version: 66.11
glider: 192
mission: 2
dive: 537
start: 12 26 113 19 37 41
data:
$ID,192
$MISSION,2
$DIVE,537
$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,-3
$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
$GPS1,261213,163928,6643.268,-5830.303,0,4079.8,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-22.8
$GPS2,261213,163928,6643.268,-5830.303,0,4079.8,0,-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,259.7,84650,-15.5,-8.250,-18.49,2720
$D_GRID,764
$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,-146.0,2500,2501,2838,2623,0.0,0.0,0,62,0.00,0.00,-40.50,0.000,16390,0.000,0.000,2499,2501,3336,3500,3172,0,0,0,0,0,0,28.83,28.83,14.57
$GC,70,-0.89,-146.0,2500,2501,3502,3173,1.1,0.1,7,78,0.82,1.62,0.00,0.000,4356,0.098,0.138,2219,3351,3337,3502,3172,0,0,0,0,0,0,13.94,13.83,28.83
$GC,318,-0.82,-146.0,2219,3351,3505,3172,1.1,0.4,53,325,0.00,1.52,0.00,0.000,1030,0.000,0.092,2219,2499,3338,3505,3172,0,0,0,0,0,0,28.83,13.93,28.83
$GC,638,-0.82,-146.0,2219,2499,3505,3172,1.1,0.0,114,646,0.00,1.65,0.00,0.000,260,0.000,0.138,2213,3349,3338,3505,3172,0,0,0,0,0,0,28.83,13.69,28.83
$GC,885,-0.75,-146.0,2213,3349,3505,3172,1.1,-0.4,160,892,0.22,1.52,0.00,0.000,3078,0.274,0.091,2262,2497,3338,3505,3172,0,0,0,0,0,0,13.43,13.90,28.83
$GC,1211,-0.67,-146.0,2262,2498,3505,3173,1.0,0.5,221,1219,0.12,1.67,0.00,0.000,2308,0.303,0.134,2290,3354,3338,3505,3172,0,0,0,0,0,0,13.71,13.69,28.83
$GC,1458,-0.60,-146.0,2290,3354,3505,3172,1.1,0.2,267,1464,0.00,1.55,0.00,0.000,1030,0.000,0.092,2289,2492,3339,3506,3172,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1778,-0.53,-146.0,1408,2490,3498,3169,1.0,0.1,328,1787,0.17,1.67,0.00,0.000,2308,0.293,0.135,2326,3346,3338,3505,3172,0,0,0,0,0,0,13.44,13.66,28.83
$GC,2026,-0.45,-146.0,2326,3346,3505,3172,1.1,0.2,374,2033,0.15,1.52,0.00,0.000,3078,0.294,0.091,2355,2499,3338,3505,3172,0,0,0,0,0,0,13.43,13.87,28.83
$GC,2354,-0.38,-146.0,2355,2499,3506,3172,1.1,-0.1,435,2361,0.12,1.67,0.00,0.000,2308,0.308,0.135,2381,3346,3338,3505,3172,0,0,0,0,0,0,13.71,13.66,28.83
$GC,2602,-0.31,-146.0,2382,3346,3505,3172,1.1,-0.1,481,2608,0.00,1.52,0.00,0.000,1030,0.000,0.091,2382,2500,3338,3505,3172,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2930,-0.23,-146.0,2382,2500,3505,3172,1.2,-0.3,542,2937,0.17,1.67,0.00,0.000,2308,0.289,0.137,2419,3347,3339,3505,3173,0,0,0,0,0,0,13.43,13.64,28.83
$GC,3176,-0.16,-146.0,2419,3348,3505,3172,1.1,-0.1,588,3185,0.15,1.52,0.00,0.000,3078,0.292,0.091,2449,2500,3338,3505,3172,0,0,0,0,0,0,13.42,13.86,28.83
$GC,3508,-0.08,-146.0,2449,2500,3505,3172,1.1,-0.4,649,3516,0.12,1.67,0.00,0.000,2308,0.312,0.134,2475,3351,3338,3505,3172,0,0,0,0,0,0,13.67,13.64,28.83
$GC,3755,-0.08,-146.0,2475,3351,3506,3172,1.1,-0.2,695,3761,0.00,1.55,0.00,0.000,1030,0.000,0.092,2475,2492,3338,3505,3171,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4079,-0.01,-146.0,2475,2492,3506,3172,1.0,0.5,756,4086,0.00,1.67,0.00,0.000,260,0.000,0.138,2468,3349,3338,3505,3172,0,0,0,0,0,0,28.83,13.64,28.83
$GC,4324,0.06,-146.0,1536,3347,3498,3169,1.1,-0.1,802,4331,0.25,1.52,0.00,0.000,3078,0.267,0.091,2523,2500,3339,3506,3172,0,0,0,0,0,0,13.40,13.85,28.83
$GC,4645,0.06,-146.0,1600,2497,3498,3169,1.1,0.1,863,4653,0.00,1.65,0.00,0.000,260,0.000,0.135,2519,3347,3338,3505,3172,0,0,0,0,0,0,28.83,13.63,28.83
