version: 66.11
glider: 192
mission: 2
dive: 555
start: 12 29 113 18 57 53
data:
$ID,192
$MISSION,2
$DIVE,555
$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
$GPS1,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-22.9
$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,-146.0,2499,2510,3410,3060,0.0,0.0,0,33,0.00,0.00,-6.95,0.000,16390,0.000,0.000,2499,2510,3336,3510,3163,0,0,0,0,0,0,28.83,28.83,14.54
$GC,40,-0.89,-146.0,2499,2510,3510,3163,1.1,1.3,2,47,0.85,1.55,0.00,0.000,4612,0.098,0.093,2219,1652,3336,3510,3162,0,0,0,0,0,0,13.92,13.93,28.83
$GC,286,-0.82,-146.0,2219,1652,3510,3162,1.1,-0.6,48,293,0.15,1.58,0.00,0.000,3078,0.288,0.104,2242,2504,3336,3509,3163,0,0,0,0,0,0,13.51,13.81,28.83
$GC,608,-0.75,-146.0,2242,2505,3510,3162,1.0,0.2,109,614,0.00,1.55,0.00,0.000,516,0.000,0.095,2242,1649,3336,3510,3163,0,0,0,0,0,0,28.83,13.80,28.83
$GC,853,-0.67,-146.0,1376,1647,3502,3160,1.0,-0.2,155,860,0.22,1.58,0.00,0.000,3078,0.264,0.104,2289,2499,3336,3510,3162,0,0,0,0,0,0,13.46,13.78,28.83
$GC,1179,-0.60,-146.0,1384,2497,3501,3160,1.0,0.2,216,1186,0.00,1.55,0.00,0.000,516,0.000,0.096,2289,1651,3336,3510,3163,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1424,-0.53,-146.0,2289,1651,3510,3163,1.0,-0.7,262,1432,0.22,1.58,0.00,0.000,3078,0.271,0.105,2334,2499,3336,3510,3163,0,0,0,0,0,0,13.40,13.77,28.83
$GC,1751,-0.45,-146.0,1416,2497,3502,3159,1.0,-0.2,323,1758,0.00,1.52,0.00,0.000,516,0.000,0.096,2335,1660,3336,3510,3163,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1997,-0.38,-146.0,1444,1659,3502,3160,1.0,0.1,369,2004,0.22,1.58,0.00,0.000,3078,0.271,0.103,2379,2509,3336,3510,3163,0,0,0,0,0,0,13.42,13.76,28.83
$GC,2327,-0.30,-146.0,2379,2509,3510,3163,0.9,0.1,430,2334,0.12,1.58,0.00,0.000,2564,0.304,0.093,2410,1652,3336,3510,3163,0,0,0,0,0,0,13.72,13.79,28.83
$GC,2573,-0.23,-146.0,1504,1650,3502,3160,1.1,-0.3,476,2581,0.00,1.58,0.00,0.000,1030,0.000,0.104,2406,2499,3336,3510,3162,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2895,-0.16,-146.0,2406,2499,3510,3163,1.0,0.3,537,2903,0.17,1.55,0.00,0.000,2564,0.303,0.093,2447,1660,3336,3510,3163,0,0,0,0,0,0,13.43,13.79,28.83
$GC,3141,-0.16,-146.0,2447,1660,3510,3163,0.9,0.7,583,3147,0.00,1.58,0.00,0.000,1030,0.000,0.103,2442,2508,3336,3510,3163,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3461,-0.16,-146.0,1536,2506,3502,3160,1.0,0.5,644,3467,0.00,1.55,0.00,0.000,516,0.000,0.096,2442,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3706,-0.09,-146.0,2442,1660,3510,3163,1.0,-0.4,690,3713,0.17,1.55,0.00,0.000,3078,0.288,0.102,2472,2500,3336,3510,3163,0,0,0,0,0,0,13.39,13.75,28.83
$GC,4034,-0.01,-146.0,2472,2500,3510,3162,0.9,-0.6,751,4041,0.12,1.55,0.00,0.000,2564,0.308,0.092,2503,1655,3336,3510,3163,0,0,0,0,0,0,13.67,13.77,28.83
$GC,4282,0.06,-146.0,2503,1655,3510,3163,1.0,0.2,797,4289,0.00,1.58,0.00,0.000,1030,0.000,0.105,2499,2502,3336,3510,3163,0,0,0,0,0,0,28.83,13.73,28.83
$GC,4604,0.14,-146.0,2499,2502,3510,3163,1.0,-0.7,858,4612,0.17,1.55,0.00,0.000,2564,0.298,0.092,2540,1660,3336,3510,3163,0,0,0,0,0,0,13.40,13.77,28.83
$GC,4851,0.21,-146.0,2540,1660,3510,3163,1.0,-0.2,904,4858,0.15,1.55,0.00,0.000,3078,0.299,0.101,2566,2500,3336,3510,3163,0,0,0,0,0,0,13.39,13.74,28.83
