version: 66.11
glider: 192
mission: 2
dive: 534
start: 12 26 113 8 36 39
data:
$ID,192
$MISSION,2
$DIVE,534
$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
$GPS1,261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-22.9
$GPS2,261213,042640,6640.829,-5852.195,0,3093.3,0,-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,301.7,68875,-15.5,-8.250,-18.49,2720
$D_GRID,821
$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,-146.0,2496,2497,2839,2624,0.0,0.0,0,66,0.00,0.00,-40.90,0.000,16390,0.000,0.000,2497,2497,3337,3503,3171,0,0,0,0,0,0,28.83,28.83,14.54
$GC,74,-0.89,-146.0,2496,2497,3504,3171,1.2,-0.1,8,81,0.82,1.65,0.00,0.000,4356,0.096,0.130,2217,3354,3338,3505,3171,0,0,0,0,0,0,13.95,13.85,28.83
$GC,321,-0.89,-146.0,2217,3354,3506,3172,1.1,0.0,54,328,0.00,1.55,0.00,0.000,1030,0.000,0.090,2217,2497,3338,3506,3171,0,0,0,0,0,0,28.83,13.93,28.83
$GC,643,-0.89,-146.0,2217,2497,3506,3171,1.1,-0.7,115,649,0.00,1.65,0.00,0.000,260,0.000,0.138,2210,3346,3338,3506,3171,0,0,0,0,0,0,28.83,13.71,28.83
$GC,888,-0.82,-146.0,2211,3346,3506,3171,1.0,0.5,161,895,0.15,1.52,0.00,0.000,3078,0.291,0.092,2240,2498,3338,3506,3171,0,0,0,0,0,0,13.47,13.90,28.83
$GC,1214,-0.75,-146.0,1352,2496,3498,3168,1.0,-0.2,222,1222,0.00,1.65,0.00,0.000,260,0.000,0.137,2236,3349,3339,3506,3172,0,0,0,0,0,0,28.83,13.67,28.83
$GC,1462,-0.67,-146.0,2236,3349,3506,3171,1.1,-0.4,268,1469,0.22,1.52,0.00,0.000,3078,0.269,0.092,2286,2499,3338,3506,3171,0,0,0,0,0,0,13.44,13.89,28.83
$GC,1789,-0.60,-146.0,2286,2499,3506,3171,1.1,-0.5,329,1795,0.00,1.65,0.00,0.000,260,0.000,0.137,2281,3346,3338,3506,3171,0,0,0,0,0,0,28.83,13.66,28.83
$GC,2034,-0.53,-146.0,2281,3346,3506,3171,1.0,0.6,375,2041,0.22,1.52,0.00,0.000,3078,0.265,0.093,2332,2498,3337,3504,3171,0,0,0,0,0,0,13.42,13.88,28.83
$GC,2361,-0.45,-146.0,1416,2496,3498,3168,1.1,-0.3,436,2370,0.12,1.67,0.00,0.000,2308,0.314,0.135,2357,3352,3338,3506,3171,0,0,0,0,0,0,13.68,13.65,28.83
$GC,2611,-0.38,-146.0,1456,3351,3498,3168,1.1,0.1,482,2618,0.00,1.55,0.00,0.000,1030,0.000,0.093,2357,2494,3339,3507,3171,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2935,-0.31,-146.0,2357,2494,3506,3171,1.0,-0.4,543,2942,0.17,1.67,0.00,0.000,2308,0.286,0.136,2395,3348,3338,3506,3171,0,0,0,0,0,0,13.50,13.64,28.83
$GC,3182,-0.23,-146.0,2396,3348,3506,3172,1.0,-0.2,589,3189,0.15,1.52,0.00,0.000,3078,0.285,0.093,2426,2499,3338,3506,3171,0,0,0,0,0,0,13.46,13.86,28.83
$GC,3509,-0.16,-146.0,1480,2498,3498,3168,1.0,0.3,650,3516,0.12,1.67,0.00,0.000,2308,0.311,0.134,2451,3353,3338,3506,3171,0,0,0,0,0,0,13.66,13.64,28.83
$GC,3756,-0.09,-146.0,1536,3352,3498,3168,1.1,0.2,696,3764,0.00,1.55,0.00,0.000,1030,0.000,0.093,2451,2496,3338,3506,3171,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4078,-0.09,-146.0,2451,2496,3506,3171,1.1,0.4,757,4085,0.00,1.67,0.00,0.000,260,0.000,0.138,2445,3352,3338,3506,3171,0,0,0,0,0,0,28.83,13.64,28.83
$GC,4324,-0.01,-146.0,1536,3350,3498,3168,1.1,0.2,803,4331,0.25,1.55,0.00,0.000,3078,0.265,0.092,2500,2492,3338,3506,3171,0,0,0,0,0,0,13.39,13.88,28.83
$GC,4651,0.06,-146.0,2500,2492,3506,3171,1.1,-0.0,864,4658,0.00,1.67,0.00,0.000,260,0.000,0.138,2496,3349,3338,3506,3171,0,0,0,0,0,0,28.83,13.63,28.83
