version: 66.11
glider: 192
mission: 2
dive: 486
start: 12 16 113 20 48 59
data:
$ID,192
$MISSION,2
$DIVE,486
$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,-9061.1738
$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,15
$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
$GPS1,161213,203800,6704.721,-5654.183,44,1.4,44,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.9
$GPS2,161213,204811,6704.669,-5654.179,6,1.1,7,-33.5
$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,175.1,5428,-15.5,-8.250,-18.49,2720
$D_GRID,490
$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,-146.0,114,2520,1113,1073,0.0,0.0,0,107,0.00,0.00,-83.93,0.000,16386,0.000,0.000,113,2520,2725,2775,2675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.89,-146.0,113,2520,2774,2676,3.0,-2.8,14,146,10.23,1.55,-15.25,0.000,18948,0.408,0.124,2214,1651,3338,3502,3175,0,0,0,0,0,0,13.91,14.40,14.78
$GC,384,-0.82,-146.0,2214,1651,3505,3174,60.3,-23.4,64,391,0.15,1.52,0.00,0.000,3078,0.277,0.116,2241,2500,3339,3505,3174,0,0,0,0,0,0,14.11,14.30,28.83
$GC,708,-0.76,-146.0,2242,2501,3506,3172,118.1,-16.2,115,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2500,3338,3505,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1023,-0.71,-146.0,2241,2501,3506,3171,169.1,-15.9,146,1027,0.12,1.48,0.00,0.000,2564,0.295,0.090,2275,1651,3338,3505,3171,0,0,0,0,0,0,14.23,14.38,28.83
$GC,1079,-0.69,-146.0,2275,1651,3505,3171,177.8,-13.4,151,1083,0.00,1.58,0.00,0.000,1030,0.000,0.116,2270,2504,3338,3505,3171,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1395,-0.66,-146.0,2270,2504,3505,3170,220.4,-13.4,182,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2504,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1711,-0.64,-146.0,2271,2504,3506,3171,260.8,-12.6,213,1715,0.12,1.52,0.00,0.000,2308,0.274,0.122,2299,3349,3338,3506,3171,0,0,0,0,0,0,14.28,14.29,28.83
$GC,1740,-0.62,-146.0,1424,3348,3498,3168,264.7,-12.7,215,1748,0.00,1.50,0.00,0.000,1030,0.000,0.083,2299,2471,3338,3506,3171,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2049,-0.62,-146.0,2299,2471,3507,3171,298.1,-10.1,246,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2471,3339,3508,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-0.62,-146.0,2299,2471,3508,3171,328.5,-9.8,277,2369,0.00,1.60,0.00,0.000,260,0.000,0.126,2294,3349,3340,3508,3172,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2401,-0.62,-146.0,2293,3349,3508,3171,332.7,-10.0,280,2404,0.00,1.48,0.00,0.000,1030,0.000,0.081,2293,2506,3339,3508,3171,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2718,-0.62,-146.0,2293,2506,3509,3171,364.7,-10.4,311,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2506,3340,3509,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.62,-146.0,2293,2506,3510,3171,397.0,-10.7,342,3035,0.00,1.50,0.00,0.000,516,0.000,0.092,2292,1635,3340,3510,3171,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3118,-0.62,-146.0,2293,1635,3510,3172,406.7,-10.4,350,3121,0.00,1.55,0.00,0.000,1030,0.000,0.114,2286,2502,3341,3510,3172,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3433,-0.62,-146.0,2286,2503,3511,3172,440.5,-10.4,381,3436,0.00,1.50,0.00,0.000,516,0.000,0.091,2286,1638,3341,3511,3171,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3521,-0.62,-146.0,1408,1637,3504,3169,449.1,-10.1,389,3529,0.00,1.55,0.00,0.000,1030,0.000,0.110,2280,2504,3341,3511,3172,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3831,-0.60,-146.0,2280,2504,3513,3172,480.4,-9.6,420,3838,0.12,0.00,0.00,0.000,2054,0.263,0.000,2313,2504,3342,3513,3172,0,0,0,0,0,0,14.25,28.83,28.83