$GC,5180,0.28,-146.0,2566,2500,3510,3163,1.0,0.3,965,5188,0.12,1.55,0.00,0.000,2564,0.310,0.093,2598,1654,3336,3510,3163,0,0,0,0,0,0,13.68,13.78,28.83
$GC,5427,0.36,-146.0,1640,1653,3502,3160,1.0,0.2,1011,5434,0.00,1.58,0.00,0.000,1030,0.000,0.104,2593,2499,3336,3510,3163,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5757,0.43,-146.0,2593,2499,3510,3163,0.9,0.1,1072,5764,0.17,1.58,0.00,0.000,2564,0.296,0.092,2635,1651,3336,3510,3163,0,0,0,0,0,0,13.40,13.76,28.83
$GC,6001,0.50,-146.0,1664,1650,3502,3160,1.0,-0.3,1118,6010,0.15,1.60,0.00,0.000,3078,0.295,0.107,2660,2503,3337,3511,3163,0,0,0,0,0,0,13.40,13.72,28.83
$GC,6332,0.58,-146.0,2661,2504,3510,3163,0.9,0.7,1179,6339,0.12,1.58,0.00,0.000,2564,0.314,0.093,2691,1653,3336,3510,3163,0,0,0,0,0,0,13.65,13.76,28.83
$GC,6580,0.65,-146.0,2691,1653,3510,3163,0.9,0.1,1225,6587,0.00,1.62,0.00,0.000,1030,0.000,0.108,2687,2495,3336,3510,3163,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6901,0.65,-146.0,2687,2494,3510,3163,0.9,0.1,1286,6908,0.00,1.52,0.00,0.000,516,0.000,0.097,2687,1660,3336,3510,3163,0,0,0,0,0,0,28.83,13.72,28.83
$GC,7148,0.72,-146.0,1712,1659,3502,3160,0.9,0.3,1332,7155,0.25,1.58,0.00,0.000,3078,0.269,0.109,2735,2501,3336,3509,3163,0,0,0,0,0,0,13.38,13.71,28.83
$GC,7474,0.80,-146.0,2735,2502,3510,3163,1.0,0.0,1393,7481,0.00,1.55,0.00,0.000,516,0.000,0.097,2736,1654,3336,3510,3163,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7721,0.87,-146.0,2736,1654,3510,3163,1.0,-0.2,1439,7728,0.22,1.60,0.00,0.000,3078,0.272,0.109,2779,2508,3336,3510,3163,0,0,0,0,0,0,13.39,13.71,28.83
$GC,8048,0.94,-146.0,1760,2506,3502,3160,0.9,0.3,1500,8055,0.12,1.58,0.00,0.000,2564,0.310,0.095,2810,1653,3336,3510,3163,0,0,0,0,0,0,13.69,13.76,28.83
$GC,8293,1.02,-146.0,2810,1653,3510,3163,0.9,0.3,1546,8300,0.00,1.58,0.00,0.000,1030,0.000,0.108,2805,2499,3336,3510,3163,0,0,0,0,0,0,28.83,13.72,28.83
$GC,8617,1.09,-146.0,2806,2499,3511,3163,1.0,-0.2,1607,8626,0.17,1.58,0.00,0.000,2564,0.296,0.094,2848,1650,3336,3510,3163,0,0,0,0,0,0,13.44,13.76,28.83
$GC,8866,1.17,-146.0,2848,1650,3510,3163,1.0,-0.2,1653,8873,0.15,1.62,0.00,0.000,3078,0.298,0.110,2873,2504,3336,3510,3163,0,0,0,0,0,0,13.40,13.71,28.83
$GC,9192,1.24,-146.0,2873,2504,3509,3162,1.0,0.3,1714,9199,0.12,1.58,0.00,0.000,2564,0.312,0.094,2904,1651,3336,3510,3163,0,0,0,0,0,0,13.66,13.76,28.83
$GC,9438,1.31,-146.0,2904,1651,3510,3163,1.0,0.1,1760,9446,0.00,1.60,0.00,0.000,1030,0.000,0.109,2900,2498,3336,3510,3163,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9767,1.39,-146.0,2900,2498,3510,3163,1.0,0.2,1821,9774,0.17,1.55,0.00,0.000,2564,0.291,0.093,2941,1660,3336,3510,3163,0,0,0,0,0,0,13.43,13.76,28.83
$GC,10012,1.46,-146.0,2941,1660,3510,3163,1.0,-0.2,1867,10019,0.17,1.60,0.00,0.000,3078,0.282,0.107,2971,2508,3336,3510,3163,0,0,0,0,0,0,13.38,13.71,28.83
$GC,10337,1.53,-146.0,2972,2509,3510,3163,1.0,-0.2,1928,10344,0.00,1.55,0.00,0.000,516,0.000,0.097,2972,1660,3336,3510,3163,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10585,1.53,-146.0,2972,1660,3510,3163,1.1,-0.4,1974,10593,0.12,1.58,0.00,0.000,3078,0.298,0.106,2991,2504,3336,3509,3163,0,0,0,0,0,0,13.44,13.71,28.83
