version: 66.11
glider: 192
mission: 2
dive: 530
start: 12 25 113 17 58 42
data:
$ID,192
$MISSION,2
$DIVE,530
$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
$GPS1,251213,163336,6642.023,-5901.606,0,4093.5,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-22.7
$GPS2,251213,163336,6642.023,-5901.606,0,4093.5,0,-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,336.2,61847,-15.5,-8.250,-18.49,2720
$D_GRID,893
$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,-146.0,2501,2509,2839,2623,0.0,0.0,0,67,0.00,0.00,-40.65,0.000,16390,0.000,0.000,2501,2510,3336,3502,3171,0,0,0,0,0,0,28.83,28.83,14.58
$GC,75,-0.89,-146.0,2501,2510,3503,3171,1.3,0.1,8,82,0.85,1.58,0.00,0.000,4356,0.096,0.124,2214,3348,3337,3504,3171,0,0,0,0,0,0,13.95,13.85,28.83
$GC,321,-0.89,-146.0,2214,3347,3506,3171,1.1,0.0,54,327,0.00,1.52,0.00,0.000,1030,0.000,0.088,2215,2498,3338,3506,3171,0,0,0,0,0,0,28.83,13.95,28.83
$GC,641,-0.82,-146.0,2214,2498,3506,3171,1.2,-0.5,115,648,0.12,0.00,0.00,0.000,2054,0.314,0.000,2242,2498,3338,3506,3171,0,0,0,0,0,0,13.71,28.83,28.83
$GC,964,-0.75,-146.0,2242,2498,3506,3171,1.2,-0.1,176,971,0.00,1.65,0.00,0.000,260,0.000,0.129,2238,3355,3338,3506,3171,0,0,0,0,0,0,28.83,13.73,28.83
$GC,1213,-0.75,-146.0,2238,3354,3506,3171,1.1,0.5,222,1220,0.12,1.52,0.00,0.000,3078,0.296,0.087,2261,2499,3338,3506,3171,0,0,0,0,0,0,13.55,13.94,28.83
$GC,1540,-0.68,-146.0,1368,2496,3498,3167,1.2,0.4,283,1547,0.12,0.00,0.00,0.000,2054,0.306,0.000,2292,2499,3338,3506,3171,0,0,0,0,0,0,13.71,28.83,28.83
$GC,1860,-0.60,-146.0,2293,2499,3506,3171,1.2,-0.5,344,1867,0.00,1.62,0.00,0.000,260,0.000,0.131,2288,3347,3338,3506,3171,0,0,0,0,0,0,28.83,13.69,28.83
$GC,2105,-0.53,-146.0,2288,3347,3506,3171,1.1,-0.0,390,2114,0.20,1.52,0.00,0.000,3078,0.271,0.089,2331,2492,3338,3506,3170,0,0,0,0,0,0,13.45,13.92,28.83
$GC,2435,-0.46,-146.0,2331,2492,3506,3171,1.1,-0.2,451,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2492,3339,3507,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,-0.38,-146.0,2331,2492,3506,3171,1.1,0.1,512,2761,0.17,0.00,0.00,0.000,2054,0.294,0.000,2375,2492,3338,3506,3171,0,0,0,0,0,0,13.49,28.83,28.83
$GC,3077,-0.31,-146.0,2376,2492,3506,3170,1.1,0.3,573,3084,0.12,0.00,0.00,0.000,2054,0.316,0.000,2405,2492,3338,3506,3171,0,0,0,0,0,0,13.72,28.83,28.83
$GC,3398,-0.24,-146.0,2405,2492,3506,3171,1.2,-0.6,634,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2492,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-0.17,-146.0,2406,2492,3506,3171,1.1,0.3,695,3723,0.17,0.00,0.00,0.000,2054,0.300,0.000,2448,2492,3338,3506,3171,0,0,0,0,0,0,13.47,28.83,28.83
$GC,4037,-0.09,-146.0,2448,2492,3506,3171,1.2,0.0,756,4043,0.12,0.00,0.00,0.000,2054,0.320,0.000,2478,2492,3338,3506,3170,0,0,0,0,0,0,13.71,28.83,28.83
$GC,4358,-0.02,-146.0,2478,2492,3506,3171,1.1,0.1,817,4365,0.00,1.67,0.00,0.000,260,0.000,0.132,2474,3353,3338,3506,3171,0,0,0,0,0,0,28.83,13.69,28.83
$GC,4602,0.05,-146.0,2474,3353,3506,3171,1.0,0.6,863,4610,0.20,1.52,0.00,0.000,3078,0.276,0.090,2516,2500,3339,3507,3171,0,0,0,0,0,0,13.42,13.90,28.83
