version: 66.11
glider: 192
mission: 2
dive: 475
start: 12 15 113 8 50 47
data:
$ID,192
$MISSION,2
$DIVE,475
$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,-9047.1523
$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,24
$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,0.0015
$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
$GPS1,151213,083405,6705.745,-5659.064,29,0.8,29,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.8
$GPS2,151213,085004,6705.817,-5659.451,108,1.2,108,-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,168.2,9777,-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,-146.0,95,2516,1114,1069,0.0,0.0,0,99,0.00,0.00,-76.60,0.000,16386,0.000,0.000,94,2516,2545,2608,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.89,-146.0,94,2516,2608,2484,3.1,-4.2,13,145,10.35,1.50,-20.90,0.000,19204,0.409,0.127,2217,1658,3338,3506,3170,0,0,0,0,0,0,13.90,14.39,14.83
$GC,383,-0.81,-146.0,2217,1657,3508,3170,56.9,-18.9,64,390,0.15,1.52,0.00,0.000,3078,0.283,0.113,2244,2506,3338,3508,3169,0,0,0,0,0,0,14.12,14.33,28.83
$GC,702,-0.76,-146.0,2244,2506,3508,3169,111.8,-15.4,118,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2506,3338,3508,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.71,-146.0,2244,2506,3508,3168,157.2,-14.5,149,1026,0.12,0.00,0.00,0.000,2054,0.294,0.000,2277,2506,3337,3507,3167,0,0,0,0,0,0,14.19,28.83,28.83
$GC,1328,-0.69,-146.0,2277,2506,3508,3167,196.5,-12.4,180,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2506,3338,3508,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,-0.67,-146.0,2277,2506,3508,3167,235.6,-12.6,211,1648,0.00,1.52,0.00,0.000,260,0.000,0.124,2273,3353,3338,3508,3168,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1700,-0.64,-146.0,2273,3353,3508,3168,243.5,-13.2,216,1703,0.00,1.50,0.00,0.000,1030,0.000,0.080,2273,2494,3338,3508,3168,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2016,-0.62,-146.0,2273,2494,3509,3168,284.6,-12.8,247,2020,0.12,1.42,0.00,0.000,2564,0.266,0.090,2306,1658,3338,3509,3167,0,0,0,0,0,0,14.29,14.38,28.83
$GC,2081,-0.62,-146.0,2306,1658,3509,3167,292.2,-11.2,253,2085,0.00,1.50,0.00,0.000,1030,0.000,0.112,2302,2504,3338,3509,3168,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2397,-0.62,-146.0,2302,2503,3510,3168,325.6,-10.0,284,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2503,3339,3510,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,-0.62,-146.0,2302,2504,3512,3168,355.4,-9.3,315,2716,0.00,1.50,0.00,0.000,260,0.000,0.123,2296,3347,3340,3512,3168,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2750,-0.62,-146.0,1440,3346,3505,3165,359.3,-9.5,318,2757,0.00,1.48,0.00,0.000,1030,0.000,0.078,2296,2498,3340,3512,3168,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3058,-0.62,-146.0,2296,2498,3514,3168,389.3,-9.5,349,3062,0.00,1.48,0.00,0.000,516,0.000,0.092,2296,1660,3341,3514,3168,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3107,-0.62,-146.0,2296,1661,3514,3168,393.7,-9.9,353,3115,0.00,1.50,0.00,0.000,1030,0.000,0.109,2290,2503,3341,3514,3168,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3416,-0.62,-146.0,2290,2503,3515,3168,424.5,-9.9,384,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2503,3341,3514,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3734,-0.62,-146.0,2290,2503,3516,3168,454.8,-9.9,415,3738,0.00,1.52,0.00,0.000,260,0.000,0.122,2282,3354,3342,3516,3168,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3770,-0.62,-146.0,2283,3353,3517,3168,458.9,-9.5,418,3773,0.00,1.48,0.00,0.000,1030,0.000,0.078,2283,2503,3342,3516,3168,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4086,-0.60,-146.0,2283,2503,3517,3168,490.5,-9.0,449,4094,0.12,0.00,0.00,0.000,2054,0.259,0.000,2316,2503,3342,3517,3168,0,0,0,0,0,0,14.24,28.83,28.83
