version: 66.11
glider: 192
mission: 2
dive: 199
start: 10 20 113 13 25 17
data:
$ID,192
$MISSION,2
$DIVE,199
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1404.2637
$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,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,12
$MINV_10V,12
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$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
$GPS1,201013,131806,6704.076,-5652.453,31,1.2,31,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.0
$GPS2,201013,132431,6704.094,-5652.664,5,1.2,6,-33.5
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,245.1,160444,-15.5,-8.250,-18.49,2720
$D_GRID,527
$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,-146.0,130,2512,1112,1077,0.0,0.0,0,111,0.00,0.00,-88.32,0.000,16386,0.000,0.000,129,2513,2965,3030,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.89,-146.0,129,2513,3031,2900,3.8,-5.3,15,145,9.82,2.50,-7.85,0.000,18692,0.416,0.151,2205,3877,3339,3497,3182,0,0,0,0,0,0,14.19,14.42,14.73
$GC,382,-0.78,-146.0,2205,3877,3499,3181,70.1,-24.9,64,390,0.20,2.38,0.00,0.000,3078,0.276,0.087,2252,2492,3340,3499,3181,0,0,0,0,0,0,14.35,14.54,28.83
$GC,703,-0.72,-146.0,2252,2492,3500,3180,123.5,-14.4,110,712,0.00,2.50,0.00,0.000,260,0.000,0.138,2244,3869,3340,3500,3180,0,0,0,0,0,0,28.83,14.45,28.83
$GC,761,-0.65,-146.0,1392,3868,3492,3176,132.1,-14.9,115,768,0.20,2.35,0.00,0.000,3078,0.258,0.086,2293,2492,3339,3500,3179,0,0,0,0,0,0,14.42,14.59,28.83
$GC,1071,-0.63,-146.0,2293,2492,3500,3179,172.6,-12.4,146,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2492,3339,3500,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.61,-146.0,2293,2492,3500,3179,208.9,-12.0,177,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2492,3339,3500,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1700,-0.59,-146.0,2293,2492,3500,3178,244.8,-11.2,208,1709,0.00,2.45,0.00,0.000,516,0.000,0.106,2293,1096,3338,3500,3177,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1746,-0.57,-146.0,2294,1096,3500,3177,250.5,-11.2,212,1756,0.10,2.53,0.00,0.000,3078,0.223,0.124,2315,2505,3338,3500,3177,0,0,0,0,0,0,14.47,14.52,28.83
$GC,2057,-0.57,-146.0,2315,2505,3501,3177,282.8,-10.7,243,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2505,3338,3500,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,-0.57,-146.0,2315,2504,3501,3178,315.9,-10.7,274,2384,0.00,2.42,0.00,0.000,516,0.000,0.105,2315,1096,3339,3501,3178,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2430,-0.57,-146.0,2316,1096,3501,3178,322.8,-10.6,279,2439,0.00,2.50,0.00,0.000,1030,0.000,0.122,2309,2499,3339,3501,3177,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2741,-0.57,-146.0,2309,2499,3501,3177,357.1,-11.0,310,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2499,3339,3501,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3057,-0.57,-146.0,2309,2499,3501,3177,390.5,-10.5,341,3066,0.00,2.42,0.00,0.000,516,0.000,0.104,2308,1097,3339,3501,3177,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3096,-0.57,-146.0,1440,1097,3494,3174,394.7,-10.5,344,3103,0.00,2.53,0.00,0.000,1030,0.000,0.122,2300,2505,3339,3502,3177,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3404,-0.57,-146.0,2300,2506,3501,3177,426.6,-10.8,375,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2505,3340,3502,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-0.57,-146.0,2300,2505,3502,3177,456.8,-9.5,406,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2505,3339,3502,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.57,-146.0,2301,2505,3502,3177,488.8,-10.5,437,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2505,3339,3502,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4348,-0.57,-146.0,2300,2505,3502,3178,520.9,-9.9,468,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2505,3339,3502,3177,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4413,-0.22,0.0,2299,2505,3502,3177,527.2,-9.9,474,4577,0.45,0.00,151.62,2.439,10246,0.218,0.000,2430,2504,2741,2850,2633,0,0,0,0,0,0,14.48,28.83,12.99
