version: 66.11
glider: 192
mission: 2
dive: 542
start: 12 27 113 14 16 19
data:
$ID,192
$MISSION,2
$DIVE,542
$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,-12204.371
$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
$GPS1,271213,135701,6642.617,-5812.114,43,2.0,43,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-22.8
$GPS2,271213,141535,6642.578,-5811.840,41,0.8,41,-33.4
$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,298.8,98182,-15.5,-8.250,-18.49,2720
$D_GRID,664
$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,-146.0,136,2499,1158,1031,0.0,0.0,0,166,0.00,0.00,-139.77,0.000,16390,0.000,0.000,135,2500,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,14.62
$GC,174,-0.89,-146.0,135,2500,3508,3164,1.3,-0.3,25,189,7.80,1.62,0.00,0.000,2308,0.245,0.135,2217,3346,3336,3509,3164,0,0,0,0,0,0,13.76,14.02,28.83
$GC,428,-0.82,-146.0,2217,3347,3510,3164,1.1,0.2,72,434,0.00,1.50,0.00,0.000,1030,0.000,0.091,2216,2498,3337,3510,3165,0,0,0,0,0,0,28.83,14.08,28.83
$GC,749,-0.75,-146.0,2217,2498,3510,3165,1.1,-0.0,133,756,0.17,1.65,0.00,0.000,2308,0.285,0.135,2256,3352,3337,3510,3165,0,0,0,0,0,0,13.63,13.85,28.83
$GC,998,-0.67,-146.0,2256,3352,3510,3165,1.1,-0.3,179,1005,0.15,1.52,0.00,0.000,3078,0.284,0.091,2287,2494,3337,3510,3165,0,0,0,0,0,0,13.66,14.04,28.83
$GC,1324,-0.60,-146.0,2286,2494,3509,3164,1.1,-0.3,240,1330,0.00,1.65,0.00,0.000,260,0.000,0.138,2282,3350,3337,3509,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1569,-0.52,-146.0,1408,3348,3501,3161,1.1,-0.2,286,1578,0.22,1.52,0.00,0.000,3078,0.267,0.092,2333,2495,3337,3510,3164,0,0,0,0,0,0,13.53,13.99,28.83
$GC,1898,-0.45,-146.0,2333,2495,3510,3164,1.1,0.2,347,1905,0.12,1.65,0.00,0.000,2308,0.314,0.137,2359,3346,3337,3510,3164,0,0,0,0,0,0,13.71,13.75,28.83
$GC,2145,-0.38,-146.0,1472,3345,3502,3161,1.0,0.3,393,2151,0.00,1.52,0.00,0.000,1030,0.000,0.092,2358,2492,3336,3509,3164,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2468,-0.30,-146.0,2358,2492,3509,3164,1.1,0.1,454,2475,0.17,1.67,0.00,0.000,2308,0.288,0.138,2396,3346,3337,3509,3165,0,0,0,0,0,0,13.55,13.72,28.83
$GC,2714,-0.23,-146.0,2396,3346,3510,3164,1.1,0.8,500,2721,0.15,1.52,0.00,0.000,3078,0.287,0.093,2426,2498,3336,3509,3164,0,0,0,0,0,0,13.54,13.94,28.83
$GC,3042,-0.16,-146.0,2426,2498,3509,3164,1.1,0.1,561,3049,0.12,1.67,0.00,0.000,2308,0.314,0.138,2452,3354,3337,3510,3165,0,0,0,0,0,0,13.69,13.71,28.83
$GC,3290,-0.09,-146.0,2452,3353,3510,3164,1.2,-0.4,607,3298,0.00,1.55,0.00,0.000,1030,0.000,0.093,2452,2491,3336,3509,3164,0,0,0,0,0,0,28.83,13.94,28.83
$GC,3615,-0.01,-146.0,2452,2491,3510,3164,1.1,0.1,668,3622,0.17,1.67,0.00,0.000,2308,0.290,0.138,2490,3345,3336,3509,3164,0,0,0,0,0,0,13.50,13.69,28.83
$GC,3858,-0.01,-146.0,2490,3345,3510,3164,1.1,-0.5,714,3865,0.00,1.52,0.00,0.000,1030,0.000,0.093,2490,2495,3336,3509,3164,0,0,0,0,0,0,28.83,13.92,28.83
$GC,4180,0.06,-146.0,2490,2495,3510,3165,1.1,-0.3,775,4188,0.12,1.67,0.00,0.000,2308,0.304,0.139,2514,3348,3337,3510,3164,0,0,0,0,0,0,13.73,13.68,28.83
$GC,4428,0.13,-146.0,1568,3347,3502,3161,1.1,0.3,821,4435,0.15,1.52,0.00,0.000,3078,0.290,0.094,2543,2499,3337,3510,3164,0,0,0,0,0,0,13.50,13.90,28.83
$GC,4756,0.21,-146.0,2543,2499,3509,3164,1.1,0.3,882,4763,0.12,1.65,0.00,0.000,2308,0.319,0.136,2569,3345,3337,3510,3164,0,0,0,0,0,0,13.69,13.67,28.83
