version: 66.11
glider: 192
mission: 2
dive: 468
start: 12 14 113 10 52 31
data:
$ID,192
$MISSION,2
$DIVE,468
$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,-9038.1611
$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,25
$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
$GPS1,141213,103935,6704.857,-5654.004,67,1.0,67,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-61.1
$GPS2,141213,105148,6704.916,-5654.217,4,1.0,4,-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,174.6,5722,-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,-146.0,95,2506,1008,955,0.0,0.0,0,118,0.00,0.00,-95.25,0.000,16386,0.000,0.000,95,2506,2816,2861,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.89,-146.0,94,2506,2862,2773,3.5,-4.8,16,153,10.30,1.60,-10.55,0.000,18692,0.411,0.155,2211,3355,3339,3497,3182,0,0,0,0,0,0,13.95,14.38,14.79
$GC,390,-0.80,-146.0,1352,3353,3493,3176,66.4,-19.2,65,398,0.15,1.50,0.00,0.000,3078,0.276,0.083,2244,2478,3340,3501,3179,0,0,0,0,0,0,14.14,14.43,28.83
$GC,711,-0.75,-146.0,2244,2478,3501,3177,119.0,-15.6,114,714,0.00,1.45,0.00,0.000,516,0.000,0.096,2244,1663,3339,3501,3177,0,0,0,0,0,0,28.83,14.35,28.83
$GC,766,-0.70,-146.0,2244,1662,3501,3177,127.4,-14.8,119,771,0.17,1.52,0.00,0.000,3078,0.265,0.118,2280,2505,3339,3501,3177,0,0,0,0,0,0,14.15,14.33,28.83
$GC,1085,-0.67,-146.0,2280,2505,3502,3176,164.8,-11.0,150,1088,0.00,1.52,0.00,0.000,260,0.000,0.128,2276,3350,3338,3501,3176,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1123,-0.65,-146.0,1408,3349,3494,3173,169.2,-11.6,153,1130,0.00,1.50,0.00,0.000,1030,0.000,0.083,2276,2469,3338,3501,3176,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1433,-0.62,-146.0,2276,2469,3501,3176,207.1,-12.3,184,1440,0.12,0.00,0.00,0.000,2054,0.268,0.000,2309,2469,3339,3502,3176,0,0,0,0,0,0,14.25,28.83,28.83
$GC,1743,-0.62,-146.0,2309,2468,3503,3176,239.4,-10.5,215,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2469,3339,3503,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2061,-0.62,-146.0,2309,2469,3505,3176,270.5,-10.1,246,2064,0.00,1.60,0.00,0.000,260,0.000,0.128,2304,3347,3341,3506,3176,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2128,-0.62,-146.0,1440,3346,3498,3173,277.9,-10.4,252,2135,0.00,1.50,0.00,0.000,1030,0.000,0.080,2303,2494,3340,3505,3176,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2437,-0.62,-146.0,2304,2494,3506,3176,309.9,-10.7,283,2441,0.00,1.48,0.00,0.000,516,0.000,0.093,2304,1659,3341,3506,3176,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2473,-0.62,-146.0,2304,1658,3506,3176,313.7,-10.8,286,2476,0.00,1.50,0.00,0.000,1030,0.000,0.115,2298,2500,3341,3506,3176,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2788,-0.62,-146.0,2298,2500,3508,3176,346.7,-10.7,317,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2500,3342,3508,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3104,-0.62,-146.0,2298,2500,3509,3176,379.5,-10.5,348,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2500,3342,3509,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,-0.62,-146.0,2298,2500,3510,3176,412.9,-10.7,379,3421,0.00,1.48,0.00,0.000,516,0.000,0.090,2298,1661,3342,3509,3176,0,0,0,0,0,0,28.83,14.34,28.83
$GC,3463,-0.62,-146.0,2298,1661,3510,3176,418.4,-10.4,383,3467,0.00,1.55,0.00,0.000,1030,0.000,0.114,2293,2501,3343,3511,3176,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3780,-0.62,-146.0,2293,2501,3510,3176,450.2,-9.2,414,3784,0.00,1.50,0.00,0.000,516,0.000,0.090,2293,1636,3343,3510,3176,0,0,0,0,0,0,28.83,14.36,28.83
