version: 66.11
glider: 192
mission: 2
dive: 550
start: 12 28 113 23 2 50
data:
$ID,192
$MISSION,2
$DIVE,550
$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,-12220.494
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,281213,223405,6629.921,-5809.994,33,1.2,34,-33.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-22.9
$GPS2,281213,230206,6629.354,-5810.051,44,1.0,44,-33.2
$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,3.5,103087,-15.5,-8.250,-18.49,2720
$D_GRID,621
$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,21,-0.89,-146.0,143,2515,1160,1032,0.0,0.0,0,169,0.00,0.00,-141.52,0.000,16390,0.000,0.000,143,2516,3336,3509,3163,0,0,0,0,0,0,28.83,28.83,14.63
$GC,177,-0.89,-146.0,143,2516,3509,3163,1.0,0.0,25,191,7.68,1.52,0.00,0.000,2564,0.238,0.091,2214,1658,3336,3510,3163,0,0,0,0,0,0,13.76,14.12,28.83
$GC,430,-0.82,-146.0,2213,1658,3510,3163,1.1,0.0,72,437,0.15,1.55,0.00,0.000,3078,0.288,0.105,2240,2508,3336,3510,3163,0,0,0,0,0,0,13.71,13.99,28.83
$GC,753,-0.75,-146.0,2240,2508,3510,3163,1.0,0.8,133,762,0.00,1.52,0.00,0.000,516,0.000,0.094,2240,1659,3337,3510,3164,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1001,-0.67,-146.0,2240,1658,3510,3163,1.0,-0.2,179,1008,0.22,1.55,0.00,0.000,3078,0.265,0.102,2287,2509,3336,3510,3163,0,0,0,0,0,0,13.64,13.95,28.83
$GC,1320,-0.67,-146.0,2287,2509,3510,3163,1.1,0.0,240,1328,0.00,1.52,0.00,0.000,516,0.000,0.094,2288,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1568,-0.60,-146.0,2288,1658,3510,3163,1.1,-0.3,286,1575,0.12,1.52,0.00,0.000,3078,0.295,0.102,2308,2498,3336,3510,3163,0,0,0,0,0,0,13.64,13.90,28.83
$GC,1895,-0.53,-146.0,1408,2496,3502,3160,1.0,0.1,347,1903,0.12,1.52,0.00,0.000,2564,0.316,0.091,2339,1656,3336,3510,3163,0,0,0,0,0,0,13.75,13.93,28.83
$GC,2142,-0.53,-146.0,2339,1656,3510,3163,1.1,-1.0,393,2150,0.00,1.55,0.00,0.000,1030,0.000,0.104,2334,2500,3336,3510,3163,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2466,-0.45,-146.0,2335,2500,3510,3163,1.0,0.5,454,2473,0.00,1.52,0.00,0.000,516,0.000,0.096,2334,1653,3336,3510,3163,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2712,-0.38,-146.0,2334,1653,3510,3163,1.0,0.4,500,2719,0.22,1.55,0.00,0.000,3078,0.272,0.105,2379,2499,3336,3510,3163,0,0,0,0,0,0,13.52,13.85,28.83
$GC,3032,-0.38,-146.0,2378,2499,3510,3163,1.0,2.5,561,3041,0.00,1.52,0.00,0.000,516,0.000,0.096,2379,1653,3336,3510,3163,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3282,-0.31,-146.0,1472,1651,3502,3160,1.0,-0.1,607,3289,0.15,1.58,0.00,0.000,3078,0.278,0.105,2405,2508,3336,3510,3163,0,0,0,0,0,0,13.57,13.84,28.83
$GC,3610,-0.23,-146.0,2405,2508,3510,3163,1.1,-0.5,668,3617,0.00,1.55,0.00,0.000,516,0.000,0.095,2405,1651,3336,3510,3163,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3857,-0.16,-146.0,2405,1651,3510,3163,1.0,0.2,714,3865,0.22,1.58,0.00,0.000,3078,0.278,0.103,2448,2501,3336,3510,3163,0,0,0,0,0,0,13.45,13.83,28.83
$GC,4187,-0.09,-146.0,2448,2502,3510,3163,0.9,0.1,775,4194,0.12,1.52,0.00,0.000,2564,0.314,0.090,2479,1659,3336,3510,3163,0,0,0,0,0,0,13.72,13.87,28.83
$GC,4434,-0.01,-146.0,2479,1659,3510,3163,1.1,-0.3,821,4441,0.12,1.55,0.00,0.000,3078,0.299,0.101,2498,2507,3336,3510,3163,0,0,0,0,0,0,13.56,13.83,28.83
