version: 66.11
glider: 192
mission: 2
dive: 526
start: 12 25 113 3 18 12
data:
$ID,192
$MISSION,2
$DIVE,526
$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,24
$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
$GPS1,251213,003336,6648.703,-5910.680,0,4111.2,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-22.6
$GPS2,251213,003336,6648.703,-5910.680,0,4111.2,0,-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,339.8,55785,-15.5,-8.250,-18.49,2720
$D_GRID,983
$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,-146.0,2496,2508,2841,2622,0.0,0.0,0,65,0.00,0.00,-39.92,0.000,16390,0.000,0.000,2496,2509,3333,3501,3166,0,0,0,0,0,0,28.83,28.83,14.64
$GC,73,-0.89,-146.0,2496,2509,3502,3166,1.5,-0.4,7,80,0.82,1.52,0.00,0.000,4612,0.100,0.093,2219,1654,3334,3502,3166,0,0,0,0,0,0,14.05,14.06,28.83
$GC,322,-0.82,-146.0,1352,1653,3496,3163,1.3,-0.1,53,330,0.12,1.55,0.00,0.000,3078,0.305,0.105,2238,2505,3335,3504,3166,0,0,0,0,0,0,13.67,13.95,28.83
$GC,644,-0.75,-146.0,2238,2505,3503,3166,1.4,-0.2,114,651,0.12,1.52,0.00,0.000,2564,0.314,0.093,2270,1660,3335,3504,3166,0,0,0,0,0,0,13.81,13.98,28.83
$GC,891,-0.68,-146.0,2270,1660,3504,3166,1.3,-0.1,160,897,0.00,1.55,0.00,0.000,1030,0.000,0.104,2265,2510,3335,3504,3166,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1212,-0.60,-146.0,2265,2510,3504,3166,1.3,0.2,221,1219,0.17,1.55,0.00,0.000,2564,0.289,0.094,2308,1654,3335,3504,3166,0,0,0,0,0,0,13.64,13.97,28.83
$GC,1459,-0.53,-146.0,2308,1654,3504,3166,1.4,-0.1,267,1466,0.15,1.55,0.00,0.000,3078,0.299,0.106,2334,2502,3335,3504,3166,0,0,0,0,0,0,13.60,13.92,28.83
$GC,1786,-0.46,-146.0,2334,2501,3504,3166,1.4,-0.4,328,1793,0.00,1.52,0.00,0.000,516,0.000,0.096,2334,1657,3335,3504,3166,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2031,-0.39,-146.0,1440,1656,3497,3163,1.4,-0.0,374,2040,0.22,1.58,0.00,0.000,3078,0.275,0.106,2378,2506,3335,3504,3166,0,0,0,0,0,0,13.56,13.90,28.83
$GC,2363,-0.32,-146.0,2379,2506,3504,3166,1.3,0.1,435,2369,0.00,1.52,0.00,0.000,516,0.000,0.097,2380,1660,3335,3504,3166,0,0,0,0,0,0,28.83,13.92,28.83
$GC,2609,-0.24,-146.0,2380,1660,3505,3166,1.3,-0.0,481,2616,0.22,1.55,0.00,0.000,3078,0.272,0.106,2424,2505,3335,3504,3166,0,0,0,0,0,0,13.54,13.88,28.83
$GC,2935,-0.17,-146.0,2424,2505,3504,3166,1.3,0.7,542,2943,0.00,1.52,0.00,0.000,516,0.000,0.097,2425,1660,3335,3505,3166,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3184,-0.10,-146.0,2425,1660,3504,3166,1.4,0.1,588,3191,0.22,1.55,0.00,0.000,3078,0.280,0.105,2469,2506,3335,3505,3166,0,0,0,0,0,0,13.52,13.88,28.83
$GC,3510,-0.03,-146.0,2469,2506,3504,3166,1.4,0.2,649,3518,0.12,1.55,0.00,0.000,2564,0.315,0.095,2500,1652,3335,3504,3166,0,0,0,0,0,0,13.77,13.93,28.83
$GC,3757,0.05,-146.0,2500,1652,3504,3166,1.4,-0.8,695,3763,0.00,1.55,0.00,0.000,1030,0.000,0.106,2496,2498,3335,3504,3166,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4083,0.12,-146.0,1536,2497,3496,3162,1.3,0.7,756,4092,0.17,1.55,0.00,0.000,2564,0.300,0.094,2536,1651,3334,3504,3165,0,0,0,0,0,0,13.54,13.91,28.83
$GC,4330,0.19,-146.0,2536,1651,3504,3166,1.4,-0.2,802,4338,0.15,1.58,0.00,0.000,3078,0.295,0.109,2561,2503,3335,3504,3166,0,0,0,0,0,0,13.55,13.86,28.83
$GC,4660,0.26,-146.0,1584,2501,3496,3163,1.3,0.7,863,4667,0.12,1.55,0.00,0.000,2564,0.306,0.093,2593,1652,3335,3504,3166,0,0,0,0,0,0,13.76,13.91,28.83
