version: 66.11
glider: 192
mission: 2
dive: 527
start: 12 25 113 6 58 21
data:
$ID,192
$MISSION,2
$DIVE,527
$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,-2
$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,-12203.111
$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,24
$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
$GPS1,251213,042744,6646.213,-5910.711,0,4111.2,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-22.7
$GPS2,251213,042744,6646.213,-5910.711,0,4111.2,0,-33.8
$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,344.5,55231,-15.5,-8.250,-18.49,2720
$D_GRID,956
$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,-146.0,2500,2514,2845,2626,0.0,0.0,0,63,0.00,0.00,-39.90,0.000,16390,0.000,0.000,2500,2514,3337,3505,3170,0,0,0,0,0,0,28.83,28.83,14.61
$GC,71,-0.89,-146.0,2500,2515,3506,3170,1.5,-0.0,7,78,0.82,1.55,0.00,0.000,4612,0.096,0.095,2225,1661,3338,3506,3170,0,0,0,0,0,0,14.00,14.00,28.83
$GC,318,-0.82,-146.0,2225,1660,3507,3170,1.2,0.2,53,326,0.00,1.55,0.00,0.000,1030,0.000,0.107,2218,2502,3338,3507,3170,0,0,0,0,0,0,28.83,13.88,28.83
$GC,638,-0.82,-146.0,2218,2502,3507,3170,1.3,0.0,114,646,0.00,1.55,0.00,0.000,516,0.000,0.098,2218,1651,3338,3507,3169,0,0,0,0,0,0,28.83,13.88,28.83
$GC,886,-0.75,-146.0,2218,1651,3507,3170,1.3,-0.1,160,894,0.22,1.58,0.00,0.000,3078,0.274,0.107,2262,2506,3338,3507,3170,0,0,0,0,0,0,13.52,13.86,28.83
$GC,1214,-0.68,-146.0,2262,2506,3507,3170,1.2,-0.1,221,1221,0.00,1.55,0.00,0.000,516,0.000,0.099,2262,1658,3338,3507,3170,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1459,-0.61,-146.0,2262,1659,3507,3170,1.3,-0.2,267,1467,0.22,1.55,0.00,0.000,3078,0.265,0.106,2309,2500,3339,3508,3170,0,0,0,0,0,0,13.52,13.85,28.83
$GC,1782,-0.61,-146.0,2309,2500,3507,3170,1.3,-2.2,328,1790,0.00,1.55,0.00,0.000,516,0.000,0.100,2309,1651,3338,3507,3170,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2029,-0.54,-146.0,2309,1650,3507,3170,1.3,0.0,374,2036,0.12,1.58,0.00,0.000,3078,0.306,0.108,2329,2504,3339,3508,3170,0,0,0,0,0,0,13.56,13.83,28.83
$GC,2359,-0.46,-146.0,2328,2504,3508,3170,1.3,0.3,435,2367,0.12,1.55,0.00,0.000,2564,0.312,0.096,2359,1657,3339,3508,3170,0,0,0,0,0,0,13.73,13.88,28.83
$GC,2605,-0.39,-146.0,2360,1657,3507,3170,1.3,0.2,481,2611,0.00,1.55,0.00,0.000,1030,0.000,0.107,2354,2500,3339,3508,3170,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2927,-0.32,-146.0,2355,2501,3507,3170,1.3,-0.4,542,2935,0.17,1.55,0.00,0.000,2564,0.289,0.095,2397,1652,3338,3508,3169,0,0,0,0,0,0,13.57,13.87,28.83
$GC,3176,-0.25,-146.0,2398,1652,3508,3170,1.3,-0.1,588,3183,0.15,1.58,0.00,0.000,3078,0.296,0.107,2423,2505,3338,3507,3170,0,0,0,0,0,0,13.50,13.83,28.83
$GC,3505,-0.18,-146.0,2423,2505,3507,3170,1.2,0.0,649,3512,0.00,1.52,0.00,0.000,516,0.000,0.099,2423,1657,3338,3507,3170,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3752,-0.10,-146.0,2423,1657,3508,3170,1.3,-0.0,695,3759,0.22,1.55,0.00,0.000,3078,0.279,0.106,2467,2505,3338,3507,3170,0,0,0,0,0,0,13.44,13.81,28.83
$GC,4078,-0.03,-146.0,2467,2506,3508,3170,1.4,-0.4,756,4085,0.12,1.52,0.00,0.000,2564,0.309,0.094,2498,1660,3338,3507,3170,0,0,0,0,0,0,13.71,13.85,28.83