$GC,4924,0.05,-146.0,1584,2498,3498,3167,1.0,0.0,924,4932,0.00,1.65,0.00,0.000,260,0.000,0.132,2512,3354,3338,3506,3171,0,0,0,0,0,0,28.83,13.66,28.83
$GC,5172,0.13,-146.0,2512,3355,3506,3171,1.2,-0.3,970,5179,0.15,1.52,0.00,0.000,3078,0.288,0.090,2541,2500,3338,3506,3171,0,0,0,0,0,0,13.46,13.90,28.83
$GC,5501,0.20,-146.0,2541,2500,3506,3171,1.1,-0.1,1031,5508,0.12,1.65,0.00,0.000,2308,0.311,0.129,2566,3351,3338,3506,3171,0,0,0,0,0,0,13.69,13.66,28.83
$GC,5747,0.27,-146.0,2567,3351,3506,3171,1.1,0.4,1077,5753,0.00,1.52,0.00,0.000,1030,0.000,0.090,2567,2498,3338,3506,3171,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6071,0.35,-146.0,2567,2498,3506,3171,1.1,-0.1,1138,6078,0.17,0.00,0.00,0.000,2054,0.295,0.000,2609,2498,3338,3506,3170,0,0,0,0,0,0,13.45,28.83,28.83
$GC,6393,0.42,-146.0,2609,2498,3506,3171,1.2,0.1,1199,6399,0.12,0.00,0.00,0.000,2054,0.318,0.000,2639,2497,3338,3506,3171,0,0,0,0,0,0,13.69,28.83,28.83
$GC,6713,0.42,-146.0,1664,2495,3498,3168,1.1,0.0,1260,6721,0.00,1.65,0.00,0.000,260,0.000,0.133,2634,3346,3338,3506,3171,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6959,0.49,-146.0,2634,3346,3506,3171,1.2,-0.6,1306,6966,0.12,1.52,0.00,0.000,3078,0.298,0.091,2658,2500,3338,3506,3170,0,0,0,0,0,0,13.49,13.88,28.83
$GC,7286,0.56,-146.0,2657,2500,3506,3171,1.1,-0.4,1367,7292,0.12,0.00,0.00,0.000,2054,0.317,0.000,2688,2500,3338,3506,3171,0,0,0,0,0,0,13.69,28.83,28.83
$GC,7608,0.56,-146.0,2687,2500,3506,3170,1.1,0.0,1428,7614,0.00,1.65,0.00,0.000,260,0.000,0.132,2683,3346,3338,3506,3171,0,0,0,0,0,0,28.83,13.64,28.83
$GC,7856,0.63,-146.0,2684,3346,3506,3171,1.2,-0.3,1474,7863,0.00,1.52,0.00,0.000,1030,0.000,0.090,2683,2501,3338,3506,3171,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8183,0.71,-146.0,2684,2501,3506,3171,1.1,0.2,1535,8190,0.17,0.00,0.00,0.000,2054,0.293,0.000,2724,2501,3338,3506,3171,0,0,0,0,0,0,13.42,28.83,28.83
$GC,8503,0.71,-146.0,2724,2500,3506,3171,1.0,2.8,1596,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2501,3338,3505,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8828,0.78,-146.0,2723,2501,3506,3170,1.1,0.5,1657,8835,0.12,1.65,0.00,0.000,2308,0.317,0.128,2749,3349,3338,3506,3171,0,0,0,0,0,0,13.66,13.66,28.83
$GC,9074,0.85,-146.0,2749,3349,3506,3171,1.1,0.1,1703,9081,0.12,1.52,0.00,0.000,3078,0.297,0.090,2772,2499,3338,3506,3171,0,0,0,0,0,0,13.48,13.86,28.83
$GC,9401,0.85,-146.0,2772,2499,3506,3170,1.1,0.0,1764,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2499,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9722,0.93,-146.0,1792,2497,3498,3167,1.1,-0.1,1825,9730,0.12,0.00,0.00,0.000,2054,0.322,0.000,2802,2499,3338,3506,3171,0,0,0,0,0,0,13.69,28.83,28.83
$GC,10045,1.00,-146.0,2802,2499,3506,3170,1.1,0.1,1886,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2499,3338,3506,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10370,1.07,-146.0,2802,2499,3506,3171,1.1,-0.0,1947,10377,0.15,0.00,0.00,0.000,2054,0.308,0.000,2839,2499,3338,3506,3171,0,0,0,0,0,0,13.50,28.83,28.83
$GC,10697,1.15,-146.0,2840,2499,3506,3171,1.2,0.1,2008,10704,0.12,1.67,0.00,0.000,2308,0.322,0.130,2865,3349,3338,3506,3171,0,0,0,0,0,0,13.66,13.66,28.83
