version: 66.11
glider: 192
mission: 2
dive: 531
start: 12 25 113 21 37 51
data:
$ID,192
$MISSION,2
$DIVE,531
$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,22
$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
$GPS1,251213,203304,6641.904,-5859.815,0,4107.8,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-22.8
$GPS2,251213,203304,6641.904,-5859.815,0,4107.8,0,-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,312.2,63169,-15.5,-8.250,-18.49,2720
$D_GRID,881
$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,-146.0,2501,2509,3384,3041,0.0,0.0,0,33,0.00,0.00,-8.52,0.000,16390,0.000,0.000,2501,2509,3336,3507,3166,0,0,0,0,0,0,28.83,28.83,14.56
$GC,40,-0.89,-146.0,2501,2509,3508,3166,1.2,0.2,2,47,0.85,1.60,0.00,0.000,4356,0.096,0.135,2213,3348,3337,3508,3166,0,0,0,0,0,0,13.93,13.81,28.83
$GC,285,-0.82,-146.0,1360,3346,3500,3163,1.1,0.0,48,292,0.15,1.52,0.00,0.000,3078,0.295,0.091,2242,2491,3337,3508,3166,0,0,0,0,0,0,13.50,13.93,28.83
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$GC,852,-0.68,-146.0,2238,3352,3509,3166,1.1,0.3,155,859,0.22,1.52,0.00,0.000,3078,0.268,0.090,2288,2496,3336,3507,3166,0,0,0,0,0,0,13.44,13.90,28.83
$GC,1174,-0.60,-146.0,2289,2496,3508,3166,1.1,-0.1,216,1180,0.00,1.62,0.00,0.000,260,0.000,0.133,2283,3346,3337,3508,3167,0,0,0,0,0,0,28.83,13.67,28.83
$GC,1418,-0.53,-146.0,1408,3345,3500,3163,1.1,-0.2,262,1427,0.22,1.52,0.00,0.000,3078,0.269,0.090,2334,2490,3337,3508,3166,0,0,0,0,0,0,13.41,13.90,28.83
$GC,1750,-0.46,-146.0,1408,2489,3500,3163,1.1,-0.3,323,1758,0.00,1.65,0.00,0.000,260,0.000,0.133,2329,3349,3337,3508,3167,0,0,0,0,0,0,28.83,13.66,28.83
$GC,1997,-0.38,-146.0,1440,3348,3500,3163,1.1,0.2,369,2004,0.22,1.52,0.00,0.000,3078,0.266,0.093,2379,2499,3337,3508,3167,0,0,0,0,0,0,13.42,13.88,28.83
$GC,2325,-0.31,-146.0,2379,2499,3508,3166,1.2,-0.1,430,2331,0.00,1.65,0.00,0.000,260,0.000,0.138,2374,3349,3337,3508,3167,0,0,0,0,0,0,28.83,13.64,28.83
$GC,2570,-0.24,-146.0,2375,3349,3508,3166,1.1,0.1,476,2579,0.22,1.55,0.00,0.000,3078,0.265,0.093,2424,2491,3337,3508,3166,0,0,0,0,0,0,13.41,13.89,28.83
$GC,2898,-0.17,-146.0,2424,2491,3508,3166,1.1,-0.1,537,2906,0.12,1.67,0.00,0.000,2308,0.316,0.135,2450,3347,3337,3508,3167,0,0,0,0,0,0,13.66,13.64,28.83
$GC,3144,-0.17,-146.0,2450,3347,3508,3167,1.0,1.2,583,3151,0.00,1.52,0.00,0.000,1030,0.000,0.093,2450,2499,3337,3508,3166,0,0,0,0,0,0,28.83,13.86,28.83
$GC,3465,-0.09,-146.0,2450,2499,3508,3166,1.1,-0.1,644,3472,0.00,1.62,0.00,0.000,260,0.000,0.135,2443,3347,3337,3508,3167,0,0,0,0,0,0,28.83,13.64,28.83
$GC,3714,-0.02,-146.0,2444,3347,3508,3166,1.1,-0.0,690,3722,0.22,1.52,0.00,0.000,3078,0.268,0.092,2493,2496,3337,3508,3167,0,0,0,0,0,0,13.40,13.88,28.83
$GC,4035,-0.02,-146.0,2493,2496,3508,3167,1.1,-0.8,751,4041,0.00,1.65,0.00,0.000,260,0.000,0.137,2489,3347,3337,3508,3167,0,0,0,0,0,0,28.83,13.63,28.83
$GC,4280,0.05,-146.0,1552,3346,3500,3164,1.0,0.7,797,4287,0.15,1.52,0.00,0.000,3078,0.286,0.092,2518,2495,3337,3508,3167,0,0,0,0,0,0,13.46,13.88,28.83
$GC,4607,0.13,-146.0,2518,2495,3508,3166,1.0,-0.2,858,4614,0.12,1.65,0.00,0.000,2308,0.315,0.134,2543,3346,3337,3508,3166,0,0,0,0,0,0,13.67,13.64,28.83
