version: 66.11
glider: 192
mission: 2
dive: 532
start: 12 26 113 1 16 51
data:
$ID,192
$MISSION,2
$DIVE,532
$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
$GPS1,261213,003304,6641.683,-5856.654,0,4094.5,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-22.8
$GPS2,261213,003304,6641.683,-5856.654,0,4094.5,0,-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,314.5,65503,-15.5,-8.250,-18.49,2720
$D_GRID,859
$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,-146.0,2500,2498,3391,3046,0.0,0.0,0,32,0.00,0.00,-8.23,0.000,16390,0.000,0.000,2499,2499,3337,3509,3165,0,0,0,0,0,0,28.83,28.83,14.55
$GC,40,-0.89,-146.0,2499,2498,3509,3165,1.2,0.2,2,47,0.82,1.62,0.00,0.000,4356,0.093,0.134,2219,3346,3337,3509,3165,0,0,0,0,0,0,13.93,13.81,28.83
$GC,290,-0.82,-146.0,2219,3346,3509,3165,1.0,0.2,48,296,0.00,1.52,0.00,0.000,1030,0.000,0.091,2219,2497,3337,3509,3165,0,0,0,0,0,0,28.83,13.93,28.83
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$GC,859,-0.68,-146.0,2256,3345,3509,3165,1.1,-0.6,155,866,0.15,1.52,0.00,0.000,3078,0.285,0.090,2286,2494,3337,3510,3165,0,0,0,0,0,0,13.50,13.90,28.83
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$GC,1435,-0.53,-146.0,2282,3345,3509,3166,1.0,-0.1,262,1443,0.22,1.52,0.00,0.000,3078,0.267,0.090,2332,2492,3337,3509,3166,0,0,0,0,0,0,13.40,13.90,28.83
$GC,1764,-0.46,-146.0,2332,2492,3509,3166,1.0,0.2,323,1771,0.12,1.67,0.00,0.000,2308,0.315,0.136,2357,3347,3337,3509,3166,0,0,0,0,0,0,13.67,13.65,28.83
$GC,2009,-0.38,-146.0,2357,3347,3509,3166,1.1,-0.3,369,2016,0.00,1.52,0.00,0.000,1030,0.000,0.090,2357,2500,3337,3509,3166,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2332,-0.31,-146.0,1456,2498,3501,3162,1.1,-0.1,430,2341,0.17,1.65,0.00,0.000,2308,0.287,0.134,2395,3346,3337,3509,3165,0,0,0,0,0,0,13.50,13.65,28.83
$GC,2581,-0.24,-146.0,2395,3346,3509,3166,1.1,-0.1,476,2588,0.15,1.52,0.00,0.000,3078,0.285,0.090,2424,2499,3337,3509,3166,0,0,0,0,0,0,13.46,13.88,28.83
$GC,2909,-0.16,-146.0,2425,2499,3509,3166,1.0,-0.0,537,2917,0.12,1.65,0.00,0.000,2308,0.313,0.132,2451,3345,3337,3509,3166,0,0,0,0,0,0,13.68,13.64,28.83
$GC,3156,-0.09,-146.0,2450,3345,3509,3165,1.1,-0.1,583,3164,0.00,1.52,0.00,0.000,1030,0.000,0.090,2450,2497,3337,3509,3166,0,0,0,0,0,0,28.83,13.88,28.83
$GC,3480,-0.02,-146.0,2451,2497,3509,3166,1.1,-0.2,644,3487,0.17,1.67,0.00,0.000,2308,0.287,0.135,2487,3349,3337,3509,3165,0,0,0,0,0,0,13.48,13.64,28.83
$GC,3725,-0.02,-146.0,2487,3349,3509,3166,1.1,0.5,690,3732,0.00,1.52,0.00,0.000,1030,0.000,0.091,2487,2501,3337,3509,3165,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4045,0.06,-146.0,1544,2498,3501,3162,1.2,-0.3,751,4055,0.12,1.65,0.00,0.000,2308,0.309,0.133,2512,3345,3337,3509,3166,0,0,0,0,0,0,13.67,13.64,28.83
$GC,4294,0.13,-146.0,2512,3344,3509,3166,1.2,-0.9,797,4301,0.15,1.52,0.00,0.000,3078,0.288,0.091,2541,2497,3337,3509,3166,0,0,0,0,0,0,13.45,13.88,28.83
$GC,4621,0.21,-146.0,1568,2495,3501,3163,1.0,0.2,858,4629,0.12,1.67,0.00,0.000,2308,0.315,0.135,2567,3350,3337,3509,3166,0,0,0,0,0,0,13.68,13.64,28.83
$GC,4868,0.28,-146.0,1608,3349,3501,3162,1.0,0.4,904,4876,0.12,1.52,0.00,0.000,3078,0.296,0.091,2591,2499,3337,3509,3166,0,0,0,0,0,0,13.50,13.87,28.83