$GC,10945,1.22,-146.0,2865,3349,3506,3171,1.1,-0.1,2054,10952,0.12,1.55,0.00,0.000,3078,0.295,0.092,2888,2491,3338,3506,3171,0,0,0,0,0,0,13.50,13.89,28.83
$GC,11275,1.29,-146.0,2889,2491,3506,3170,1.1,-0.1,2115,11282,0.12,1.67,0.00,0.000,2308,0.321,0.131,2914,3349,3338,3506,3171,0,0,0,0,0,0,13.66,13.66,28.83
$GC,11520,1.36,-146.0,2914,3349,3506,3171,1.1,0.4,2161,11528,0.12,1.52,0.00,0.000,3078,0.302,0.091,2936,2499,3338,3506,3171,0,0,0,0,0,0,13.47,13.88,28.83
$GC,11848,1.43,-146.0,2936,2499,3506,3171,1.1,0.0,2222,11856,0.12,1.65,0.00,0.000,2308,0.327,0.129,2961,3349,3338,3506,3170,0,0,0,0,0,0,13.64,13.65,28.83
$GC,12094,1.51,-146.0,1968,3347,3498,3167,1.1,0.1,2268,12101,0.00,1.52,0.00,0.000,1030,0.000,0.090,2961,2499,3338,3506,3171,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12422,1.58,-146.0,2961,2499,3506,3170,1.1,0.4,2329,12429,0.20,0.00,0.00,0.000,2054,0.291,0.000,3006,2499,3338,3506,3171,0,0,0,0,0,0,13.36,28.83,28.83
$GC,12749,1.58,-146.0,3007,2499,3506,3171,1.1,0.0,2390,12755,0.00,1.65,0.00,0.000,260,0.000,0.132,3003,3351,3338,3506,3171,0,0,0,0,0,0,28.83,13.64,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.21,-1.748,-1.793,2,6,0
$GC,12922,-0.22,0.0,3003,2509,3506,3170,1.1,-0.1,2420,12937,1.70,0.00,9.75,0.174,12290,0.093,0.000,2434,2509,3257,3428,3086,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12938,end apogee,FINISH_DEPTH_REACHED
$STATE,12938,begin subsurface finish
$FINISH1,1.2,1.026333,0
$GC,12952,0.00,0.0,2434,2509,3428,3086,1.2,-0.2,2421,12960,0.28,0.00,5.18,0.171,10754,0.269,0.000,2501,2509,3214,3385,3043,0,0,0,0,0,0,13.49,28.83,28.83
$FINISH2,1.3
$STATE,12961,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12961,begin surface
$RAFOS_CLK,704
$RAFOS,6,1388004544,20.833334,20.817778,143,63,62,60,54,54,747,220,193,184,130,152
$RAFOS,5,1388004062,20.700001,20.683889,64,61,59,59,53,51,132,203,187,167,215,121
$RAFOS,4,1388003585,20.566668,20.551390,113,61,59,55,53,52,589,194,167,116,218,146
$RAFOS,3,1388003101,20.433332,20.416945,77,60,55,53,53,49,695,199,128,209,175,142
$RAFOS,2,1388002622,20.299999,20.283890,98,69,57,53,51,50,714,205,217,138,166,115
$RAFOS,1,1388002144,20.166666,20.151112,61,59,58,58,52,52,146,135,187,210,122,178
$RAFOS,0,1388001665,20.033333,20.018055,64,63,62,61,53,52,186,117,198,210,229,134
$RAFOS_FIX,6641.904297,-5859.814941,251213,202004,4,108,0.09
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.53
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,11.90
$XPDR_PINGS,15
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,231.824
$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,6.550,41.300,14.925,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,5980.858,2726.467,217.015,3452.247,658.909,0.000,1806.454,0.000,3429.978,2520.000,2.818,0.000
$DEVICE_MAMPS,327.420,133.110,173.655,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1727.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150688
$DATA_FILE_SIZE,93225,2422
$CAP_FILE_SIZE,171125,0
$CFSIZE,259252224,209723392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.9
$CURRENT,0.152,101.4,1
$GPS,251213,203304,6641.904,-5859.815,0,4107.8,0,-33.8