$GC,4906,0.33,-146.0,1632,1651,3497,3163,1.3,0.2,909,4914,0.00,1.58,0.00,0.000,1030,0.000,0.106,2588,2500,3335,3505,3166,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5228,0.40,-146.0,1632,2498,3497,3162,1.3,0.6,970,5236,0.17,1.55,0.00,0.000,2564,0.292,0.094,2630,1653,3335,3504,3166,0,0,0,0,0,0,13.56,13.90,28.83
$GC,5475,0.40,-146.0,2630,1653,3504,3166,1.3,0.5,1016,5481,0.00,1.58,0.00,0.000,1030,0.000,0.107,2625,2507,3335,3504,3166,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5796,0.48,-146.0,2625,2507,3504,3166,1.3,0.1,1077,5803,0.12,1.55,0.00,0.000,2564,0.317,0.093,2654,1655,3335,3504,3166,0,0,0,0,0,0,13.74,13.90,28.83
$GC,6045,0.55,-146.0,2654,1655,3504,3166,1.3,0.3,1123,6052,0.15,1.55,0.00,0.000,3078,0.291,0.106,2680,2500,3335,3504,3166,0,0,0,0,0,0,13.56,13.87,28.83
$GC,6367,0.55,-146.0,2679,2500,3504,3166,1.3,2.6,1184,6374,0.00,1.52,0.00,0.000,516,0.000,0.095,2680,1656,3335,3505,3166,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6613,0.62,-146.0,2680,1656,3504,3166,1.4,-0.3,1230,6620,0.12,1.55,0.00,0.000,3078,0.298,0.106,2699,2501,3335,3504,3166,0,0,0,0,0,0,13.59,13.87,28.83
$GC,6941,0.69,-146.0,2699,2501,3504,3166,1.3,0.0,1291,6948,0.00,1.52,0.00,0.000,516,0.000,0.096,2699,1657,3335,3504,3166,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7186,0.76,-146.0,2699,1657,3504,3166,1.4,0.1,1337,7194,0.22,1.55,0.00,0.000,3078,0.276,0.106,2743,2501,3335,3504,3166,0,0,0,0,0,0,13.48,13.85,28.83
$GC,7514,0.83,-146.0,1728,2499,3496,3163,1.3,0.4,1398,7521,0.12,1.52,0.00,0.000,2564,0.321,0.091,2774,1660,3335,3504,3166,0,0,0,0,0,0,13.73,13.91,28.83
$GC,7762,0.91,-146.0,2774,1660,3505,3166,1.4,-0.4,1444,7770,0.00,1.55,0.00,0.000,1030,0.000,0.104,2769,2503,3335,3504,3166,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8085,0.98,-146.0,2769,2503,3504,3165,1.3,-0.5,1505,8092,0.17,1.55,0.00,0.000,2564,0.295,0.093,2810,1654,3335,3504,3166,0,0,0,0,0,0,13.56,13.90,28.83
$GC,8331,1.05,-146.0,2811,1655,3504,3166,1.3,0.2,1551,8338,0.15,1.55,0.00,0.000,3078,0.296,0.105,2836,2501,3335,3505,3166,0,0,0,0,0,0,13.52,13.85,28.83
$GC,8652,1.05,-146.0,2836,2500,3505,3165,1.3,0.2,1612,8659,0.00,1.52,0.00,0.000,516,0.000,0.095,2837,1660,3335,3504,3166,0,0,0,0,0,0,28.83,13.87,28.83
$GC,8898,1.12,-146.0,2837,1660,3504,3166,1.3,0.1,1658,8906,0.15,1.58,0.00,0.000,3078,0.295,0.106,2861,2509,3335,3504,3166,0,0,0,0,0,0,13.52,13.84,28.83
$GC,9226,1.19,-146.0,2862,2509,3504,3166,1.3,-0.2,1719,9234,0.00,1.55,0.00,0.000,516,0.000,0.096,2862,1656,3335,3505,3166,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9473,1.26,-146.0,1872,1654,3496,3163,1.2,0.7,1765,9480,0.22,1.55,0.00,0.000,3078,0.280,0.106,2906,2502,3335,3504,3166,0,0,0,0,0,0,13.46,13.85,28.83
$GC,9801,1.33,-146.0,1872,2499,3496,3162,1.3,0.3,1826,9807,0.00,1.52,0.00,0.000,516,0.000,0.096,2906,1660,3335,3504,3166,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10046,1.41,-146.0,2906,1660,3504,3165,1.3,0.1,1872,10055,0.22,1.55,0.00,0.000,3078,0.282,0.103,2950,2506,3335,3504,3166,0,0,0,0,0,0,13.44,13.84,28.83
$GC,10375,1.48,-146.0,2950,2506,3505,3166,1.3,0.2,1933,10382,0.12,1.55,0.00,0.000,2564,0.321,0.093,2980,1654,3335,3504,3166,0,0,0,0,0,0,13.73,13.88,28.83