$GC,5003,0.28,-146.0,2569,3345,3510,3164,1.1,-0.1,928,5010,0.00,1.52,0.00,0.000,1030,0.000,0.093,2569,2497,3337,3510,3164,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5324,0.36,-146.0,2569,2497,3509,3164,1.2,-0.5,989,5331,0.17,1.67,0.00,0.000,2308,0.289,0.138,2607,3348,3336,3509,3164,0,0,0,0,0,0,13.52,13.67,28.83
$GC,5571,0.43,-146.0,2607,3349,3509,3164,1.1,0.5,1035,5578,0.15,1.52,0.00,0.000,3078,0.284,0.093,2638,2499,3336,3509,3164,0,0,0,0,0,0,13.49,13.89,28.83
$GC,5897,0.50,-146.0,2638,2500,3509,3164,1.1,-0.1,1096,5906,0.12,1.67,0.00,0.000,2308,0.316,0.135,2664,3351,3337,3510,3164,0,0,0,0,0,0,13.67,13.67,28.83
$GC,6147,0.58,-146.0,1696,3350,3502,3161,1.0,-0.0,1142,6154,0.00,1.55,0.00,0.000,1030,0.000,0.093,2664,2491,3337,3510,3164,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6470,0.65,-146.0,1680,2489,3501,3161,1.1,0.2,1203,6477,0.17,1.70,0.00,0.000,2308,0.285,0.137,2702,3350,3337,3510,3165,0,0,0,0,0,0,13.45,13.66,28.83
$GC,6715,0.72,-146.0,2702,3351,3510,3164,1.1,-0.1,1249,6723,0.15,1.55,0.00,0.000,3078,0.290,0.094,2730,2494,3337,3509,3165,0,0,0,0,0,0,13.47,13.90,28.83
$GC,7044,0.79,-146.0,2731,2493,3510,3164,1.1,-0.4,1310,7051,0.12,1.67,0.00,0.000,2308,0.316,0.136,2756,3346,3337,3510,3164,0,0,0,0,0,0,13.64,13.65,28.83
$GC,7291,0.87,-146.0,2756,3346,3510,3164,1.1,-0.0,1356,7299,0.00,1.55,0.00,0.000,1030,0.000,0.092,2756,2491,3336,3509,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,7614,0.94,-146.0,2756,2491,3509,3164,1.1,0.1,1417,7623,0.20,1.70,0.00,0.000,2308,0.282,0.138,2798,3351,3337,3510,3164,0,0,0,0,0,0,13.40,13.66,28.83
$GC,7864,0.94,-146.0,1808,3349,3502,3161,1.0,0.6,1463,7870,0.00,1.55,0.00,0.000,1030,0.000,0.093,2798,2496,3337,3510,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8191,1.01,-146.0,2798,2496,3510,3164,1.1,-0.1,1524,8198,0.12,1.67,0.00,0.000,2308,0.311,0.137,2822,3346,3337,3510,3164,0,0,0,0,0,0,13.66,13.65,28.83
$GC,8438,1.01,-146.0,2822,3346,3509,3164,1.1,0.0,1570,8444,0.00,1.55,0.00,0.000,1030,0.000,0.093,2822,2494,3336,3509,3164,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8758,1.01,-146.0,2822,2494,3509,3164,1.1,-0.3,1631,8766,0.00,1.67,0.00,0.000,260,0.000,0.141,2816,3346,3336,3509,3164,0,0,0,0,0,0,28.83,13.63,28.83
$GC,9005,1.09,-146.0,2816,3346,3510,3164,1.1,0.1,1677,9012,0.15,1.52,0.00,0.000,3078,0.295,0.093,2847,2499,3337,3510,3164,0,0,0,0,0,0,13.43,13.86,28.83
$GC,9331,1.09,-146.0,2847,2499,3511,3164,1.1,0.0,1738,9338,0.00,1.65,0.00,0.000,260,0.000,0.138,2842,3346,3337,3510,3164,0,0,0,0,0,0,28.83,13.64,28.83
$GC,9577,1.16,-146.0,1856,3344,3501,3161,1.1,-0.6,1784,9586,0.15,1.52,0.00,0.000,3078,0.293,0.092,2872,2496,3337,3510,3164,0,0,0,0,0,0,13.45,13.88,28.83
$GC,9907,1.24,-146.0,2873,2497,3510,3164,1.1,0.1,1845,9915,0.12,1.67,0.00,0.000,2308,0.317,0.137,2898,3349,3337,3510,3164,0,0,0,0,0,0,13.67,13.65,28.83
$GC,10154,1.31,-146.0,2898,3349,3510,3164,1.1,0.3,1891,10161,0.00,1.52,0.00,0.000,1030,0.000,0.091,2898,2501,3336,3509,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10481,1.38,-146.0,2898,2501,3510,3164,1.0,-0.2,1952,10488,0.17,1.67,0.00,0.000,2308,0.291,0.136,2935,3351,3336,3509,3164,0,0,0,0,0,0,13.43,13.65,28.83
$GC,10729,1.46,-146.0,2935,3351,3510,3164,1.2,-0.1,1998,10736,0.17,1.52,0.00,0.000,3078,0.287,0.092,2970,2501,3337,3510,3164,0,0,0,0,0,0,13.40,13.87,28.83
$GC,11058,1.53,-146.0,2970,2501,3510,3164,1.1,-0.1,2059,11064,0.00,1.65,0.00,0.000,260,0.000,0.141,2966,3345,3336,3509,3164,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11304,1.60,-146.0,2965,3345,3510,3164,1.0,0.8,2105,11312,0.22,1.52,0.00,0.000,3078,0.275,0.092,3014,2496,3336,3509,3164,0,0,0,0,0,0,13.38,13.87,28.83
