version: 66.11
glider: 192
mission: 2
dive: 554
start: 12 29 113 15 18 54
data:
$ID,192
$MISSION,2
$DIVE,554
$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,-12231.635
$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
$GPS1,291213,150035,6606.428,-5812.399,41,1.1,42,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-22.8
$GPS2,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
$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,23.5,120618,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,20,-0.89,-146.0,139,2513,1160,1031,0.0,0.0,0,165,0.00,0.00,-138.48,0.000,16390,0.000,0.000,139,2513,3337,3509,3165,0,0,0,0,0,0,28.83,28.83,14.62
$GC,173,-0.89,-146.0,139,2513,3510,3164,1.1,-0.2,24,187,7.62,1.60,0.00,0.000,2564,0.236,0.097,2215,1651,3337,3510,3164,0,0,0,0,0,0,13.81,14.10,28.83
$GC,426,-0.82,-146.0,2214,1652,3510,3164,1.0,-0.2,71,434,0.15,1.58,0.00,0.000,3078,0.292,0.105,2241,2503,3337,3510,3165,0,0,0,0,0,0,13.69,13.97,28.83
$GC,749,-0.75,-146.0,2240,2503,3510,3164,1.0,0.2,132,755,0.00,1.52,0.00,0.000,516,0.000,0.096,2241,1659,3337,3510,3164,0,0,0,0,0,0,28.83,13.95,28.83
$GC,994,-0.67,-146.0,2241,1658,3510,3164,1.0,0.0,178,1001,0.22,1.55,0.00,0.000,3078,0.264,0.104,2288,2504,3337,3510,3165,0,0,0,0,0,0,13.62,13.93,28.83
$GC,1322,-0.60,-146.0,2288,2504,3510,3165,0.9,-0.0,239,1328,0.00,1.52,0.00,0.000,516,0.000,0.096,2288,1660,3337,3510,3165,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1568,-0.52,-146.0,2288,1660,3510,3164,1.0,-0.1,285,1575,0.22,1.55,0.00,0.000,3078,0.272,0.103,2334,2504,3337,3510,3164,0,0,0,0,0,0,13.52,13.88,28.83
$GC,1896,-0.45,-146.0,2334,2505,3510,3165,1.0,0.1,346,1903,0.00,1.55,0.00,0.000,516,0.000,0.097,2334,1653,3337,3510,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2142,-0.38,-146.0,2335,1653,3510,3164,1.0,-0.4,392,2150,0.22,1.58,0.00,0.000,3078,0.270,0.104,2380,2506,3337,3510,3165,0,0,0,0,0,0,13.52,13.85,28.83
$GC,2470,-0.31,-146.0,2380,2506,3510,3164,1.1,-0.3,453,2476,0.00,1.52,0.00,0.000,516,0.000,0.096,2380,1660,3337,3510,3165,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2717,-0.23,-146.0,2380,1660,3510,3163,0.8,-0.0,499,2724,0.22,1.55,0.00,0.000,3078,0.271,0.103,2424,2500,3337,3510,3165,0,0,0,0,0,0,13.47,13.83,28.83
$GC,3046,-0.16,-146.0,2425,2500,3510,3165,1.0,-0.0,560,3053,0.12,1.55,0.00,0.000,2564,0.314,0.092,2455,1653,3337,3510,3165,0,0,0,0,0,0,13.69,13.86,28.83
$GC,3293,-0.09,-146.0,2455,1653,3509,3164,1.0,0.0,606,3300,0.00,1.58,0.00,0.000,1030,0.000,0.105,2450,2502,3337,3510,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3620,-0.01,-146.0,2450,2502,3510,3164,1.0,-0.4,667,3627,0.17,1.55,0.00,0.000,2564,0.292,0.092,2493,1658,3337,3510,3164,0,0,0,0,0,0,13.53,13.85,28.83
$GC,3868,-0.01,-146.0,2493,1658,3510,3164,1.0,0.4,713,3876,0.00,1.55,0.00,0.000,1030,0.000,0.103,2489,2500,3337,3510,3164,0,0,0,0,0,0,28.83,13.82,28.83
$GC,4194,0.06,-146.0,2489,2500,3510,3164,1.0,0.1,774,4201,0.12,1.55,0.00,0.000,2564,0.311,0.093,2517,1657,3337,3510,3164,0,0,0,0,0,0,13.68,13.84,28.83
$GC,4439,0.13,-146.0,2517,1657,3510,3164,1.0,-0.2,820,4448,0.15,1.58,0.00,0.000,3078,0.295,0.104,2542,2504,3337,3510,3165,0,0,0,0,0,0,13.49,13.81,28.83