$GC,3819,-0.62,-146.0,2293,1636,3510,3176,453.6,-9.4,417,3826,0.00,1.55,0.00,0.000,1030,0.000,0.112,2287,2502,3342,3509,3176,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4129,-0.61,-146.0,2287,2502,3511,3176,483.8,-8.9,448,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2502,3343,3511,3176,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4192,begin apogee
$GC,4205,-0.22,0.0,2287,2503,3511,3176,490.6,-10.0,455,4371,0.52,0.00,154.12,2.307,10246,0.215,0.000,2433,2503,2741,2853,2630,0,0,0,0,0,0,14.12,28.83,12.57
$STATE,4372,end apogee,CONTROL_FINISHED_OK
$STATE,4372,begin climb
$GC,4378,0.89,146.0,2434,2503,2853,2630,499.5,0.0,472,4559,1.23,0.00,165.38,2.241,10758,0.172,0.000,2787,2502,2145,2241,2049,0,0,0,0,0,0,13.67,28.83,12.11
$GC,4867,0.86,146.0,2787,2502,2241,2040,463.0,10.0,521,4871,0.00,1.55,0.00,0.000,260,0.000,0.128,2787,3357,2140,2241,2040,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5012,0.81,146.0,1760,3356,2191,2035,446.7,11.3,534,5019,0.00,1.50,0.00,0.000,1030,0.000,0.084,2794,2483,2140,2240,2040,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5320,0.76,146.0,2794,2483,2241,2038,413.2,10.3,565,5328,0.12,0.00,0.00,0.000,4102,0.251,0.000,2761,2483,2139,2241,2038,0,0,0,0,0,0,14.34,28.83,28.83
$GC,5632,0.76,150.2,2761,2482,2241,2037,387.8,8.1,596,5642,0.00,1.65,4.50,1.562,8452,0.000,0.130,2760,3359,2128,2230,2027,0,0,0,0,0,0,28.83,14.47,13.25
$GC,5667,0.74,150.2,2761,3359,2231,2026,385.1,8.4,599,5673,0.00,1.50,0.00,0.000,1030,0.000,0.084,2765,2481,2128,2231,2026,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5978,0.72,150.2,2765,2481,2231,2026,358.6,8.6,630,5982,0.00,1.62,0.00,0.000,260,0.000,0.129,2765,3352,2128,2231,2026,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6038,0.69,150.2,1792,3351,2185,2021,353.5,9.3,635,6045,0.15,1.50,0.00,0.000,5126,0.234,0.085,2736,2476,2129,2232,2026,0,0,0,0,0,0,14.34,14.50,28.83
$GC,6348,0.73,179.0,2736,2477,2231,2026,330.4,7.2,666,6384,0.00,0.00,31.45,2.116,8198,0.000,0.000,2736,2476,2011,2115,1907,0,0,0,0,0,0,28.83,28.83,13.25
$GC,6689,0.77,193.9,2737,2476,2115,1903,304.3,7.7,700,6714,0.00,1.58,16.50,2.015,8452,0.000,0.127,2736,3352,1950,2056,1845,0,0,0,0,0,0,28.83,14.42,13.33
$GC,6780,0.77,193.9,2736,3351,2055,1844,296.8,8.7,709,6784,0.00,1.50,0.00,0.000,1030,0.000,0.086,2740,2509,1950,2056,1844,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7097,0.83,229.4,2740,2509,2055,1842,272.9,6.9,740,7143,0.12,1.48,38.17,2.099,10756,0.147,0.095,2800,1660,1804,1905,1704,0,0,0,0,0,0,14.59,14.35,13.28
$GC,7208,0.82,229.4,2801,1660,1904,1701,263.4,9.8,750,7211,0.00,1.52,0.00,0.000,1030,0.000,0.112,2801,2513,1802,1904,1701,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7524,0.80,229.4,2801,2512,1901,1701,228.1,11.3,781,7528,0.12,1.52,0.00,0.000,4356,0.242,0.125,2765,3366,1801,1902,1701,0,0,0,0,0,0,14.40,14.42,28.83
$GC,7621,0.80,229.4,2766,3366,1899,1700,218.5,9.9,790,7624,0.00,1.50,0.00,0.000,1030,0.000,0.084,2771,2483,1800,1900,1700,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7937,0.80,229.4,2770,2482,1900,1700,188.6,9.5,821,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2482,1800,1900,1700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8252,0.80,229.4,2771,2482,1900,1699,160.9,8.7,852,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2482,1799,1900,1699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8564,0.80,229.4,2771,2482,1900,1699,132.3,9.2,883,8568,0.00,1.62,0