$GC,4327,0.04,-146.0,2499,1659,3507,3170,1.2,0.3,802,4335,0.00,1.55,0.00,0.000,1030,0.000,0.105,2494,2508,3339,3508,3170,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4655,0.11,-146.0,2494,2508,3508,3170,1.3,0.1,863,4664,0.17,1.55,0.00,0.000,2564,0.299,0.096,2535,1657,3338,3507,3170,0,0,0,0,0,0,13.50,13.85,28.83
$GC,4903,0.19,-146.0,2535,1657,3508,3170,1.4,-0.2,909,4910,0.15,1.55,0.00,0.000,3078,0.295,0.106,2561,2499,3338,3507,3170,0,0,0,0,0,0,13.48,13.81,28.83
$GC,5229,0.26,-146.0,1576,2497,3499,3167,1.3,0.2,970,5236,0.12,1.52,0.00,0.000,2564,0.308,0.095,2592,1659,3339,3508,3170,0,0,0,0,0,0,13.72,13.84,28.83
$GC,5474,0.26,-146.0,2593,1659,3507,3170,1.3,0.7,1016,5480,0.00,1.55,0.00,0.000,1030,0.000,0.105,2588,2504,3338,3507,3170,0,0,0,0,0,0,28.83,13.80,28.83
$GC,5800,0.33,-146.0,2588,2504,3507,3170,1.2,0.5,1077,5808,0.00,1.52,0.00,0.000,516,0.000,0.099,2588,1660,3339,3508,3170,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6047,0.40,-146.0,2587,1661,3508,3170,1.3,-0.5,1123,6055,0.22,1.55,0.00,0.000,3078,0.275,0.105,2631,2504,3338,3507,3170,0,0,0,0,0,0,13.45,13.81,28.83
$GC,6376,0.40,-146.0,2631,2504,3507,3170,1.4,-0.9,1184,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2504,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6696,0.47,-146.0,1664,2502,3500,3167,1.3,0.0,1245,6706,0.00,1.55,0.00,0.000,516,0.000,0.099,2631,1651,3338,3507,3170,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6944,0.54,-146.0,1664,1650,3499,3167,1.3,-0.2,1291,6951,0.22,1.58,0.00,0.000,3078,0.275,0.106,2676,2505,3338,3507,3170,0,0,0,0,0,0,13.45,13.80,28.83
$GC,7266,0.54,-146.0,2676,2505,3508,3170,1.3,-0.4,1352,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2505,3339,3508,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7587,0.62,-146.0,2676,2505,3507,3170,1.3,-0.1,1413,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2505,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7910,0.62,-146.0,2677,2505,3507,3170,1.2,0.8,1474,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2505,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,0.69,-146.0,2676,2505,3507,3170,1.3,0.1,1535,8237,0.17,0.00,0.00,0.000,2054,0.298,0.000,2719,2505,3339,3508,3170,0,0,0,0,0,0,13.50,28.83,28.83
$GC,8552,0.76,-146.0,1736,2503,3499,3167,1.3,0.0,1596,8559,0.12,1.55,0.00,0.000,2564,0.317,0.096,2750,1658,3338,3507,3170,0,0,0,0,0,0,13.73,13.83,28.83
$GC,8799,0.76,-146.0,2750,1659,3508,3170,1.2,0.0,1642,8807,0.00,1.55,0.00,0.000,1030,0.000,0.107,2745,2500,3339,3508,3170,0,0,0,0,0,0,28.83,13.80,28.83
$GC,9121,0.76,-146.0,2746,2500,3507,3170,1.2,0.1,1703,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2500,3339,3508,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9440,0.83,-146.0,2746,2500,3507,3170,1.2,0.8,1764,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2500,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9762,0.90,-146.0,2746,2500,3508,3169,1.3,-0.2,1825,9769,0.17,0.00,0.00,0.000,2054,0.295,0.000,2787,2500,3338,3507,3170,0,0,0,0,0,0,13.50,28.83,28.83
$GC,10085,0.97,-146.0,1792,2498,3500,3167,1.3,-0.3,1886,10091,0.12,0.00,0.00,0.000,2054,0.307,0.000,2818,2500,3339,3508,3170,0,0,0,0,0,0,13.74,28.83,28.83