$GC,10915,1.53,-146.0,2990,2504,3510,3163,0.9,0.3,2035,10922,0.00,1.55,0.00,0.000,516,0.000,0.097,2991,1657,3336,3510,3163,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11161,1.53,-146.0,2990,1657,3510,3163,1.0,0.3,2081,11168,0.00,1.58,0.00,0.000,1030,0.000,0.108,2987,2498,3336,3510,3163,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11489,1.53,-146.0,2987,2498,3510,3163,1.0,-0.4,2142,11495,0.00,1.55,0.00,0.000,516,0.000,0.097,2986,1653,3336,3510,3163,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11735,1.61,-146.0,2987,1653,3510,3163,1.0,-0.0,2188,11743,0.17,1.60,0.00,0.000,3078,0.286,0.109,3016,2505,3336,3510,3163,0,0,0,0,0,0,13.38,13.71,28.83
$GC,12062,1.61,-146.0,1984,2502,3502,3160,1.0,0.1,2249,12070,0.00,1.55,0.00,0.000,516,0.000,0.097,3016,1659,3336,3510,3163,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12307,1.61,-146.0,2048,1658,3502,3160,1.0,0.2,2295,12314,0.00,1.58,0.00,0.000,1030,0.000,0.106,3012,2499,3336,3510,3163,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12633,1.61,-146.0,3012,2499,3510,3163,1.0,-0.1,2356,12641,0.00,1.55,0.00,0.000,516,0.000,0.098,3012,1657,3336,3510,3163,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12881,1.61,-146.0,3012,1657,3510,3163,1.1,-0.6,2402,12888,0.00,1.60,0.00,0.000,1030,0.000,0.108,3005,2504,3336,3509,3163,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.12,-1.625,-1.103,2,2,0
$GC,12922,-0.22,0.0,3005,2504,3510,3163,1.0,0.6,2407,12936,1.73,0.00,9.73,0.173,12290,0.095,0.000,2434,2505,3257,3433,3081,0,0,0,0,0,0,13.88,28.83,28.83
$STATE,12937,end apogee,FINISH_DEPTH_REACHED
$STATE,12937,begin subsurface finish
$FINISH1,1.1,1.016283,0
$GC,12952,0.00,0.0,2434,2503,3431,3080,1.1,-0.5,2408,12990,0.28,0.00,35.20,0.158,10498,0.265,0.000,2501,2504,2971,3135,2808,0,0,0,0,0,0,13.47,28.83,28.83
$FINISH2,1.1
$STATE,12991,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12991,begin surface
$RAFOS_CLK,703
$RAFOS,6,1388350146,20.833334,20.818333,69,56,54,51,48,47,193,120,216,234,167,131
$RAFOS,5,1388349666,20.700001,20.684999,62,56,54,54,53,52,152,222,187,234,120,167
$RAFOS,4,1388349184,20.566668,20.551111,58,56,56,50,49,47,191,161,214,111,176,136
$RAFOS,3,1388348701,20.433332,20.416945,59,58,57,56,53,52,216,124,193,153,166,207
$RAFOS,2,1388348225,20.299999,20.284721,67,64,57,55,53,50,193,177,143,213,161,224
$RAFOS,1,1388347746,20.166666,20.151667,66,62,59,59,56,51,213,190,143,177,133,115
$RAFOS,0,1388347263,20.033333,20.017500,72,63,59,56,55,52,166,188,198,215,175,127
$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,45.11
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,11.80
$XPDR_PINGS,13
$ALTIM_TOP_PING,1.1,999.0
$24V_AH,13.4,235.057
$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,6.875,72.175,44.925,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,5953.736,2718.466,226.276,3443.830,713.066,0.000,1819.696,0.000,3420.261,2520.000,2.815,0.000
$DEVICE_MAMPS,313.650,110.160,172.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1721.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150720
$DATA_FILE_SIZE,96542,2414
$CAP_FILE_SIZE,178199,0
$CFSIZE,259252224,207564800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1419.8
$CURRENT,0.006,284.0,1
$GPS,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7