version: 66.11
glider: 192
mission: 2
dive: 528
start: 12 25 113 10 38 30
data:
$ID,192
$MISSION,2
$DIVE,528
$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
$GPS1,251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-22.7
$GPS2,251213,083304,6643.528,-5907.509,0,4115.0,0,-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,349.7,57427,-15.5,-8.250,-18.49,2720
$D_GRID,931
$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,-146.0,2501,2500,2840,2622,0.0,0.0,0,66,0.00,0.00,-40.03,0.000,16390,0.000,0.000,2501,2500,3334,3500,3168,0,0,0,0,0,0,28.83,28.83,14.59
$GC,74,-0.89,-146.0,2501,2500,3500,3168,1.3,-0.0,8,81,0.85,0.00,0.00,0.000,4102,0.096,0.000,2221,2500,3334,3501,3168,0,0,0,0,0,0,13.97,28.83,28.83
$GC,394,-0.89,-146.0,1376,2498,3494,3165,1.2,1.5,69,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2500,3335,3502,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,716,-0.82,-146.0,2221,2500,3502,3168,1.2,-0.6,130,723,0.00,1.52,0.00,0.000,516,0.000,0.099,2220,1660,3335,3502,3168,0,0,0,0,0,0,28.83,13.83,28.83
$GC,962,-0.75,-146.0,2220,1660,3503,3168,1.2,-0.1,176,969,0.22,1.58,0.00,0.000,3078,0.271,0.109,2264,2509,3335,3502,3168,0,0,0,0,0,0,13.48,13.82,28.83
$GC,1285,-0.75,-146.0,2264,2509,3503,3168,1.3,-1.3,237,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2508,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.75,-146.0,2264,2509,3503,3168,1.2,1.3,298,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1926,-0.68,-146.0,2264,2509,3503,3168,1.2,-0.1,359,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2245,-0.60,-146.0,2264,2509,3503,3168,1.1,0.0,420,2251,0.15,0.00,0.00,0.000,2054,0.295,0.000,2302,2509,3335,3503,3168,0,0,0,0,0,0,13.63,28.83,28.83
$GC,2568,-0.53,-146.0,2302,2509,3503,3167,1.2,0.0,481,2577,0.12,0.00,0.00,0.000,2054,0.314,0.000,2333,2509,3335,3503,3167,0,0,0,0,0,0,13.74,28.83,28.83
$GC,2891,-0.46,-146.0,1440,2507,3495,3165,1.3,0.1,542,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-0.39,-146.0,2333,2509,3503,3168,1.2,0.1,603,3222,0.17,0.00,0.00,0.000,2054,0.293,0.000,2377,2509,3335,3503,3168,0,0,0,0,0,0,13.52,28.83,28.83
$GC,3537,-0.39,-146.0,2377,2509,3503,3168,1.1,0.0,664,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.31,-146.0,2377,2509,3503,3168,1.2,-0.5,725,3869,0.12,0.00,0.00,0.000,2054,0.311,0.000,2407,2508,3335,3503,3168,0,0,0,0,0,0,13.76,28.83,28.83
$GC,4184,-0.24,-146.0,2407,2509,3503,3168,1.2,-0.1,786,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2508,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,-0.17,-146.0,2407,2509,3503,3168,1.3,-0.5,847,4510,0.15,0.00,0.00,0.000,2054,0.306,0.000,2444,2509,3335,3503,3168,0,0,0,0,0,0,13.61,28.83,28.83
$GC,4825,-0.10,-146.0,1536,2506,3495,3164,1.2,0.6,908,4832,0.12,0.00,0.00,0.000,2054,0.320,0.000,2474,2509,3335,3503,3167,0,0,0,0,0,0,13.73,28.83,28.83
$GC,5149,-0.03,-146.0,2474,2509,3503,3168,1.2,-0.2,969,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5471,-0.03,-146.0,1552,2507,3495,3165,1.2,0.0,1030,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2508,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5794,0.05,-146.0,2474,2509,3503,3167,1.2,-0.1,1091,5802,0.17,0.00,0.00,0.000,2054,0.291,0.000,2517,2509,3335,3502,3168,0,0,0,0,0,0,13.48,28.83,28.83
$GC,6117,0.05,-146.0,2517,2509,3503,3169,1.2,-0.0,1152,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6437,0.12,-146.0,1568,2507,3495,3165,1.1,0.3,1213,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2509,3335,3503,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6756,0.19,-146.0,2517,2509,3503,3168,1.2,-0.4,1274,6763,0.17,0.00,0.00,0.000,2054,0.298,0.000,2560,2509,3335,3503,3168,0,0,0,0,0,0,13.46,28.83,28.83
$GC,7084,0.27,-146.0,2560,2509,3502,3168,1.2,-0.3,1335,7090,0.12,0.00,0.00,0.000,2054,0.309,0.000,2592,2509,3336,3504,3168,0,0,0,0,0,0,13.71,28.83,28.83
$GC,7415,0.34,-146.0,1600,2507,3495,3164,1.2,-0.0,1396,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7735,0.34,-146.0,2592,2509,3503,3168,1.3,0.0,1457,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2509,3335,3503,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8059,0.41,-146.0,2592,2509,3503,3168,1.2,-0.1,1518,8067,0.15,0.00,0.00,0.000,2054,0.305,0.000,2629,2509,3335,3503,3168,0,0,0,0,0,0,13.56,28.83,28.83
