version: 66.11
glider: 192
mission: 2
dive: 539
start: 12 27 113 2 55 33
data:
$ID,192
$MISSION,2
$DIVE,539
$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
$GPS1,271213,004344,6642.977,-5822.333,0,2094.0,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-22.8
$GPS2,271213,004344,6642.977,-5822.333,0,2094.0,0,-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,260.0,90489,-15.5,-8.250,-18.49,2720
$D_GRID,704
$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,19,-0.89,-146.0,2501,2501,3399,3053,0.0,0.0,0,32,0.00,0.00,-7.50,0.000,16390,0.000,0.000,2501,2501,3337,3508,3166,0,0,0,0,0,0,28.83,28.83,14.53
$GC,40,-0.89,-146.0,2502,2501,3508,3166,1.2,0.3,2,47,0.85,1.62,0.00,0.000,4356,0.095,0.138,2215,3346,3337,3509,3166,0,0,0,0,0,0,13.91,13.79,28.83
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$GC,852,-0.67,-146.0,2265,3349,3509,3166,1.1,0.3,155,859,0.00,1.55,0.00,0.000,1030,0.000,0.093,2265,2492,3337,3509,3166,0,0,0,0,0,0,28.83,13.88,28.83
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$GC,1748,-0.45,-146.0,1416,2492,3501,3163,1.1,0.3,323,1757,0.12,1.70,0.00,0.000,2308,0.321,0.137,2358,3350,3337,3509,3166,0,0,0,0,0,0,13.64,13.64,28.83
$GC,1997,-0.38,-146.0,2358,3350,3510,3166,1.2,-0.3,369,2004,0.00,1.55,0.00,0.000,1030,0.000,0.093,2358,2497,3337,3509,3166,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2318,-0.31,-146.0,1472,2495,3501,3163,1.1,-0.2,430,2325,0.17,1.67,0.00,0.000,2308,0.284,0.138,2397,3345,3337,3509,3166,0,0,0,0,0,0,13.47,13.63,28.83
$GC,2564,-0.23,-146.0,2396,3345,3509,3167,1.0,0.8,476,2573,0.15,1.55,0.00,0.000,3078,0.279,0.093,2427,2490,3337,3509,3166,0,0,0,0,0,0,13.45,13.86,28.83
$GC,2894,-0.16,-146.0,2427,2489,3510,3166,1.1,-0.1,537,2901,0.00,1.70,0.00,0.000,260,0.000,0.142,2422,3349,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,3139,-0.16,-146.0,2423,3349,3509,3166,1.2,-1.7,583,3147,0.15,1.55,0.00,0.000,3078,0.288,0.093,2451,2494,3337,3509,3166,0,0,0,0,0,0,13.41,13.85,28.83
$GC,3469,-0.09,-146.0,2452,2494,3509,3166,1.2,-0.3,644,3476,0.00,1.67,0.00,0.000,260,0.000,0.140,2447,3346,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,3717,-0.01,-146.0,1536,3345,3501,3163,1.1,-0.3,690,3726,0.22,1.52,0.00,0.000,3078,0.272,0.093,2496,2499,3338,3509,3167,0,0,0,0,0,0,13.38,13.84,28.83
$GC,4040,-0.01,-146.0,2496,2499,3509,3166,1.1,-0.1,751,4048,0.00,1.67,0.00,0.000,260,0.000,0.139,2492,3352,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,4287,0.06,-146.0,1552,3350,3501,3163,1.1,0.1,797,4294,0.15,1.55,0.00,0.000,3078,0.284,0.093,2521,2495,3337,3509,3166,0,0,0,0,0,0,13.43,13.84,28.83
$GC,4617,0.13,-146.0,2521,2495,3509,3166,1.1,0.1,858,4623,0.00,1.67,0.00,0.000,260,0.000,0.142,2517,3346,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,4862,0.21,-146.0,2517,3346,3509,3166,1.1,0.2,904,4870,0.22,1.52,0.00,0.000,3078,0.275,0.092,2566,2498,3337,3509,3166,0,0,0,0,0,0,13.36,13.84,28.83
$GC,5189,0.28,-146.0,1584,2496,3501,3163,1.1,-0.1,965,5196,0.12,1.67,0.00,0.000,2308,0.315,0.139,2592,3345,3338,3509,3167,0,0,0,0,0,0,13.64,13.62,28.83
