version: 66.11
glider: 192
mission: 2
dive: 538
start: 12 26 113 23 16 34
data:
$ID,192
$MISSION,2
$DIVE,538
$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
$GPS1,261213,203720,6642.188,-5830.038,0,3092.7,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-22.9
$GPS2,261213,203720,6642.188,-5830.038,0,3092.7,0,-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,351.1,84900,-15.5,-8.250,-18.49,2720
$D_GRID,728
$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,14,begin dive
$GC,20,-0.89,-146.0,2499,2491,3406,3064,0.0,0.0,0,33,0.00,0.00,-6.85,0.000,16390,0.000,0.000,2499,2491,3335,3506,3165,0,0,0,0,0,0,28.83,28.83,14.54
$GC,40,-0.89,-146.0,2500,2491,3506,3165,1.2,0.3,2,47,0.85,1.50,0.00,0.000,4612,0.096,0.098,2222,1660,3335,3506,3165,0,0,0,0,0,0,13.89,13.88,28.83
$GC,286,-0.82,-146.0,2222,1660,3506,3165,1.2,-0.2,48,293,0.12,1.58,0.00,0.000,3078,0.299,0.109,2239,2500,3336,3506,3166,0,0,0,0,0,0,13.52,13.76,28.83
$GC,606,-0.75,-146.0,2239,2500,3506,3165,1.1,-0.1,109,613,0.00,1.55,0.00,0.000,516,0.000,0.101,2239,1655,3335,3506,3165,0,0,0,0,0,0,28.83,13.75,28.83
$GC,851,-0.68,-146.0,2239,1656,3506,3165,1.1,0.2,155,859,0.22,1.60,0.00,0.000,3078,0.270,0.111,2285,2507,3336,3506,3166,0,0,0,0,0,0,13.45,13.74,28.83
$GC,1177,-0.60,-146.0,1392,2505,3498,3162,1.1,0.0,216,1184,0.12,1.58,0.00,0.000,2564,0.305,0.098,2317,1660,3336,3506,3166,0,0,0,0,0,0,13.71,13.76,28.83
$GC,1423,-0.53,-146.0,2317,1660,3506,3165,1.1,-0.3,262,1431,0.00,1.58,0.00,0.000,1030,0.000,0.109,2312,2499,3336,3506,3166,0,0,0,0,0,0,28.83,13.73,28.83
$GC,1746,-0.46,-146.0,2312,2499,3506,3165,1.2,-0.3,323,1755,0.17,1.55,0.00,0.000,2564,0.297,0.098,2354,1660,3335,3506,3165,0,0,0,0,0,0,13.45,13.76,28.83
$GC,1993,-0.38,-146.0,2354,1660,3506,3164,1.1,-0.2,369,2000,0.15,1.58,0.00,0.000,3078,0.287,0.109,2379,2502,3336,3506,3166,0,0,0,0,0,0,13.43,13.72,28.83
$GC,2320,-0.31,-146.0,2379,2503,3506,3166,1.2,-0.7,430,2327,0.12,1.55,0.00,0.000,2564,0.306,0.099,2410,1659,3336,3506,3166,0,0,0,0,0,0,13.70,13.74,28.83
$GC,2566,-0.23,-146.0,2410,1659,3506,3166,1.1,0.2,476,2573,0.00,1.58,0.00,0.000,1030,0.000,0.110,2405,2502,3336,3506,3166,0,0,0,0,0,0,28.83,13.71,28.83
$GC,2888,-0.16,-146.0,1488,2499,3498,3163,1.1,0.1,537,2895,0.15,1.58,0.00,0.000,2564,0.308,0.099,2440,1650,3336,3506,3166,0,0,0,0,0,0,13.49,13.74,28.83
$GC,3135,-0.16,-146.0,2440,1650,3506,3165,1.1,1.5,583,3143,0.00,1.60,0.00,0.000,1030,0.000,0.112,2436,2502,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,3460,-0.09,-146.0,2436,2502,3506,3165,1.2,-0.4,644,3467,0.15,1.55,0.00,0.000,2564,0.301,0.098,2471,1660,3335,3506,3165,0,0,0,0,0,0,13.52,13.74,28.83
$GC,3707,-0.01,-146.0,2471,1659,3506,3166,1.1,0.0,690,3714,0.15,1.58,0.00,0.000,3078,0.292,0.108,2496,2504,3336,3506,3166,0,0,0,0,0,0,13.42,13.71,28.83
$GC,4028,-0.01,-146.0,2496,2504,3506,3165,1.0,1.6,751,4036,0.00,1.55,0.00,0.000,516,0.000,0.102,2496,1658,3336,3506,3166,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4277,0.06,-146.0,2497,1658,3506,3166,1.1,0.1,797,4284,0.15,1.58,0.00,0.000,3078,0.295,0.110,2521,2501,3336,3506,3166,0,0,0,0,0,0,13.40,13.70,28.83