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4345,begin apogee
$GC,4358,-0.22,0.0,2316,2503,3518,3168,510.8,-7.8,475,4522,0.40,0.00,152.77,2.318,10246,0.205,0.000,2431,2503,2740,2853,2628,0,0,0,0,0,0,14.16,28.83,12.57
$STATE,4523,end apogee,CONTROL_FINISHED_OK
$STATE,4523,begin climb
$GC,4529,0.89,146.0,2431,2502,2854,2628,517.3,0.0,492,4708,1.23,1.73,164.62,2.262,10500,0.162,0.118,2790,3363,2146,2242,2050,0,0,0,0,0,0,13.67,13.19,12.07
$GC,4815,0.84,146.0,2791,3363,2239,2049,495.6,10.6,520,4819,0.00,1.58,0.00,0.000,1030,0.000,0.080,2797,2510,2144,2239,2049,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5131,0.80,146.0,2797,2510,2240,2043,462.7,10.6,551,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2510,2141,2239,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5447,0.75,146.0,2797,2510,2240,2042,430.8,10.2,582,5451,0.15,1.55,0.00,0.000,4356,0.251,0.122,2756,3366,2140,2239,2042,0,0,0,0,0,0,14.34,14.42,28.83
$GC,5524,0.73,146.0,2756,3366,2239,2042,423.1,9.1,589,5527,0.00,1.50,0.00,0.000,1030,0.000,0.082,2761,2484,2140,2239,2042,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5839,0.72,146.0,2761,2483,2239,2042,396.6,8.9,620,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2483,2140,2239,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6155,0.71,150.7,2761,2484,2240,2041,370.9,8.1,651,6168,0.00,0.00,5.55,1.697,8198,0.000,0.000,2761,2484,2126,2227,2025,0,0,0,0,0,0,28.83,28.83,13.28
$GC,6471,0.72,170.4,2761,2484,2227,2025,344.8,7.5,683,6498,0.00,1.65,21.75,2.079,8452,0.000,0.122,2761,3360,2046,2149,1944,0,0,0,0,0,0,28.83,14.45,13.26
$GC,6548,0.70,170.4,1792,3359,2106,1940,338.3,9.6,690,6555,0.12,1.50,0.00,0.000,5126,0.249,0.082,2739,2485,2046,2149,1944,0,0,0,0,0,0,14.31,14.45,28.83
$GC,6857,0.71,177.0,2739,2485,2149,1942,313.6,8.0,721,6872,0.00,0.00,8.23,1.841,8198,0.000,0.000,2739,2485,2019,2123,1915,0,0,0,0,0,0,28.83,28.83,13.28
$GC,7178,0.72,177.6,2739,2485,2123,1915,287.2,8.2,753,7182,0.00,1.60,0.00,0.000,260,0.000,0.122,2739,3352,2019,2123,1915,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7234,0.72,177.6,2739,3352,2123,1914,282.3,9.3,758,7238,0.00,1.48,0.00,0.000,1030,0.000,0.083,2743,2513,2019,2123,1915,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7550,0.72,179.3,2743,2513,2123,1914,255.7,8.2,789,7553,0.00,1.48,0.00,0.000,516,0.000,0.095,2749,1674,2018,2123,1914,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7617,0.74,183.7,2749,1673,2123,1914,250.7,8.1,795,7635,0.00,1.50,8.52,1.817,9222,0.000,0.109,2749,2528,1992,2097,1888,0,0,0,0,0,0,28.83,14.42,13.32
$GC,7937,0.75,193.1,2749,2528,2097,1888,225.2,7.9,827,7955,0.00,1.45,11.15,1.868,8452,0.000,0.119,2749,3353,1954,2059,1850,0,0,0,0,0,0,28.83,14.53,13.35
$GC,7994,0.75,193.1,1792,3352,2018,1846,220.6,8.7,832,8000,0.00,1.48,0.00,0.000,1030,0.000,0.083,2755,2513,1954,2059,1850,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8302,0.75,193.1,2755,2513,2060,1850,195.0,8.3,863,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2513,1955,2060,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8619,0.77,203.5,2755,2513,2060,1849,169.9,7.9,894,8637,0.00,0.00,12.23,1.856,8198,0.000,0.000,2755,2513,1912,2018,1806,0,0,0,0,0,0,28.83,28.83,13.38
