version: 66.11
glider: 192
mission: 2
dive: 280
start: 11 6 113 4 7 57
data:
$ID,192
$MISSION,2
$DIVE,280
$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,-1529.6547
$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,36
$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,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
$GPS1,061113,040100,6703.609,-5652.526,45,1.4,45,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-62.6
$GPS2,061113,040709,6703.599,-5652.587,23,1.8,24,-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,245.4,160288,-15.5,-8.250,-18.49,2720
$D_GRID,553
$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,-146.0,109,2498,1135,1070,0.0,0.0,0,94,0.00,0.00,-71.28,0.000,16386,0.000,0.000,106,2498,2569,2617,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.89,-146.0,107,2498,2619,2521,3.1,-3.7,12,140,9.77,2.38,-22.00,0.000,18692,0.399,0.151,2207,3769,3339,3509,3169,0,0,0,0,0,0,14.13,14.38,14.76
$GC,276,-0.78,-146.0,1344,3769,3501,3165,39.8,-24.1,43,284,0.20,2.17,0.00,0.000,3078,0.278,0.083,2252,2491,3339,3510,3168,0,0,0,0,0,0,14.20,14.47,28.83
$GC,601,-0.72,-146.0,2253,2491,3509,3168,98.1,-15.7,104,608,0.00,2.20,0.00,0.000,516,0.000,0.103,2253,1229,3338,3510,3167,0,0,0,0,0,0,28.83,14.44,28.83
$GC,670,-0.67,-146.0,2253,1229,3510,3168,109.8,-15.9,111,679,0.15,2.28,0.00,0.000,3078,0.241,0.120,2287,2494,3338,3510,3167,0,0,0,0,0,0,14.19,14.35,28.83
$GC,981,-0.65,-146.0,2287,2494,3510,3167,152.2,-12.9,142,990,0.00,2.35,0.00,0.000,260,0.000,0.136,2280,3778,3338,3510,3166,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1028,-0.62,-146.0,2280,3778,3510,3166,158.5,-13.3,146,1033,0.00,2.15,0.00,0.000,1030,0.000,0.084,2280,2501,3338,3510,3166,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1346,-0.59,-146.0,2280,2501,3510,3166,199.0,-12.8,177,1356,0.12,2.17,0.00,0.000,2564,0.272,0.099,2313,1238,3338,3510,3166,0,0,0,0,0,0,14.31,14.39,28.83
$GC,1404,-0.59,-146.0,2313,1238,3510,3166,205.4,-10.2,182,1408,0.00,2.22,0.00,0.000,1030,0.000,0.122,2307,2502,3338,3510,3166,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1719,-0.59,-146.0,2307,2501,3510,3166,238.2,-10.3,213,1728,0.00,2.28,0.00,0.000,260,0.000,0.133,2297,3764,3338,3510,3166,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1798,-0.57,-146.0,1416,3763,3502,3163,246.4,-10.8,220,1805,0.00,2.15,0.00,0.000,1030,0.000,0.083,2297,2495,3338,3510,3166,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2107,-0.56,-146.0,2297,2495,3510,3166,281.4,-11.1,251,2116,0.12,2.17,0.00,0.000,2564,0.268,0.099,2330,1235,3338,3510,3166,0,0,0,0,0,0,14.33,14.40,28.83
$GC,2156,-0.56,-146.0,2330,1235,3510,3166,286.1,-10.3,255,2163,0.00,2.30,0.00,0.000,1030,0.000,0.119,2324,2507,3338,3510,3166,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2465,-0.56,-146.0,2324,2507,3510,3166,316.1,-9.7,286,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2507,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2780,-0.56,-146.0,2324,2507,3510,3166,345.2,-9.3,317,2789,0.00,2.28,0.00,0.000,260,0.000,0.131,2314,3777,3338,3510,3167,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2836,-0.56,-146.0,2314,3777,3510,3166,351.3,-9.8,322,2840,0.00,2.12,0.00,0.000,1030,0.000,0.083,2314,2505,3339,3511,3167,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3153,-0.56,-146.0,2314,2505,3510,3165,381.3,-9.5,353,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2505,3338,3510,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.56,-146.0,2314,2505,3510,3166,412.0,-9.9,384,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2505,3338,3510,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