version: 66.11
glider: 192
mission: 2
dive: 466
start: 12 14 113 4 17 53
data:
$ID,192
$MISSION,2
$DIVE,466
$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,-9035.6553
$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,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
$GPS1,141213,040405,6704.167,-5653.739,63,1.0,63,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-61.4
$GPS2,141213,041705,6704.050,-5654.044,4,1.0,4,-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,161.4,4778,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,21,-0.89,-146.0,94,2484,1115,1069,0.0,0.0,0,101,0.00,0.00,-77.18,0.000,16386,0.000,0.000,94,2484,2557,2604,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.89,-146.0,95,2484,2607,2511,3.2,-4.8,13,142,10.15,1.52,-17.90,0.000,18948,0.402,0.137,2214,1659,3339,3509,3169,0,0,0,0,0,0,13.93,14.39,14.81
$GC,378,-0.81,-146.0,1360,1657,3502,3166,58.9,-17.8,63,386,0.15,1.52,0.00,0.000,3078,0.278,0.113,2242,2506,3339,3510,3169,0,0,0,0,0,0,14.15,14.35,28.83
$GC,704,-0.76,-146.0,2242,2506,3511,3168,111.1,-15.7,118,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2506,3339,3510,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1020,-0.71,-146.0,2242,2506,3510,3167,158.0,-14.4,149,1024,0.12,1.48,0.00,0.000,2564,0.294,0.090,2276,1650,3338,3510,3167,0,0,0,0,0,0,14.24,14.40,28.83
$GC,1131,-0.69,-146.0,2276,1650,3511,3167,172.6,-12.0,159,1135,0.00,1.52,0.00,0.000,1030,0.000,0.114,2271,2500,3338,3510,3166,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1447,-0.66,-146.0,2271,2500,3511,3167,212.3,-11.9,190,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2500,3338,3510,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-0.63,-146.0,2271,2500,3511,3167,250.4,-12.2,221,1771,0.12,0.00,0.00,0.000,2054,0.274,0.000,2304,2500,3339,3511,3167,0,0,0,0,0,0,14.25,28.83,28.83
$GC,2073,-0.63,-146.0,2304,2500,3513,3167,283.6,-10.1,252,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2500,3340,3513,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,-0.63,-146.0,2304,2500,3514,3167,314.1,-9.8,283,2387,0.00,1.52,0.00,0.000,260,0.000,0.125,2300,3347,3340,3514,3167,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2429,-0.63,-146.0,2300,3347,3514,3167,318.6,-9.8,287,2432,0.00,1.48,0.00,0.000,1030,0.000,0.079,2300,2500,3340,3514,3167,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2745,-0.63,-146.0,2300,2500,3515,3167,349.7,-10.0,318,2749,0.00,1.48,0.00,0.000,516,0.000,0.091,2300,1661,3340,3514,3167,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2783,-0.63,-146.0,2299,1661,3515,3167,353.2,-10.0,321,2791,0.00,1.50,0.00,0.000,1030,0.000,0.112,2294,2501,3341,3515,3167,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3093,-0.63,-146.0,2294,2501,3516,3167,385.6,-10.4,352,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2501,3341,3516,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3408,-0.63,-146.0,2294,2502,3518,3168,417.3,-9.8,383,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2501,3342,3518,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-0.63,-146.0,2294,2501,3519,3168,447.9,-9.8,414,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2501,3343,3519,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.63,-146.0,2294,2501,3520,3167,478.6,-9.8,445,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2501,3343,3519,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4349,-0.63,-146.0,2294,2501,3520,3167,509.6,-9.9,476,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2501,3343,3520,3167,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4390,begin apogee
