version: 66.11
glider: 192
mission: 2
dive: 541
start: 12 27 113 10 14 3
data:
$ID,192
$MISSION,2
$DIVE,541
$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
$GPS1,271213,083741,6642.499,-5820.713,0,3093.0,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-22.8
$GPS2,271213,083741,6642.499,-5820.713,0,3093.0,0,-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,334.7,91697,-15.5,-8.250,-18.49,2720
$D_GRID,693
$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,-146.0,2501,2499,3177,2856,0.0,0.0,0,44,0.00,0.00,-21.42,0.000,16390,0.000,0.000,2501,2499,3338,3506,3170,0,0,0,0,0,0,28.83,28.83,14.55
$GC,51,-0.89,-146.0,2501,2499,3506,3169,1.2,0.6,4,58,0.85,0.00,0.00,0.000,4102,0.096,0.000,2222,2499,3337,3506,3169,0,0,0,0,0,0,13.89,28.83,28.83
$GC,373,-0.82,-146.0,2222,2499,3507,3169,1.1,-0.2,65,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2500,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,691,-0.75,-146.0,1368,2497,3499,3166,1.1,0.3,126,699,0.17,0.00,0.00,0.000,2054,0.281,0.000,2263,2500,3338,3507,3169,0,0,0,0,0,0,13.47,28.83,28.83
$GC,1013,-0.67,-146.0,2263,2499,3507,3169,1.1,-0.2,187,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1332,-0.60,-146.0,1392,2497,3499,3166,1.2,-0.0,248,1339,0.17,0.00,0.00,0.000,2054,0.279,0.000,2309,2499,3338,3508,3169,0,0,0,0,0,0,13.51,28.83,28.83
$GC,1653,-0.60,-146.0,2308,2500,3507,3169,1.1,0.0,309,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1973,-0.60,-146.0,2308,2499,3508,3169,1.0,0.7,370,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,-0.53,-146.0,2308,2499,3507,3169,1.2,-0.4,431,2299,0.12,0.00,0.00,0.000,2054,0.320,0.000,2339,2500,3338,3507,3169,0,0,0,0,0,0,13.67,28.83,28.83
$GC,2616,-0.45,-146.0,2339,2500,3507,3169,1.1,0.2,492,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-0.38,-146.0,2339,2500,3507,3169,1.1,0.6,553,2945,0.15,0.00,0.00,0.000,2054,0.298,0.000,2377,2499,3338,3507,3169,0,0,0,0,0,0,13.56,28.83,28.83
$GC,3258,-0.30,-146.0,2377,2499,3507,3169,1.1,0.1,614,3265,0.12,0.00,0.00,0.000,2054,0.306,0.000,2407,2500,3338,3507,3169,0,0,0,0,0,0,13.73,28.83,28.83
$GC,3580,-0.23,-146.0,2407,2499,3508,3169,1.1,-0.0,675,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2500,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,-0.16,-146.0,2407,2499,3508,3170,1.1,0.5,736,3907,0.12,0.00,0.00,0.000,2054,0.311,0.000,2438,2499,3338,3507,3169,0,0,0,0,0,0,13.69,28.83,28.83
$GC,4221,-0.09,-146.0,2438,2500,3507,3169,1.1,-0.3,797,4229,0.12,0.00,0.00,0.000,2054,0.317,0.000,2469,2499,3338,3507,3169,0,0,0,0,0,0,13.67,28.83,28.83
$GC,4541,-0.09,-146.0,2469,2499,3507,3169,1.1,0.0,858,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2500,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4862,-0.01,-146.0,1536,2497,3500,3166,1.1,0.3,919,4869,0.12,0.00,0.00,0.000,2054,0.314,0.000,2499,2499,3338,3507,3169,0,0,0,0,0,0,13.68,28.83,28.83
$GC,5183,0.06,-146.0,2499,2500,3507,3169,1.1,0.1,980,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5506,0.13,-146.0,1552,2497,3499,3166,1.0,0.3,1041,5512,0.17,0.00,0.00,0.000,2054,0.295,0.000,2542,2499,3338,3507,3169,0,0,0,0,0,0,13.45,28.83,28.83
$GC,5829,0.20,-146.0,2542,2499,3508,3169,1.1,-0.3,1102,5835,0.12,0.00,0.00,0.000,2054,0.311,0.000,2573,2499,3338,3507,3169,0,0,0,0,0,0,13.69,28.83,28.83
$GC,6151,0.28,-146.0,2573,2499,3508,3169,1.1,0.2,1163,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2499,3338,3508,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6474,0.28,-146.0,2573,2500,3508,3169,1.1,0.0,1224,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2499,3337,3506,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6797,0.35,-146.0,2573,2499,3507,3169,1.1,0.2,1285,6805,0.15,0.00,0.00,0.000,2054,0.297,0.000,2611,2500,3338,3508,3169,0,0,0,0,0,0,13.54,28.83,28.83
$GC,7122,0.43,-146.0,2611,2499,3507,3170,1.1,-0.0,1346,7128,0.12,0.00,0.00,0.000,2054,0.303,0.000,2642,2500,3338,3507,3169,0,0,0,0,0,0,13.68,28.83,28.83
$GC,7450,0.50,-146.0,2642,2499,3507,3169,1.0,0.1,1407,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7770,0.57,-146.0,2642,2499,3507,3169,1.2,-0.4,1468,7777,0.15,0.00,0.00,0.000,2054,0.298,0.000,2679,2499,3338,3507,3169,0,0,0,0,0,0,13.54,28.83,28.83
