version: 66.11
glider: 192
mission: 2
dive: 535
start: 12 26 113 12 17 1
data:
$ID,192
$MISSION,2
$DIVE,535
$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
$GPS1,261213,083304,6642.426,-5846.649,0,4087.5,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-22.8
$GPS2,261213,083304,6642.426,-5846.649,0,4087.5,0,-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,351.1,72740,-27.8,-8.250,-30.00,870
$D_GRID,797
$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,-1.28,-46.6,2495,2501,2838,2622,0.0,0.0,0,40,0.00,0.00,-13.38,0.000,16390,0.000,0.000,2494,2501,2931,3040,2823,0,0,0,0,0,0,28.83,28.83,14.55
$GC,48,-1.28,-46.6,2494,2501,3040,2823,1.1,0.4,3,54,1.20,0.00,0.00,0.000,4102,0.093,0.000,2098,2501,2931,3040,2823,0,0,0,0,0,0,13.94,28.83,28.83
$GC,370,-1.43,-111.0,2097,2501,3040,2824,1.1,-0.6,64,390,0.12,0.00,-17.58,0.000,20486,0.168,0.000,2047,2501,3193,3336,3051,0,0,0,0,0,0,14.18,28.83,14.54
$GC,712,-1.53,-146.0,2047,2501,3339,3051,1.0,0.6,127,724,0.00,0.00,-9.65,0.000,16390,0.000,0.000,2047,2502,3337,3498,3176,0,0,0,0,0,0,28.83,28.83,14.54
$GC,1046,-1.58,-146.0,2048,2501,3500,3176,1.1,-0.1,189,1053,0.12,0.00,0.00,0.000,4102,0.170,0.000,2001,2501,3337,3499,3175,0,0,0,0,0,0,14.15,28.83,28.83
$GC,1374,-1.63,-146.0,2000,2502,3500,3175,1.0,0.5,250,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1697,-1.68,-146.0,2001,2501,3500,3175,1.1,0.2,311,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2501,3338,3500,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2018,-1.73,-146.0,2000,2501,3500,3175,1.1,-0.3,372,2025,0.12,0.00,0.00,0.000,4102,0.164,0.000,1952,2502,3338,3501,3175,0,0,0,0,0,0,14.17,28.83,28.83
$GC,2340,-1.73,-146.0,1952,2501,3500,3175,1.1,0.0,433,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2502,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-1.78,-146.0,1200,2499,3492,3172,1.1,0.1,494,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-1.83,-146.0,1952,2502,3500,3175,1.0,0.2,555,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3305,-1.87,-146.0,1952,2501,3500,3175,1.1,0.1,616,3312,0.12,0.00,0.00,0.000,4102,0.168,0.000,1906,2502,3337,3500,3175,0,0,0,0,0,0,14.19,28.83,28.83
$GC,3631,-1.92,-146.0,1906,2501,3500,3175,1.1,-0.1,677,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3952,-1.98,-146.0,1906,2501,3500,3175,1.1,-0.0,738,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4271,-1.98,-146.0,1906,2501,3500,3175,1.0,0.0,799,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-2.02,-146.0,1906,2501,3499,3175,1.1,0.0,860,4602,0.12,0.00,0.00,0.000,4102,0.159,0.000,1860,2501,3337,3500,3174,0,0,0,0,0,0,14.20,28.83,28.83
$GC,4918,-2.07,-146.0,1860,2501,3500,3175,1.0,0.5,921,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5238,-2.12,-146.0,1860,2501,3500,3175,1.1,-0.3,982,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5558,-2.17,-146.0,1860,2501,3500,3175,1.1,-0.4,1043,5564,0.12,0.00,0.00,0.000,4102,0.164,0.000,1812,2501,3337,3500,3175,0,0,0,0,0,0,14.20,28.83,28.83
$GC,5875,-2.17,-146.0,1128,2500,3492,3172,1.1,-2.5,1104,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6197,-2.22,-146.0,1813,2501,3500,3175,1.1,-0.2,1165,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2502,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6517,-2.22,-146.0,1812,2502,3500,3175,1.1,0.0,1226,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2501,3338,3500,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6837,-2.22,-146.0,1813,2501,3499,3175,1.1,-0.3,1287,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7158,-2.27,-146.0,1813,2501,3501,3176,1.1,0.2,1348,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-2.32,-146.0,1813,2501,3500,3175,1.1,-0.4,1409,7487,0.12,0.00,0.00,0.000,4102,0.164,0.000,1767,2501,3338,3500,3176,0,0,0,0,0,0,14.21,28.83,28.83
$GC,7803,-2.37,-146.0,1096,2499,3492,3172,1.0,0.3,1470,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,2501,3338,3500,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,-2.42,-146.0,1766,2501,3500,3175,1.0,-0.3,1531,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8447,-2.47,-146.0,1766,2501,3500,3175,1.1,-0.3,1592,8453,0.12,0.00,0.00,0.000,4102,0.156,0.000,1721,2501,3338,3500,3176,0,0,0,0,0,0,14.21,28.83,28.83
