version: 66.11
glider: 192
mission: 2
dive: 529
start: 12 25 113 14 18 40
data:
$ID,192
$MISSION,2
$DIVE,529
$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
$GPS1,251213,123232,6642.583,-5904.501,0,4118.8,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-22.8
$GPS2,251213,123232,6642.583,-5904.501,0,4118.8,0,-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,351.3,59679,-15.5,-8.250,-18.49,2720
$D_GRID,909
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,21,-0.89,-146.0,2499,2509,2840,2623,0.0,0.0,0,65,0.00,0.00,-40.47,0.000,16390,0.000,0.000,2499,2510,3337,3503,3171,0,0,0,0,0,0,28.83,28.83,14.58
$GC,73,-0.89,-146.0,2500,2510,3505,3171,1.4,-0.4,7,80,0.82,0.00,0.00,0.000,4102,0.096,0.000,2227,2510,3338,3505,3171,0,0,0,0,0,0,13.97,28.83,28.83
$GC,395,-0.82,-146.0,2227,2510,3506,3171,1.1,0.4,68,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2510,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,713,-0.82,-146.0,2227,2510,3506,3171,1.1,-0.1,129,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2510,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1036,-0.75,-146.0,2226,2510,3506,3171,1.2,0.5,190,1043,0.12,0.00,0.00,0.000,2054,0.295,0.000,2255,2509,3339,3507,3171,0,0,0,0,0,0,13.71,28.83,28.83
$GC,1356,-0.68,-146.0,2256,2510,3506,3171,1.2,-0.2,251,1363,0.12,0.00,0.00,0.000,2054,0.312,0.000,2287,2510,3339,3507,3171,0,0,0,0,0,0,13.74,28.83,28.83
$GC,1678,-0.60,-146.0,1408,2508,3499,3168,1.0,0.4,312,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,-0.53,-146.0,2287,2510,3507,3171,1.1,0.2,373,2005,0.17,0.00,0.00,0.000,2054,0.294,0.000,2331,2510,3339,3507,3171,0,0,0,0,0,0,13.51,28.83,28.83
$GC,2318,-0.53,-146.0,1440,2508,3499,3168,1.2,0.0,434,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.46,-146.0,2331,2510,3507,3171,1.2,-0.3,495,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-0.39,-146.0,2331,2510,3507,3171,1.1,0.7,556,2966,0.17,0.00,0.00,0.000,2054,0.291,0.000,2375,2510,3339,3507,3171,0,0,0,0,0,0,13.50,28.83,28.83
$GC,3281,-0.32,-146.0,2375,2510,3507,3171,1.2,-0.1,617,3288,0.12,0.00,0.00,0.000,2054,0.311,0.000,2405,2510,3339,3507,3171,0,0,0,0,0,0,13.73,28.83,28.83
$GC,3603,-0.24,-146.0,2405,2510,3507,3171,1.1,0.0,678,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.17,-146.0,2405,2510,3507,3171,1.1,0.3,739,3928,0.17,0.00,0.00,0.000,2054,0.301,0.000,2447,2510,3339,3507,3171,0,0,0,0,0,0,13.47,28.83,28.83
$GC,4243,-0.17,-146.0,2447,2510,3507,3171,1.1,0.0,800,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4562,-0.17,-146.0,1536,2508,3499,3168,1.1,1.2,861,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4883,-0.10,-146.0,2448,2510,3507,3172,1.2,-0.3,922,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5204,-0.03,-146.0,1536,2508,3499,3168,1.2,0.2,983,5212,0.17,0.00,0.00,0.000,2054,0.298,0.000,2490,2510,3339,3507,3171,0,0,0,0,0,0,13.50,28.83,28.83
$GC,5529,0.04,-146.0,2491,2510,3506,3171,1.1,0.1,1044,5535,0.12,0.00,0.00,0.000,2054,0.313,0.000,2520,2510,3339,3507,3171,0,0,0,0,0,0,13.74,28.83,28.83
$GC,5850,0.12,-146.0,2520,2510,3507,3171,1.2,0.0,1105,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6171,0.12,-146.0,2520,2510,3507,3169,1.2,0.0,1166,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6489,0.12,-146.0,2521,2510,3507,3171,1.1,1.5,1227,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6810,0.19,-146.0,2521,2510,3507,3171,1.2,-0.0,1288,6818,0.15,0.00,0.00,0.000,2054,0.304,0.000,2558,2510,3339,3507,3171,0,0,0,0,0,0,13.52,28.83,28.83
$GC,7142,0.26,-146.0,2558,2510,3507,3171,1.1,-0.0,1349,7148,0.12,0.00,0.00,0.000,2054,0.311,0.000,2589,2510,3339,3507,3171,0,0,0,0,0,0,13.69,28.83,28.83
$GC,7462,0.34,-146.0,1632,2508,3499,3168,1.1,0.4,1410,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,0.34,-146.0,2589,2510,3507,3171,1.2,0.0,1471,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,0.41,-146.0,2588,2510,3507,3171,1.2,-0.4,1532,8112,0.17,0.00,0.00,0.000,2054,0.295,0.000,2632,2510,3339,3507,3171,0,0,0,0,0,0,13.47,28.83,28.83