$GC,4892,0.14,-146.0,1576,3346,3498,3169,1.0,0.4,909,4899,0.12,1.52,0.00,0.000,3078,0.294,0.090,2542,2499,3338,3505,3172,0,0,0,0,0,0,13.49,13.87,28.83
$GC,5218,0.21,-146.0,2542,2500,3505,3172,1.2,-0.1,970,5225,0.12,1.67,0.00,0.000,2308,0.315,0.132,2569,3352,3338,3505,3172,0,0,0,0,0,0,13.67,13.64,28.83
$GC,5463,0.28,-146.0,2568,3352,3505,3172,1.1,-0.4,1016,5470,0.00,1.55,0.00,0.000,1030,0.000,0.091,2569,2495,3339,3505,3173,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5784,0.36,-146.0,2569,2495,3505,3172,1.0,0.9,1077,5791,0.17,1.67,0.00,0.000,2308,0.291,0.135,2606,3345,3338,3505,3172,0,0,0,0,0,0,13.43,13.64,28.83
$GC,6031,0.43,-146.0,2606,3345,3506,3172,1.2,-0.4,1123,6038,0.17,1.52,0.00,0.000,3078,0.281,0.090,2642,2498,3338,3505,3172,0,0,0,0,0,0,13.40,13.86,28.83
$GC,6359,0.50,-146.0,2643,2497,3505,3172,1.2,-0.5,1184,6367,0.00,1.67,0.00,0.000,260,0.000,0.138,2638,3352,3338,3505,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,6604,0.58,-146.0,2638,3352,3505,3172,1.1,0.3,1230,6611,0.22,1.55,0.00,0.000,3078,0.275,0.091,2687,2492,3338,3505,3172,0,0,0,0,0,0,13.38,13.88,28.83
$GC,6925,0.58,-146.0,2687,2492,3505,3172,1.1,-0.2,1291,6932,0.00,1.67,0.00,0.000,260,0.000,0.138,2683,3348,3339,3506,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7173,0.65,-146.0,2683,3348,3506,3172,1.1,0.1,1337,7180,0.15,1.52,0.00,0.000,3078,0.289,0.091,2712,2499,3339,3506,3172,0,0,0,0,0,0,13.43,13.85,28.83
$GC,7499,0.72,-146.0,2712,2499,3505,3172,1.1,-0.2,1398,7506,0.00,1.65,0.00,0.000,260,0.000,0.135,2708,3348,3338,3505,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7746,0.80,-146.0,2708,3348,3506,3172,1.0,0.3,1444,7753,0.22,1.52,0.00,0.000,3078,0.276,0.090,2755,2499,3338,3505,3172,0,0,0,0,0,0,13.36,13.85,28.83
$GC,8073,0.87,-146.0,2755,2499,3505,3172,1.2,-0.1,1505,8081,0.00,1.65,0.00,0.000,260,0.000,0.135,2751,3348,3339,3506,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,8319,0.94,-146.0,2751,3348,3506,3172,1.1,-0.1,1551,8326,0.22,1.52,0.00,0.000,3078,0.264,0.090,2801,2498,3338,3505,3172,0,0,0,0,0,0,13.38,13.85,28.83
$GC,8646,1.01,-146.0,2801,2498,3506,3172,1.1,-0.2,1612,8654,0.12,1.67,0.00,0.000,2308,0.311,0.134,2826,3352,3339,3506,3172,0,0,0,0,0,0,13.66,13.62,28.83
$GC,8892,1.09,-146.0,2827,3351,3505,3172,1.0,0.3,1658,8901,0.12,1.52,0.00,0.000,3078,0.304,0.092,2850,2499,3339,3506,3172,0,0,0,0,0,0,13.45,13.85,28.83
$GC,9220,1.16,-146.0,2850,2499,3506,3172,1.1,-0.1,1719,9228,0.00,1.65,0.00,0.000,260,0.000,0.138,2845,3345,3338,3505,3172,0,0,0,0,0,0,28.83,13.61,28.83
$GC,9468,1.23,-146.0,2845,3345,3505,3173,1.2,0.1,1765,9475,0.22,1.52,0.00,0.000,3078,0.276,0.091,2894,2496,3338,3505,3172,0,0,0,0,0,0,13.35,13.85,28.83
$GC,9795,1.31,-146.0,1872,2495,3497,3169,1.0,0.7,1826,9802,0.12,1.67,0.00,0.000,2308,0.314,0.136,2920,3348,3338,3505,3172,0,0,0,0,0,0,13.64,13.62,28.83
$GC,10042,1.38,-146.0,1920,3346,3498,3169,1.1,-0.0,1872,10050,0.00,1.52,0.00,0.000,1030,0.000,0.091,2919,2499,3339,3506,3172,0,0,0,0,0,0,28.83,13.85,28.83
$GC,10362,1.38,-146.0,2920,2499,3505,3172,1.1,0.4,1933,10369,0.00,1.67,0.00,0.000,260,0.000,0.139,2913,3350,3339,3505,3173,0,0,0,0,0,0,28.83,13.62,28.83
$GC,10607,1.45,-146.0,2913,3350,3505,3172,1.1,-0.0,1979,10614,0.25,1.55,0.00,0.000,3078,0.277,0.091,2967,2493,3339,3506,3172,0,0,0,0,0,0,13.36,13.86,28.83