$GC,8389,0.48,-146.0,2629,2509,3503,3168,1.2,-0.2,1579,8395,0.12,0.00,0.00,0.000,2054,0.321,0.000,2659,2509,3335,3503,3168,0,0,0,0,0,0,13.68,28.83,28.83
$GC,8709,0.48,-146.0,2659,2509,3503,3168,1.2,0.0,1640,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9034,0.55,-146.0,1672,2507,3495,3164,1.2,0.1,1701,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9352,0.55,-146.0,1696,2507,3495,3165,1.2,-0.5,1762,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2508,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,0.63,-146.0,2659,2509,3503,3168,1.2,-0.5,1823,9680,0.15,0.00,0.00,0.000,2054,0.298,0.000,2697,2509,3335,3503,3168,0,0,0,0,0,0,13.59,28.83,28.83
$GC,9995,0.70,-146.0,1728,2507,3495,3164,1.1,0.3,1884,10001,0.12,0.00,0.00,0.000,2054,0.315,0.000,2727,2509,3335,3503,3168,0,0,0,0,0,0,13.74,28.83,28.83
$GC,10321,0.77,-146.0,2727,2509,3503,3168,1.2,0.3,1945,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2509,3335,3503,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10641,0.84,-146.0,2726,2509,3503,3167,1.2,0.0,2006,10647,0.17,0.00,0.00,0.000,2054,0.299,0.000,2769,2509,3335,3503,3168,0,0,0,0,0,0,13.46,28.83,28.83
$GC,10964,0.84,-146.0,1792,2507,3495,3165,1.2,0.0,2067,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11284,0.84,-146.0,1792,2507,3495,3165,1.3,-2.0,2128,11290,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2509,3335,3503,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11608,0.92,-146.0,2769,2509,3503,3168,1.2,-0.1,2189,11616,0.12,0.00,0.00,0.000,2054,0.317,0.000,2799,2509,3335,3503,3168,0,0,0,0,0,0,13.71,28.83,28.83
$GC,11937,0.99,-146.0,2800,2509,3503,3168,1.1,0.2,2250,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12256,1.06,-146.0,1808,2507,3495,3165,1.2,0.2,2311,12262,0.15,0.00,0.00,0.000,2054,0.312,0.000,2837,2509,3335,3503,3167,0,0,0,0,0,0,13.55,28.83,28.83
$GC,12582,1.13,-146.0,2837,2509,3503,3168,1.1,0.3,2372,12589,0.12,0.00,0.00,0.000,2054,0.327,0.000,2867,2510,3335,3503,3168,0,0,0,0,0,0,13.66,28.83,28.83
$GC,12903,1.13,-146.0,1888,2508,3495,3164,1.1,2.3,2433,12910,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2509,3335,3503,3168,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12915,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12915,begin apogee
$FREEZE,1.33,-1.727,-1.793,2,4,0
$GC,12929,-0.22,0.0,2867,2509,3503,3168,1.2,-0.3,2435,12940,1.33,0.00,7.53,0.170,12290,0.095,0.000,2439,2510,3273,3446,3101,0,0,0,0,0,0,13.85,28.83,28.83
$STATE,12941,end apogee,FINISH_DEPTH_REACHED
$STATE,12941,begin subsurface finish
$FINISH1,1.3,1.026331,0
$GC,12956,0.00,0.0,2439,2509,3445,3101,1.3,-0.4,2436,13028,0.25,0.00,66.03,0.160,10246,0.272,0.000,2499,2509,2738,2853,2623,0,0,0,0,0,0,13.47,28.83,13.98
$FINISH2,1.3
$STATE,13029,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13029,begin surface
$RAFOS_CLK,706
$RAFOS,6,1387975743,12.833333,12.817500,121,75,62,53,52,50,753,213,191,152,226,170
$RAFOS,5,1387975265,12.700000,12.684722,60,52,52,52,49,49,204,189,147,215,173,114
$RAFOS,4,1387974784,12.566667,12.551111,106,65,60,60,58,56,589,180,210,146,132,163
$RAFOS,3,1387974304,12.433333,12.417778,125,63,58,56,54,54,680,218,209,118,193,157
$RAFOS,2,1387973823,12.300000,12.284166,123,65,64,56,51,51,700,207,193,121,168,217
$RAFOS,1,1387973345,12.166667,12.151389,59,57,55,55,54,51,125,208,178,157,191,139
$RAFOS,0,1387972863,12.033333,12.017500,63,59,56,56,55,47,189,116,134,207,224,344
$RAFOS_FIX,6642.583496,-5904.500977,251213,121232,4,119,0.20
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,11.90
$XPDR_PINGS,7
$ALTIM_TOP_PING,1.3,999.0
$24V_AH,13.5,231.635
$10V_AH,12.7,0.000
$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,5.100,3.100,73.550,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,6015.898,2718.463,266.395,3493.363,599.586,0.000,1876.345,0.000,3466.688,2520.000,2.817,0.000
$DEVICE_MAMPS,327.420,108.630,169.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1745.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96536,2448
$CAP_FILE_SIZE,162337,0
$CFSIZE,259252224,209891328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.0
$CURRENT,0.426,128.5,1
$GPS,251213,123232,6642.583,-5904.501,0,4118.8,0,-33.8