$GC,5196,0.35,-146.0,1600,2497,3501,3162,1.0,0.4,965,5205,0.12,1.65,0.00,0.000,2308,0.315,0.133,2617,3345,3337,3509,3166,0,0,0,0,0,0,13.67,13.63,28.83
$GC,5443,0.43,-146.0,2616,3345,3509,3166,1.0,-0.2,1011,5450,0.00,1.52,0.00,0.000,1030,0.000,0.090,2617,2496,3337,3509,3166,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5764,0.50,-146.0,1664,2494,3502,3162,1.1,0.4,1072,5771,0.17,1.67,0.00,0.000,2308,0.298,0.133,2654,3347,3337,3509,3166,0,0,0,0,0,0,13.43,13.64,28.83
$GC,6013,0.57,-146.0,2654,3346,3510,3166,1.0,0.5,1118,6021,0.15,1.52,0.00,0.000,3078,0.285,0.090,2684,2498,3337,3509,3166,0,0,0,0,0,0,13.46,13.88,28.83
$GC,6341,0.65,-146.0,2684,2498,3509,3165,1.0,0.4,1179,6349,0.12,1.67,0.00,0.000,2308,0.310,0.135,2710,3351,3337,3509,3165,0,0,0,0,0,0,13.68,13.64,28.83
$GC,6587,0.72,-146.0,2710,3350,3509,3166,1.0,0.1,1225,6594,0.00,1.55,0.00,0.000,1030,0.000,0.090,2710,2491,3338,3510,3166,0,0,0,0,0,0,28.83,13.88,28.83
$GC,6909,0.79,-146.0,2710,2491,3509,3166,1.1,-0.6,1286,6917,0.17,1.67,0.00,0.000,2308,0.288,0.135,2747,3346,3338,3510,3166,0,0,0,0,0,0,13.45,13.62,28.83
$GC,7155,0.87,-146.0,2747,3346,3509,3164,1.0,0.1,1332,7164,0.15,1.52,0.00,0.000,3078,0.289,0.091,2776,2495,3337,3509,3166,0,0,0,0,0,0,13.45,13.87,28.83
$GC,7485,0.94,-146.0,2776,2496,3509,3165,1.0,0.3,1393,7493,0.12,1.67,0.00,0.000,2308,0.313,0.135,2802,3349,3337,3509,3166,0,0,0,0,0,0,13.67,13.63,28.83
$GC,7733,1.01,-146.0,2802,3349,3509,3166,1.0,0.4,1439,7741,0.00,1.52,0.00,0.000,1030,0.000,0.091,2802,2500,3337,3509,3166,0,0,0,0,0,0,28.83,13.86,28.83
$GC,8056,1.09,-146.0,2802,2500,3509,3165,1.1,-0.5,1500,8065,0.17,1.67,0.00,0.000,2308,0.295,0.133,2838,3353,3337,3509,3166,0,0,0,0,0,0,13.43,13.64,28.83
$GC,8304,1.09,-146.0,1856,3352,3502,3162,1.1,-0.3,1546,8311,0.00,1.55,0.00,0.000,1030,0.000,0.093,2838,2495,3337,3510,3165,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8625,1.16,-146.0,2838,2495,3509,3165,1.1,-0.3,1607,8632,0.12,1.67,0.00,0.000,2308,0.313,0.136,2863,3345,3337,3509,3165,0,0,0,0,0,0,13.65,13.62,28.83
$GC,8872,1.23,-146.0,1856,3345,3502,3162,1.0,0.0,1653,8881,0.15,1.52,0.00,0.000,3078,0.292,0.092,2894,2498,3337,3510,3165,0,0,0,0,0,0,13.40,13.85,28.83
$GC,9202,1.31,-146.0,1864,2496,3501,3163,1.1,-0.5,1714,9210,0.12,1.67,0.00,0.000,2308,0.320,0.135,2919,3351,3337,3509,3166,0,0,0,0,0,0,13.62,13.63,28.83
$GC,9447,1.31,-146.0,2919,3351,3510,3165,1.0,0.0,1760,9454,0.00,1.55,0.00,0.000,1030,0.000,0.093,2919,2491,3337,3509,3165,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9766,1.31,-146.0,1936,2489,3502,3162,1.1,0.3,1821,9773,0.00,1.67,0.00,0.000,260,0.000,0.139,2912,3347,3337,3509,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,10011,1.38,-146.0,2913,3347,3510,3165,1.0,0.1,1867,10020,0.15,1.52,0.00,0.000,3078,0.301,0.092,2941,2499,3337,3509,3166,0,0,0,0,0,0,13.39,13.84,28.83
$GC,10343,1.46,-146.0,2940,2499,3510,3165,1.1,-0.0,1928,10351,0.12,1.65,0.00,0.000,2308,0.321,0.133,2966,3345,3338,3510,3166,0,0,0,0,0,0,13.66,13.63,28.83
$GC,10591,1.53,-146.0,2966,3344,3509,3165,1.0,-0.1,1974,10598,0.12,1.52,0.00,0.000,3078,0.303,0.091,2989,2498,3337,3510,3165,0,0,0,0,0,0,13.45,13.85,28.83