,-0.56,-146.0,2314,2505,3510,3166,444.0,-10.1,415,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2505,3338,3510,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,-0.56,-146.0,2314,2505,3510,3167,474.6,-9.8,446,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2505,3338,3510,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.56,-146.0,2314,2505,3511,3167,504.6,-9.2,477,4412,0.00,2.35,0.00,0.000,260,0.000,0.137,2305,3777,3338,3510,3167,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4464,-0.56,-146.0,2305,3777,3509,3167,510.4,-9.5,482,4473,0.00,2.15,0.00,0.000,1030,0.000,0.083,2305,2494,3338,3510,3167,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4775,-0.56,-146.0,2305,2494,3510,3167,540.7,-9.3,513,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2494,3338,3510,3167,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4909,begin apogee
$GC,4922,-0.22,0.0,2305,2494,3510,3167,554.0,-9.7,527,5087,0.45,0.00,151.07,2.394,10246,0.210,0.000,2434,2492,2741,2853,2630,0,0,0,0,0,0,14.29,28.83,12.86
$STATE,5088,end apogee,CONTROL_FINISHED_OK
$STATE,5088,begin climb
$GC,5094,0.89,146.0,2434,2493,2853,2630,561.2,0.0,544,5264,1.20,0.00,164.73,2.326,10758,0.151,0.000,2791,2493,2145,2238,2052,0,0,0,0,0,0,13.68,28.83,12.45
$GC,5567,0.84,146.0,2791,2493,2238,2042,519.0,10.6,592,5576,0.00,2.42,0.00,0.000,260,0.000,0.135,2791,3780,2140,2238,2042,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5658,0.76,146.0,2791,3781,2236,2042,508.5,12.5,600,5665,0.17,2.22,0.00,0.000,5126,0.243,0.087,2759,2501,2139,2236,2042,0,0,0,0,0,0,14.14,14.28,28.83
$GC,5968,0.73,146.0,2759,2501,2236,2040,479.4,8.9,631,5976,0.00,2.33,0.00,0.000,260,0.000,0.135,2759,3781,2138,2236,2040,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6006,0.69,146.0,1792,3780,2192,2035,476.0,9.4,634,6013,0.15,2.17,0.00,0.000,5126,0.249,0.088,2732,2511,2138,2237,2040,0,0,0,0,0,0,14.31,14.47,28.83
$GC,6315,0.68,146.0,2733,2511,2236,2038,449.9,8.4,665,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2511,2137,2236,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6631,0.68,146.0,2733,2511,2237,2038,423.5,8.7,696,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2511,2137,2236,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6945,0.69,156.7,2733,2511,2236,2038,398.1,7.8,727,6961,0.00,2.28,10.27,2.013,8708,0.000,0.109,2740,1239,2102,2203,2002,0,0,0,0,0,0,28.83,14.59,13.67
$GC,6980,0.70,164.3,1792,1239,2159,1997,395.0,8.0,730,6995,0.00,2.30,9.60,1.971,9222,0.000,0.119,2740,2520,2071,2172,1970,0,0,0,0,0,0,28.83,14.50,13.59
$GC,7298,0.70,164.3,2740,2521,2173,1969,367.2,8.6,762,7302,0.00,2.28,0.00,0.000,260,0.000,0.135,2740,3779,2071,2173,1969,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7336,0.69,164.3,1768,3779,2128,1964,363.9,9.0,765,7344,0.00,2.17,0.00,0.000,1030,0.000,0.089,2749,2507,2070,2172,1969,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7646,0.67,164.3,2749,2507,2172,1969,334.9,9.2,796,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2507,2070,2172,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7962,0.65,164.3,2749,2507,2172,1968,307.3,8.9,827,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2507,2070,2172,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8275,0.64,164.3,2749,2507,2172,1967,277.8,10.0,858,8282,0.12,0.00,0.00,0.000,4102,0.256,0.000,2716,2507,2069,2172,1967,0,0,0,0,0,0,14.35,28.83,28.83
$GC,8584,0.71,199.9,2716,2507,2172,1967,253.5,6.9,889,8631,0.00,2.28,36.55,2.082,8708,0.000,0.107,2723,1247,1926,2031,1822,0,0,0,0,0,0,28.83,14.37,13.59