$GC,8768,-2.52,-146.0,1721,2501,3499,3175,1.1,-0.3,1653,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2502,3337,3500,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9092,-2.57,-146.0,1721,2501,3500,3175,1.0,-0.0,1714,9098,0.12,0.00,0.00,0.000,4102,0.161,0.000,1675,2501,3337,3500,3175,0,0,0,0,0,0,14.23,28.83,28.83
$GC,9413,-2.62,-146.0,1675,2501,3500,3175,1.1,0.0,1775,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9734,-2.62,-146.0,1676,2501,3500,3175,1.0,0.0,1836,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,2501,3337,3499,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10055,-2.67,-146.0,1040,2499,3492,3172,1.0,-0.2,1897,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,2501,3337,3499,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10378,-2.72,-146.0,1675,2502,3500,3176,1.1,-0.1,1958,10384,0.12,0.00,0.00,0.000,4102,0.164,0.000,1628,2502,3337,3500,3175,0,0,0,0,0,0,14.21,28.83,28.83
$GC,10705,-2.77,-146.0,1024,2499,3491,3172,1.0,0.0,2019,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2502,3337,3499,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11027,-2.82,-146.0,1628,2501,3500,3175,1.0,0.5,2080,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11347,-2.87,-146.0,1629,2501,3499,3175,1.1,-0.2,2141,11354,0.12,0.00,0.00,0.000,4102,0.158,0.000,1581,2501,3337,3500,3175,0,0,0,0,0,0,14.21,28.83,28.83
$GC,11667,-2.87,-146.0,1581,2501,3500,3175,1.0,1.2,2202,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2501,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11988,-2.92,-146.0,1581,2501,3500,3175,1.1,-0.5,2263,11997,0.00,1.55,0.00,0.000,516,0.000,0.099,1581,1660,3338,3500,3176,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12234,-2.97,-146.0,1581,1659,3500,3175,1.2,-0.6,2309,12241,0.00,1.58,0.00,0.000,1030,0.000,0.109,1575,2499,3337,3500,3175,0,0,0,0,0,0,28.83,13.72,28.83
$GC,12555,-2.97,-146.0,1575,2500,3500,3175,1.1,1.3,2370,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2500,3337,3499,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12875,-3.02,-146.0,1575,2500,3500,3175,1.1,0.2,2431,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2500,3337,3500,3175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.24,-1.797,-1.801,2,11,0
$GC,12921,-0.22,0.0,1575,2500,3500,3175,1.1,0.0,2437,12932,3.22,0.00,5.75,0.180,10242,0.239,0.000,2430,2500,3290,3458,3122,0,0,0,0,0,0,13.64,28.83,28.83
$STATE,12933,end apogee,FINISH_DEPTH_REACHED
$STATE,12933,begin subsurface finish
$FINISH1,1.2,1.026444,0
$GC,12948,0.00,0.0,2430,2500,3458,3122,1.2,-0.7,2438,12989,0.28,0.00,37.88,0.157,10242,0.270,0.000,2500,2500,2977,3134,2821,0,0,0,0,0,0,13.52,28.83,28.83
$FINISH2,1.1
$STATE,12990,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12990,begin surface
$RAFOS_CLK,712
$RAFOS,6,1388062142,12.833333,12.817223,98,64,63,59,57,56,759,136,189,147,213,222
$RAFOS,5,1388061662,12.700000,12.683888,58,58,57,56,56,51,148,178,210,190,161,225
$RAFOS,4,1388061184,12.566667,12.551111,112,60,58,56,55,55,626,198,165,220,185,208
$RAFOS,3,1388060702,12.433333,12.417222,74,57,56,56,56,51,723,210,196,145,180,121
$RAFOS,2,1388060253,12.300000,12.292500,86,67,61,56,52,51,608,208,174,194,155,118
$RAFOS,1,1388059742,12.166667,12.150556,74,62,60,53,51,50,153,209,222,170,199,134
$RAFOS_FIX,6642.980469,-5839.082031,261213,121204,4,92,0.39
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.10
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,11.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.5,232.302
$10V_AH,12.5,0.000
$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,6.075,4.725,43.625,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,6011.253,2740.144,233.564,3488.726,587.397,0.000,1836.704,0.000,3460.943,1800.000,2.815,0.000
$DEVICE_MAMPS,270.045,110.925,179.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1743.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96411,2444
$CAP_FILE_SIZE,162730,0
$CFSIZE,259252224,209313792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.9
$CURRENT,5.993, 80.2,1
$GPS,261213,123304,6642.980,-5839.082,0,4092.5,0,-33.8