$GC,10936,1.53,-146.0,2967,2493,3506,3172,1.1,-0.1,2040,10944,0.00,1.70,0.00,0.000,260,0.000,0.138,2963,3353,3339,3506,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11181,1.60,-146.0,2963,3353,3506,3172,1.2,-0.5,2086,11189,0.22,1.55,0.00,0.000,3078,0.276,0.093,3010,2497,3338,3505,3172,0,0,0,0,0,0,13.35,13.85,28.83
$GC,11509,1.60,-146.0,3011,2497,3506,3172,1.1,0.1,2147,11516,0.00,1.67,0.00,0.000,260,0.000,0.142,3006,3346,3338,3505,3172,0,0,0,0,0,0,28.83,13.60,28.83
$GC,11755,1.60,-146.0,3006,3346,3506,3172,1.1,-0.9,2193,11761,0.00,1.52,0.00,0.000,1030,0.000,0.091,3006,2499,3338,3505,3172,0,0,0,0,0,0,28.83,13.84,28.83
$GC,12073,1.60,-146.0,2048,2497,3498,3169,1.2,-1.0,2254,12080,0.00,1.65,0.00,0.000,260,0.000,0.136,3000,3345,3338,3505,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12319,1.60,-146.0,3000,3345,3506,3171,1.1,-0.0,2300,12326,0.00,1.52,0.00,0.000,1030,0.000,0.091,3000,2498,3339,3506,3172,0,0,0,0,0,0,28.83,13.85,28.83
$GC,12645,1.60,-146.0,1984,2496,3498,3169,1.2,-0.5,2361,12654,0.00,1.67,0.00,0.000,260,0.000,0.139,2993,3349,3338,3505,3172,0,0,0,0,0,0,28.83,13.62,28.83
$GC,12892,1.60,-146.0,2994,3349,3506,3172,1.1,-0.1,2407,12899,0.00,1.55,0.00,0.000,1030,0.000,0.091,2993,2491,3338,3505,3172,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,12910,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12910,begin apogee
$FREEZE,1.26,-1.811,-1.353,2,13,0
$GC,12923,-0.22,0.0,2993,2491,3505,3172,1.2,-0.4,2410,12934,1.70,0.00,7.15,0.174,12290,0.096,0.000,2432,2491,3280,3450,3110,0,0,0,0,0,0,13.89,28.83,28.83
$STATE,12935,end apogee,FINISH_DEPTH_REACHED
$STATE,12935,begin subsurface finish
$FINISH1,1.3,1.019970,0
$GC,12950,0.00,0.0,2431,2491,3450,3110,1.3,-0.2,2411,12959,0.28,0.00,5.20,0.166,10754,0.265,0.000,2500,2491,3235,3406,3065,0,0,0,0,0,0,13.49,28.83,28.83
$FINISH2,1.3
$STATE,12960,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12960,begin surface
$RAFOS_CLK,704
$RAFOS,6,1388090943,20.833334,20.817499,125,69,62,57,56,53,763,165,223,182,149,199
$RAFOS,5,1388090463,20.700001,20.684166,62,62,55,52,51,51,190,699,206,158,216,121
$RAFOS,4,1388089985,20.566668,20.551390,69,66,58,56,54,52,642,206,192,152,220,121
$RAFOS,3,1388089502,20.433332,20.417223,84,58,57,55,55,54,726,213,224,170,139,119
$RAFOS,2,1388089027,20.299999,20.285278,64,58,53,52,51,50,209,174,133,146,197,188
$RAFOS,1,1388088545,20.166666,20.151388,64,57,55,54,52,51,201,191,114,215,162,174
$RAFOS,0,1388088065,20.033333,20.018055,65,64,52,52,52,52,192,211,136,201,174,220
$RAFOS_FIX,6642.187500,-5830.038086,261213,202020,3,93,0.14
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.45
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,11.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,1.3,999.0
$24V_AH,13.3,232.495
$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,6.800,75.200,12.350,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,5929.869,2726.026,231.795,3448.302,687.553,0.000,1821.664,0.000,3417.536,2520.000,2.816,0.000
$DEVICE_MAMPS,315.180,141.525,174.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1720.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93168,2412
$CAP_FILE_SIZE,176955,0
$CFSIZE,259252224,209137664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1429.7
$CURRENT,0.578,172.4,1
$GPS,261213,203720,6642.188,-5830.038,0,3092.7,0,-33.8