$STATE,3945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3945,begin apogee
$GC,3959,-0.22,0.0,2314,2504,3513,3171,490.3,-8.1,432,4124,0.40,0.00,155.25,2.334,10246,0.209,0.000,2428,2504,2741,2853,2630,0,0,0,0,0,0,14.14,28.83,12.52
$STATE,4125,end apogee,CONTROL_FINISHED_OK
$STATE,4125,begin climb
$GC,4132,0.89,146.0,2429,2504,2853,2630,496.2,0.0,449,4314,1.25,1.75,165.25,2.261,11012,0.173,0.123,2788,3356,2145,2240,2050,0,0,0,0,0,0,13.66,13.19,12.09
$GC,4422,0.84,146.0,2788,3356,2239,2048,475.2,12.6,478,4426,0.00,1.58,0.00,0.000,1030,0.000,0.081,2794,2507,2143,2239,2048,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4738,0.80,146.0,2794,2507,2239,2043,441.1,10.3,509,4741,0.00,1.50,0.00,0.000,516,0.000,0.096,2801,1638,2140,2238,2043,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4797,0.76,146.0,2801,1637,2239,2042,435.2,10.4,514,4804,0.17,1.58,0.00,0.000,5126,0.228,0.112,2758,2522,2139,2238,2041,0,0,0,0,0,0,14.28,14.40,28.83
$GC,5106,0.75,146.0,2758,2522,2239,2042,406.9,8.8,545,5110,0.00,1.52,0.00,0.000,516,0.000,0.096,2761,1664,2140,2239,2041,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5165,0.75,146.0,2762,1663,2239,2040,402.2,8.6,550,5172,0.00,1.50,0.00,0.000,1030,0.000,0.113,2762,2507,2139,2238,2041,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5474,0.76,162.7,2762,2508,2239,2041,377.6,7.6,581,5500,0.00,1.52,17.55,2.072,8708,0.000,0.098,2768,1663,2077,2179,1976,0,0,0,0,0,0,28.83,14.47,13.25
$GC,5541,0.76,170.7,2768,1663,2179,1975,372.7,7.9,587,5558,0.00,1.52,10.38,1.944,9222,0.000,0.113,2768,2522,2044,2146,1942,0,0,0,0,0,0,28.83,14.42,13.19
$GC,5861,0.74,170.7,2768,2522,2147,1940,344.2,9.7,619,5865,0.00,1.52,0.00,0.000,260,0.000,0.128,2767,3355,2043,2147,1940,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5890,0.72,170.7,1792,3354,2102,1936,341.8,9.4,621,5897,0.12,1.48,0.00,0.000,5126,0.247,0.084,2745,2511,2043,2146,1940,0,0,0,0,0,0,14.33,14.47,28.83
$GC,6199,0.73,172.6,2745,2512,2146,1938,315.5,8.2,652,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2511,2042,2146,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6515,0.75,186.4,2745,2511,2146,1939,291.2,7.7,683,6540,0.00,1.42,17.05,2.032,8708,0.000,0.093,2749,1668,1982,2087,1877,0,0,0,0,0,0,28.83,14.47,13.31
$GC,6569,0.75,186.4,1792,1666,2045,1873,286.4,8.6,688,6576,0.00,1.50,0.00,0.000,1030,0.000,0.113,2749,2512,1982,2087,1877,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6878,0.75,186.4,2749,2513,2087,1876,258.2,9.7,719,6882,0.00,1.55,0.00,0.000,260,0.000,0.125,2749,3358,1981,2086,1876,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6924,0.75,186.4,2749,3358,2087,1876,253.7,10.1,723,6927,0.00,1.48,0.00,0.000,1030,0.000,0.083,2755,2512,1981,2086,1876,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7240,0.75,186.4,2755,2512,2087,1875,223.0,9.3,754,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2512,1981,2087,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7555,0.75,187.2,2755,2512,2087,1875,196.3,8.2,785,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2512,1980,2086,