version: 66.11
glider: 192
mission: 2
dive: 525
start: 12 24 113 23 37 47
data:
$ID,192
$MISSION,2
$DIVE,525
$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,-2
$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,-12203.111
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,241213,231035,6651.029,-5916.630,34,1.4,34,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-32.5
$GPS2,241213,233705,6650.460,-5915.688,39,1.2,39,-33.8
$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,267.9,52810,-15.5,-8.250,-18.49,2720
$D_GRID,997
$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,-146.0,139,2519,497,463,0.0,0.0,0,197,0.00,0.00,-170.57,0.000,16390,0.000,0.000,139,2519,3337,3502,3173,0,0,0,0,0,0,28.83,28.83,14.73
$GC,204,-0.89,-146.0,139,2519,3503,3173,1.9,0.7,30,218,8.45,1.58,0.00,0.000,2308,0.311,0.129,2212,3354,3339,3506,3172,0,0,0,0,0,0,13.93,14.21,28.83
$GC,457,-0.80,-146.0,2211,3354,3506,3171,1.6,0.1,77,466,0.15,1.50,0.00,0.000,3078,0.287,0.087,2242,2495,3338,3506,3171,0,0,0,0,0,0,13.94,14.26,28.83
$GC,781,-0.72,-146.0,2242,2495,3507,3171,1.6,0.1,138,788,0.12,1.60,0.00,0.000,2308,0.311,0.126,2269,3356,3338,3507,3170,0,0,0,0,0,0,13.97,14.12,28.83
$GC,1027,-0.65,-146.0,2269,3356,3507,3171,1.5,-0.1,184,1034,0.12,1.50,0.00,0.000,3078,0.296,0.086,2295,2494,3338,3507,3170,0,0,0,0,0,0,13.94,14.24,28.83
$GC,1354,-0.57,-146.0,2294,2493,3506,3170,1.4,0.2,245,1361,0.12,1.60,0.00,0.000,2308,0.316,0.131,2320,3347,3338,3506,3170,0,0,0,0,0,0,13.95,14.06,28.83
$GC,1602,-0.57,-146.0,2320,3347,3507,3170,1.6,-0.2,291,1608,0.00,1.50,0.00,0.000,1030,0.000,0.088,2320,2491,3338,3507,3170,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1927,-0.50,-146.0,2320,2491,3506,3170,1.5,0.1,352,1933,0.00,1.62,0.00,0.000,260,0.000,0.134,2314,3354,3338,3507,3170,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2172,-0.43,-146.0,2314,3354,3507,3170,1.5,0.1,398,2181,0.22,1.50,0.00,0.000,3078,0.273,0.090,2365,2500,3338,3506,3170,0,0,0,0,0,0,13.78,14.19,28.83
$GC,2498,-0.43,-146.0,2365,2499,3507,3170,1.4,2.1,459,2505,0.00,1.60,0.00,0.000,260,0.000,0.137,2360,3346,3338,3506,3170,0,0,0,0,0,0,28.83,13.99,28.83
$GC,2745,-0.35,-146.0,2360,3346,3507,3170,1.4,0.4,505,2752,0.15,1.50,0.00,0.000,3078,0.285,0.086,2391,2492,3338,3507,3170,0,0,0,0,0,0,13.82,14.19,28.83
$GC,3076,-0.28,-146.0,2391,2491,3507,3170,1.5,-0.4,566,3083,0.00,1.62,0.00,0.000,260,0.000,0.134,2387,3352,3338,3507,3169,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3322,-0.20,-146.0,2387,3352,3507,3169,1.4,-0.0,612,3332,0.22,1.50,0.00,0.000,3078,0.278,0.085,2436,2495,3337,3506,3169,0,0,0,0,0,0,13.72,14.17,28.83
$GC,3653,-0.13,-146.0,2436,2495,3507,3169,1.5,0.4,673,3660,0.12,1.60,0.00,0.000,2308,0.316,0.128,2462,3346,3338,3507,3169,0,0,0,0,0,0,13.87,13.97,28.83
$GC,3900,-0.06,-146.0,2463,3346,3507,3170,1.4,0.5,719,3906,0.00,1.50,0.00,0.000,1030,0.000,0.086,2462,2489,3338,3507,3169,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4225,0.02,-146.0,2463,2489,3507,3169,1.4,0.1,780,4232,0.17,1.62,0.00,0.000,2308,0.294,0.133,2500,3346,3338,3507,3169,0,0,0,0,0,0,13.71,13.95,28.83
$GC,4472,0.09,-146.0,2500,3346,3507,3169,1.4,0.2,826,4480,0.15,1.50,0.00,0.000,3078,0.285,0.085,2530,2488,3338,3507,3169,0,0,0,0,0,0,13.76,14.14,28.83