$GC,4897,0.13,-146.0,2496,3349,3506,3171,1.0,0.3,910,4904,0.22,1.55,0.00,0.000,3078,0.272,0.093,2544,2490,3338,3506,3171,0,0,0,0,0,0,13.38,13.87,28.83
$GC,5223,0.21,-146.0,2544,2490,3506,3171,1.0,-0.2,971,5232,0.12,1.67,0.00,0.000,2308,0.314,0.137,2570,3345,3338,3506,3171,0,0,0,0,0,0,13.69,13.63,28.83
$GC,5471,0.28,-146.0,2570,3345,3507,3171,1.1,-0.4,1017,5478,0.00,1.52,0.00,0.000,1030,0.000,0.093,2570,2500,3339,3506,3172,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5792,0.35,-146.0,2570,2500,3506,3171,1.0,0.0,1078,5799,0.17,1.67,0.00,0.000,2308,0.291,0.135,2607,3352,3338,3506,3171,0,0,0,0,0,0,13.45,13.64,28.83
$GC,6040,0.43,-146.0,2607,3352,3506,3171,1.0,0.1,1124,6048,0.15,1.55,0.00,0.000,3078,0.285,0.093,2637,2492,3338,3506,3171,0,0,0,0,0,0,13.45,13.88,28.83
$GC,6369,0.50,-146.0,2637,2492,3506,3171,1.1,-0.0,1185,6377,0.12,1.67,0.00,0.000,2308,0.318,0.136,2664,3346,3338,3506,3171,0,0,0,0,0,0,13.65,13.63,28.83
$GC,6616,0.57,-146.0,1696,3345,3498,3168,1.0,0.5,1231,6622,0.00,1.52,0.00,0.000,1030,0.000,0.092,2664,2499,3338,3506,3171,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6938,0.57,-146.0,2664,2499,3507,3171,1.1,0.2,1292,6945,0.00,1.65,0.00,0.000,260,0.000,0.137,2658,3346,3338,3506,3171,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7184,0.65,-146.0,1696,3345,3498,3168,1.0,-0.1,1338,7191,0.22,1.52,0.00,0.000,3078,0.272,0.092,2707,2498,3339,3507,3171,0,0,0,0,0,0,13.36,13.85,28.83
$GC,7504,0.65,-146.0,1728,2496,3498,3168,1.1,-0.3,1399,7510,0.00,1.65,0.00,0.000,260,0.000,0.139,2703,3346,3339,3507,3171,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7751,0.72,-146.0,2703,3346,3506,3171,1.0,0.2,1445,7759,0.15,1.52,0.00,0.000,3078,0.286,0.092,2732,2499,3339,3506,3172,0,0,0,0,0,0,13.43,13.85,28.83
$GC,8079,0.79,-146.0,1728,2497,3498,3168,1.1,-0.3,1506,8087,0.12,1.67,0.00,0.000,2308,0.322,0.134,2757,3353,3338,3506,3171,0,0,0,0,0,0,13.62,13.63,28.83
$GC,8326,0.79,-146.0,2757,3353,3506,3171,1.1,0.0,1552,8333,0.00,1.55,0.00,0.000,1030,0.000,0.091,2757,2491,3338,3506,3171,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8646,0.79,-146.0,2757,2491,3506,3171,1.1,-0.5,1613,8653,0.00,1.67,0.00,0.000,260,0.000,0.138,2750,3349,3338,3506,3171,0,0,0,0,0,0,28.83,13.62,28.83
$GC,8891,0.87,-146.0,2750,3349,3506,3171,1.0,-0.2,1659,8900,0.15,1.52,0.00,0.000,3078,0.283,0.092,2780,2501,3338,3506,3171,0,0,0,0,0,0,13.45,13.85,28.83
$GC,9220,0.94,-146.0,2780,2500,3506,3171,1.0,-0.0,1720,9226,0.00,1.65,0.00,0.000,260,0.000,0.137,2775,3347,3338,3506,3171,0,0,0,0,0,0,28.83,13.62,28.83
$GC,9465,1.01,-146.0,2775,3346,3506,3171,1.1,-0.1,1766,9473,0.22,1.52,0.00,0.000,3078,0.275,0.092,2824,2499,3338,3506,3171,0,0,0,0,0,0,13.36,13.85,28.83
$GC,9792,1.09,-146.0,1808,2497,3498,3168,1.1,-0.5,1827,9801,0.12,1.67,0.00,0.000,2308,0.320,0.132,2850,3352,3338,3506,3171,0,0,0,0,0,0,13.64,13.63,28.83
$GC,10041,1.16,-146.0,2850,3352,3506,3171,1.0,0.1,1873,10048,0.12,1.55,0.00,0.000,3078,0.297,0.091,2874,2492,3338,3506,3171,0,0,0,0,0,0,13.47,13.88,28.83
$GC,10368,1.23,-146.0,2873,2493,3506,3170,1.2,-0.3,1934,10375,0.00,1.67,0.00,0.000,260,0.000,0.138,2868,3348,3338,3506,3171,0,0,0,0,0,0,28.83,13.61,28.83