$GC,5436,0.35,-146.0,1632,3343,3501,3163,1.1,-0.5,1011,5444,0.00,1.52,0.00,0.000,1030,0.000,0.092,2592,2501,3337,3509,3166,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5763,0.43,-146.0,2592,2500,3509,3166,1.1,0.1,1072,5771,0.17,1.67,0.00,0.000,2308,0.291,0.137,2629,3349,3337,3509,3166,0,0,0,0,0,0,13.42,13.64,28.83
$GC,6010,0.50,-146.0,1664,3347,3501,3163,1.1,-0.1,1118,6017,0.15,1.55,0.00,0.000,3078,0.291,0.093,2659,2492,3337,3509,3166,0,0,0,0,0,0,13.40,13.84,28.83
$GC,6339,0.57,-146.0,2659,2492,3509,3167,1.2,-0.3,1179,6347,0.12,1.67,0.00,0.000,2308,0.309,0.138,2686,3345,3337,3509,3166,0,0,0,0,0,0,13.66,13.62,28.83
$GC,6585,0.65,-146.0,2686,3345,3509,3167,1.1,-0.5,1225,6592,0.00,1.52,0.00,0.000,1030,0.000,0.093,2686,2499,3337,3509,3166,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6915,0.72,-146.0,2686,2499,3509,3166,1.1,0.2,1286,6922,0.17,1.67,0.00,0.000,2308,0.291,0.135,2722,3349,3337,3509,3166,0,0,0,0,0,0,13.40,13.63,28.83
$GC,7160,0.79,-146.0,1744,3348,3501,3163,1.0,0.1,1332,7167,0.17,1.55,0.00,0.000,3078,0.286,0.093,2757,2492,3337,3509,3166,0,0,0,0,0,0,13.38,13.84,28.83
$GC,7482,0.79,-146.0,1792,2490,3501,3163,1.1,0.0,1393,7490,0.00,1.67,0.00,0.000,260,0.000,0.139,2753,3349,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7730,0.87,-146.0,2753,3349,3509,3166,1.2,0.1,1439,7738,0.12,1.52,0.00,0.000,3078,0.295,0.092,2777,2499,3337,3509,3166,0,0,0,0,0,0,13.47,13.84,28.83
$GC,8059,0.94,-146.0,2778,2499,3509,3166,1.1,0.2,1500,8067,0.12,1.67,0.00,0.000,2308,0.312,0.138,2803,3345,3337,3509,3166,0,0,0,0,0,0,13.66,13.62,28.83
$GC,8307,1.01,-146.0,2803,3345,3509,3166,1.1,-0.3,1546,8314,0.00,1.52,0.00,0.000,1030,0.000,0.092,2803,2500,3338,3509,3167,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8628,1.09,-146.0,2803,2499,3509,3166,1.2,-0.1,1607,8635,0.17,1.67,0.00,0.000,2308,0.291,0.134,2840,3350,3337,3509,3166,0,0,0,0,0,0,13.42,13.63,28.83
$GC,8873,1.16,-146.0,2841,3350,3509,3166,1.1,0.2,1653,8881,0.15,1.55,0.00,0.000,3078,0.291,0.092,2871,2494,3337,3509,3166,0,0,0,0,0,0,13.40,13.85,28.83
$GC,9200,1.23,-146.0,2871,2493,3509,3166,1.1,-0.4,1714,9209,0.12,1.67,0.00,0.000,2308,0.319,0.136,2897,3345,3337,3509,3166,0,0,0,0,0,0,13.64,13.62,28.83
$GC,9449,1.31,-146.0,1888,3344,3501,3163,1.0,0.7,1760,9455,0.00,1.52,0.00,0.000,1030,0.000,0.091,2896,2499,3338,3510,3166,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9770,1.38,-146.0,2897,2499,3509,3166,1.1,0.3,1821,9777,0.17,1.67,0.00,0.000,2308,0.296,0.136,2933,3349,3337,3509,3166,0,0,0,0,0,0,13.40,13.62,28.83
$GC,10017,1.45,-146.0,2933,3349,3509,3166,1.1,-0.2,1867,10026,0.17,1.55,0.00,0.000,3078,0.293,0.092,2968,2491,3337,3509,3166,0,0,0,0,0,0,13.36,13.85,28.83
$GC,10345,1.53,-146.0,2967,2491,3509,3166,1.2,-0.1,1928,10351,0.00,1.67,0.00,0.000,260,0.000,0.139,2963,3345,3337,3509,3166,0,0,0,0,0,0,28.83,13.61,28.83
$GC,10590,1.53,-146.0,2963,3345,3509,3166,1.1,0.2,1974,10598,0.15,1.52,0.00,0.000,3078,0.293,0.091,2992,2500,3337,3509,3166,0,0,0,0,0,0,13.39,13.84,28.83
$GC,10920,1.60,-146.0,2991,2500,3509,3166,1.2,-0.3,2035,10927,0.00,1.65,0.00,0.000,260,0.000,0.136,2987,3346,3337,3509,3166,0,0,0,0,0,0,28.83,13.61,28.83