$GC,10622,1.55,-146.0,2980,1654,3505,3166,1.3,0.2,1979,10628,0.00,1.55,0.00,0.000,1030,0.000,0.106,2975,2498,3334,3504,3165,0,0,0,0,0,0,28.83,13.83,28.83
$GC,10950,1.55,-146.0,1952,2495,3496,3162,1.3,-0.2,2040,10958,0.00,1.52,0.00,0.000,516,0.000,0.096,2975,1658,3335,3504,3166,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11196,1.55,-146.0,1984,1657,3496,3162,1.3,-0.1,2086,11204,0.15,1.55,0.00,0.000,3078,0.302,0.105,2998,2502,3335,3504,3166,0,0,0,0,0,0,13.50,13.83,28.83
$GC,11525,1.55,-146.0,2998,2502,3504,3166,1.3,0.3,2147,11532,0.00,1.52,0.00,0.000,516,0.000,0.096,2998,1660,3335,3504,3166,0,0,0,0,0,0,28.83,13.84,28.83
$GC,11773,1.55,-146.0,2998,1660,3505,3166,1.2,-0.1,2193,11782,0.00,1.55,0.00,0.000,1030,0.000,0.104,2994,2500,3335,3504,3166,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12103,1.55,-146.0,2994,2500,3504,3166,1.3,0.1,2254,12110,0.00,1.52,0.00,0.000,516,0.000,0.098,2994,1658,3335,3504,3166,0,0,0,0,0,0,28.83,13.84,28.83
$GC,12351,1.55,-146.0,2994,1659,3504,3166,1.3,-0.4,2300,12358,0.00,1.55,0.00,0.000,1030,0.000,0.105,2987,2501,3335,3505,3165,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12679,1.55,-146.0,2987,2501,3504,3166,1.3,-0.1,2361,12686,0.00,1.52,0.00,0.000,516,0.000,0.096,2988,1660,3335,3505,3166,0,0,0,0,0,0,28.83,13.84,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.32,-1.733,-1.793,2,2,0
$GC,12923,-0.22,0.0,2981,2514,3505,3165,1.2,0.1,2405,12935,1.62,0.00,7.32,0.183,12290,0.099,0.000,2439,2515,3274,3447,3101,0,0,0,0,0,0,13.95,28.83,28.83
$STATE,12936,end apogee,FINISH_DEPTH_REACHED
$STATE,12936,begin subsurface finish
$FINISH1,1.3,1.026320,0
$GC,12951,0.00,0.0,2439,2514,3447,3101,1.3,-0.2,2406,13020,0.25,0.00,65.65,0.163,10498,0.272,0.000,2500,2514,2743,2860,2626,0,0,0,0,0,0,13.50,28.83,28.83
$FINISH2,1.4
$STATE,13021,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13021,begin surface
$RAFOS_CLK,702
$RAFOS,6,1387946945,4.833333,4.818056,131,57,56,56,55,52,735,183,131,152,119,170
$RAFOS,5,1387946461,4.700000,4.683611,62,57,57,56,51,51,172,190,207,152,225,473
$RAFOS,4,1387945984,4.566667,4.551111,126,68,61,58,57,55,580,145,207,190,222,111
$RAFOS,3,1387945502,4.433333,4.417222,64,64,62,58,54,53,199,213,173,705,222,186
$RAFOS,2,1387945025,4.300000,4.284722,126,59,57,57,50,50,682,154,215,198,224,179
$RAFOS,1,1387944541,4.166667,4.150278,59,57,53,52,52,49,191,167,110,126,209,228
$RAFOS,0,1387944062,4.033333,4.017222,62,56,55,55,52,51,813,207,159,182,127,218
$RAFOS_FIX,6646.212891,-5910.710938,251213,040444,4,111,0.33
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.98
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,11.70
$XPDR_PINGS,36
$ALTIM_TOP_PING,1.3,999.0
$24V_AH,13.4,231.443
$10V_AH,12.9,0.000
$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,6.650,72.750,72.975,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,6006.143,2652.987,280.419,3433.918,720.805,0.000,1881.922,0.000,3424.855,2520.000,2.815,0.000
$DEVICE_MAMPS,321.300,108.630,182.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1722.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150688
$DATA_FILE_SIZE,96424,2417
$CAP_FILE_SIZE,177632,0
$CFSIZE,259252224,210042880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.9
$CURRENT,1.112,179.2,1
$GPS,251213,042744,6646.213,-5910.711,0,4111.2,0,-33.8