$GC,4762,0.13,-146.0,2542,2504,3510,3164,0.9,1.3,881,4770,0.00,1.55,0.00,0.000,516,0.000,0.095,2543,1651,3337,3510,3165,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5010,0.21,-146.0,2543,1651,3510,3164,1.0,-0.1,927,5017,0.15,1.58,0.00,0.000,3078,0.294,0.103,2568,2502,3337,3510,3164,0,0,0,0,0,0,13.47,13.80,28.83
$GC,5336,0.28,-146.0,1600,2500,3502,3161,1.0,-0.5,988,5344,0.12,1.55,0.00,0.000,2564,0.307,0.091,2600,1651,3337,3510,3164,0,0,0,0,0,0,13.73,13.85,28.83
$GC,5585,0.36,-146.0,2600,1652,3510,3165,1.0,-0.2,1034,5591,0.00,1.58,0.00,0.000,1030,0.000,0.103,2595,2503,3337,3510,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,5913,0.43,-146.0,2595,2503,3510,3164,1.0,-0.3,1095,5920,0.17,1.55,0.00,0.000,2564,0.297,0.091,2636,1659,3337,3510,3164,0,0,0,0,0,0,13.47,13.84,28.83
$GC,6161,0.50,-146.0,2636,1658,3510,3165,0.9,0.2,1141,6168,0.15,1.55,0.00,0.000,3078,0.298,0.101,2662,2501,3337,3510,3164,0,0,0,0,0,0,13.46,13.80,28.83
$GC,6489,0.57,-146.0,2662,2500,3510,3164,1.0,0.2,1202,6496,0.00,1.52,0.00,0.000,516,0.000,0.093,2662,1659,3337,3510,3164,0,0,0,0,0,0,28.83,13.80,28.83
$GC,6735,0.57,-146.0,2662,1658,3510,3165,1.0,0.0,1248,6743,0.15,1.58,0.00,0.000,3078,0.296,0.101,2687,2505,3337,3510,3165,0,0,0,0,0,0,13.46,13.78,28.83
$GC,7056,0.57,-146.0,1712,2503,3502,3161,1.0,-0.5,1309,7063,0.00,1.55,0.00,0.000,516,0.000,0.093,2686,1651,3337,3511,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7303,0.65,-146.0,2687,1651,3510,3164,0.9,0.0,1355,7310,0.12,1.58,0.00,0.000,3078,0.300,0.102,2707,2504,3337,3510,3164,0,0,0,0,0,0,13.51,13.78,28.83
$GC,7623,0.65,-146.0,2707,2505,3510,3164,1.0,0.0,1416,7629,0.00,1.52,0.00,0.000,516,0.000,0.094,2708,1659,3337,3510,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,7868,0.72,-146.0,1728,1658,3502,3161,1.0,0.2,1462,7877,0.15,1.58,0.00,0.000,3078,0.290,0.101,2732,2509,3337,3510,3164,0,0,0,0,0,0,13.46,13.78,28.83
$GC,8197,0.80,-146.0,2732,2509,3510,3164,0.9,0.3,1523,8204,0.12,1.58,0.00,0.000,2564,0.314,0.091,2763,1654,3337,3510,3164,0,0,0,0,0,0,13.68,13.82,28.83
$GC,8443,0.87,-146.0,2763,1654,3510,3164,1.0,0.3,1569,8449,0.00,1.58,0.00,0.000,1030,0.000,0.103,2759,2501,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,8763,0.94,-146.0,2758,2502,3510,3164,0.9,0.0,1630,8771,0.17,1.55,0.00,0.000,2564,0.293,0.091,2801,1655,3337,3510,3164,0,0,0,0,0,0,13.50,13.82,28.83
$GC,9011,1.01,-146.0,2801,1655,3510,3164,1.0,-0.0,1676,9019,0.15,1.58,0.00,0.000,3078,0.292,0.103,2825,2507,3336,3509,3164,0,0,0,0,0,0,13.43,13.77,28.83
$GC,9338,1.09,-146.0,2826,2507,3510,3165,1.0,0.8,1737,9345,0.12,1.58,0.00,0.000,2564,0.319,0.091,2857,1649,3337,3510,3164,0,0,0,0,0,0,13.66,13.81,28.83
$GC,9583,1.16,-146.0,2857,1649,3510,3164,1.0,0.0,1783,9590,0.00,1.58,0.00,0.000,1030,0.000,0.103,2852,2500,3337,3510,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9906,1.23,-146.0,2852,2499,3510,3164,1.1,-0.1,1844,9914,0.17,1.55,0.00,0.000,2564,0.295,0.091,2894,1654,3337,3510,3164,0,0,0,0,0,0,13.47,13.81,28.83
$GC,10155,1.31,-146.0,2894,1654,3510,3164,0.9,-0.1,1890,10162,0.15,1.58,0.00,0.000,3078,0.291,0.105,2919,2502,3336,3509,3164,0,0,0,0,0,0,13.44,13.76,28.83
$GC,10482,1.38,-146.0,2919,2502,3510,3164,1.0,-0.7,1951,10489,0.12,1.55,0.00,0.000,2564,0.321,0.090,2949,1656,3337,3510,3164,0,0,0,0,0,0,13.64,13.81,28.83
