version: 66.11
glider: 192
mission: 2
dive: 461
start: 12 13 113 12 50 26
data:
$ID,192
$MISSION,2
$DIVE,461
$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,-9029.375
$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
$GPS1,131213,123352,6704.290,-5654.299,26,0.9,43,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.0
$GPS2,131213,124937,6704.385,-5654.612,10,0.9,11,-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,184.9,5421,-15.5,-8.250,-18.49,2720
$D_GRID,515
$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,-146.0,94,2485,1115,1072,0.0,0.0,0,110,0.00,0.00,-87.32,0.000,16386,0.000,0.000,94,2486,2723,2775,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.89,-146.0,94,2486,2776,2672,3.3,-3.9,15,150,10.30,1.45,-14.85,0.000,18948,0.411,0.123,2214,1647,3337,3502,3173,0,0,0,0,0,0,13.90,14.40,14.78
$GC,388,-0.80,-146.0,2214,1647,3506,3171,60.0,-20.4,65,396,0.17,1.52,0.00,0.000,3078,0.280,0.113,2248,2499,3338,3506,3171,0,0,0,0,0,0,14.13,14.35,28.83
$GC,713,-0.74,-146.0,2248,2499,3507,3170,117.1,-16.2,117,717,0.00,1.50,0.00,0.000,516,0.000,0.096,2248,1633,3337,3506,3169,0,0,0,0,0,0,28.83,14.39,28.83
$GC,819,-0.69,-146.0,2248,1633,3506,3170,133.3,-14.3,127,823,0.17,1.58,0.00,0.000,3078,0.262,0.113,2285,2509,3337,3506,3169,0,0,0,0,0,0,14.17,14.37,28.83
$GC,1136,-0.66,-146.0,2283,2509,3506,3169,173.4,-12.7,158,1139,0.00,1.50,0.00,0.000,260,0.000,0.125,2280,3346,3337,3506,3169,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1181,-0.64,-146.0,2280,3346,3506,3168,179.1,-12.7,162,1185,0.00,1.48,0.00,0.000,1030,0.000,0.083,2280,2500,3337,3506,3169,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1498,-0.61,-146.0,2280,2500,3506,3169,221.4,-13.1,193,1502,0.12,1.50,0.00,0.000,2564,0.270,0.091,2312,1657,3337,3506,3168,0,0,0,0,0,0,14.29,14.36,28.83
$GC,1597,-0.61,-146.0,2313,1657,3506,3169,232.6,-11.1,202,1604,0.00,1.52,0.00,0.000,1030,0.000,0.114,2308,2507,3338,3507,3169,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1906,-0.61,-146.0,2308,2507,3507,3169,266.4,-10.9,233,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2507,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,-0.61,-146.0,2309,2507,3508,3169,297.2,-10.4,264,2225,0.00,1.50,0.00,0.000,516,0.000,0.094,2308,1635,3338,3508,3169,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2267,-0.61,-146.0,2308,1635,3508,3169,302.4,-10.0,268,2270,0.00,1.60,0.00,0.000,1030,0.000,0.112,2303,2503,3338,3508,3168,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2582,-0.61,-146.0,2302,2503,3510,3169,334.8,-9.8,299,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2502,3339,3509,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-0.61,-146.0,2303,2503,3510,3169,365.1,-9.9,330,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2503,3339,3510,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.61,-146.0,2303,2503,3512,3169,395.6,-9.6,361,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2503,3340,3512,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,-0.61,-146.0,2303,2503,3514,3168,426.4,-9.3,392,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2503,3341,3514,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3841,-0.61,-146.0,2302,2503,3514,3169,457.6,-10.5,423,3844,0.00,1.52,0.00,0.000,260,0.000,0.123,2296,3350,3341,3514,3169,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3906,-0.61,-146.0,2296,3350,3514,3169,465.5,-11.0,429,3910,0.00,1.50,0.00,0.000,1030,0.000,0.078,2296,2464,3341,3514,3169,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4222,-0.61,-146.0,2296,2464,3515,3169,499.7,-10.6,460,4226,0.00,1.42,0.00,0.000,516,0.000,0.092,2295,1657,3342,3515,3169,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4271,-0.61,-146.0,2296,1657,3515,3169,504.7,-11.0,464,4278,0.00,1.52,0.00,0.000,1030,0.000,0.109,2290,2507,3342,3515,3169,0,0,0,0,0,0,28.83,14.34,28.83