$GC,4403,-0.22,0.0,2294,2502,3520,3168,515.1,-9.8,481,4570,0.50,0.00,154.85,2.320,10246,0.212,0.000,2434,2501,2741,2853,2629,0,0,0,0,0,0,14.14,28.83,12.58
$STATE,4571,end apogee,CONTROL_FINISHED_OK
$STATE,4571,begin climb
$GC,4577,0.89,146.0,2434,2501,2854,2628,522.8,0.0,498,4759,1.20,1.70,164.43,2.215,10500,0.159,0.122,2788,3355,2145,2241,2050,0,0,0,0,0,0,13.68,13.21,12.14
$GC,4857,0.84,146.0,2787,3354,2239,2048,504.1,10.6,526,4860,0.00,1.52,0.00,0.000,1030,0.000,0.080,2794,2502,2143,2239,2048,0,0,0,0,0,0,28.83,13.84,28.83
$GC,5174,0.80,146.0,2794,2502,2239,2043,470.9,10.8,557,5177,0.00,1.55,0.00,0.000,260,0.000,0.125,2793,3359,2141,2239,2043,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5220,0.75,146.0,2793,3359,2239,2043,465.4,11.7,561,5224,0.17,1.50,0.00,0.000,5126,0.236,0.083,2757,2510,2140,2239,2042,0,0,0,0,0,0,14.31,14.45,28.83
$GC,5536,0.74,146.0,2757,2510,2239,2041,434.7,9.6,592,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2510,2140,2239,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5854,0.72,146.0,2757,2511,2239,2041,404.7,9.2,623,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2510,2140,2239,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6168,0.71,146.0,2757,2510,2239,2040,376.2,9.1,654,6172,0.00,1.52,0.00,0.000,260,0.000,0.126,2757,3356,2139,2239,2040,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6194,0.69,146.0,2757,3356,2239,2041,373.3,9.0,656,6197,0.00,1.48,0.00,0.000,1030,0.000,0.083,2761,2513,2139,2239,2040,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6510,0.68,146.0,2761,2513,2239,2040,344.5,9.3,687,6514,0.12,1.50,0.00,0.000,4612,0.249,0.093,2732,1663,2139,2239,2040,0,0,0,0,0,0,14.40,14.44,28.83
$GC,6588,0.72,161.6,2732,1663,2239,2039,338.4,7.7,694,6608,0.00,1.50,15.75,2.007,9222,0.000,0.115,2732,2511,2082,2184,1980,0,0,0,0,0,0,28.83,14.42,13.29
$GC,6921,0.75,173.7,2732,2511,2184,1979,311.9,7.8,727,6941,0.00,1.55,14.32,1.958,8452,0.000,0.128,2732,3354,2032,2136,1929,0,0,0,0,0,0,28.83,14.48,13.35
$GC,6985,0.75,173.7,1760,3353,2092,1925,306.8,8.4,733,6993,0.00,1.50,0.00,0.000,1030,0.000,0.084,2737,2504,2032,2136,1929,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7296,0.77,190.6,2738,2505,2136,1927,281.9,7.6,764,7322,0.00,1.55,18.67,1.971,8452,0.000,0.125,2738,3363,1963,2068,1859,0,0,0,0,0,0,28.83,14.47,13.36
$GC,7359,0.77,190.6,2738,3362,2068,1858,276.8,8.6,770,7363,0.00,1.50,0.00,0.000,1030,0.000,0.083,2744,2484,1963,2068,1858,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7676,0.79,196.5,2744,2482,2067,1858,251.8,8.0,801,7687,0.00,0.00,7.68,1.752,8710,0.000,0.000,2744,2484,1939,2044,1834,0,0,0,0,0,0,28.83,28.83,13.34
$GC,7989,0.84,224.3,2744,2484,2044,1833,228.0,7.2,832,8024,0.12,0.00,29.88,2.009,10246,0.152,0.000,2798,2484,1826,1929,1724,0,0,0,0,0,0,14.59,28.83,13.35
$GC,8330,0.82,224.3,2798,2484,1925,1722,191.3,11.3,866,8333,0.00,1.62,0.00,0.000,260,0.000,0.125,2798,3356,1823,1925,1722,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8368,0.80,224.3,1824,3355,1885,1719,186.9,11.8,869,8376,0.15,1.50,0.00,0.000,5126,0.241,0.083,2768,2478,1823,1924,1722,0,0,0,0,0,0,14.35,14.51,28.83