$GC,4800,0.16,-146.0,2530,2489,3507,3169,1.4,-0.2,887,4807,0.00,1.62,0.00,0.000,260,0.000,0.136,2525,3346,3338,3507,3169,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5044,0.16,-146.0,2525,3346,3507,3169,1.3,0.9,933,5051,0.15,1.50,0.00,0.000,3078,0.290,0.086,2555,2492,3337,3506,3169,0,0,0,0,0,0,13.74,14.15,28.83
$GC,5372,0.23,-146.0,2556,2492,3506,3169,1.4,0.2,994,5379,0.00,1.62,0.00,0.000,260,0.000,0.132,2551,3351,3338,3507,3169,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5620,0.31,-146.0,2551,3351,3507,3169,1.5,-0.2,1040,5627,0.22,1.50,0.00,0.000,3078,0.275,0.086,2602,2497,3338,3507,3169,0,0,0,0,0,0,13.67,14.14,28.83
$GC,5941,0.31,-146.0,2602,2497,3507,3169,1.4,0.5,1101,5949,0.00,1.60,0.00,0.000,260,0.000,0.132,2597,3346,3338,3507,3169,0,0,0,0,0,0,28.83,13.92,28.83
$GC,6191,0.38,-146.0,2597,3346,3507,3169,1.4,-0.1,1147,6198,0.12,1.50,0.00,0.000,3078,0.301,0.086,2622,2493,3338,3507,3169,0,0,0,0,0,0,13.76,14.13,28.83
$GC,6519,0.45,-146.0,1632,2491,3498,3165,1.4,0.1,1208,6525,0.00,1.62,0.00,0.000,260,0.000,0.131,2617,3354,3338,3507,3169,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6764,0.52,-146.0,2617,3354,3507,3169,1.4,0.0,1254,6772,0.22,1.52,0.00,0.000,3078,0.278,0.087,2667,2491,3337,3506,3169,0,0,0,0,0,0,13.64,14.13,28.83
$GC,7094,0.59,-146.0,2667,2491,3507,3168,1.4,0.2,1315,7102,0.00,1.62,0.00,0.000,260,0.000,0.132,2663,3349,3338,3507,3169,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7341,0.66,-146.0,2663,3349,3507,3168,1.5,-0.2,1361,7349,0.20,1.55,0.00,0.000,3078,0.259,0.086,2712,2495,3337,3506,3168,0,0,0,0,0,0,13.57,14.07,28.83
$GC,7668,0.73,-146.0,2713,2495,3507,3168,1.3,0.5,1422,7675,0.00,1.62,0.00,0.000,260,0.000,0.132,2708,3350,3337,3507,3168,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7913,0.80,-146.0,2708,3350,3507,3168,1.4,-0.1,1468,7920,0.22,1.50,0.00,0.000,3078,0.275,0.087,2757,2499,3337,3507,3168,0,0,0,0,0,0,13.62,14.09,28.83
$GC,8241,0.87,-146.0,2757,2499,3506,3168,1.3,0.3,1529,8247,0.00,1.60,0.00,0.000,260,0.000,0.130,2753,3346,3337,3507,3168,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8485,0.95,-146.0,2753,3346,3507,3168,1.4,0.1,1575,8495,0.22,1.50,0.00,0.000,3078,0.272,0.087,2803,2493,3337,3506,3168,0,0,0,0,0,0,13.62,14.09,28.83
$GC,8816,1.02,-146.0,2803,2493,3506,3168,1.3,0.5,1636,8823,0.12,1.62,0.00,0.000,2308,0.313,0.129,2828,3346,3337,3506,3168,0,0,0,0,0,0,13.79,13.86,28.83
$GC,9062,1.09,-146.0,2829,3346,3507,3168,1.5,-0.5,1682,9069,0.00,1.50,0.00,0.000,1030,0.000,0.087,2829,2500,3337,3506,3168,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9385,1.16,-146.0,2829,2499,3507,3168,1.3,0.0,1743,9392,0.17,1.62,0.00,0.000,2308,0.297,0.128,2866,3352,3337,3507,3168,0,0,0,0,0,0,13.64,13.87,28.83
$GC,9631,1.16,-146.0,2866,3352,3507,3168,1.3,0.7,1789,9638,0.00,1.50,0.00,0.000,1030,0.000,0.087,2866,2499,3337,3507,3168,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9955,1.23,-146.0,2866,2499,3507,3168,1.4,-0.2,1850,9962,0.12,1.62,0.00,0.000,2308,0.314,0.129,2890,3350,3337,3507,3168,0,0,0,0,0,0,13.80,13.85,28.83
$GC,10204,1.31,-146.0,2890,3350,3507,3168,1.4,0.3,1896,10211,0.15,1.50,0.00,0.000,3078,0.297,0.087,2919,2501,3337,3506,3168,0,0,0,0,0,0,13.62,14.07,28.83
$GC,10528,1.31,-146.0,1928,2499,3498,3165,1.4,-0.1,1957,10536,0.00,1.62,0.00,0.000,260,0.000,0.134,2915,3352,3337,3507,3167,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10778,1.38,-146.0,2915,3352,3507,3168,1.4,0.0,2003,10786,0.15,1.50,0.00,0.000,3078,0.291,0.089,2944,2501,3337,3507,3168,0,0,0,0,0,0,13.62,14.06,28.83