$STATE,4363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4363,begin apogee
$GC,4377,-0.22,0.0,2291,2507,3515,3169,515.2,-10.1,474,4542,0.50,0.00,154.07,2.364,10246,0.210,0.000,2432,2507,2741,2855,2628,0,0,0,0,0,0,14.14,28.83,12.52
$STATE,4543,end apogee,CONTROL_FINISHED_OK
$STATE,4543,begin climb
$GC,4549,0.89,146.0,2432,2507,2855,2628,523.6,0.0,491,4726,1.23,0.00,165.30,2.280,10758,0.159,0.000,2790,2507,2145,2242,2049,0,0,0,0,0,0,13.63,28.83,12.07
$GC,5033,0.85,146.0,2790,2507,2241,2041,489.3,8.9,539,5037,0.00,1.58,0.00,0.000,260,0.000,0.126,2790,3350,2141,2241,2041,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5084,0.80,146.0,2790,3351,2241,2041,484.4,9.8,543,5091,0.00,1.50,0.00,0.000,1030,0.000,0.084,2797,2481,2140,2241,2040,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5393,0.75,146.0,2797,2481,2241,2039,455.3,9.5,574,5397,0.15,1.60,0.00,0.000,4356,0.246,0.125,2756,3363,2140,2241,2039,0,0,0,0,0,0,14.35,14.42,28.83
$GC,5490,0.72,146.0,2756,3364,2241,2039,446.7,8.6,583,5493,0.00,1.50,0.00,0.000,1030,0.000,0.084,2760,2482,2140,2241,2039,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5807,0.72,152.6,2761,2482,2241,2039,421.2,8.0,614,5819,0.00,1.62,7.12,1.856,8452,0.000,0.130,2760,3350,2118,2222,2015,0,0,0,0,0,0,28.83,14.49,13.28
$GC,5907,0.69,152.6,2761,3350,2222,2015,413.4,8.5,623,5911,0.15,1.48,0.00,0.000,5126,0.242,0.085,2732,2511,2118,2222,2015,0,0,0,0,0,0,14.37,14.51,28.83
$GC,6224,0.76,202.0,2731,2511,2222,2015,393.6,6.4,654,6279,0.00,0.00,52.45,2.180,8198,0.000,0.000,2732,2511,1917,2023,1812,0,0,0,0,0,0,28.83,28.83,13.16
$GC,6584,0.80,219.0,2731,2511,2023,1806,366.8,7.6,690,6611,0.12,1.55,18.92,2.073,10500,0.152,0.127,2784,3365,1848,1953,1743,0,0,0,0,0,0,14.54,14.42,13.31
$GC,6639,0.78,219.0,2784,3365,1953,1743,361.2,10.9,695,6642,0.00,1.52,0.00,0.000,1030,0.000,0.084,2791,2482,1847,1952,1743,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6954,0.76,219.0,2791,2482,1950,1742,325.2,11.4,726,6959,0.12,1.62,0.00,0.000,4356,0.256,0.125,2757,3353,1845,1950,1741,0,0,0,0,0,0,14.40,14.41,28.83
$GC,7011,0.76,219.0,2757,3353,1950,1741,319.2,10.4,731,7014,0.00,1.48,0.00,0.000,1030,0.000,0.084,2761,2512,1845,1949,1741,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7326,0.76,219.0,2761,2512,1950,1740,288.9,9.4,762,7329,0.00,1.52,0.00,0.000,260,0.000,0.131,2761,3355,1845,1950,1740,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7374,0.76,219.0,2761,3356,1949,1740,284.2,10.3,766,7381,0.00,1.48,0.00,0.000,1030,0.000,0.084,2768,2516,1844,1948,1740,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7683,0.76,219.0,2768,2516,1949,1739,255.1,9.3,797,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2516,1844,1949,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7999,0.76,219.0,2768,2516,1949,1739,227.4,8.8,828,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2516,1844,1949,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8312,0.76,219.0,2768,2516,1949,1738,199.3,8.8,859,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2516,1844,1949,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8627,0.76,219.0,2767