$GC,8942,0.77,203.5,2755,2513,2017,1804,144.3,8.3,927,8946,0.00,1.50,0.00,0.000,516,0.000,0.096,2761,1665,1911,2018,1804,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8992,0.78,204.0,2761,1665,2018,1803,140.7,8.2,931,8998,0.00,1.50,0.00,0.000,1030,0.000,0.109,2761,2513,1910,2017,1803,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9301,0.79,212.3,2761,2513,2018,1803,114.4,7.9,962,9311,0.00,1.58,5.82,1.509,8452,0.000,0.121,2761,3368,1875,1983,1768,0,0,0,0,0,0,28.83,14.54,13.35
$GC,9370,0.79,212.3,2761,3367,1983,1768,108.7,8.9,968,9377,0.00,1.50,0.00,0.000,1030,0.000,0.082,2768,2485,1875,1983,1768,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9683,0.79,212.3,1792,2483,1941,1764,81.2,8.7,1019,9690,0.00,1.45,0.00,0.000,516,0.000,0.096,2774,1664,1875,1983,1768,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9727,0.81,212.3,2774,1665,1983,1767,77.3,8.9,1026,9734,0.00,1.50,0.00,0.000,1030,0.000,0.109,2774,2514,1875,1983,1767,0,0,0,0,0,0,28.83,14.42,28.83
$GC,10046,0.92,272.2,1768,2512,1941,1763,54.0,6.0,1087,10089,0.00,1.55,34.38,0.319,8452,0.000,0.122,2773,3357,1631,1724,1538,0,0,0,0,0,0,28.83,14.40,14.12
$GC,10112,0.97,286.7,1760,3356,1689,1535,49.8,7.7,1097,10127,0.12,1.48,8.10,0.318,11270,0.148,0.082,2829,2511,1571,1661,1482,0,0,0,0,0,0,14.50,14.45,14.08
$GC,10443,0.98,298.1,2829,2512,1658,1477,18.9,7.8,1159,10456,0.00,0.00,5.62,0.223,8454,0.000,0.000,2829,2512,1524,1612,1436,0,0,0,0,0,0,28.83,28.83,14.17
$FREEZE,8.85,0.115,-1.807,0,2,0
$FREEZE,8.28,0.113,-1.807,0,2,0
$FREEZE,7.56,0.123,-1.807,0,2,0
$FREEZE,6.89,0.120,-1.806,0,2,0
$FREEZE,6.37,0.092,-1.806,0,2,0
$FREEZE,6.14,0.097,-1.805,0,2,0
$FREEZE,5.42,0.110,-1.805,0,2,0
$FREEZE,5.07,0.096,-1.805,0,2,0
$FREEZE,4.88,0.092,-1.804,0,2,0
$FREEZE,4.44,0.091,-1.804,0,2,0
$FREEZE,4.14,0.091,-1.804,0,2,0
$FREEZE,4.05,0.090,-1.804,0,2,0
$FREEZE,3.90,0.088,-1.804,0,2,0
$FREEZE,3.63,0.087,-1.803,0,2,0
$FREEZE,3.25,0.088,-1.803,0,2,0
$FREEZE,2.78,0.092,-1.803,0,2,0
$STATE,10613,end climb,SURFACE_DEPTH_REACHED
$STATE,10613,begin surface coast
$FREEZE,2.16,0.091,-1.802,0,2,0
$FREEZE,1.55,0.086,-1.802,0,2,0
$FREEZE,1.15,0.086,-1.801,0,2,0
$FREEZE,0.88,0.078,-1.800,0,2,0
$FREEZE,0.90,0.036,-1.636,0,2,0
$FREEZE,0.95,0.149,-1.342,0,2,0
$FREEZE,0.97,0.066,-1.478,0,2,0
$FREEZE,0.96,-0.146,-1.808,0,2,0
$FREEZE,0.88,-0.073,-1.804,0,2,0
$FINISH,0.9,1.026429
$STATE,10665,end surface coast,CONTROL_FINISHED_OK
$STATE,10666,begin surface
$SM_CCo,10694,129.77,0.164,0,0,499,549.72
$SM_GC,1.73,7.97,0.00,129.77,0.086,0.000,0.164,138,2510,499,-7.36,0.28,549.72,0,0,0,0,0,0,14.46,28.83,14.24
$RAFOS_CLK,463
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5704.59,151213,080803
$TT8_MAMPS,0.024717,0.024717
$HUMID,41.17
$INTERNAL_PRESSURE,8.69367
$TCM_TEMP,14.00
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,12.1,210.621
$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,20.875,48.450,438.750,129.775,0.000,0.000,0.000,540.400,8.000,0.000,115.530,2972.918,4998.003,646.769,2467.461,697.287,0.000,2210.281,0.000,1874.319,0.000,11.676,0.000
$DEVICE_MAMPS,408.510,126.990,2317.950,163.710,0.000,0.000,0.000,127.755,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,50054,1200
$CAP_FILE_SIZE,131042,0
$CFSIZE,259252224,214077440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.5
$CURRENT,0.420,319.9,1
$GPS,151213,115253,6706.707,-5700.792,38,1.4,38,-33.6