$GC,11106,1.45,-146.0,2944,2501,3507,3167,1.4,0.1,2064,11115,0.00,1.62,0.00,0.000,260,0.000,0.133,2940,3352,3337,3507,3168,0,0,0,0,0,0,28.83,13.82,28.83
$GC,11353,1.52,-146.0,2940,3351,3506,3168,1.4,-0.4,2110,11361,0.22,1.52,0.00,0.000,3078,0.281,0.089,2988,2492,3337,3507,3167,0,0,0,0,0,0,13.55,14.06,28.83
$GC,11680,1.59,-146.0,2988,2492,3507,3168,1.4,-0.2,2171,11687,0.00,1.62,0.00,0.000,260,0.000,0.133,2984,3346,3337,3507,3167,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11926,1.59,-146.0,2984,3346,3507,3166,1.4,-0.5,2217,11933,0.12,1.52,0.00,0.000,3078,0.301,0.089,3006,2492,3337,3507,3167,0,0,0,0,0,0,13.67,14.06,28.83
$GC,12254,1.59,-146.0,1984,2490,3498,3164,1.3,0.3,2278,12260,0.00,1.62,0.00,0.000,260,0.000,0.133,3002,3346,3337,3507,3168,0,0,0,0,0,0,28.83,13.81,28.83
$GC,12502,1.59,-146.0,3002,3346,3507,3167,1.4,-0.2,2324,12510,0.00,1.50,0.00,0.000,1030,0.000,0.088,3002,2498,3336,3506,3167,0,0,0,0,0,0,28.83,14.04,28.83
$GC,12831,1.59,-146.0,3002,2497,3507,3167,1.3,0.6,2385,12838,0.00,1.62,0.00,0.000,260,0.000,0.133,2996,3347,3337,3507,3167,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,12910,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12910,begin apogee
$FREEZE,1.54,-1.721,-1.792,2,1,0
$GC,12925,-0.22,0.0,2996,2504,3507,3167,1.4,-0.1,2400,12941,1.67,0.00,11.55,0.178,12290,0.095,0.000,2432,2503,3241,3417,3066,0,0,0,0,0,0,14.04,28.83,28.83
$STATE,12942,end apogee,FINISH_DEPTH_REACHED
$STATE,12942,begin subsurface finish
$FINISH1,1.5,1.026313,0
$GC,12958,0.00,0.0,2432,2504,3416,3066,1.5,-0.7,2401,13027,0.28,1.55,62.35,0.164,10756,0.265,0.096,2500,1663,2737,2853,2622,0,0,0,0,0,0,13.57,14.13,13.99
$FINISH2,1.5
$STATE,13028,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13028,begin surface
$RAFOS_CLK,647
$RAFOS,6,1387932544,0.833333,0.817778,101,60,56,55,54,53,723,210,159,144,219,1239
$RAFOS,5,1387932062,0.700000,0.683889,59,57,56,54,54,50,189,211,223,180,741,238
$RAFOS,4,1387931595,0.566667,0.554167,139,63,62,55,54,52,494,166,199,221,185,208
$RAFOS,3,1387931101,0.433333,0.416944,115,55,54,52,52,47,734,170,194,225,125,134
$RAFOS,2,1387930621,0.300000,0.283611,90,63,57,55,55,55,711,204,146,129,226,182
$RAFOS,1,1387930141,0.166667,0.150278,65,59,59,51,51,51,215,198,119,172,181,230
$RAFOS,0,1387929664,0.033333,0.017778,63,62,60,54,54,47,215,199,187,162,131,120
$RAFOS_FIX,6648.703125,-5910.680176,251213,000036,4,111,1.44
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.49
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,11.80
$XPDR_PINGS,75
$ALTIM_TOP_PING,1.5,999.0
$24V_AH,13.6,231.344
$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,14.425,73.400,73.900,0.000,0.000,0.000,0.000,1081.300,19.000,0.000,40.919,5973.661,2739.855,377.707,4346.328,1169.654,0.000,3087.355,0.000,3418.088,2520.000,2.816,0.000
$DEVICE_MAMPS,315.945,136.935,178.245,0.000,0.000,0.000,0.000,153.765,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1716.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150628
$DATA_FILE_SIZE,99781,2412
$CAP_FILE_SIZE,195206,0
$CFSIZE,259252224,210112512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1438.0
$CURRENT,1.490,131.5,1
$GPS,251213,003336,6648.703,-5910.680,0,4111.2,0,-33.8