,2516,1949,1738,172.2,8.3,890,8631,0.00,1.52,0.00,0.000,260,0.000,0.128,2768,3355,1844,1949,1739,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8672,0.76,219.0,2768,3356,1949,1738,167.7,8.6,894,8676,0.00,1.50,0.00,0.000,1030,0.000,0.083,2774,2476,1843,1949,1738,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8989,0.76,219.0,2774,2476,1949,1738,139.9,9.6,925,8993,0.00,1.62,0.00,0.000,260,0.000,0.125,2774,3350,1843,1949,1738,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9024,0.76,219.0,2774,3350,1949,1738,136.0,10.5,928,9028,0.00,1.48,0.00,0.000,1030,0.000,0.085,2780,2510,1843,1949,1738,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9340,0.76,219.0,2780,2510,1949,1738,105.7,9.0,959,9343,0.00,1.48,0.00,0.000,516,0.000,0.098,2786,1672,1843,1949,1738,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9405,0.76,219.0,2786,1671,1949,1737,99.3,10.0,965,9413,0.10,1.55,0.00,0.000,5126,0.191,0.113,2755,2514,1843,1949,1737,0,0,0,0,0,0,14.27,14.38,28.83
$GC,9731,0.84,252.9,1728,2512,1907,1733,77.5,7.0,1026,9756,0.00,1.60,19.35,0.396,8452,0.000,0.125,2755,3367,1710,1809,1611,0,0,0,0,0,0,28.83,14.36,13.88
$GC,9865,0.91,285.9,2755,3367,1806,1612,68.4,7.0,1049,9892,0.15,1.50,19.65,0.367,11270,0.131,0.083,2818,2487,1575,1666,1484,0,0,0,0,0,0,14.51,14.47,13.98
$GC,10210,0.91,285.9,2818,2487,1662,1481,35.9,9.0,1113,10217,0.00,1.60,0.00,0.000,260,0.000,0.128,2817,3366,1571,1662,1481,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10299,0.91,285.9,2818,3366,1661,1481,27.0,10.4,1129,10306,0.00,1.50,0.00,0.000,1030,0.000,0.085,2824,2490,1571,1661,1481,0,0,0,0,0,0,28.83,14.46,28.83
$FREEZE,8.65,0.514,-1.808,0,1,0
$FREEZE,8.23,0.510,-1.807,0,1,0
$FREEZE,7.62,0.514,-1.807,0,1,0
$FREEZE,7.31,0.507,-1.806,0,1,0
$FREEZE,6.76,0.519,-1.806,0,1,0
$FREEZE,6.36,0.520,-1.806,0,1,0
$FREEZE,5.78,0.518,-1.805,0,1,0
$FREEZE,5.34,0.514,-1.805,0,1,0
$FREEZE,4.95,0.508,-1.805,0,1,0
$FREEZE,4.42,0.509,-1.804,0,1,0
$FREEZE,3.88,0.512,-1.804,0,1,0
$FREEZE,3.41,0.521,-1.803,0,1,0
$FREEZE,2.89,0.502,-1.803,0,1,0
$STATE,10551,end climb,SURFACE_DEPTH_REACHED
$STATE,10556,begin surface coast
$FREEZE,1.91,0.503,-1.802,0,1,0
$FREEZE,1.37,0.503,-1.802,0,1,0
$FREEZE,1.09,0.502,-1.802,0,1,0
$FREEZE,0.71,0.574,-1.785,0,1,0
$FREEZE,1.04,0.504,-1.801,0,1,0
$FREEZE,0.88,0.504,-1.801,0,1,0
$FINISH,0.9,1.026362
$STATE,10590,end surface coast,CONTROL_FINISHED_OK
$STATE,10590,begin surface
$SM_CCo,10619,59.58,0.161,0,0,1108,400.08
$SM_GC,1.85,7.95,0.00,59.58,0.089,0.000,0.161,145,2489,1108,-7.35,-0.31,400.08,0,0,0,0,0,0,14.43,28.83,14.24
$RAFOS_CLK,463
$RAFOS,3,1386937504,12.433333,12.417778,63,61,56,54,53,53,213,190,174,156,204,131
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5658.34,131213,090939
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.42
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,14.10
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,12.1,205.751
$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,21.250,54.925,436.875,59.575,0.000,0.000,0.000,604.400,13.000,0.000,12.357,2944.122,4837.242,557.946,2353.378,934.333,0.000,2184.722,0.000,1873.524,0.000,17.489,0.000
$DEVICE_MAMPS,410.805,130.815,2363.850,160.650,0.000,0.000,0.000,159.885,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150708
$DATA_FILE_SIZE,50029,1183
$CAP_FILE_SIZE,128935,0
$CFSIZE,259252224,214994944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1470.9
$CURRENT,0.208,321.8,1
$GPS,131213,155022,6704.096,-5654.400,36,1.7,53,-33.5