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4584,0.89,146.0,2430,2505,2850,2633,535.0,0.0,491,4761,1.20,2.75,162.70,2.360,10756,0.163,0.107,2798,1103,2144,2236,2053,0,0,0,0,0,0,13.78,13.27,12.57
$GC,4823,0.84,146.0,1792,1101,2189,2041,518.9,11.0,514,4830,0.00,2.72,0.00,0.000,1030,0.000,0.120,2799,2511,2141,2236,2046,0,0,0,0,0,0,28.83,13.66,28.83
$GC,5132,0.77,146.0,2799,2511,2236,2042,480.4,12.5,545,5142,0.15,2.53,0.00,0.000,4356,0.261,0.138,2760,3866,2139,2236,2042,0,0,0,0,0,0,14.12,14.16,28.83
$GC,5213,0.71,146.0,2760,3866,2235,2041,471.1,12.0,552,5219,0.00,2.38,0.00,0.000,1030,0.000,0.092,2768,2510,2139,2236,2042,0,0,0,0,0,0,28.83,14.32,28.83
$GC,5521,0.67,146.0,2768,2510,2235,2040,438.4,10.3,583,5531,0.15,2.47,0.00,0.000,4612,0.257,0.109,2736,1104,2138,2236,2040,0,0,0,0,0,0,14.35,14.40,28.83
$GC,5570,0.65,146.0,1760,1102,2190,2034,434.1,9.3,587,5577,0.00,2.55,0.00,0.000,1030,0.000,0.122,2736,2511,2137,2236,2039,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5880,0.63,146.0,2737,2511,2236,2039,405.0,9.4,618,5889,0.00,2.50,0.00,0.000,260,0.000,0.139,2737,3873,2136,2235,2038,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5986,0.59,146.0,2737,3873,2236,2039,393.1,11.4,628,5996,0.15,2.33,0.00,0.000,5126,0.213,0.092,2702,2507,2137,2236,2039,0,0,0,0,0,0,14.42,14.53,28.83
$GC,6298,0.61,153.3,2702,2508,2235,2038,367.6,8.0,659,6310,0.00,2.47,7.10,1.890,8708,0.000,0.111,2711,1097,2114,2215,2014,0,0,0,0,0,0,28.83,14.59,13.75
$GC,6353,0.64,158.6,2709,1097,2215,2014,363.3,8.1,664,6371,0.00,2.53,7.20,1.880,9222,0.000,0.121,2710,2506,2094,2196,1993,0,0,0,0,0,0,28.83,14.50,13.71
$GC,6673,0.64,158.6,2711,2506,2195,1993,335.2,8.5,696,6681,0.00,2.47,0.00,0.000,260,0.000,0.138,2711,3871,2093,2195,1992,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6698,0.64,158.6,2710,3871,2195,1992,332.8,8.7,698,6708,0.00,2.35,0.00,0.000,1030,0.000,0.091,2721,2501,2093,2195,1992,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7009,0.64,158.6,2721,2502,2195,1993,305.4,8.3,729,7019,0.00,2.42,0.00,0.000,516,0.000,0.110,2731,1102,2093,2195,1991,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7056,0.65,165.8,2731,1102,2195,1991,301.8,8.0,733,7074,0.00,2.50,8.90,1.941,9222,0.000,0.122,2731,2508,2065,2167,1963,0,0,0,0,0,0,28.83,14.52,13.74
$GC,7376,0.65,168.6,2731,2508,2167,1963,276.0,8.1,765,7387,0.00,2.55,4.60,1.581,8452,0.000,0.139,2730,3881,2054,2157,1951,0,0,0,0,0,0,28.83,14.56,13.70
$GC,7427,0.63,168.6,1760,3881,2110,1947,271.8,8.9,769,7435,0.00,2.35,0.00,0.000,1030,0.000,0.092,2741,2512,2054,2157,1951,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7737,0.62,168.6,2741,2512,2157,1951,243.8,9.3,800,7747,0.12,2.45,0.00,0.000,4612,0.253,0.109,2715,1105,2053,2157,1950,0,0,0,0,0,0,14.51,14.53,28.83
$GC,7778,0.62,170.2,2715,1106,2157,1950,240.8,8.2,803,7785,0.00,2.53,0.00,0.000,1030,0.000,0.121,2714,2514,2053,2157,1950,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8088,0.65,182.3,2715,2514,2157,1950,216.2,7.8,834,8112,0.00,2.45,15.35,2.032,8452,0.000,0.140,2715,3874,1997,2100,1894,0,0,0,0,0,0,28.83,14.50,13.77