$GC,8093,0.57,-146.0,2679,2499,3507,3169,1.1,0.6,1529,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8413,0.65,-146.0,1696,2497,3499,3166,1.1,0.2,1590,8421,0.12,0.00,0.00,0.000,2054,0.308,0.000,2709,2499,3338,3507,3169,0,0,0,0,0,0,13.66,28.83,28.83
$GC,8743,0.72,-146.0,2709,2499,3508,3169,1.0,0.2,1651,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2500,3338,3508,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9062,0.79,-146.0,1728,2497,3500,3166,1.1,-0.1,1712,9069,0.17,0.00,0.00,0.000,2054,0.291,0.000,2752,2499,3338,3507,3169,0,0,0,0,0,0,13.41,28.83,28.83
$GC,9391,0.86,-146.0,2752,2499,3508,3169,1.0,-0.2,1773,9397,0.12,0.00,0.00,0.000,2054,0.314,0.000,2781,2499,3338,3508,3169,0,0,0,0,0,0,13.65,28.83,28.83
$GC,9711,0.86,-146.0,2782,2499,3507,3169,1.1,0.0,1834,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2499,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10033,0.94,-146.0,2782,2499,3508,3169,1.1,0.0,1895,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2500,3338,3506,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10354,1.01,-146.0,2782,2500,3508,3169,1.1,-0.3,1956,10361,0.17,0.00,0.00,0.000,2054,0.292,0.000,2826,2499,3338,3508,3169,0,0,0,0,0,0,13.44,28.83,28.83
$GC,10682,1.09,-146.0,2826,2499,3507,3169,1.1,-0.1,2017,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11004,1.16,-146.0,1824,2497,3499,3166,1.1,0.0,2078,11011,0.17,0.00,0.00,0.000,2054,0.302,0.000,2869,2499,3338,3508,3169,0,0,0,0,0,0,13.37,28.83,28.83
$GC,11332,1.23,-146.0,2870,2499,3508,3169,1.2,-0.2,2139,11338,0.12,0.00,0.00,0.000,2054,0.312,0.000,2898,2499,3338,3508,3169,0,0,0,0,0,0,13.66,28.83,28.83
$GC,11652,1.23,-146.0,2900,2500,3506,3169,1.1,-1.7,2200,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11975,1.31,-146.0,2900,2499,3508,3169,1.1,-0.6,2261,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2499,3338,3507,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12295,1.38,-146.0,2900,2499,3508,3169,1.1,-0.1,2322,12302,0.17,0.00,0.00,0.000,2054,0.297,0.000,2942,2500,3338,3508,3169,0,0,0,0,0,0,13.41,28.83,28.83
$GC,12622,1.46,-146.0,2942,2499,3507,3169,1.1,-0.2,2383,12629,0.12,0.00,0.00,0.000,2054,0.319,0.000,2971,2499,3338,3507,3169,0,0,0,0,0,0,13.65,28.83,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12907,begin apogee
$FREEZE,1.22,-2.549,-0.544,2,17,0
$GC,12921,-0.22,0.0,2971,2499,3507,3169,1.1,0.2,2438,12932,1.62,0.00,7.22,0.175,12290,0.093,0.000,2431,2500,3278,3450,3107,0,0,0,0,0,0,13.86,28.83,28.83
$STATE,12933,end apogee,SURFACE_DEPTH_REACHED
$STATE,12933,begin surface coast
$FREEZE,1.15,-2.549,-0.543,2,17,0
$FREEZE,1.08,-2.550,-0.543,2,17,0
$FREEZE,1.18,-2.550,-0.543,2,17,0
$FREEZE,1.06,-2.551,-0.543,2,17,0
$FREEZE,1.10,-2.551,-0.543,2,17,0
$FINISH,1.1,1.007822
$STATE,12966,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12966,begin surface
$SM_CCo,12995,268.95,0.159,0,0,1107,400.08
$SM_GC,1.24,7.03,0.00,268.95,0.087,0.000,0.159,135,2500,1107,-7.36,-0.03,400.08,0,0,0,0,0,0,13.97,28.83,13.99
$RAFOS_CLK,727
$RAFOS,6,1388148544,12.833333,12.817778,107,60,60,56,56,48,758,208,187,219,152,161
$RAFOS,5,1388148062,12.700000,12.683888,129,66,62,60,57,53,670,207,220,144,158,122
$RAFOS,4,1388147583,12.566667,12.550834,128,66,62,55,55,55,678,213,194,161,222,137
$RAFOS,3,1388147106,12.433333,12.418333,87,60,58,57,56,55,730,166,121,149,182,223
$RAFOS,2,1388146624,12.300000,12.284445,67,66,61,58,54,49,186,209,131,166,815,222
$RAFOS,1,1388146143,12.166667,12.150833,68,63,58,56,52,51,214,188,200,131,114,154
$RAFOS,0,1388145663,12.033333,12.017500,62,60,60,56,54,52,214,185,231,170,151,138
$RAFOS_FIX,6644.353516,-5816.345703,271213,121228,4,113,0.32
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.47
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,232.888
$10V_AH,13.4,0.000
$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,12.550,0.000,7.225,268.950,0.000,0.000,0.000,0.000,1.250,0.000,0.000,6047.576,2737.024,463.780,3489.260,610.453,0.000,2055.047,0.000,3462.304,2520.000,2.815,0.000
$DEVICE_MAMPS,319.770,0.000,175.185,159.120,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1744.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93202,2444
$CAP_FILE_SIZE,166449,0
$CFSIZE,259252224,208818176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1403.9
$CURRENT,0.477, 88.4,1
$GPS,271213,135701,6642.617,-5812.114,43,2.0,43,-33.4