$GC,10618,1.31,-146.0,2869,3347,3506,3171,1.1,-0.1,1980,10625,0.22,1.52,0.00,0.000,3078,0.278,0.091,2918,2500,3338,3506,3171,0,0,0,0,0,0,13.34,13.85,28.83
$GC,10946,1.38,-146.0,2918,2500,3506,3171,1.0,0.5,2041,10954,0.12,1.67,0.00,0.000,2308,0.317,0.133,2943,3354,3339,3506,3172,0,0,0,0,0,0,13.64,13.62,28.83
$GC,11194,1.46,-146.0,2943,3353,3506,3171,1.0,0.5,2087,11201,0.12,1.52,0.00,0.000,3078,0.298,0.090,2966,2499,3338,3506,3171,0,0,0,0,0,0,13.47,13.86,28.83
$GC,11523,1.53,-146.0,2966,2499,3506,3171,1.0,0.3,2148,11531,0.12,1.65,0.00,0.000,2308,0.316,0.135,2991,3344,3338,3506,3171,0,0,0,0,0,0,13.66,13.62,28.83
$GC,11771,1.60,-146.0,2991,3345,3506,3171,1.0,0.4,2194,11777,0.00,1.52,0.00,0.000,1030,0.000,0.090,2991,2494,3338,3506,3171,0,0,0,0,0,0,28.83,13.86,28.83
$GC,12098,1.60,-146.0,2991,2492,3506,3171,0.9,0.6,2255,12107,0.00,1.67,0.00,0.000,260,0.000,0.138,2985,3351,3338,3506,3171,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12347,1.60,-146.0,2985,3352,3507,3171,1.0,-0.1,2301,12354,0.15,1.52,0.00,0.000,3078,0.296,0.092,3013,2499,3338,3506,3171,0,0,0,0,0,0,13.39,13.84,28.83
$GC,12676,1.60,-146.0,1984,2497,3498,3168,1.1,-0.2,2362,12683,0.00,1.65,0.00,0.000,260,0.000,0.136,3009,3346,3338,3506,3171,0,0,0,0,0,0,28.83,13.62,28.83
$STATE,12906,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12906,begin apogee
$FREEZE,1.19,-1.778,-1.799,2,10,0
$GC,12921,-0.22,0.0,3009,2499,3506,3171,1.0,0.0,2406,12935,1.73,0.00,9.62,0.171,12290,0.093,0.000,2437,2499,3258,3429,3088,0,0,0,0,0,0,13.88,28.83,28.83
$STATE,12936,end apogee,FINISH_DEPTH_REACHED
$STATE,12936,begin subsurface finish
$FINISH1,1.2,1.026413,0
$GC,12950,0.00,0.0,2437,2499,3429,3087,1.2,-0.9,2407,13022,0.25,1.48,63.38,0.154,10756,0.266,0.096,2498,1666,2737,2852,2623,0,0,0,0,0,0,13.49,14.09,13.89
$FINISH2,1.1
$STATE,13023,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13023,begin surface
$RAFOS_CLK,707
$RAFOS,0,1388059262,12.033333,12.017222,67,54,50,50,49,49,135,217,195,652,171,118
$RAFOS,6,1388047744,8.833333,8.817778,95,73,61,57,56,52,744,216,200,145,172,158
$RAFOS,5,1388047262,8.700000,8.683888,65,57,57,56,52,51,196,166,224,213,120,139
$RAFOS,4,1388046783,8.566667,8.550834,99,56,56,56,53,52,613,198,213,185,113,157
$RAFOS_FIX,6642.425781,-5846.648926,261213,080804,4,88,0.34
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.19
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,11.90
$XPDR_PINGS,23
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.3,232.209
$10V_AH,13.0,0.000
$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,6.900,75.100,73.000,0.000,0.000,0.000,0.000,0.000,6.000,0.000,0.000,5992.978,2672.431,279.395,3435.332,725.886,0.000,1882.182,0.000,3425.741,1440.000,2.816,0.000
$DEVICE_MAMPS,322.065,139.230,170.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1723.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93055,2419
$CAP_FILE_SIZE,177646,0
$CFSIZE,259252224,209383424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.9
$CURRENT,22.039,235.0,1
$GPS,261213,083304,6642.426,-5846.649,0,4087.5,0,-33.8