version: 66.11
glider: 192
mission: 2
dive: 63
start: 9 25 113 1 32 45
data:
$ID,192
$MISSION,2
$DIVE,63
$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,380
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$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,-1175.4811
$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,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,14
$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,0.0024999999
$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
$GPS1,250913,012601,6636.163,-5924.383,37,1.2,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.1
$GPS2,250913,013200,6636.120,-5924.251,20,1.1,20,-33.6
$SPEED_LIMITS,0.150,0.251
$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,68.8,123330,-16.2,-8.684,-19.07,2590
$D_GRID,853
$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,-1.04,-146.0,142,2437,1093,1088,0.0,0.0,0,99,0.00,0.00,-76.57,0.000,16386,0.000,0.000,141,2438,2632,2689,2575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.04,-146.0,141,2438,2690,2576,3.1,-3.1,13,139,9.68,2.70,-16.85,0.000,18692,0.429,0.164,2174,3870,3339,3514,3164,0,0,0,0,0,0,14.26,14.38,14.63
$GC,305,-1.04,-146.0,2175,3870,3516,3164,58.1,-28.5,49,312,0.00,2.47,0.00,0.000,1030,0.000,0.099,2175,2441,3340,3516,3164,0,0,0,0,0,0,28.83,14.47,28.83
$GC,628,-1.04,-146.0,2175,2440,3517,3164,136.2,-23.7,96,637,0.00,2.45,0.00,0.000,516,0.000,0.116,2175,1036,3340,3517,3164,0,0,0,0,0,0,28.83,14.50,28.83
$GC,733,-1.04,-146.0,2175,1036,3517,3164,159.6,-22.3,106,743,0.00,2.55,0.00,0.000,1030,0.000,0.133,2164,2452,3340,3517,3163,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1043,-1.04,-146.0,1328,2450,3509,3160,230.2,-22.3,137,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2451,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,-1.04,-146.0,2164,2452,3517,3163,298.5,-20.7,168,1368,0.00,2.47,0.00,0.000,516,0.000,0.116,2164,1040,3340,3517,3163,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1436,-1.04,-146.0,2164,1039,3517,3162,315.1,-20.7,175,1445,0.10,2.53,0.00,0.000,3078,0.304,0.132,2179,2448,3339,3517,3162,0,0,0,0,0,0,14.50,14.57,28.83
$GC,1747,-1.04,-146.0,2179,2448,3517,3162,374.9,-18.6,206,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2448,3339,3517,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,-1.04,-146.0,2179,2448,3517,3162,432.2,-17.9,237,2071,0.00,2.53,0.00,0.000,260,0.000,0.145,2171,3859,3339,3516,3162,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2102,-1.04,-146.0,2171,3859,3517,3162,439.9,-18.6,240,2109,0.00,2.40,0.00,0.000,1030,0.000,0.096,2170,2447,3339,3517,3162,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2411,-1.04,-146.0,2171,2447,3517,3162,498.5,-18.8,271,2420,0.00,2.42,0.00,0.000,516,0.000,0.116,2170,1039,3339,3517,3162,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2466,-1.04,-146.0,2170,1038,3517,3162,508.9,-18.6,276,2475,0.00,2.50,0.00,0.000,1030,0.000,0.129,2160,2449,3339,3517,3162,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2777,-1.04,-146.0,2160,2450,3517,3162,568.8,-19.8,307,2786,0.00,2.45,0.00,0.000,516,0.000,0.114,2161,1043,3339,3517,3162,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2794,-1.04,-146.0,2160,1043,3517,3162,571.4,-20.0,308,2802,0.15,2.50,0.00,0.000,3078,0.325,0.127,2181,2454,3340,3517,3163,0,0,0,0,0,0,14.56,14.64,28.83
