version: 66.11
glider: 192
mission: 2
dive: 536
start: 12 26 113 15 57 22
data:
$ID,192
$MISSION,2
$DIVE,536
$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,-3
$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,22
$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
$GPS1,261213,123304,6642.980,-5839.082,0,4092.5,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-22.9
$GPS2,261213,123304,6642.980,-5839.082,0,4092.5,0,-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,260.2,78240,-27.8,-8.250,-30.00,870
$D_GRID,757
$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,-1.28,-46.6,2500,2500,3125,2821,0.0,0.0,0,25,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2500,2974,3127,2821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33,-1.28,-46.6,2500,2500,3126,2821,1.2,0.0,1,41,1.23,1.65,0.00,0.000,4356,0.093,0.138,2093,3349,2973,3126,2821,0,0,0,0,0,0,13.89,13.78,28.83
$GC,280,-1.43,-114.2,2093,3350,3126,2821,1.2,-0.3,47,306,0.15,1.55,-15.57,0.000,21510,0.147,0.093,2044,2493,3204,3360,3048,0,0,0,0,0,0,13.90,13.90,14.53
$GC,629,-1.53,-146.0,2044,2493,3361,3048,1.0,0.3,111,643,0.00,1.73,-9.05,0.000,16644,0.000,0.171,2037,3352,3337,3502,3173,0,0,0,0,0,0,28.83,13.86,14.54
$GC,882,-1.58,-146.0,2037,3352,3504,3173,1.0,0.2,158,891,0.12,1.55,0.00,0.000,5126,0.162,0.093,1997,2495,3338,3504,3173,0,0,0,0,0,0,13.89,13.91,28.83
$GC,1210,-1.63,-146.0,1200,2493,3496,3170,1.1,0.0,219,1216,0.00,1.67,0.00,0.000,260,0.000,0.140,1990,3353,3339,3505,3173,0,0,0,0,0,0,28.83,13.68,28.83
$GC,1456,-1.68,-146.0,1990,3353,3505,3173,1.1,-0.3,265,1462,0.00,1.55,0.00,0.000,1030,0.000,0.094,1990,2496,3339,3505,3173,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1783,-1.73,-146.0,1990,2496,3505,3173,1.1,0.0,326,1791,0.12,1.67,0.00,0.000,4356,0.173,0.136,1938,3352,3339,3505,3173,0,0,0,0,0,0,14.13,13.66,28.83
$GC,2030,-1.78,-146.0,1192,3350,3498,3170,1.1,0.1,372,2037,0.00,1.55,0.00,0.000,1030,0.000,0.093,1938,2492,3339,3505,3173,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2357,-1.83,-146.0,1168,2490,3497,3170,1.0,-0.0,433,2364,0.00,1.67,0.00,0.000,260,0.000,0.138,1932,3351,3339,3505,3173,0,0,0,0,0,0,28.83,13.64,28.83
$GC,2605,-1.88,-146.0,1932,3351,3505,3172,1.0,0.1,479,2613,0.00,1.55,0.00,0.000,1030,0.000,0.093,1932,2491,3339,3505,3173,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2927,-1.88,-146.0,1932,2491,3505,3173,1.1,0.0,540,2935,0.00,1.67,0.00,0.000,260,0.000,0.141,1925,3346,3338,3504,3173,0,0,0,0,0,0,28.83,13.64,28.83
$GC,3174,-1.93,-146.0,1184,3344,3497,3170,1.1,-0.4,586,3181,0.12,1.52,0.00,0.000,5126,0.161,0.092,1886,2500,3338,3505,3172,0,0,0,0,0,0,13.85,13.85,28.83
$GC,3502,-1.98,-146.0,1886,2500,3505,3172,1.2,-0.6,647,3508,0.00,1.65,0.00,0.000,260,0.000,0.139,1879,3346,3339,3505,3173,0,0,0,0,0,0,28.83,13.64,28.83
$GC,3747,-2.03,-146.0,1879,3346,3505,3173,1.1,-0.3,693,3755,0.00,1.52,0.00,0.000,1030,0.000,0.092,1879,2501,3339,3505,3173,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4071,-2.08,-146.0,1879,2501,3505,3173,1.0,0.2,754,4078,0.12,1.65,0.00,0.000,4356,0.160,0.133,1827,3346,3338,3505,3172,0,0,0,0,0,0,14.21,13.64,28.83
$GC,4318,-2.13,-146.0,1128,3345,3497,3170,1.1,0.1,800,4325,0.00,1.52,0.00,0.000,1030,0.000,0.091,1827,2498,3339,3505,3173,0,0,0,0,0,0,28.83,13.86,28.83
$GC,4639,-2.18,-146.0,1827,2498,3505,3173,1.1,0.6,861,4645,0.00,1.67,0.00,0.000,260,0.000,0.138,1821,3351,3339,3505,3173,0,0,0,0,0,0,28.83,13.64,28.83