$GC,8658,0.77,221.7,2723,1247,2030,1819,248.3,7.4,896,8688,0.08,2.28,23.70,1.998,11270,0.106,0.117,2764,2507,1837,1939,1735,0,0,0,0,0,0,14.33,14.28,13.45
$GC,9000,0.77,221.7,2764,2508,1934,1732,214.9,10.3,930,9004,0.00,2.33,0.00,0.000,260,0.000,0.133,2764,3784,1833,1934,1732,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9036,0.76,221.7,2764,3783,1932,1732,210.8,11.1,933,9040,0.00,2.20,0.00,0.000,1030,0.000,0.089,2774,2507,1832,1932,1732,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9352,0.74,221.7,2774,2507,1932,1732,178.9,8.7,964,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2507,1832,1932,1732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9667,0.74,221.7,2774,2506,1932,1731,150.7,10.6,995,9676,0.00,2.20,0.00,0.000,516,0.000,0.108,2783,1241,1830,1931,1730,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9703,0.74,221.7,2783,1242,1932,1730,146.5,10.3,998,9712,0.10,2.25,0.00,0.000,5126,0.199,0.118,2753,2510,1830,1931,1730,0,0,0,0,0,0,14.33,14.42,28.83
$GC,10014,0.78,249.0,2753,2510,1931,1730,118.6,7.2,1029,10040,0.00,2.30,16.20,1.838,8452,0.000,0.135,2753,3789,1726,1821,1631,0,0,0,0,0,0,28.83,14.54,13.76
$GC,10089,0.78,249.0,1792,3788,1784,1629,112.5,9.2,1036,10096,0.00,2.20,0.00,0.000,1030,0.000,0.089,2761,2503,1725,1818,1632,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10403,0.80,249.0,2761,2503,1817,1632,82.2,9.9,1084,10409,0.00,2.20,0.00,0.000,516,0.000,0.108,2769,1244,1724,1817,1631,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10537,0.83,249.0,2770,1243,1816,1630,69.0,9.7,1108,10543,0.00,2.28,0.00,0.000,1030,0.000,0.117,2769,2511,1723,1816,1630,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10860,0.92,298.6,1736,2509,1778,1627,42.4,6.4,1169,10894,0.12,2.30,27.88,0.283,10756,0.153,0.110,2832,1244,1522,1609,1435,0,0,0,0,0,0,14.54,14.50,14.29
$GC,10981,0.92,298.6,2832,1244,1608,1430,30.0,10.4,1189,10989,0.00,2.28,0.00,0.000,1030,0.000,0.118,2832,2511,1519,1608,1430,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,11225,end climb,SURFACE_DEPTH_REACHED
$STATE,11225,begin surface coast
$FINISH,0.9,1.025805
$STATE,11271,end surface coast,CONTROL_FINISHED_OK
$STATE,11271,begin surface
$SM_CCo,11299,51.95,0.164,0,0,1108,400.08
$SM_GC,2.02,7.93,0.00,51.95,0.083,0.000,0.164,137,2511,1108,-7.35,0.31,400.08,0,0,0,0,0,0,14.55,28.83,14.39
$RAFOS_CLK,496
$RAFOS,6,1383713347,4.833333,4.818611,63,61,53,51,50,49,181,203,193,809,232,215
$RAFOS,5,1383712867,4.700000,4.685278,63,61,59,58,57,51,180,115,209,633,167,147
$RAFOS,4,1383712390,4.566667,4.552778,64,62,55,52,50,49,193,208,158,176,115,218
$RAFOS,3,1383711908,4.433333,4.418889,65,59,55,53,52,52,198,189,217,119,140,151
$RAFOS,2,1383711421,4.300000,4.283611,62,62,55,55,55,52,133,197,145,124,214,186
$RAFOS,1,1383710944,4.166667,4.151111,62,57,54,53,52,52,214,172,124,186,199,155
$RAFOS_FIX,6659.508301,-5718.634277,041113,121244,3,105,0.55
$IRIDIUM_FIX,6614.97,-5633.69,061113,010100
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.22
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,14.40
$XPDR_PINGS,60
$24V_AH,12.5,122.121
$10V_AH,12.8,0.000
$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,20.700,81.000,440.000,51.950,0.000,0.000,0.000,193.600,15.000,0.000,25.253,3049.930,5266.997,634.990,2123.098,659.582,0.000,1888.082,0.000,1925.855,2160.000,0.538,0.000
$DEVICE_MAMPS,399.330,345.780,2394.450,164.475,0.000,0.000,0.000,146.880,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150812
$DATA_FILE_SIZE,53372,1245
$CAP_FILE_SIZE,126701,0
$CFSIZE,259252224,229679104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.0
$CURRENT,0.094,287.0,1
$GPS,061113,071923,6702.430,-5656.332,70,0.8,70,-33.5