$GC,11167,1.60,-146.0,2987,3346,3509,3166,1.1,0.0,2081,11174,0.12,1.55,0.00,0.000,3078,0.301,0.092,3010,2494,3337,3509,3166,0,0,0,0,0,0,13.44,13.84,28.83
$GC,11489,1.60,-146.0,3011,2494,3509,3166,1.0,-0.0,2142,11496,0.00,1.67,0.00,0.000,260,0.000,0.139,3006,3347,3337,3509,3166,0,0,0,0,0,0,28.83,13.61,28.83
$GC,11735,1.60,-146.0,3006,3347,3509,3167,1.1,0.0,2188,11743,0.00,1.52,0.00,0.000,1030,0.000,0.092,3006,2500,3337,3509,3166,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12064,1.60,-146.0,3006,2500,3509,3167,1.2,-0.5,2249,12071,0.00,1.65,0.00,0.000,260,0.000,0.138,3000,3346,3337,3509,3166,0,0,0,0,0,0,28.83,13.61,28.83
$GC,12310,1.60,-146.0,2048,3345,3501,3163,1.1,0.3,2295,12317,0.00,1.52,0.00,0.000,1030,0.000,0.092,3000,2498,3337,3509,3166,0,0,0,0,0,0,28.83,13.84,28.83
$GC,12638,1.60,-146.0,3000,2498,3509,3166,1.1,-0.3,2356,12644,0.00,1.67,0.00,0.000,260,0.000,0.139,2993,3351,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12884,1.60,-146.0,2993,3351,3509,3166,1.0,0.2,2402,12891,0.00,1.55,0.00,0.000,1030,0.000,0.093,2993,2496,3337,3509,3166,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,12906,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12906,begin apogee
$FREEZE,1.26,-1.896,-0.825,2,15,0
$GC,12919,-0.22,0.0,2993,2496,3509,3166,1.2,-0.2,2406,12934,1.67,0.00,9.88,0.169,12290,0.095,0.000,2436,2496,3255,3428,3083,0,0,0,0,0,0,13.89,28.83,28.83
$STATE,12935,end apogee,FINISH_DEPTH_REACHED
$STATE,12935,begin subsurface finish
$FINISH1,1.3,1.012126,0
$GC,12950,0.00,0.0,2436,2496,3428,3082,1.3,-0.2,2407,12972,0.25,0.00,19.35,0.158,10754,0.269,0.000,2497,2496,3095,3264,2926,0,0,0,0,0,0,13.50,28.83,28.83
$FINISH2,1.2
$STATE,12973,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12973,begin surface
$RAFOS_CLK,704
$RAFOS,6,1388119742,4.833333,4.817222,91,57,57,55,54,53,779,215,206,181,145,132
$RAFOS,5,1388119277,4.700000,4.688056,60,60,57,57,55,53,167,177,121,189,204,221
$RAFOS,4,1388118786,4.566667,4.551667,67,60,59,56,55,52,218,660,151,125,195,464
$RAFOS,3,1388118301,4.433333,4.416945,67,66,61,60,54,54,162,740,147,198,218,182
$RAFOS,2,1388117822,4.300000,4.283889,63,61,58,56,55,52,162,206,146,180,222,89
$RAFOS,1,1388117344,4.166667,4.151111,65,62,54,54,52,50,206,183,160,170,215,138
$RAFOS,0,1388116866,4.033333,4.018333,73,59,56,54,52,51,216,199,141,231,173,152
$RAFOS_FIX,6642.976562,-5822.333496,271213,000044,2,94,0.39
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.06
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,11.70
$XPDR_PINGS,12
$ALTIM_TOP_PING,1.3,999.0
$24V_AH,13.4,232.686
$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,6.800,73.875,29.225,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,6024.639,2649.766,224.841,3428.154,710.496,0.000,1813.029,0.000,3414.031,2520.000,2.816,0.000
$DEVICE_MAMPS,320.535,142.290,169.065,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1719.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93197,2410
$CAP_FILE_SIZE,177397,0
$CFSIZE,259252224,208973824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1416.5
$CURRENT,0.011,301.9,1
$GPS,271213,004344,6642.977,-5822.333,0,2094.0,0,-33.8