$GC,3109,-1.04,-146.0,2181,2454,3517,3163,627.9,-17.5,329,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2454,3339,3517,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3404,-1.04,-146.0,2181,2454,3517,3163,680.5,-17.8,339,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2454,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3704,-1.04,-146.0,2181,2454,3517,3163,735.6,-18.2,349,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2454,3339,3516,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4004,-1.04,-146.0,2181,2454,3517,3163,789.9,-18.6,359,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2454,3340,3517,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4304,-1.04,-146.0,2181,2454,3517,3163,842.7,-17.3,369,4310,0.00,2.47,0.00,0.000,260,0.000,0.142,2173,3854,3340,3517,3163,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4344,-1.04,-146.0,2173,3854,3517,3164,848.0,-17.4,370,4350,0.00,2.35,0.00,0.000,1030,0.000,0.096,2172,2453,3340,3517,3163,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,4361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4361,begin apogee
$GC,4374,-0.21,0.0,2173,2452,3517,3163,853.2,-17.2,371,4549,1.00,0.00,163.73,2.722,10246,0.275,0.000,2446,2452,2741,2853,2629,0,0,0,0,0,0,14.62,28.83,12.74
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4550,begin climb
$GC,4556,1.04,146.0,2446,2452,2853,2630,862.1,0.0,377,4741,1.40,0.00,179.35,2.655,11014,0.171,0.000,2854,2452,2144,2228,2061,0,0,0,0,0,0,13.62,28.83,12.17
$GC,5026,1.04,146.0,2855,2452,2228,2050,808.6,13.4,393,5032,0.00,2.67,0.00,0.000,260,0.000,0.146,2854,3842,2139,2228,2051,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5077,1.04,146.0,2855,3841,2227,2050,803.4,14.1,394,5087,0.00,2.55,0.00,0.000,1030,0.000,0.102,2865,2429,2138,2227,2050,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5389,1.04,146.0,2866,2428,2227,2048,751.9,14.6,405,5394,0.00,2.67,0.00,0.000,260,0.000,0.150,2865,3839,2137,2227,2048,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5470,1.04,146.0,2866,3839,2226,2048,741.7,15.2,407,5478,0.00,2.47,0.00,0.000,1030,0.000,0.103,2876,2437,2137,2226,2048,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5781,1.04,146.0,2876,2437,2226,2047,689.8,15.4,418,5787,0.00,2.62,0.00,0.000,260,0.000,0.151,2877,3842,2136,2226,2047,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5836,1.04,146.0,2876,3842,2226,2047,684.4,15.7,419,5843,0.00,2.50,0.00,0.000,1030,0.000,0.103,2887,2420,2136,2226,2047,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6143,1.04,146.0,2887,2420,2226,2046,630.4,16.0,430,6149,0.00,2.62,0.00,0.000,260,0.000,0.153,2887,3834,2136,2226,2046,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6189,1.04,146.0,2887,3834,2225,2046,624.8,16.2,431,6195,0.12,2.42,0.00,0.000,5126,0.308,0.104,2866,2434,2135,2225,2046,0,0,0,0,0,0,14.35,14.45,28.83
$GC,6513,1.04,146.0,2867,2433,2226,2045,573.9,15.1,452,6522,0.00,2.58,0.00,0.000,260,0.000,0.150,2866,3832,2135,2226,2045,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6558,1.04,146.0,2866,3832,2225,2045,565.4,16.1,456,6567,0.00,2.42,0.00,0.000,1030,0.000,0.103,2876,2424,2135,2226,2045,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6869,1.04,146.0,2876,2423,2225,2045,516.8,15.8,487,6878,0.00,2.60,0.00,0.000,260,0.000,0.155,2876,3834,2135,2226,2044,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6908,1.04,146.0,2876,3834,2225,2044,510.7,16.5,490,6916,0.00,2.45,0.00,0.000,1030,0.000,0.104,2887,2420,2135,2226,2044,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7217,1.04,146.0,2887,2419,2225,2044,459.8,16.1,521,7226,0.00,2.60,0.00,0.000,260,0.000,0.151,2887,3840,2134,2225,2044,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7273,1.04,146.0,2887,3840,2225,2044,450.2,17.7,526,7283,0.12,2.42,0.00,0.000,5126,0.308,0.104,2866,2423,2134,2225,2044,0,0,0,0,0,0,14.47,14.57,28.83