$GC,4760,0.06,-146.0,2498,2507,3510,3163,1.0,0.1,882,4767,0.00,1.52,0.00,0.000,516,0.000,0.093,2498,1659,3336,3509,3163,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5007,0.13,-146.0,2498,1659,3510,3163,1.0,0.3,928,5015,0.22,1.55,0.00,0.000,3078,0.274,0.099,2543,2500,3336,3510,3163,0,0,0,0,0,0,13.43,13.81,28.83
$GC,5333,0.21,-146.0,1568,2498,3502,3159,1.0,0.3,989,5340,0.12,1.52,0.00,0.000,2564,0.315,0.090,2574,1659,3336,3510,3163,0,0,0,0,0,0,13.70,13.86,28.83
$GC,5580,0.28,-146.0,2574,1659,3510,3163,1.0,-0.3,1035,5586,0.00,1.55,0.00,0.000,1030,0.000,0.099,2569,2500,3336,3510,3163,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5909,0.35,-146.0,2569,2500,3510,3163,1.0,0.1,1096,5916,0.17,1.52,0.00,0.000,2564,0.290,0.090,2612,1659,3336,3510,3163,0,0,0,0,0,0,13.47,13.85,28.83
$GC,6157,0.43,-146.0,2612,1658,3510,3163,1.0,0.6,1142,6164,0.15,1.55,0.00,0.000,3078,0.291,0.100,2637,2504,3336,3510,3163,0,0,0,0,0,0,13.48,13.80,28.83
$GC,6486,0.50,-146.0,2637,2504,3510,3163,1.0,-0.0,1203,6495,0.12,1.55,0.00,0.000,2564,0.317,0.090,2668,1649,3336,3510,3163,0,0,0,0,0,0,13.66,13.84,28.83
$GC,6736,0.57,-146.0,2668,1648,3510,3163,1.0,-0.2,1249,6744,0.00,1.58,0.00,0.000,1030,0.000,0.103,2664,2503,3336,3510,3163,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7063,0.65,-146.0,2664,2503,3510,3163,1.0,-0.4,1310,7071,0.17,1.55,0.00,0.000,2564,0.292,0.090,2705,1657,3336,3510,3163,0,0,0,0,0,0,13.50,13.86,28.83
$GC,7312,0.65,-146.0,2705,1657,3510,3163,1.0,-0.0,1356,7320,0.00,1.55,0.00,0.000,1030,0.000,0.102,2701,2499,3336,3510,3163,0,0,0,0,0,0,28.83,13.80,28.83
$GC,7635,0.72,-146.0,2702,2499,3510,3163,1.0,0.0,1417,7642,0.12,1.52,0.00,0.000,2564,0.311,0.090,2730,1659,3336,3510,3163,0,0,0,0,0,0,13.71,13.84,28.83
$GC,7882,0.80,-146.0,2730,1659,3510,3163,1.0,-0.1,1463,7890,0.15,1.55,0.00,0.000,3078,0.288,0.100,2754,2504,3336,3510,3163,0,0,0,0,0,0,13.48,13.79,28.83
$GC,8203,0.80,-146.0,1792,2502,3502,3160,1.0,-0.2,1524,8211,0.00,1.52,0.00,0.000,516,0.000,0.092,2755,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.81,28.83
$GC,8451,0.87,-146.0,2755,1658,3510,3163,1.1,-0.5,1570,8458,0.15,1.55,0.00,0.000,3078,0.292,0.100,2780,2504,3336,3510,3163,0,0,0,0,0,0,13.47,13.79,28.83
$GC,8782,0.94,-146.0,2780,2504,3510,3163,1.0,0.3,1631,8789,0.00,1.52,0.00,0.000,516,0.000,0.093,2780,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9028,1.01,-146.0,2780,1658,3510,3163,0.9,0.2,1677,9036,0.22,1.55,0.00,0.000,3078,0.269,0.100,2825,2505,3336,3510,3163,0,0,0,0,0,0,13.42,13.79,28.83
$GC,9357,1.09,-146.0,2825,2505,3510,3163,0.9,-0.1,1738,9365,0.12,1.55,0.00,0.000,2564,0.321,0.090,2856,1652,3336,3510,3163,0,0,0,0,0,0,13.65,13.83,28.83
$GC,9602,1.16,-146.0,1864,1650,3502,3160,1.0,-0.1,1784,9609,0.12,1.58,0.00,0.000,3078,0.303,0.103,2874,2502,3336,3510,3163,0,0,0,0,0,0,13.49,13.78,28.83
$GC,9930,1.24,-146.0,2874,2502,3510,3163,1.0,0.2,1845,9939,0.00,1.52,0.00,0.000,516,0.000,0.092,2875,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.79,28.83
$GC,10177,1.31,-146.0,2874,1659,3510,3163,0.9,0.3,1891,10184,0.22,1.55,0.00,0.000,3078,0.272,0.099,2918,2506,3336,3510,3163,0,0,0,0,0,0,13.41,13.78,28.83
$GC,10505,1.39,-146.0,2918,2506,3510,3163,1.0,0.4,1952,10512,0.12,1.55,0.00,0.000,2564,0.321,0.090,2948,1658,3336,3510,3163,0,0,0,0,0,0,13.66,13.82,28.83