$GC,4852,0.20,-146.0,2543,3346,3508,3166,1.1,0.0,904,4860,0.00,1.52,0.00,0.000,1030,0.000,0.091,2543,2494,3337,3508,3167,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5174,0.27,-146.0,2544,2494,3508,3166,1.0,0.5,965,5181,0.17,1.67,0.00,0.000,2308,0.285,0.134,2581,3351,3337,3508,3167,0,0,0,0,0,0,13.49,13.64,28.83
$GC,5420,0.34,-146.0,2581,3351,3508,3166,1.1,0.1,1011,5427,0.15,1.52,0.00,0.000,3078,0.288,0.092,2612,2498,3337,3508,3166,0,0,0,0,0,0,13.44,13.88,28.83
$GC,5747,0.42,-146.0,1632,2496,3500,3163,1.1,0.1,1072,5755,0.00,1.65,0.00,0.000,260,0.000,0.138,2607,3348,3337,3508,3167,0,0,0,0,0,0,28.83,13.62,28.83
$GC,5994,0.49,-146.0,1664,3347,3500,3163,1.1,-0.3,1118,6001,0.22,1.52,0.00,0.000,3078,0.273,0.092,2656,2499,3337,3508,3167,0,0,0,0,0,0,13.36,13.87,28.83
$GC,6322,0.56,-146.0,2656,2499,3508,3167,1.2,-0.3,1179,6329,0.12,1.67,0.00,0.000,2308,0.313,0.132,2682,3353,3337,3508,3166,0,0,0,0,0,0,13.69,13.64,28.83
$GC,6568,0.64,-146.0,2682,3353,3508,3166,1.1,0.1,1225,6574,0.00,1.55,0.00,0.000,1030,0.000,0.092,2682,2493,3337,3509,3166,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6887,0.64,-146.0,1728,2490,3500,3163,1.0,0.0,1286,6895,0.00,1.67,0.00,0.000,260,0.000,0.138,2676,3352,3337,3508,3166,0,0,0,0,0,0,28.83,13.63,28.83
$GC,7133,0.71,-146.0,2676,3352,3508,3166,1.0,0.2,1332,7141,0.25,1.55,0.00,0.000,3078,0.272,0.093,2730,2493,3337,3508,3167,0,0,0,0,0,0,13.36,13.88,28.83
$GC,7459,0.78,-146.0,2730,2494,3508,3166,1.1,-0.0,1393,7465,0.00,1.67,0.00,0.000,260,0.000,0.138,2726,3352,3337,3508,3167,0,0,0,0,0,0,28.83,13.63,28.83
$GC,7705,0.85,-146.0,2726,3352,3508,3166,1.1,-0.3,1439,7712,0.22,1.55,0.00,0.000,3078,0.267,0.092,2775,2492,3337,3508,3167,0,0,0,0,0,0,13.38,13.88,28.83
$GC,8031,0.93,-146.0,2775,2492,3508,3167,1.1,0.3,1500,8039,0.00,1.67,0.00,0.000,260,0.000,0.138,2770,3351,3337,3508,3167,0,0,0,0,0,0,28.83,13.62,28.83
$GC,8277,1.00,-146.0,2770,3351,3508,3166,1.1,-0.1,1546,8286,0.22,1.52,0.00,0.000,3078,0.270,0.092,2819,2500,3337,3508,3166,0,0,0,0,0,0,13.37,13.87,28.83
$GC,8609,1.07,-146.0,2819,2500,3508,3166,1.1,0.1,1607,8616,0.12,1.67,0.00,0.000,2308,0.322,0.132,2844,3353,3337,3508,3166,0,0,0,0,0,0,13.64,13.62,28.83
$GC,8853,1.14,-146.0,1856,3352,3500,3163,1.1,0.1,1653,8860,0.12,1.55,0.00,0.000,3078,0.300,0.092,2868,2494,3337,3508,3166,0,0,0,0,0,0,13.47,13.87,28.83
$GC,9182,1.22,-146.0,2868,2494,3508,3167,1.2,-0.7,1714,9188,0.00,1.67,0.00,0.000,260,0.000,0.138,2863,3352,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,9427,1.29,-146.0,2863,3352,3508,3167,1.1,-0.5,1760,9436,0.22,1.55,0.00,0.000,3078,0.273,0.093,2912,2494,3337,3508,3166,0,0,0,0,0,0,13.35,13.86,28.83
$GC,9757,1.36,-146.0,2912,2494,3508,3166,1.1,0.2,1821,9764,0.12,1.67,0.00,0.000,2308,0.316,0.135,2937,3348,3337,3508,3166,0,0,0,0,0,0,13.65,13.62,28.83
$GC,10003,1.44,-146.0,1952,3346,3500,3163,1.1,0.3,1867,10010,0.00,1.52,0.00,0.000,1030,0.000,0.092,2937,2499,3337,3508,3167,0,0,0,0,0,0,28.83,13.86,28.83
$GC,10331,1.51,-146.0,2937,2499,3508,3166,1.1,-0.3,1928,10338,0.20,1.65,0.00,0.000,2308,0.290,0.133,2979,3345,3337,3508,3166,0,0,0,0,0,0,13.35,13.63,28.83
$GC,10579,1.58,-146.0,2979,3345,3509,3167,1.1,0.0,1974,10588,0.15,1.52,0.00,0.000,3078,0.294,0.091,3008,2495,3337,3508,3167,0,0,0,0,0,0,13.42,13.85,28.83