$GC,8679,0.80,224.3,2768,2478,1923,1722,158.3,8.4,900,8682,0.00,1.60,0.00,0.000,260,0.000,0.124,2768,3367,1823,1924,1722,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8724,0.80,224.3,2768,3367,1924,1721,154.3,9.0,904,8727,0.00,1.50,0.00,0.000,1030,0.000,0.082,2773,2482,1822,1924,1721,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9039,0.80,224.3,2773,2482,1924,1721,123.9,10.4,935,9043,0.00,1.42,0.00,0.000,516,0.000,0.096,2778,1672,1822,1924,1721,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9084,0.80,224.3,2778,1672,1924,1720,119.2,10.4,939,9088,0.00,1.50,0.00,0.000,1030,0.000,0.113,2778,2517,1822,1924,1721,0,0,0,0,0,0,28.83,14.44,28.83
$GC,9399,0.80,224.3,2778,2517,1924,1721,89.5,9.5,980,9406,0.00,1.50,0.00,0.000,260,0.000,0.127,2778,3356,1822,1924,1720,0,0,0,0,0,0,28.83,14.39,28.83
$GC,9492,0.80,224.3,1792,3355,1884,1717,81.0,9.1,997,9500,0.00,1.50,0.00,0.000,1030,0.000,0.083,2785,2477,1822,1924,1720,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9813,0.80,224.3,2785,2477,1924,1720,50.6,8.5,1058,9820,0.00,1.60,0.00,0.000,260,0.000,0.125,2785,3358,1822,1924,1721,0,0,0,0,0,0,28.83,14.39,28.83
$GC,10057,0.81,224.3,2785,3358,1924,1720,32.5,9.1,1104,10064,0.00,1.50,0.00,0.000,1030,0.000,0.084,2791,2483,1822,1924,1720,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10386,0.94,308.8,2791,2483,1924,1720,14.4,5.1,1165,10436,0.00,1.67,45.15,0.187,8452,0.000,0.129,2791,3360,1481,1570,1392,0,0,0,0,0,0,28.83,14.33,14.23
$FREEZE,8.00,0.499,-1.804,0,1,0
$FREEZE,7.38,0.499,-1.803,0,1,0
$FREEZE,6.70,0.499,-1.803,0,1,0
$FREEZE,6.13,0.499,-1.802,0,1,0
$FREEZE,5.41,0.499,-1.802,0,1,0
$FREEZE,5.02,0.500,-1.802,0,1,0
$FREEZE,4.35,0.500,-1.801,0,1,0
$FREEZE,3.87,0.499,-1.801,0,1,0
$FREEZE,3.13,0.495,-1.800,0,1,0
$FREEZE,2.70,0.499,-1.800,0,1,0
$STATE,10493,end climb,SURFACE_DEPTH_REACHED
$STATE,10493,begin surface coast
$FREEZE,2.20,0.497,-1.799,0,1,0
$FREEZE,1.71,0.497,-1.799,0,1,0
$FINISH,1.7,1.026324
$STATE,10505,end surface coast,CONTROL_FINISHED_OK
$STATE,10505,begin surface
$SM_CCo,10536,47.65,0.155,0,0,1108,400.08
$SM_GC,1.68,7.82,1.55,47.65,0.086,0.085,0.155,132,2491,1108,-7.36,0.51,400.08,0,0,0,0,0,0,14.51,14.50,14.28
$RAFOS_CLK,456
$RAFOS,6,1386996549,4.833333,4.819167,57,56,56,54,51,50,142,179,212,198,105,120
$RAFOS,5,1386996063,4.700000,4.684166,67,63,61,61,56,50,214,190,145,163,129,116
$RAFOS,4,1386995589,4.566667,4.552500,65,64,57,55,48,42,201,219,119,177,76,148
$RAFOS,3,1386995104,4.433333,4.417778,61,57,55,53,51,51,212,173,184,222,114,130
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5647.69,141213,040409
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.43
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,14.00
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.7,18.4
$24V_AH,12.1,207.572
$10V_AH,11.2,0.000
$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,20.650,48.875,450.725,47.650,0.000,0.000,0.000,540.100,10.250,0.000,5.443,2933.380,4854.223,563.177,2292.094,725.789,0.000,2109.680,0.000,1841.884,1440.000,11.480,0.000
$DEVICE_MAMPS,402.390,136.935,2320.245,155.295,0.000,0.000,0.000,129.285,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50029,1185
$CAP_FILE_SIZE,126583,0
$CFSIZE,259252224,214675456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.9
$CURRENT,0.198,303.7,1
$GPS,141213,071629,6703.963,-5653.307,66,0.8,66,-33.5