version: 66.11
glider: 192
mission: 2
dive: 479
start: 12 15 113 22 23 8
data:
$ID,192
$MISSION,2
$DIVE,479
$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,-9052.2861
$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,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
$GPS1,151213,221235,6706.950,-5701.510,42,0.9,42,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-64.0
$GPS2,151213,222220,6707.000,-5701.541,6,1.0,6,-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,191.5,12268,-15.5,-8.250,-18.49,2720
$D_GRID,517
$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,14,begin dive
$GC,20,-0.89,-146.0,108,2517,1116,1068,0.0,0.0,0,111,0.00,0.00,-88.45,0.000,16386,0.000,0.000,106,2518,2845,2896,2795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.89,-146.0,106,2517,2897,2795,3.8,-5.4,15,145,10.23,1.58,-10.77,0.000,19204,0.409,0.157,2208,3348,3339,3498,3181,0,0,0,0,0,0,13.92,14.34,14.78
$GC,382,-0.80,-146.0,2208,3348,3501,3178,66.3,-22.5,64,390,0.17,1.50,0.00,0.000,3078,0.275,0.081,2247,2469,3339,3501,3178,0,0,0,0,0,0,14.11,14.42,28.83
$GC,703,-0.75,-146.0,2247,2469,3501,3176,121.2,-15.6,112,706,0.00,1.60,0.00,0.000,260,0.000,0.128,2242,3348,3338,3501,3176,0,0,0,0,0,0,28.83,14.30,28.83
$GC,867,-0.69,-146.0,2242,3348,3501,3175,144.4,-14.5,127,874,0.17,1.50,0.00,0.000,3078,0.252,0.083,2283,2470,3337,3500,3175,0,0,0,0,0,0,14.15,14.42,28.83
$GC,1177,-0.67,-146.0,2283,2470,3501,3175,179.8,-10.4,158,1180,0.00,1.42,0.00,0.000,516,0.000,0.097,2284,1661,3338,3501,3175,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1226,-0.66,-146.0,1408,1660,3493,3172,184.7,-10.6,162,1232,0.00,1.52,0.00,0.000,1030,0.000,0.117,2279,2509,3338,3501,3175,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1534,-0.63,-146.0,2279,2509,3500,3175,217.4,-10.5,193,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2509,3337,3501,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,-0.61,-146.0,2279,2509,3502,3175,249.8,-10.7,224,1857,0.12,0.00,0.00,0.000,2054,0.271,0.000,2311,2509,3338,3502,3175,0,0,0,0,0,0,14.23,28.83,28.83
$GC,2158,-0.61,-146.0,2311,2509,3504,3175,278.8,-9.4,255,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2508,3339,3504,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2476,-0.61,-146.0,2312,2509,3505,3174,307.2,-9.3,286,2480,0.00,1.50,0.00,0.000,516,0.000,0.093,2312,1637,3340,3506,3175,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2531,-0.61,-146.0,2312,1637,3507,3175,312.9,-8.6,291,2535,0.00,1.55,0.00,0.000,1030,0.000,0.112,2308,2503,3340,3506,3175,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2847,-0.61,-146.0,2308,2503,3507,3175,341.2,-8.7,322,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2503,3341,3507,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3163,-0.61,-146.0,2308,2503,3508,3174,369.9,-9.6,353,3167,0.00,1.52,0.00,0.000,260,0.000,0.125,2301,3350,3341,3508,3175,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3211,-0.61,-146.0,1424,3348,3501,3172,375.0,-9.8,357,3219,0.00,1.50,0.00,0.000,1030,0.000,0.080,2301,2470,3341,3508,3175,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3520,-0.61,-146.0,2301,2470,3509,3175,405.4,-9.6,388,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2470,3341,3509,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3836,-0.61,-146.0,2301,2470,3510,3175,435.4,-9.8,419,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2470,3342,3510,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4149,-0.61,-146.0,2301,2470,3510,3174,465.1,-9.5,450,4153,0.00,1.42,0.00,0.000,516,0.000,0.093,2301,1664,3342,3510,3175,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4198,-0.61,-146.0,1424,1662,3502,3172,470.0,-9.8,454,4204,0.00,1.52,0.00,0.000,1030,0.000,0.116,2295,2509,3342,3510,3175,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4506,-0.61,-146.0,2296,2509,3511,3175,499.7,-9.4,485,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2509,3343,3511,3175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4533,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4533,begin apogee