$GC,10910,1.58,-146.0,1984,2493,3500,3163,1.1,-0.5,2035,10917,0.00,1.65,0.00,0.000,260,0.000,0.138,3003,3345,3337,3508,3166,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11156,1.58,-146.0,3004,3345,3508,3166,1.0,1.4,2081,11162,0.00,1.52,0.00,0.000,1030,0.000,0.091,3003,2495,3337,3508,3167,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11481,1.58,-146.0,1984,2493,3500,3163,1.1,-0.2,2142,11491,0.00,1.67,0.00,0.000,260,0.000,0.138,2997,3352,3337,3508,3166,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11729,1.58,-146.0,2016,3351,3500,3164,1.1,0.1,2188,11736,0.00,1.55,0.00,0.000,1030,0.000,0.092,2997,2494,3337,3508,3167,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12055,1.58,-146.0,2997,2494,3508,3166,1.1,0.1,2249,12062,0.00,1.67,0.00,0.000,260,0.000,0.138,2990,3351,3337,3508,3166,0,0,0,0,0,0,28.83,13.63,28.83
$GC,12301,1.58,-146.0,2000,3349,3500,3163,1.1,0.2,2295,12309,0.00,1.52,0.00,0.000,1030,0.000,0.092,2990,2500,3338,3509,3167,0,0,0,0,0,0,28.83,13.87,28.83
$GC,12630,1.58,-146.0,2990,2500,3508,3166,1.0,0.4,2356,12638,0.00,1.62,0.00,0.000,260,0.000,0.138,2984,3345,3337,3508,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12875,1.58,-146.0,1992,3345,3501,3164,1.1,-0.6,2402,12883,0.12,1.52,0.00,0.000,3078,0.301,0.091,3006,2498,3337,3508,3167,0,0,0,0,0,0,13.47,13.87,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.23,-1.734,-1.794,2,7,0
$GC,12921,-0.22,0.0,3006,2498,3508,3166,1.0,0.0,2408,12934,1.73,0.00,8.85,0.174,12290,0.091,0.000,2431,2498,3265,3438,3092,0,0,0,0,0,0,13.92,28.83,28.83
$STATE,12935,end apogee,FINISH_DEPTH_REACHED
$STATE,12936,begin subsurface finish
$FINISH1,1.2,1.026336,0
$GC,12951,0.00,0.0,2431,2498,3438,3092,1.2,-0.7,2409,12959,0.28,0.00,5.32,0.169,10754,0.265,0.000,2499,2499,3219,3392,3046,0,0,0,0,0,0,13.50,28.83,28.83
$FINISH2,1.3
$STATE,12960,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12960,begin surface
$RAFOS_CLK,700
$RAFOS,6,1388018957,0.833333,0.821389,73,68,63,60,56,55,681,216,205,165,194,116
$RAFOS,5,1388018463,0.700000,0.684167,59,54,52,52,51,50,209,196,149,221,174,252
$RAFOS,4,1388017982,0.566667,0.550556,83,66,57,57,54,53,613,205,171,183,162,238
$RAFOS,3,1388017502,0.433333,0.417222,132,70,57,55,54,54,691,202,158,214,186,130
$RAFOS,2,1388017024,0.300000,0.284444,90,75,70,62,56,55,713,215,186,169,197,225
$RAFOS,1,1388016544,0.166667,0.151111,63,55,54,51,45,45,178,147,204,214,122,225
$RAFOS,0,1388016064,0.033333,0.017778,55,55,55,53,51,51,116,201,217,178,160,134
$RAFOS_FIX,6641.683105,-5856.654297,261213,000004,4,94,0.16
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.37
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,11.70
$XPDR_PINGS,11
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,231.918
$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,6.975,73.350,14.175,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,5955.515,2716.265,210.094,3435.760,710.416,0.000,1796.063,0.000,3413.160,2520.000,2.816,0.000
$DEVICE_MAMPS,322.065,138.465,174.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1719.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93199,2410
$CAP_FILE_SIZE,177256,0
$CFSIZE,259252224,209633280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.9
$CURRENT,0.231,101.2,1
$GPS,261213,003304,6641.683,-5856.654,0,4094.5,0,-33.8