$GC,8149,0.65,182.3,2715,3874,2100,1893,211.1,8.8,840,8157,0.00,2.35,0.00,0.000,1030,0.000,0.092,2724,2503,1997,2100,1894,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8459,0.70,217.3,2725,2503,2100,1893,189.2,6.9,871,8505,0.00,2.58,36.38,2.082,8708,0.000,0.112,2735,1097,1855,1958,1752,0,0,0,0,0,0,28.83,14.27,13.57
$GC,8543,0.73,221.8,2734,1097,1958,1750,183.2,8.1,879,8555,0.00,2.55,6.25,1.668,9222,0.000,0.122,2734,2506,1836,1938,1734,0,0,0,0,0,0,28.83,14.28,13.53
$GC,8867,0.73,221.8,2735,2506,1936,1732,155.8,9.1,911,8876,0.00,2.47,0.00,0.000,260,0.000,0.139,2735,3866,1834,1936,1732,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8903,0.73,221.8,2734,3865,1934,1732,152.3,9.7,914,8912,0.00,2.35,0.00,0.000,1030,0.000,0.091,2744,2505,1833,1934,1732,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9214,0.73,221.8,2744,2505,1934,1732,122.8,8.8,945,9223,0.00,2.47,0.00,0.000,260,0.000,0.142,2744,3870,1832,1933,1732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9249,0.73,221.8,2744,3869,1932,1732,119.6,8.9,948,9258,0.00,2.30,0.00,0.000,1030,0.000,0.091,2754,2513,1832,1932,1732,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9563,0.73,221.8,1760,2511,1891,1728,91.9,8.9,987,9570,0.00,2.47,0.00,0.000,516,0.000,0.109,2764,1093,1831,1932,1731,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9621,0.73,221.8,2764,1093,1932,1731,86.5,9.5,997,9629,0.00,2.53,0.00,0.000,1030,0.000,0.122,2764,2510,1831,1932,1731,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9947,0.77,250.0,2764,2510,1932,1731,61.2,7.2,1058,9972,0.00,2.55,14.12,0.356,8708,0.000,0.112,2774,1101,1720,1816,1624,0,0,0,0,0,0,28.83,14.56,14.35
$GC,10035,0.81,260.1,2775,1101,1815,1623,54.6,7.9,1073,10048,0.00,2.53,5.22,0.343,9222,0.000,0.122,2774,2513,1679,1773,1585,0,0,0,0,0,0,28.83,14.55,14.33
$GC,10365,0.81,260.1,2774,2513,1770,1585,27.1,8.3,1135,10372,0.00,2.47,0.00,0.000,260,0.000,0.142,2774,3878,1677,1770,1584,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10398,0.81,260.1,2774,3878,1770,1585,23.9,10.8,1140,10405,0.00,2.35,0.00,0.000,1030,0.000,0.092,2785,2505,1676,1769,1584,0,0,0,0,0,0,28.83,14.60,28.83
$STATE,10635,end climb,SURFACE_DEPTH_REACHED
$STATE,10635,begin surface coast
$FINISH,1.1,1.016290
$STATE,10667,end surface coast,CONTROL_FINISHED_OK
$STATE,10667,begin surface
$SM_CCo,10695,71.32,0.165,0,0,1109,400.08
$SM_GC,1.84,7.75,0.00,71.32,0.091,0.000,0.165,136,2503,1109,-7.36,0.08,400.08,0,0,0,0,0,0,14.62,28.83,14.47
$RAFOS_CLK,474
$RAFOS,1,1382285341,16.166666,16.150278,67,59,57,54,53,52,209,178,136,150,118,188
$RAFOS,0,1382284870,16.033333,16.019444,59,57,57,56,52,48,130,160,1129,205,188,109
$RAFOS_FIX,6705.038086,-5651.791016,201013,121220,4,72,0.62
$IRIDIUM_FIX,6636.54,-5643.07,201013,101051
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.10
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,14.60
$XPDR_PINGS,69
$24V_AH,12.6,85.058
$10V_AH,12.9,0.000
$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,20.300,103.850,419.450,71.325,0.000,0.000,0.000,222.450,17.250,0.000,6.772,2894.354,4864.201,662.113,2083.156,650.768,0.000,1943.730,0.000,1883.721,1080.000,0.538,0.000
$DEVICE_MAMPS,416.160,150.705,2438.820,165.240,0.000,0.000,0.000,140.760,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,50043,1192
$CAP_FILE_SIZE,126074,0
$CFSIZE,259252224,236392448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.7
$CURRENT,0.343,321.8,1
$GPS,201013,162628,6704.460,-5657.971,38,0.9,42,-33.6