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,0.75,187.2,2755,2512,2086,1875,168.1,9.2,816,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2512,1980,2086,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8183,0.75,187.2,2755,2512,2086,1875,138.6,9.1,847,8186,0.00,1.50,0.00,0.000,516,0.000,0.095,2762,1643,1980,2086,1874,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8239,0.75,187.2,2762,1643,2086,1874,132.9,9.4,852,8242,0.00,1.55,0.00,0.000,1030,0.000,0.112,2761,2510,1980,2086,1874,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8554,0.75,187.2,2762,2510,2086,1874,103.7,9.2,883,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2510,1980,2086,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,0.75,191.7,2762,2510,2087,1874,76.3,8.1,940,8879,0.00,1.60,3.12,0.400,8452,0.000,0.126,2762,3363,1959,2065,1853,0,0,0,0,0,0,28.83,14.33,13.80
$GC,9007,0.75,191.7,2761,3363,2064,1853,63.5,9.4,964,9013,0.00,1.50,0.00,0.000,1030,0.000,0.083,2768,2485,1958,2064,1853,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9331,0.83,232.3,1728,2483,2018,1849,37.4,6.7,1025,9361,0.00,1.45,22.70,0.261,8708,0.000,0.096,2773,1670,1793,1895,1691,0,0,0,0,0,0,28.83,14.35,14.08
$GC,9504,0.93,271.1,2774,1670,1893,1688,26.7,6.8,1056,9531,0.10,1.50,21.23,0.233,11270,0.168,0.113,2813,2512,1634,1728,1540,0,0,0,0,0,0,14.42,14.33,14.16
$FREEZE,8.83,-0.345,-1.802,0,1,0
$FREEZE,8.43,-0.345,-1.802,0,1,0
$FREEZE,7.97,-0.349,-1.802,0,1,0
$FREEZE,7.47,-0.340,-1.801,0,1,0
$FREEZE,6.88,-0.338,-1.801,0,1,0
$FREEZE,6.43,-0.341,-1.801,0,1,0
$FREEZE,5.93,-0.345,-1.800,0,1,0
$FREEZE,5.42,-0.349,-1.800,0,1,0
$FREEZE,5.02,-0.348,-1.799,0,1,0
$FREEZE,4.54,-0.346,-1.799,0,1,0
$FREEZE,4.19,-0.350,-1.799,0,1,0
$FREEZE,3.24,-0.348,-1.798,0,1,0
$FREEZE,2.72,-0.349,-1.798,0,1,0
$STATE,9778,end climb,SURFACE_DEPTH_REACHED
$STATE,9778,begin surface coast
$FREEZE,2.32,-0.349,-1.797,0,1,0
$FREEZE,1.83,-0.357,-1.797,0,1,0
$FREEZE,1.40,-0.371,-1.797,0,1,0
$FREEZE,1.15,-0.364,-1.797,0,1,0
$FREEZE,0.97,-0.498,-1.805,0,1,0
$FREEZE,1.06,-0.811,-1.808,0,1,0
$FINISH,1.1,1.026513
$STATE,9810,end surface coast,CONTROL_FINISHED_OK
$STATE,9810,begin surface
$SM_CCo,9838,67.20,0.161,0,0,1108,400.08
$SM_GC,2.05,7.97,0.00,67.20,0.092,0.000,0.161,144,2513,1108,-7.35,0.37,400.08,0,0,0,0,0,0,14.44,28.83,14.25
$RAFOS_CLK,421
$RAFOS,6,1387226971,20.833334,20.825277,60,59,59,54,52,52,198,183,171,160,145,209
$RAFOS,4,1387225988,20.566668,20.552221,68,64,60,54,52,51,205,223,191,149,173,161
$RAFOS_FIX,6707.432617,-5703.445312,161213,080822,3,79,1.87
$IRIDIUM_FIX,6636.54,-5655.33,161213,171739
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.36
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,14.40
$XPDR_PINGS,36
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,12.1,214.399
$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,20.775,48.850,412.525,67.200,0.000,0.000,0.000,367.500,10.250,0.000,8.347,2722.564,4521.375,547.410,2078.614,653.211,0.000,1882.461,0.000,1753.278,360.000,9.896,0.000
$DEVICE_MAMPS,407.745,127.755,2334.015,161.415,0.000,0.000,0.000,136.170,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150712
$DATA_FILE_SIZE,46723,1113
$CAP_FILE_SIZE,117791,0
$CFSIZE,259252224,213381120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.9
$CURRENT,0.181, 55.2,1
$GPS,161213,233554,6704.201,-5649.702,43,1.1,43,-33.5