version: 66.11
glider: 192
mission: 2
dive: 553
start: 12 29 113 11 17 9
data:
$ID,192
$MISSION,2
$DIVE,553
$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,-12224.271
$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
$GPS1,291213,105505,6612.786,-5814.033,33,1.6,34,-32.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-22.9
$GPS2,291213,111631,6612.359,-5813.875,47,1.2,47,-32.9
$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,19.1,113034,-15.5,-8.250,-18.49,2720
$D_GRID,592
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,137,2518,1160,1032,0.0,0.0,0,165,0.00,0.00,-139.32,0.000,16390,0.000,0.000,138,2519,3336,3509,3164,0,0,0,0,0,0,28.83,28.83,14.62
$GC,173,-0.89,-146.0,138,2518,3509,3164,1.0,0.1,24,186,7.68,1.60,0.00,0.000,2564,0.239,0.095,2217,1653,3337,3510,3164,0,0,0,0,0,0,13.82,14.12,28.83
$GC,426,-0.82,-146.0,2217,1653,3510,3164,1.0,0.4,71,434,0.15,1.58,0.00,0.000,3078,0.287,0.106,2243,2509,3337,3510,3164,0,0,0,0,0,0,13.71,13.98,28.83
$GC,749,-0.75,-146.0,2243,2509,3510,3164,1.0,0.2,132,756,0.00,1.58,0.00,0.000,516,0.000,0.096,2243,1660,3337,3510,3164,0,0,0,0,0,0,28.83,13.91,28.83
$GC,996,-0.67,-146.0,1376,1659,3502,3161,1.0,0.0,178,1005,0.22,1.55,0.00,0.000,3078,0.262,0.101,2290,2510,3337,3510,3164,0,0,0,0,0,0,13.62,13.93,28.83
$GC,1328,-0.60,-146.0,2291,2510,3510,3164,1.0,-0.1,239,1334,0.00,1.55,0.00,0.000,516,0.000,0.096,2290,1653,3337,3510,3164,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1573,-0.53,-146.0,2291,1653,3510,3164,1.0,-0.0,285,1581,0.22,1.55,0.00,0.000,3078,0.272,0.103,2337,2498,3337,3510,3165,0,0,0,0,0,0,13.53,13.90,28.83
$GC,1900,-0.45,-146.0,1424,2494,3502,3161,1.0,0.1,346,1908,0.00,1.52,0.00,0.000,516,0.000,0.096,2337,1654,3337,3510,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2148,-0.38,-146.0,2337,1654,3510,3164,1.0,-0.0,392,2156,0.22,1.58,0.00,0.000,3078,0.271,0.106,2382,2509,3337,3510,3164,0,0,0,0,0,0,13.54,13.85,28.83
$GC,2475,-0.31,-146.0,2382,2509,3510,3164,1.0,0.4,453,2482,0.00,1.55,0.00,0.000,516,0.000,0.096,2383,1650,3337,3510,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2721,-0.23,-146.0,2382,1650,3510,3164,1.1,-0.0,499,2728,0.22,1.58,0.00,0.000,3078,0.270,0.103,2427,2506,3337,3510,3164,0,0,0,0,0,0,13.48,13.84,28.83
$GC,3048,-0.16,-146.0,2427,2505,3510,3164,0.9,0.4,560,3057,0.12,1.55,0.00,0.000,2564,0.318,0.092,2457,1653,3337,3510,3164,0,0,0,0,0,0,13.71,13.88,28.83
$GC,3296,-0.08,-146.0,1536,1652,3502,3161,1.0,0.0,606,3303,0.00,1.58,0.00,0.000,1030,0.000,0.103,2453,2507,3337,3510,3164,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3623,-0.01,-146.0,1504,2505,3502,3161,0.9,0.2,667,3630,0.17,1.55,0.00,0.000,2564,0.295,0.093,2495,1659,3337,3510,3165,0,0,0,0,0,0,13.50,13.85,28.83
$GC,3868,-0.01,-146.0,2495,1659,3510,3164,1.0,-0.4,713,3876,0.00,1.55,0.00,0.000,1030,0.000,0.103,2491,2501,3337,3510,3164,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4200,0.07,-146.0,2491,2501,3510,3165,1.0,-0.1,774,4207,0.12,1.55,0.00,0.000,2564,0.314,0.093,2519,1655,3337,3510,3164,0,0,0,0,0,0,13.67,13.84,28.83
$GC,4445,0.14,-146.0,1568,1654,3502,3161,1.1,-0.6,820,4454,0.15,1.58,0.00,0.000,3078,0.295,0.104,2544,2505,3337,3510,3164,0,0,0,0,0,0,13.49,13.81,28.83
$GC,4774,0.21,-146.0,2544,2505,3510,3164,0.9,0.3,881,4781,0.12,1.55,0.00,0.000,2564,0.312,0.092,2575,1658,3337,3510,3164,0,0,0,0,0,0,13.70,13.84,28.83