$GC,4547,-0.22,0.0,2296,2508,3511,3175,503.1,-10.0,488,4713,0.47,0.00,154.55,2.334,10246,0.212,0.000,2429,2508,2741,2853,2630,0,0,0,0,0,0,14.11,28.83,12.53
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4720,0.89,146.0,2429,2508,2852,2631,510.1,0.0,505,4896,1.23,1.67,166.90,2.255,10500,0.158,0.120,2789,3356,2144,2241,2048,0,0,0,0,0,0,13.67,13.19,12.08
$GC,4932,0.85,146.0,2789,3356,2240,2048,498.2,10.3,526,4940,0.00,1.55,0.00,0.000,1030,0.000,0.081,2796,2513,2143,2239,2048,0,0,0,0,0,0,28.83,13.52,28.83
$GC,5242,0.80,146.0,2795,2514,2240,2041,466.1,10.1,557,5246,0.00,1.50,0.00,0.000,516,0.000,0.097,2802,1670,2140,2240,2041,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5277,0.76,146.0,2802,1670,2240,2039,462.5,10.0,560,5282,0.17,1.50,0.00,0.000,5126,0.226,0.115,2759,2510,2139,2239,2039,0,0,0,0,0,0,14.24,14.35,28.83
$GC,5595,0.76,152.4,2759,2510,2240,2038,436.1,8.0,591,5608,0.00,0.00,6.90,1.841,8198,0.000,0.000,2759,2510,2119,2222,2017,0,0,0,0,0,0,28.83,28.83,13.24
$GC,5915,0.75,152.4,2759,2510,2222,2017,408.1,9.1,623,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2510,2119,2221,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6231,0.73,152.4,2759,2510,2221,2016,381.3,8.8,654,6234,0.00,1.52,0.00,0.000,260,0.000,0.127,2758,3366,2119,2221,2017,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6316,0.71,152.4,2759,3366,2222,2016,373.0,9.2,662,6320,0.00,1.50,0.00,0.000,1030,0.000,0.083,2763,2484,2118,2221,2016,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6632,0.69,152.4,2764,2483,2221,2016,346.0,8.5,693,6635,0.00,1.60,0.00,0.000,260,0.000,0.129,2763,3368,2119,2222,2016,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6780,0.67,152.4,2764,3368,2221,2014,331.9,9.1,707,6785,0.17,1.50,0.00,0.000,5126,0.226,0.083,2727,2485,2118,2221,2016,0,0,0,0,0,0,14.31,14.49,28.83
$GC,7097,0.74,193.4,2727,2485,2222,2015,310.2,6.7,738,7146,0.00,1.48,43.95,2.113,8708,0.000,0.097,2731,1669,1953,2058,1848,0,0,0,0,0,0,28.83,14.30,13.20
$GC,7225,0.83,232.6,2731,1670,2058,1844,302.0,6.8,750,7276,0.15,1.50,42.20,2.069,11270,0.138,0.114,2788,2511,1792,1892,1692,0,0,0,0,0,0,14.42,14.34,13.14
$GC,7579,0.82,232.6,2788,2511,1886,1689,265.2,10.1,786,7583,0.00,1.52,0.00,0.000,260,0.000,0.125,2788,3367,1787,1886,1689,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7644,0.80,232.6,2788,3367,1885,1689,257.9,11.5,792,7648,0.00,1.50,0.00,0.000,1030,0.000,0.083,2794,2509,1787,1885,1689,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7961,0.78,232.6,2794,2509,1884,1688,224.9,10.3,823,7967,0.12,0.00,0.00,0.000,4102,0.246,0.000,2761,2509,1786,1884,1688,0,0,0,0,0,0,14.35,28.83,28.83