$GC,10728,1.38,-146.0,2949,1656,3510,3164,1.0,0.4,1997,10736,0.00,1.58,0.00,0.000,1030,0.000,0.103,2944,2499,3337,3510,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11057,1.46,-146.0,2945,2499,3511,3164,1.0,-0.3,2058,11065,0.00,1.52,0.00,0.000,516,0.000,0.095,2944,1660,3337,3510,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11306,1.53,-146.0,2945,1660,3510,3164,0.9,0.3,2104,11313,0.20,1.60,0.00,0.000,3078,0.260,0.103,2987,2498,3337,3510,3164,0,0,0,0,0,0,13.36,13.69,28.83
$GC,11630,1.53,-146.0,1968,2496,3502,3161,0.9,0.0,2165,11637,0.00,1.52,0.00,0.000,516,0.000,0.094,2987,1659,3336,3508,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11879,1.60,-146.0,2987,1659,3510,3164,0.9,0.2,2211,11888,0.15,1.58,0.00,0.000,3078,0.293,0.102,3013,2505,3337,3510,3164,0,0,0,0,0,0,13.43,13.76,28.83
$GC,12207,1.60,-146.0,1984,2503,3502,3161,0.9,0.4,2272,12215,0.00,1.55,0.00,0.000,516,0.000,0.095,3013,1658,3337,3510,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,12452,1.60,-146.0,3013,1658,3510,3164,1.0,-0.4,2318,12459,0.00,1.58,0.00,0.000,1030,0.000,0.103,3009,2506,3337,3510,3164,0,0,0,0,0,0,28.83,13.75,28.83
$GC,12778,1.60,-146.0,3009,2506,3510,3164,1.0,0.2,2379,12784,0.00,1.55,0.00,0.000,516,0.000,0.096,3009,1657,3337,3510,3164,0,0,0,0,0,0,28.83,13.76,28.83
$STATE,12913,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12913,begin apogee
$FREEZE,1.15,-1.844,-0.973,2,1,0
$GC,12928,-0.22,0.0,3003,2510,3510,3164,0.9,0.3,2404,12940,1.70,0.00,7.20,0.177,12290,0.096,0.000,2437,2510,3280,3455,3105,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12941,end apogee,FINISH_DEPTH_REACHED
$STATE,12941,begin subsurface finish
$FINISH1,1.1,1.014339,0
$GC,12956,0.00,0.0,2437,2510,3455,3104,1.1,-0.4,2405,12964,0.25,0.00,5.25,0.171,10498,0.268,0.000,2498,2510,3236,3412,3060,0,0,0,0,0,0,13.47,28.83,28.83
$FINISH2,1.1
$STATE,12965,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12965,begin surface
$RAFOS_CLK,648
$RAFOS,6,1388335743,16.833334,16.817499,63,60,58,56,49,48,185,153,215,204,1670,163
$RAFOS,5,1388335262,16.700001,16.683889,63,55,53,53,50,48,201,113,163,216,142,179
$RAFOS,4,1388334786,16.566668,16.551666,62,58,55,55,54,53,176,213,120,167,232,202
$RAFOS,3,1388334305,16.433332,16.418056,94,61,59,53,53,51,716,141,200,219,171,118
$RAFOS,2,1388333825,16.299999,16.284721,66,65,57,56,56,54,142,208,193,152,167,127
$RAFOS,1,1388333341,16.166666,16.150278,76,60,58,56,56,54,198,189,222,213,175,135
$RAFOS,0,1388332865,16.033333,16.018055,60,60,56,50,48,48,202,220,188,115,171,243
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6543.17,-5810.98,291213,111104
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.94
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,11.80
$XPDR_PINGS,24
$ALTIM_TOP_PING,1.1,999.0
$24V_AH,13.4,234.961
$10V_AH,12.8,0.000
$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,13.600,71.750,12.450,0.000,0.000,0.000,0.000,650.375,6.250,0.000,48.228,5922.789,2678.021,305.324,3945.603,1138.367,0.000,2563.453,0.000,3411.364,2520.000,2.815,0.000
$DEVICE_MAMPS,321.300,104.805,177.480,0.000,0.000,0.000,0.000,168.300,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1714.491,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150640
$DATA_FILE_SIZE,96530,2406
$CAP_FILE_SIZE,188714,0
$CFSIZE,259252224,207642624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1414.5
$CURRENT,1.324,273.9,1
$GPS,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7