$GC,4883,-2.23,-146.0,1128,3349,3497,3169,1.0,0.1,907,4890,0.00,1.55,0.00,0.000,1030,0.000,0.091,1821,2493,3339,3505,3173,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5206,-2.28,-146.0,1821,2493,3505,3173,1.1,-0.3,968,5213,0.12,1.67,0.00,0.000,4356,0.160,0.135,1768,3347,3339,3505,3173,0,0,0,0,0,0,14.20,13.63,28.83
$GC,5450,-2.28,-146.0,1768,3347,3505,3173,1.2,-0.0,1014,5457,0.00,1.52,0.00,0.000,1030,0.000,0.092,1768,2498,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5778,-2.33,-146.0,1768,2498,3505,3173,1.1,-0.4,1075,5785,0.00,1.65,0.00,0.000,260,0.000,0.138,1761,3346,3339,3505,3173,0,0,0,0,0,0,28.83,13.62,28.83
$GC,6022,-2.38,-146.0,1761,3346,3505,3173,1.1,-0.5,1121,6029,0.00,1.52,0.00,0.000,1030,0.000,0.091,1761,2500,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6342,-2.38,-146.0,1761,2500,3505,3173,1.1,0.0,1182,6350,0.00,1.65,0.00,0.000,260,0.000,0.138,1754,3349,3339,3505,3173,0,0,0,0,0,0,28.83,13.62,28.83
$GC,6589,-2.43,-146.0,1755,3349,3505,3173,1.1,-0.3,1228,6596,0.00,1.52,0.00,0.000,1030,0.000,0.091,1754,2499,3339,3505,3173,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6911,-2.48,-146.0,1088,2498,3498,3170,1.1,0.5,1289,6918,0.12,1.67,0.00,0.000,4356,0.168,0.137,1703,3350,3339,3505,3173,0,0,0,0,0,0,14.18,13.63,28.83
$GC,7159,-2.53,-146.0,1703,3350,3505,3172,1.0,0.2,1335,7167,0.00,1.55,0.00,0.000,1030,0.000,0.091,1703,2492,3339,3505,3173,0,0,0,0,0,0,28.83,13.87,28.83
$GC,7482,-2.57,-146.0,1060,2490,3497,3170,1.1,-0.3,1396,7490,0.00,1.67,0.00,0.000,260,0.000,0.140,1697,3345,3339,3505,3173,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7730,-2.62,-146.0,1056,3343,3497,3170,1.0,0.4,1442,7736,0.00,1.52,0.00,0.000,1030,0.000,0.091,1696,2499,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8051,-2.67,-146.0,1697,2499,3505,3173,1.1,-0.3,1503,8058,0.12,1.65,0.00,0.000,4356,0.161,0.133,1644,3346,3339,3505,3173,0,0,0,0,0,0,14.18,13.62,28.83
$GC,8297,-2.72,-146.0,1644,3346,3505,3173,1.2,-0.3,1549,8303,0.00,1.52,0.00,0.000,1030,0.000,0.091,1644,2498,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,8618,-2.77,-146.0,1644,2498,3505,3173,1.1,0.3,1610,8624,0.00,1.65,0.00,0.000,260,0.000,0.136,1638,3346,3338,3505,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,8864,-2.83,-146.0,1638,3346,3505,3173,1.0,-0.1,1656,8871,0.00,1.52,0.00,0.000,1030,0.000,0.090,1638,2498,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9188,-2.88,-146.0,1638,2498,3505,3173,1.1,0.2,1717,9197,0.12,1.67,0.00,0.000,4356,0.172,0.137,1583,3348,3339,3505,3173,0,0,0,0,0,0,14.17,13.62,28.83
$GC,9433,-2.88,-146.0,1583,3348,3505,3173,1.1,1.1,1763,9440,0.00,1.52,0.00,0.000,1030,0.000,0.090,1583,2500,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,9754,-2.92,-146.0,1583,2499,3505,3173,1.2,-0.0,1824,9761,0.00,1.65,0.00,0.000,260,0.000,0.137,1576,3346,3338,3505,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,10001,-2.97,-146.0,1577,3346,3505,3173,1.1,-0.1,1870,10009,0.00,1.52,0.00,0.000,1030,0.000,0.090,1577,2497,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10330,-3.02,-146.0,1577,2497,3505,3173,1.1,0.4,1931,10337,0.12,1.65,0.00,0.000,4356,0.171,0.132,1524,3346,3339,3505,3173,0,0,0,0,0,0,14.14,13.63,28.83