.00,0.000,260,0.000,0.129,2771,3350,1799,1900,1699,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8654,0.80,229.4,2771,3350,1899,1699,123.4,9.8,891,8660,0.00,1.50,0.00,0.000,1030,0.000,0.084,2777,2475,1799,1899,1699,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8967,0.80,232.7,2777,2475,1899,1699,95.9,8.1,926,8974,0.00,1.42,0.00,0.000,516,0.000,0.098,2783,1670,1799,1899,1699,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9041,0.82,240.6,1792,1668,1859,1695,90.0,8.0,939,9054,0.00,1.50,5.78,0.447,9222,0.000,0.114,2783,2510,1760,1858,1663,0,0,0,0,0,0,28.83,14.40,13.79
$GC,9366,0.82,240.6,2783,2510,1858,1663,60.9,9.1,1001,9374,0.00,1.48,0.00,0.000,516,0.000,0.099,2789,1659,1760,1858,1663,0,0,0,0,0,0,28.83,14.42,28.83
$GC,9441,0.92,296.1,2789,1659,1857,1662,55.3,6.2,1014,9479,0.00,1.52,32.15,0.324,9222,0.000,0.110,2788,2517,1532,1624,1441,0,0,0,0,0,0,28.83,14.41,14.03
$GC,9798,1.17,439.0,2789,2517,1620,1436,32.3,2.9,1080,9884,0.28,1.58,77.88,0.238,10756,0.106,0.100,2901,1666,949,1010,889,0,0,0,0,0,0,14.47,14.38,14.16
$GC,9919,1.16,439.0,1864,1664,998,886,18.4,13.8,1098,9925,0.00,1.52,0.00,0.000,1030,0.000,0.114,2901,2514,945,1005,886,0,0,0,0,0,0,28.83,14.35,28.83
$FREEZE,8.00,0.458,-1.804,0,1,0
$FREEZE,7.18,0.458,-1.803,0,1,0
$FREEZE,6.29,0.452,-1.803,0,1,0
$FREEZE,5.41,0.455,-1.802,0,1,0
$FREEZE,4.58,0.457,-1.801,0,1,0
$FREEZE,3.94,0.453,-1.801,0,1,0
$FREEZE,3.70,0.447,-1.801,0,1,0
$FREEZE,3.17,0.445,-1.800,0,1,0
$FREEZE,2.52,0.445,-1.800,0,1,0
$STATE,10022,end climb,SURFACE_DEPTH_REACHED
$STATE,10022,begin surface coast
$FREEZE,0.99,0.461,-1.799,0,1,0
$FREEZE,0.90,0.455,-1.795,0,1,0
$FREEZE,0.92,0.334,-1.803,0,1,0
$FREEZE,0.86,-0.214,-1.087,0,1,0
$FREEZE,0.85,0.054,-0.265,0,1,0
$FREEZE,0.92,0.048,-1.013,0,1,0
$FINISH,0.9,1.014968
$STATE,10055,end surface coast,CONTROL_FINISHED_OK
$STATE,10055,begin surface
$SM_CCo,10144,0.00,0.000,0,0,939,442.03
$SM_GC,1.78,8.30,0.00,0.00,0.099,0.000,0.000,145,2518,939,-7.35,0.51,442.03,0,0,0,0,0,0,14.42,28.83,28.83
$RAFOS_CLK,437
$RAFOS,6,1387025350,12.833333,12.819445,74,59,58,55,54,53,206,178,196,138,156,215
$RAFOS,5,1387024862,12.700000,12.683888,67,64,59,58,58,53,173,206,142,189,131,159
$RAFOS,4,1387024382,12.566667,12.550555,64,63,59,58,52,52,213,192,166,134,151,119
$RAFOS,3,1387023905,12.433333,12.418056,64,63,51,50,50,45,189,219,121,138,351,177
$RAFOS,2,1387023425,12.300000,12.284722,68,60,55,54,52,51,210,166,220,175,120,140
$RAFOS,1,1387022946,12.166667,12.151667,64,59,57,56,55,51,214,112,199,190,157,1828
$RAFOS,0,1387022463,12.033333,12.017500,68,57,55,53,51,50,191,161,212,173,118,145
$RAFOS_FIX,6700.071289,-5741.050781,111213,040444,3,104,0.15
$IRIDIUM_FIX,6636.54,-5652.31,141213,101041
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.10
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,14.30
$XPDR_PINGS,47
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,12.1,208.264
$10V_AH,11.4,0.000
$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,21.600,51.825,525.925,0.000,0.000,0.000,0.000,491.400,13.000,0.000,5.469,2750.938,4644.401,594.716,2191.869,687.101,0.000,2072.750,0.000,1772.951,2520.000,15.985,0.000
$DEVICE_MAMPS,410.805,154.530,2307.240,0.000,0.000,0.000,0.000,139.995,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150736
$DATA_FILE_SIZE,50064,1123
$CAP_FILE_SIZE,124474,0
$CFSIZE,259252224,214544384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1471.6
$CURRENT,0.447,312.7,1
$GPS,141213,134305,6705.514,-5656.558,30,0.9,30,-33.6