SM_CCo,10383,43.45,0.156,0,0,1107,400.08
$SM_GC,1.88,7.97,0.00,43.45,0.083,0.000,0.156,141,2511,1107,-7.35,0.31,400.08,0,0,0,0,0,0,14.46,28.83,14.27
$RAFOS_CLK,448
$RAFOS,3,1387095902,8.433333,8.417222,62,59,57,54,53,48,192,174,156,213,141,108
$RAFOS,2,1387095422,8.300000,8.283889,60,60,55,53,47,46,187,208,160,233,135,84
$RAFOS,1,1387094943,8.166667,8.150833,61,60,56,55,54,49,139,189,119,171,201,1677
$RAFOS,0,1387094469,8.033334,8.019167,60,55,55,54,47,42,134,148,231,209,119,91
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5704.59,151213,020245
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.71
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,14.10
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,12.1,210.284
$10V_AH,11.3,0.000
$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,21.250,45.400,459.425,43.450,0.000,0.000,0.000,344.875,11.000,0.000,21.149,2871.745,4751.177,570.935,2110.875,662.608,0.000,1903.739,0.000,1796.690,1440.000,11.483,0.000
$DEVICE_MAMPS,415.395,149.940,2324.070,156.060,0.000,0.000,0.000,142.290,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50071,1160
$CAP_FILE_SIZE,121395,0
$CFSIZE,259252224,214163456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.6
$CURRENT,0.220,316.1,1
$GPS,151213,083405,6705.745,-5659.064,29,0.8,29,-33.6