$GC,10575,-3.07,-146.0,1525,3346,3505,3173,1.1,-0.1,1977,10582,0.00,1.52,0.00,0.000,1030,0.000,0.089,1523,2497,3339,3505,3173,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10903,-3.12,-146.0,1524,2498,3505,3173,1.1,-0.7,2038,10909,0.00,1.67,0.00,0.000,260,0.000,0.137,1517,3352,3339,3505,3173,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11148,-3.17,-146.0,1517,3352,3505,3173,1.1,0.2,2084,11154,0.00,1.55,0.00,0.000,1030,0.000,0.090,1517,2492,3339,3505,3173,0,0,0,0,0,0,28.83,13.87,28.83
$GC,11478,-3.22,-146.0,1517,2492,3505,3173,1.1,0.1,2145,11487,0.12,1.70,0.00,0.000,4356,0.164,0.134,1465,3350,3339,3505,3173,0,0,0,0,0,0,14.18,13.62,28.83
$GC,11725,-3.27,-146.0,1465,3351,3505,3173,1.1,0.3,2191,11732,0.00,1.55,0.00,0.000,1030,0.000,0.090,1465,2492,3338,3504,3173,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12052,-3.32,-146.0,920,2489,3497,3170,1.0,-0.1,2252,12059,0.00,1.67,0.00,0.000,260,0.000,0.138,1458,3348,3339,3506,3173,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12298,-3.32,-146.0,1458,3348,3505,3172,1.1,-0.0,2298,12307,0.00,1.52,0.00,0.000,1030,0.000,0.090,1458,2499,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$GC,12627,-3.37,-146.0,912,2497,3497,3170,1.1,0.0,2359,12635,0.00,1.65,0.00,0.000,260,0.000,0.136,1452,3345,3339,3505,3173,0,0,0,0,0,0,28.83,13.61,28.83
$GC,12873,-3.37,-146.0,928,3344,3497,3169,1.1,0.0,2405,12879,0.00,1.52,0.00,0.000,1030,0.000,0.090,1452,2498,3339,3505,3173,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,12904,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12904,begin apogee
$FREEZE,1.20,-1.809,-1.610,2,12,0
$GC,12917,-0.22,0.0,1452,2497,3504,3173,1.2,-0.7,2411,12931,3.70,0.00,6.93,0.175,10242,0.235,0.000,2433,2498,3282,3452,3112,0,0,0,0,0,0,13.65,28.83,28.83
$STATE,12931,end apogee,FINISH_DEPTH_REACHED
$STATE,12932,begin subsurface finish
$FINISH1,1.2,1.023705,0
$GC,12946,0.00,0.0,2433,2498,3452,3111,1.2,-0.6,2412,13020,0.28,1.55,65.88,0.155,10756,0.270,0.099,2503,1659,2737,2852,2623,0,0,0,0,0,0,13.52,14.10,13.97
$FINISH2,1.1
$STATE,13021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13021,begin surface
$RAFOS_CLK,713
$RAFOS,6,1388076543,16.833334,16.817499,89,62,58,55,54,53,756,118,162,144,210,234
$RAFOS,5,1388076065,16.700001,16.684723,68,64,58,58,48,48,690,173,217,196,100,230
$RAFOS,4,1388075584,16.566668,16.551111,82,67,64,56,53,52,639,213,186,159,130,1873
$RAFOS,3,1388075106,16.433332,16.418333,80,58,58,57,57,55,701,210,159,228,175,188
$RAFOS,2,1388074623,16.299999,16.284166,65,65,57,55,53,50,168,212,159,202,184,780
$RAFOS,1,1388074145,16.166666,16.151388,61,59,53,52,50,48,204,163,126,135,217,180
$RAFOS,0,1388073664,16.033333,16.017778,58,57,55,53,53,49,154,211,193,115,170,224
$RAFOS_FIX,6643.267578,-5830.302734,261213,161628,4,80,0.44
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.11
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,11.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.5,232.401
$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,6.600,75.200,72.800,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,5990.554,2706.281,275.659,3458.998,725.389,0.000,1880.848,0.000,3432.887,2520.000,2.816,0.000
$DEVICE_MAMPS,270.045,171.360,175.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1727.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,93116,2424
$CAP_FILE_SIZE,177738,0
$CFSIZE,259252224,209219584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1436.2
$CURRENT,2.594, 85.8,1
$GPS,261213,163928,6643.268,-5830.303,0,4079.8,0,-33.8