$GC,7584,1.04,146.0,2866,2423,2225,2043,404.4,14.2,557,7594,0.00,2.60,0.00,0.000,260,0.000,0.154,2866,3834,2134,2225,2043,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7653,1.04,146.0,1888,3834,2181,2039,394.2,16.0,563,7660,0.00,2.42,0.00,0.000,1030,0.000,0.103,2875,2429,2134,2225,2043,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7960,1.04,146.0,1872,2425,2179,2038,350.9,13.7,594,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2427,2134,2225,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8278,1.04,146.0,2876,2427,2225,2042,307.4,14.0,625,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2428,2134,2225,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8591,1.04,146.0,2875,2427,2225,2042,265.8,12.8,656,8599,0.00,2.58,0.00,0.000,260,0.000,0.153,2875,3844,2134,2225,2043,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8676,1.04,146.0,2876,3845,2225,2043,252.6,15.2,664,8685,0.00,2.40,0.00,0.000,1030,0.000,0.103,2887,2434,2134,2225,2043,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8987,1.04,146.0,2887,2434,2225,2043,213.0,12.3,695,8996,0.00,2.47,0.00,0.000,516,0.000,0.123,2897,1015,2133,2225,2042,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9022,1.04,146.0,2898,1015,2225,2042,208.8,12.1,698,9032,0.12,2.50,0.00,0.000,5126,0.284,0.132,2863,2425,2133,2225,2042,0,0,0,0,0,0,14.57,14.63,28.83
$GC,9334,1.04,146.0,2863,2425,2226,2042,173.6,11.5,729,9343,0.00,2.58,0.00,0.000,260,0.000,0.152,2863,3847,2133,2225,2042,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9441,1.04,146.0,2863,3847,2225,2042,159.5,13.7,739,9449,0.00,2.42,0.00,0.000,1030,0.000,0.102,2872,2429,2133,2225,2042,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9752,1.04,146.0,2873,2429,2225,2042,124.9,10.6,770,9761,0.00,2.58,0.00,0.000,260,0.000,0.152,2873,3843,2133,2225,2042,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9996,1.04,146.0,2873,3843,2225,2042,95.3,11.4,797,10003,0.00,2.42,0.00,0.000,1030,0.000,0.103,2884,2426,2133,2225,2042,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10315,1.04,146.0,2884,2426,2225,2042,65.2,9.3,858,10323,0.00,2.60,0.00,0.000,260,0.000,0.151,2884,3848,2133,2225,2042,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10559,1.10,167.8,2884,3848,2225,2042,42.4,7.8,904,10579,0.00,2.45,10.35,0.311,9222,0.000,0.103,2895,2421,2055,2149,1962,0,0,0,0,0,0,28.83,14.66,14.53
$GC,10895,1.46,313.6,2895,2420,2149,1959,22.8,2.9,967,10985,0.28,2.55,78.35,0.237,11012,0.152,0.125,3000,1019,1460,1531,1389,0,0,0,0,0,0,14.62,14.49,14.45
$STATE,11040,end climb,SURFACE_DEPTH_REACHED
$STATE,11040,begin surface coast
$FINISH,0.8,1.025092
$STATE,11052,end surface coast,CONTROL_FINISHED_OK
$STATE,11052,begin surface
$SM_CCo,11083,43.95,0.184,0,0,1107,400.08
$SM_GC,1.82,8.48,2.67,43.95,0.099,0.134,0.184,141,2458,1107,-7.40,-0.31,400.08,0,0,0,0,0,0,14.53,14.51,14.44
$RAFOS_CLK,542
$RAFOS,3,1380083103,4.433333,4.417500,101,61,56,56,52,52,668,191,212,126,165,135
$RAFOS,2,1380082627,4.300000,4.285278,66,62,59,56,55,53,611,204,192,153,168,126
$RAFOS,1,1380082142,4.166667,4.150556,111,61,59,58,57,57,662,234,198,184,152,212
$RAFOS,0,1380081666,4.033333,4.018333,79,57,56,54,52,51,748,205,188,169,126,215
$RAFOS_FIX,6636.747559,-5924.159180,250913,040428,4,89,0.12
$IRIDIUM_FIX,6609.62,-5930.97,240913,222245
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.15
$INTERNAL_PRESSURE,8.66438
$TCM_TEMP,12.30
$XPDR_PINGS,77
$24V_AH,12.2,28.620
$10V_AH,12.6,0.000
$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,21.450,105.675,431.775,43.950,0.000,0.000,0.000,186.700,19.250,0.000,22.004,2514.116,5865.762,643.299,1880.731,594.829,0.000,1793.754,0.000,1697.274,1800.000,0.536,0.000
$DEVICE_MAMPS,429.165,164.475,2721.870,184.365,0.000,0.000,0.000,143.820,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,696.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150808
$DATA_FILE_SIZE,43446,994
$CAP_FILE_SIZE,113716,0
$CFSIZE,259252224,247009280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.2
$CURRENT,0.098,321.3,1
$GPS,250913,044000,6637.927,-5923.500,38,1.2,39,-33.6