$GC,10920,1.60,-146.0,2989,2498,3509,3166,1.0,-0.5,2035,10929,0.12,1.67,0.00,0.000,2308,0.321,0.135,3015,3349,3337,3509,3166,0,0,0,0,0,0,13.63,13.62,28.83
$GC,11168,1.60,-146.0,3015,3349,3510,3166,1.0,0.0,2081,11176,0.00,1.52,0.00,0.000,1030,0.000,0.092,3015,2499,3337,3510,3165,0,0,0,0,0,0,28.83,13.85,28.83
$GC,11497,1.60,-146.0,2000,2499,3502,3162,1.1,-0.4,2142,11503,0.00,1.65,0.00,0.000,260,0.000,0.136,3009,3349,3337,3509,3165,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11743,1.60,-146.0,2048,3347,3501,3162,1.1,0.2,2188,11751,0.00,1.52,0.00,0.000,1030,0.000,0.092,3009,2499,3337,3510,3165,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12070,1.60,-146.0,1984,2497,3501,3162,1.1,-0.2,2249,12078,0.00,1.65,0.00,0.000,260,0.000,0.135,3002,3348,3337,3509,3166,0,0,0,0,0,0,28.83,13.63,28.83
$GC,12319,1.60,-146.0,3002,3348,3510,3166,1.0,-0.2,2295,12325,0.00,1.52,0.00,0.000,1030,0.000,0.091,3002,2499,3337,3510,3164,0,0,0,0,0,0,28.83,13.85,28.83
$GC,12648,1.60,-146.0,3002,2499,3509,3165,1.0,0.5,2356,12655,0.00,1.65,0.00,0.000,260,0.000,0.135,2995,3346,3337,3509,3165,0,0,0,0,0,0,28.83,13.63,28.83
$GC,12894,1.60,-146.0,2016,3345,3502,3162,1.0,0.1,2402,12902,0.00,1.52,0.00,0.000,1030,0.000,0.091,2995,2498,3336,3509,3164,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12907,begin apogee
$FREEZE,1.21,-1.731,-1.793,2,8,0
$GC,12920,-0.22,0.0,2995,2498,3509,3165,1.1,-0.2,2404,12932,1.67,0.00,7.20,0.178,12290,0.093,0.000,2437,2497,3278,3452,3105,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12933,end apogee,FINISH_DEPTH_REACHED
$STATE,12933,begin subsurface finish
$FINISH1,1.2,1.026333,0
$GC,12948,0.00,0.0,2437,2497,3453,3105,1.2,-0.4,2405,13003,0.25,0.00,51.60,0.157,10754,0.265,0.000,2499,2498,2853,2998,2709,0,0,0,0,0,0,13.48,28.83,28.83
$FINISH2,1.2
$STATE,13004,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13004,begin surface
$RAFOS_CLK,711
$RAFOS,5,1388032862,4.700000,4.683889,69,63,59,57,55,55,198,216,148,119,167,744
$RAFOS,4,1388032382,4.566667,4.550556,125,56,55,54,53,52,617,122,196,152,222,176
$RAFOS,3,1388031904,4.433333,4.417778,82,62,61,57,54,51,682,169,158,199,213,115
$RAFOS,2,1388031422,4.300000,4.283889,73,60,57,55,50,49,735,198,167,141,212,178
$RAFOS,1,1388030959,4.166667,4.155278,65,60,55,53,49,49,114,209,180,153,132,1105
$RAFOS,0,1388030464,4.033333,4.017778,60,54,52,52,51,51,226,197,142,151,85,169
$RAFOS_FIX,6640.829102,-5852.194824,261213,040440,3,93,0.26
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.66
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,11.90
$XPDR_PINGS,7
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,232.015
$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,6.700,73.375,58.800,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,6039.854,2641.196,251.531,3445.850,691.642,0.000,1850.110,0.000,3418.867,2520.000,2.816,0.000
$DEVICE_MAMPS,321.300,139.230,178.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1721.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93166,2414
$CAP_FILE_SIZE,177734,0
$CFSIZE,259252224,209551360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.0
$CURRENT,0.326,116.2,1
$GPS,261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8