$GC,5019,0.21,-146.0,2576,1659,3510,3164,1.0,0.0,927,5026,0.00,1.55,0.00,0.000,1030,0.000,0.102,2571,2499,3336,3509,3164,0,0,0,0,0,0,28.83,13.82,28.83
$GC,5339,0.28,-146.0,1616,2498,3502,3161,1.0,-0.0,988,5346,0.00,1.52,0.00,0.000,516,0.000,0.095,2571,1652,3337,3510,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5585,0.28,-146.0,2571,1652,3510,3164,1.0,0.0,1034,5592,0.15,1.58,0.00,0.000,3078,0.288,0.103,2595,2500,3337,3510,3164,0,0,0,0,0,0,13.49,13.80,28.83
$GC,5909,0.28,-146.0,2595,2500,3511,3164,0.9,0.4,1095,5916,0.00,1.52,0.00,0.000,516,0.000,0.093,2595,1659,3337,3510,3164,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6157,0.36,-146.0,2595,1658,3510,3164,1.0,-0.0,1141,6164,0.12,1.55,0.00,0.000,3078,0.303,0.101,2614,2500,3337,3510,3164,0,0,0,0,0,0,13.51,13.81,28.83
$GC,6481,0.36,-146.0,2614,2500,3510,3164,1.0,0.0,1202,6487,0.00,1.52,0.00,0.000,516,0.000,0.093,2615,1659,3337,3510,3165,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6726,0.43,-146.0,2615,1659,3510,3164,1.0,0.0,1248,6733,0.15,1.55,0.00,0.000,3078,0.291,0.101,2639,2502,3337,3510,3164,0,0,0,0,0,0,13.48,13.80,28.83
$GC,7054,0.51,-146.0,2639,2502,3510,3164,0.9,0.2,1309,7063,0.12,1.55,0.00,0.000,2564,0.320,0.090,2670,1650,3337,3510,3164,0,0,0,0,0,0,13.69,13.83,28.83
$GC,7304,0.58,-146.0,2670,1650,3510,3164,1.0,-0.6,1355,7311,0.00,1.58,0.00,0.000,1030,0.000,0.103,2666,2505,3337,3510,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7626,0.66,-146.0,2666,2505,3510,3164,1.1,-0.4,1416,7633,0.17,1.55,0.00,0.000,2564,0.292,0.091,2708,1657,3337,3510,3164,0,0,0,0,0,0,13.50,13.83,28.83
$GC,7873,0.73,-146.0,2708,1657,3510,3164,0.9,0.2,1462,7881,0.15,1.55,0.00,0.000,3078,0.288,0.103,2733,2500,3337,3510,3164,0,0,0,0,0,0,13.47,13.78,28.83
$GC,8204,0.80,-146.0,1728,2497,3502,3161,0.9,0.4,1523,8212,0.12,1.55,0.00,0.000,2564,0.313,0.090,2763,1649,3337,3510,3164,0,0,0,0,0,0,13.66,13.82,28.83
$GC,8449,0.88,-146.0,2763,1649,3510,3164,1.0,-0.3,1569,8458,0.12,1.60,0.00,0.000,3078,0.304,0.108,2782,2507,3337,3510,3164,0,0,0,0,0,0,13.50,13.76,28.83
$GC,8779,0.95,-146.0,2781,2507,3510,3164,1.0,0.1,1630,8786,0.12,1.58,0.00,0.000,2564,0.308,0.094,2813,1649,3337,3510,3164,0,0,0,0,0,0,13.71,13.81,28.83
$GC,9025,1.02,-146.0,1824,1647,3502,3161,0.9,0.6,1676,9032,0.00,1.60,0.00,0.000,1030,0.000,0.107,2808,2505,3337,3510,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9347,1.10,-146.0,2808,2505,3510,3164,1.0,0.2,1737,9354,0.17,1.55,0.00,0.000,2564,0.298,0.093,2850,1659,3337,3510,3164,0,0,0,0,0,0,13.46,13.81,28.83
$GC,9593,1.10,-146.0,2850,1660,3510,3164,1.0,-1.3,1783,9599,0.00,1.58,0.00,0.000,1030,0.000,0.106,2845,2503,3337,3511,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,9914,1.10,-146.0,2845,2503,3510,3164,1.0,0.1,1844,9921,0.00,1.55,0.00,0.000,516,0.000,0.096,2845,1658,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10161,1.17,-146.0,2845,1659,3510,3164,1.0,0.1,1890,10168,0.17,1.58,0.00,0.000,3078,0.288,0.106,2875,2504,3337,3510,3164,0,0,0,0,0,0,13.42,13.76,28.83
$GC,10488,1.25,-146.0,2875,2504,3510,3164,0.9,0.3,1951,10495,0.12,1.55,0.00,0.000,2564,0.313,0.093,2906,1660,3337,3510,3164,0,0,0,0,0,0,13.69,13.81,28.83
$GC,10734,1.32,-146.0,2906,1660,3510,3164,0.9,0.3,1997,10741,0.00,1.58,0.00,0.000,1030,0.000,0.106,2902,2505,3337,3510,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11060,1.39,-146.0,1872,2503,3502,3161,1.0,-0.3,2058,11069,0.17,1.58,0.00,0.000,2564,0.293,0.094,2942,1651,3337,3510,3164,0,0,0,0,0,0,13.44,13.79,28.83