$GC,11632,1.60,-146.0,3014,2496,3509,3164,1.0,-0.0,2166,11639,0.00,1.67,0.00,0.000,260,0.000,0.140,3010,3351,3336,3509,3164,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11880,1.60,-146.0,3010,3351,3510,3164,1.1,-0.1,2212,11887,0.00,1.52,0.00,0.000,1030,0.000,0.093,3010,2502,3336,3509,3164,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12209,1.60,-146.0,3010,2502,3510,3164,1.0,0.3,2273,12215,0.00,1.65,0.00,0.000,260,0.000,0.141,3003,3345,3336,3509,3164,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12454,1.60,-146.0,3003,3343,3509,3164,1.1,-0.1,2319,12461,0.00,1.52,0.00,0.000,1030,0.000,0.092,3003,2497,3337,3510,3164,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12779,1.60,-146.0,3003,2497,3510,3164,1.0,0.5,2380,12786,0.00,1.67,0.00,0.000,260,0.000,0.140,2997,3351,3337,3510,3164,0,0,0,0,0,0,28.83,13.63,28.83
$STATE,12910,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12910,begin apogee
$FREEZE,1.23,-2.872,-0.505,2,1,0
$GC,12925,-0.22,0.0,2997,2501,3509,3164,1.1,0.4,2404,12939,1.67,0.00,9.77,0.174,12290,0.093,0.000,2439,2501,3255,3430,3081,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12940,end apogee,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FREEZE,1.09,-2.873,-0.505,2,1,0
$FREEZE,1.11,-2.873,-0.505,2,1,0
$FREEZE,1.10,-2.873,-0.504,2,1,0
$FREEZE,1.04,-2.873,-0.504,2,1,0
$FREEZE,1.08,-2.873,-0.504,2,1,0
$FREEZE,1.13,-2.873,-0.505,2,1,0
$FREEZE,1.10,-2.874,-0.504,2,1,0
$FREEZE,1.10,-2.874,-0.504,2,1,0
$FREEZE,1.14,-2.874,-0.504,2,1,0
$FREEZE,1.07,-2.874,-0.504,2,1,0
$FREEZE,1.02,-2.874,-0.504,2,1,0
$FINISH,1.0,1.007204
$STATE,13004,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13004,begin surface
$SM_CCo,13032,267.70,0.161,0,0,1108,400.08
$SM_GC,1.17,7.03,0.00,267.70,0.087,0.000,0.161,138,2501,1108,-7.35,0.03,400.08,0,0,0,0,0,0,14.00,28.83,13.98
$RAFOS_CLK,675
$RAFOS,6,1388162943,16.833334,16.817499,129,60,58,56,54,54,773,209,132,173,155,184
$RAFOS,5,1388162465,16.700001,16.684723,63,62,61,57,57,56,207,652,163,219,193,181
$RAFOS,4,1388161982,16.566668,16.550556,85,66,57,53,51,51,697,206,190,171,410,116
$RAFOS,3,1388161504,16.433332,16.417778,60,60,59,55,54,53,192,214,134,746,174,115
$RAFOS,2,1388161022,16.299999,16.283890,60,55,54,53,49,46,208,152,139,116,168,219
$RAFOS,1,1388160542,16.166666,16.150555,61,51,50,49,48,44,208,149,115,217,182,94
$RAFOS,0,1388160065,16.033333,16.018055,65,61,61,58,55,54,179,195,218,236,131,165
$RAFOS_FIX,6644.996094,-5811.745117,271213,161640,2,107,0.51
$IRIDIUM_FIX,6620.33,-5911.55,241213,232333
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.03
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.70
$XPDR_PINGS,21
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,233.044
$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,20.425,73.600,9.775,267.700,0.000,0.000,0.000,704.025,5.500,0.000,42.653,5980.379,2683.260,579.121,4011.826,1157.051,0.000,2896.965,0.000,3425.207,2520.000,2.816,0.000
$DEVICE_MAMPS,319.005,140.760,173.655,160.650,0.000,0.000,0.000,164.475,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1728.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150672
$DATA_FILE_SIZE,93272,2416
$CAP_FILE_SIZE,194634,0
$CFSIZE,259252224,208707584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1401.4
$CURRENT,0.197, 98.9,1
$GPS,271213,180035,6642.379,-5808.363,84,0.8,84,-33.4