$GC,10413,1.05,-146.0,2818,2500,3508,3170,1.3,-0.8,1947,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2500,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10731,1.12,-146.0,1808,2498,3500,3167,1.2,0.3,2008,10738,0.15,0.00,0.00,0.000,2054,0.304,0.000,2856,2500,3338,3507,3170,0,0,0,0,0,0,13.54,28.83,28.83
$GC,11058,1.19,-146.0,2855,2499,3507,3170,1.3,-0.1,2069,11065,0.12,0.00,0.00,0.000,2054,0.320,0.000,2886,2500,3339,3508,3170,0,0,0,0,0,0,13.70,28.83,28.83
$GC,11385,1.26,-146.0,2885,2500,3508,3170,1.3,-0.4,2130,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2500,3338,3508,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11706,1.26,-146.0,2886,2500,3507,3170,1.2,0.0,2191,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2500,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12025,1.26,-146.0,2886,2500,3508,3170,1.3,0.6,2252,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2500,3338,3507,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12348,1.33,-146.0,1888,2498,3500,3166,1.3,-0.7,2313,12356,0.15,0.00,0.00,0.000,2054,0.301,0.000,2923,2500,3339,3508,3170,0,0,0,0,0,0,13.54,28.83,28.83
$GC,12677,1.40,-146.0,2923,2500,3508,3170,1.2,0.3,2374,12683,0.12,0.00,0.00,0.000,2054,0.322,0.000,2952,2500,3338,3507,3170,0,0,0,0,0,0,13.68,28.83,28.83
$STATE,12906,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12906,begin apogee
$FREEZE,1.37,-1.726,-1.793,2,3,0
$GC,12919,-0.22,0.0,2952,2500,3507,3170,1.3,1.2,2418,12934,1.55,0.00,10.00,0.176,12290,0.094,0.000,2433,2500,3255,3428,3083,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12935,end apogee,FINISH_DEPTH_REACHED
$STATE,12935,begin subsurface finish
$FINISH1,1.4,1.026333,0
$GC,12950,0.00,0.0,2434,2500,3428,3083,1.4,-0.3,2419,13019,0.28,0.00,64.15,0.162,10246,0.266,0.000,2501,2500,2737,2853,2622,0,0,0,0,0,0,13.50,28.83,13.97
$FINISH2,1.3
$STATE,13020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13020,begin surface
$RAFOS_CLK,710
$RAFOS,6,1387961345,8.833333,8.818055,135,54,54,53,52,51,740,202,130,155,185,229
$RAFOS,5,1387960861,8.700000,8.683611,63,63,55,53,53,51,127,205,188,152,787,217
$RAFOS,4,1387960382,8.566667,8.550555,154,62,57,57,55,55,593,206,162,179,130,152
$RAFOS,3,1387959901,8.433333,8.416945,64,62,57,56,54,51,700,212,153,191,130,175
$RAFOS,2,1387959425,8.300000,8.284722,107,54,54,52,51,51,681,191,158,201,169,215
$RAFOS,1,1387958943,8.166667,8.150833,64,61,58,52,51,51,173,190,135,200,119,215
$RAFOS,0,1387958465,8.033334,8.018056,63,59,58,57,53,53,134,152,548,194,212,167
$RAFOS_FIX,6643.528320,-5907.509277,251213,080804,4,115,0.37
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.82
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,11.90
$XPDR_PINGS,21
$ALTIM_TOP_PING,1.4,999.0
$24V_AH,13.4,231.540
$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,6.075,40.300,74.150,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,6010.330,2686.999,268.656,3464.162,663.473,0.000,1871.530,0.000,3442.298,2520.000,2.815,0.000
$DEVICE_MAMPS,322.065,107.865,175.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1732.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150744
$DATA_FILE_SIZE,96529,2430
$CAP_FILE_SIZE,169311,0
$CFSIZE,259252224,209965056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.0
$CURRENT,0.983,154.2,1
$GPS,251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8