$GC,8425,0.48,-146.0,2632,2510,3507,3171,1.2,0.1,1593,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8747,0.48,-146.0,2632,2510,3507,3171,1.2,-0.9,1654,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,0.55,-146.0,2632,2510,3507,3171,1.1,0.2,1715,9075,0.17,0.00,0.00,0.000,2054,0.298,0.000,2675,2510,3339,3507,3171,0,0,0,0,0,0,13.45,28.83,28.83
$GC,9389,0.63,-146.0,2675,2510,3507,3171,1.2,-0.6,1776,9396,0.12,0.00,0.00,0.000,2054,0.319,0.000,2705,2510,3338,3506,3171,0,0,0,0,0,0,13.66,28.83,28.83
$GC,9717,0.70,-146.0,2705,2510,3507,3171,1.1,-0.1,1837,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10037,0.77,-146.0,2705,2510,3507,3170,1.2,0.3,1898,10044,0.15,0.00,0.00,0.000,2054,0.303,0.000,2742,2510,3339,3507,3171,0,0,0,0,0,0,13.57,28.83,28.83
$GC,10356,0.77,-146.0,1760,2508,3499,3168,1.2,0.0,1959,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10677,0.77,-146.0,2742,2510,3507,3171,1.2,-0.7,2020,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10997,0.84,-146.0,1760,2508,3499,3168,1.1,0.4,2081,11004,0.12,0.00,0.00,0.000,2054,0.318,0.000,2772,2510,3339,3507,3171,0,0,0,0,0,0,13.64,28.83,28.83
$GC,11324,0.92,-146.0,2772,2510,3507,3171,1.1,0.2,2142,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11646,0.99,-146.0,2772,2510,3507,3171,1.2,-0.2,2203,11654,0.17,0.00,0.00,0.000,2054,0.301,0.000,2815,2510,3339,3507,3171,0,0,0,0,0,0,13.45,28.83,28.83
$GC,11974,1.06,-146.0,2815,2511,3507,3171,1.1,0.2,2264,11982,0.12,0.00,0.00,0.000,2054,0.319,0.000,2845,2510,3339,3508,3171,0,0,0,0,0,0,13.67,28.83,28.83
$GC,12296,1.06,-146.0,2845,2510,3507,3171,1.1,2.2,2325,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12617,1.13,-146.0,2845,2510,3506,3171,1.1,0.0,2386,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2510,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12906,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12906,begin apogee
$FREEZE,1.28,-1.732,-1.793,2,5,0
$GC,12920,-0.22,0.0,2845,2510,3507,3171,1.1,0.1,2442,12935,1.25,0.00,10.25,0.168,12290,0.093,0.000,2441,2510,3253,3426,3081,0,0,0,0,0,0,13.85,28.83,28.83
$STATE,12935,end apogee,FINISH_DEPTH_REACHED
$STATE,12936,begin subsurface finish
$FINISH1,1.3,1.026329,0
$GC,12950,0.00,0.0,2441,2510,3426,3081,1.3,-0.5,2443,13019,0.25,0.00,63.58,0.159,10246,0.272,0.000,2501,2510,2738,2853,2623,0,0,0,0,0,0,13.50,28.83,13.98
$FINISH2,1.3
$STATE,13020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13020,begin surface
$RAFOS_CLK,702
$RAFOS,6,1387990145,16.833334,16.818056,87,72,67,56,51,49,747,202,189,222,146,126
$RAFOS,5,1387989662,16.700001,16.683889,68,63,59,56,51,50,170,206,133,154,188,260
$RAFOS,4,1387989185,16.566668,16.551390,117,69,65,63,53,53,587,194,204,168,216,127
$RAFOS,3,1387988703,16.433332,16.417500,78,64,63,59,57,55,684,216,140,201,182,162
$RAFOS,2,1387988225,16.299999,16.284721,92,59,58,58,58,58,694,138,194,209,226,156
$RAFOS,1,1387987742,16.166666,16.150555,66,56,55,55,54,54,214,115,197,177,167,158
$RAFOS,0,1387987264,16.033333,16.017778,60,60,57,55,53,51,118,213,179,202,1107,779
$RAFOS_FIX,6642.022949,-5901.606445,251213,161636,4,94,0.16
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.98
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,11.90
$XPDR_PINGS,20
$ALTIM_TOP_PING,1.3,999.0
$24V_AH,13.4,231.730
$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,4.850,0.000,73.825,0.000,0.000,0.000,0.000,0.000,5.250,0.000,0.000,5997.145,2748.886,253.031,3494.656,591.604,0.000,1863.076,0.000,3475.016,2520.000,2.817,0.000
$DEVICE_MAMPS,319.005,0.000,167.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1749.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150744
$DATA_FILE_SIZE,96545,2454
$CAP_FILE_SIZE,161485,0
$CFSIZE,259252224,209809408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.0
$CURRENT,0.303,116.7,1
$GPS,251213,163336,6642.023,-5901.606,0,4093.5,0,-33.8