$GC,11308,1.47,-146.0,2943,1651,3510,3164,0.9,0.4,2104,11317,0.17,1.60,0.00,0.000,3078,0.286,0.107,2974,2506,3337,3510,3164,0,0,0,0,0,0,13.41,13.76,28.83
$GC,11639,1.54,-146.0,2974,2506,3510,3164,0.8,0.6,2165,11645,0.00,1.55,0.00,0.000,516,0.000,0.094,2974,1654,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11887,1.54,-146.0,2974,1654,3510,3164,1.1,-0.6,2211,11894,0.12,1.58,0.00,0.000,3078,0.304,0.102,2993,2505,3337,3510,3164,0,0,0,0,0,0,13.47,13.76,28.83
$GC,12214,1.54,-146.0,2993,2505,3510,3164,1.0,-0.3,2272,12221,0.00,1.55,0.00,0.000,516,0.000,0.093,2994,1650,3336,3510,3163,0,0,0,0,0,0,28.83,13.78,28.83
$GC,12460,1.54,-146.0,2994,1650,3510,3164,1.0,-0.4,2318,12468,0.00,1.58,0.00,0.000,1030,0.000,0.103,2989,2501,3337,3510,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,12790,1.54,-146.0,2989,2501,3510,3164,1.0,-0.1,2379,12796,0.00,1.52,0.00,0.000,516,0.000,0.093,2989,1659,3337,3511,3164,0,0,0,0,0,0,28.83,13.77,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12912,begin apogee
$FREEZE,1.18,-2.788,-0.838,2,1,0
$GC,12927,-0.22,0.0,2983,2512,3510,3164,1.0,-0.1,2402,12939,1.65,0.00,7.22,0.170,12290,0.095,0.000,2434,2512,3278,3454,3103,0,0,0,0,0,0,13.89,28.83,28.83
$STATE,12940,end apogee,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FREEZE,0.99,-2.788,-0.838,2,1,0
$FREEZE,0.97,-2.788,-0.839,2,1,0
$FREEZE,0.89,-2.788,-0.839,2,1,0
$FREEZE,0.98,-2.788,-0.839,2,1,0
$FREEZE,0.93,-2.787,-0.839,2,1,0
$FREEZE,1.01,-2.787,-0.839,2,1,0
$FREEZE,0.96,-2.786,-0.839,2,1,0
$FREEZE,0.90,-2.786,-0.839,2,1,0
$FREEZE,0.90,-2.785,-0.839,2,1,0
$FINISH,0.9,1.012287
$STATE,12994,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12994,begin surface
$SM_CCo,13021,274.30,0.155,0,0,1108,400.08
$SM_GC,1.14,6.97,0.00,274.30,0.084,0.000,0.155,139,2511,1108,-7.35,0.31,400.08,0,0,0,0,0,0,14.01,28.83,13.95
$RAFOS_CLK,667
$RAFOS,6,1388321342,12.833333,12.817223,62,58,56,56,53,51,190,207,165,217,132,122
$RAFOS,5,1388320865,12.700000,12.684722,62,60,59,58,57,53,180,201,131,150,221,365
$RAFOS,4,1388320384,12.566667,12.551111,61,58,55,54,54,49,201,174,156,135,215,227
$RAFOS,3,1388319903,12.433333,12.417500,62,54,54,53,52,51,196,147,115,136,206,224
$RAFOS,2,1388319423,12.300000,12.284166,73,58,56,55,54,53,193,159,207,146,127,171
$RAFOS,1,1388318947,12.166667,12.151944,67,62,62,54,50,50,156,175,196,215,122,187
$RAFOS,0,1388318462,12.033333,12.017222,62,58,57,56,51,49,212,199,133,184,150,118
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6543.17,-5806.45,291213,111112
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.67
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,12.00
$XPDR_PINGS,38
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,234.822
$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,20.250,71.825,7.225,274.300,0.000,0.000,0.000,812.625,9.750,0.000,48.013,5992.900,2701.973,586.295,4083.670,1197.053,0.000,3009.340,0.000,3420.387,2520.000,2.815,0.000
$DEVICE_MAMPS,319.770,107.865,169.830,155.295,0.000,0.000,0.000,156.825,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1728.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150724
$DATA_FILE_SIZE,96376,2412
$CAP_FILE_SIZE,198032,0
$CFSIZE,259252224,207724544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1405.1
$CURRENT,0.826,173.8,1
$GPS,291213,150035,6606.428,-5812.399,41,1.1,42,-32.7