$GC,10749,1.46,-146.0,1952,1658,3502,3160,1.1,-0.7,1998,10758,0.12,1.55,0.00,0.000,3078,0.302,0.099,2967,2502,3336,3510,3162,0,0,0,0,0,0,13.49,13.78,28.83
$GC,11079,1.53,-146.0,2966,2502,3510,3163,1.0,0.4,2059,11086,0.12,1.55,0.00,0.000,2564,0.315,0.089,2997,1651,3336,3510,3163,0,0,0,0,0,0,13.69,13.83,28.83
$GC,11325,1.61,-146.0,2997,1651,3510,3163,1.0,-0.1,2105,11331,0.00,1.58,0.00,0.000,1030,0.000,0.103,2993,2503,3336,3510,3163,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11655,1.61,-146.0,2993,2503,3510,3163,1.0,0.1,2166,11662,0.00,1.52,0.00,0.000,516,0.000,0.092,2992,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11902,1.61,-146.0,2000,1658,3502,3160,1.0,0.4,2212,11910,0.15,1.55,0.00,0.000,3078,0.293,0.099,3016,2502,3336,3510,3163,0,0,0,0,0,0,13.45,13.77,28.83
$GC,12230,1.61,-146.0,3016,2501,3510,3163,1.0,0.4,2273,12237,0.00,1.52,0.00,0.000,516,0.000,0.093,3016,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.78,28.83
$GC,12478,1.61,-146.0,3016,1658,3510,3162,1.0,0.0,2319,12484,0.00,1.58,0.00,0.000,1030,0.000,0.100,3011,2506,3336,3510,3163,0,0,0,0,0,0,28.83,13.76,28.83
$GC,12798,1.61,-146.0,3011,2506,3510,3162,1.0,1.5,2380,12805,0.00,1.55,0.00,0.000,516,0.000,0.093,3011,1649,3336,3510,3163,0,0,0,0,0,0,28.83,13.80,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12907,begin apogee
$FREEZE,1.04,-3.951,-0.370,2,1,0
$GC,12922,-0.22,0.0,3005,2514,3510,3163,1.0,0.2,2401,12939,1.73,0.00,11.90,0.168,12290,0.095,0.000,2432,2514,3240,3417,3063,0,0,0,0,0,0,13.91,28.83,28.83
$STATE,12940,end apogee,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FREEZE,1.00,-3.951,-0.370,2,1,0
$FINISH,1.0,1.005039
$STATE,12946,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12947,begin surface
$SM_CCo,12974,268.52,0.163,0,0,1108,400.08
$SM_GC,1.21,6.97,0.00,268.52,0.086,0.000,0.163,142,2514,1108,-7.35,0.40,400.08,0,0,0,0,0,0,14.03,28.83,13.95
$RAFOS_CLK,-1321
$RAFOS,6,1388278146,0.833333,0.818333,68,57,56,51,49,48,191,210,221,166,115,88
$RAFOS,5,1388277661,0.700000,0.683611,58,57,55,52,50,47,204,226,175,146,122,155
$RAFOS,4,1388277186,0.566667,0.551667,67,60,60,59,56,54,192,155,208,171,134,462
$RAFOS,3,1388276703,0.433333,0.417500,71,63,52,52,51,50,213,171,115,680,149,222
$RAFOS,2,1388276221,0.300000,0.283611,64,64,59,55,54,53,165,217,176,827,190,204
$RAFOS,1,1388275751,0.166667,0.153056,62,57,57,57,57,56,115,165,190,201,215,180
$RAFOS,0,1388275265,0.033333,0.018056,68,56,56,55,50,49,196,216,226,121,172,139
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6604.29,-5809.40,281213,222218
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.59
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.90
$XPDR_PINGS,43
$ALTIM_TOP_PING,1.0,999.0
$24V_AH,13.4,234.340
$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,20.475,71.125,11.900,268.525,0.000,0.000,0.000,1141.225,11.000,0.000,45.971,5979.466,2742.155,588.059,4347.499,1254.211,0.000,3334.859,0.000,3407.229,2520.000,2.817,0.000
$DEVICE_MAMPS,321.300,104.805,168.300,162.945,0.000,0.000,0.000,151.470,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1722.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150728
$DATA_FILE_SIZE,93079,2403
$CAP_FILE_SIZE,201507,0
$CFSIZE,259252224,207990784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1465.0
$CURRENT,0.886,185.3,1
$GPS,291213,024523,6623.012,-5811.623,42,1.1,43,-33.0