$GC,8271,0.79,232.6,2761,2509,1884,1687,197.7,8.9,854,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2509,1785,1884,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8586,0.80,232.6,2761,2509,1884,1686,171.0,8.7,885,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2509,1785,1884,1686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8895,0.82,232.6,2761,2509,1884,1686,142.8,9.1,916,8899,0.00,1.55,0.00,0.000,260,0.000,0.128,2760,3360,1784,1884,1685,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8933,0.82,232.6,2760,3360,1883,1686,139.4,9.4,919,8940,0.00,1.50,0.00,0.000,1030,0.000,0.083,2765,2486,1784,1883,1686,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9242,0.83,232.6,2765,2486,1883,1686,109.5,9.7,950,9246,0.00,1.45,0.00,0.000,516,0.000,0.096,2771,1670,1784,1883,1686,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9268,0.84,232.6,2771,1670,1883,1685,107.1,9.8,952,9272,0.00,1.50,0.00,0.000,1030,0.000,0.114,2771,2513,1784,1883,1686,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9584,0.86,232.6,2769,2513,1883,1685,76.7,9.6,1006,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2513,1784,1883,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9905,0.94,270.0,2771,2513,1883,1685,52.9,6.8,1067,9932,0.12,0.00,20.83,0.313,10246,0.152,0.000,2827,2513,1640,1733,1547,0,0,0,0,0,0,14.56,28.83,13.93
$GC,10252,0.94,270.0,2827,2513,1729,1545,20.7,10.7,1131,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2513,1637,1729,1545,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.58,0.233,-1.814,0,1,0
$FREEZE,8.06,0.232,-1.813,0,1,0
$FREEZE,7.61,0.232,-1.813,0,1,0
$FREEZE,6.98,0.232,-1.812,0,1,0
$FREEZE,6.05,0.225,-1.812,0,1,0
$FREEZE,5.58,0.224,-1.811,0,1,0
$FREEZE,5.08,0.228,-1.811,0,1,0
$FREEZE,4.76,0.228,-1.811,0,1,0
$FREEZE,4.23,0.228,-1.810,0,1,0
$FREEZE,3.52,0.230,-1.810,0,1,0
$FREEZE,2.96,0.230,-1.809,0,1,0
$STATE,10416,end climb,SURFACE_DEPTH_REACHED
$STATE,10416,begin surface coast
$FREEZE,2.54,0.229,-1.809,0,1,0
$FREEZE,1.99,0.229,-1.809,0,1,0
$FREEZE,1.63,0.216,-1.808,0,1,0
$FREEZE,1.28,0.207,-1.808,0,1,0
$FREEZE,0.90,0.236,-1.806,0,1,0
$FINISH,0.9,1.026450
$STATE,10443,end surface coast,CONTROL_FINISHED_OK
$STATE,10443,begin surface
$SM_CCo,10472,68.65,0.161,0,0,1109,400.08
$SM_GC,1.92,7.88,0.00,68.65,0.081,0.000,0.161,141,2514,1109,-7.35,0.40,400.08,0,0,0,0,0,0,14.45,28.83,14.23
$RAFOS_CLK,456
$RAFOS,6,1387154945,0.833333,0.818056,72,61,55,55,51,50,209,185,228,796,159,132
$RAFOS,5,1387154464,0.700000,0.684444,87,68,62,60,57,52,641,204,195,220,152,138
$RAFOS,4,1387153981,0.566667,0.550278,95,62,60,58,56,56,877,136,214,186,121,203
$RAFOS,3,1387153510,0.433333,0.419444,59,58,57,56,51,50,164,222,196,146,134,124
$RAFOS,2,1387153028,0.300000,0.285556,67,60,54,53,49,46,199,182,148,215,234,116
$RAFOS,1,1387152543,0.166667,0.150833,58,57,54,54,53,50,218,158,181,235,126,192
$RAFOS,0,1387152071,0.033333,0.019722,56,56,55,53,50,48,163,180,140,194,120,221
$RAFOS_FIX,6708.952637,-5707.198730,161213,000024,2,91,0.67
$IRIDIUM_FIX,6636.54,-5709.24,151213,181823
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.40
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,14.20
$XPDR_PINGS,41
$ALTIM_TOP_PING,19.1,17.9
$ALTIM_BOTTOM_PING,500.8,17.0
$24V_AH,12.1,212.035
$10V_AH,11.5,0.000
$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,21.025,42.500,435.325,68.650,0.000,0.000,0.000,385.050,12.000,0.000,7.532,2889.570,4789.082,593.410,2155.405,710.027,0.000,1972.308,0.000,1830.865,2520.000,14.166,0.000
$DEVICE_MAMPS,408.510,156.825,2334.015,161.415,0.000,0.000,0.000,148.410,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.729,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150752
$DATA_FILE_SIZE,50070,1167
$CAP_FILE_SIZE,122043,0
$CFSIZE,259252224,213831680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.8
$CURRENT,0.271,341.8,1
$GPS,161213,012036,6707.186,-5701.592,32,1.8,32,-33.6