$GC,4606,0.13,-146.0,2521,2501,3506,3165,1.0,0.1,858,4612,0.00,1.55,0.00,0.000,516,0.000,0.102,2522,1658,3335,3506,3165,0,0,0,0,0,0,28.83,13.70,28.83
$GC,4850,0.21,-146.0,2522,1658,3506,3166,1.1,0.3,904,4857,0.22,1.58,0.00,0.000,3078,0.279,0.111,2567,2499,3335,3506,3165,0,0,0,0,0,0,13.40,13.70,28.83
$GC,5172,0.21,-146.0,1616,2497,3498,3162,1.0,0.6,965,5179,0.00,1.55,0.00,0.000,516,0.000,0.102,2566,1657,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5417,0.28,-146.0,2566,1657,3506,3165,1.1,-0.2,1011,5424,0.15,1.60,0.00,0.000,3078,0.292,0.112,2592,2508,3335,3506,3165,0,0,0,0,0,0,13.43,13.69,28.83
$GC,5746,0.35,-146.0,2592,2508,3506,3165,1.1,0.1,1072,5754,0.00,1.58,0.00,0.000,516,0.000,0.102,2592,1653,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5993,0.43,-146.0,1632,1652,3498,3162,1.1,0.2,1118,6000,0.22,1.60,0.00,0.000,3078,0.270,0.113,2637,2502,3336,3506,3166,0,0,0,0,0,0,13.42,13.71,28.83
$GC,6322,0.50,-146.0,2637,2502,3506,3165,1.1,-0.2,1179,6329,0.12,1.58,0.00,0.000,2564,0.319,0.098,2668,1652,3335,3506,3165,0,0,0,0,0,0,13.64,13.75,28.83
$GC,6569,0.57,-146.0,2668,1652,3506,3165,1.2,-0.5,1225,6575,0.00,1.60,0.00,0.000,1030,0.000,0.112,2664,2500,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6892,0.57,-146.0,2664,2500,3506,3165,1.1,0.0,1286,6899,0.00,1.55,0.00,0.000,516,0.000,0.099,2664,1652,3335,3506,3165,0,0,0,0,0,0,28.83,13.73,28.83
$GC,7139,0.65,-146.0,2664,1652,3506,3165,1.1,-0.1,1332,7147,0.25,1.60,0.00,0.000,3078,0.273,0.108,2712,2503,3335,3506,3165,0,0,0,0,0,0,13.42,13.71,28.83
$GC,7464,0.72,-146.0,2712,2503,3506,3165,1.2,-0.5,1393,7471,0.00,1.55,0.00,0.000,516,0.000,0.097,2712,1653,3335,3506,3165,0,0,0,0,0,0,28.83,13.73,28.83
$GC,7711,0.79,-146.0,1736,1652,3498,3162,1.1,-0.0,1439,7720,0.22,1.60,0.00,0.000,3078,0.277,0.108,2756,2506,3336,3506,3166,0,0,0,0,0,0,13.39,13.72,28.83
$GC,8040,0.87,-146.0,2756,2506,3506,3165,1.1,0.2,1500,8048,0.00,1.55,0.00,0.000,516,0.000,0.098,2756,1659,3336,3506,3166,0,0,0,0,0,0,28.83,13.73,28.83
$GC,8287,0.94,-146.0,2756,1659,3506,3165,1.1,-0.3,1546,8294,0.22,1.58,0.00,0.000,3078,0.272,0.104,2801,2501,3336,3506,3166,0,0,0,0,0,0,13.41,13.71,28.83
$GC,8615,1.02,-146.0,2801,2502,3506,3166,1.1,0.8,1607,8622,0.12,1.55,0.00,0.000,2564,0.312,0.095,2832,1659,3335,3506,3165,0,0,0,0,0,0,13.65,13.75,28.83
$GC,8863,1.09,-146.0,2833,1659,3506,3165,1.1,-0.0,1653,8870,0.00,1.58,0.00,0.000,1030,0.000,0.106,2827,2504,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9184,1.16,-146.0,2827,2503,3506,3165,1.2,-0.5,1714,9192,0.17,1.58,0.00,0.000,2564,0.303,0.095,2870,1649,3336,3506,3166,0,0,0,0,0,0,13.40,13.76,28.83
$GC,9431,1.23,-146.0,2870,1649,3506,3165,1.2,0.2,1760,9440,0.15,1.60,0.00,0.000,3078,0.294,0.107,2895,2507,3336,3506,3166,0,0,0,0,0,0,13.39,13.71,28.83
$GC,9761,1.31,-146.0,1864,2506,3498,3162,1.1,0.3,1821,9769,0.12,1.58,0.00,0.000,2564,0.315,0.096,2924,1651,3335,3506,3165,0,0,0,0,0,0,13.64,13.74,28.83
$GC,10008,1.38,-146.0,2925,1652,3506,3166,1.2,-0.7,1867,10015,0.00,1.60,0.00,0.000,1030,0.000,0.110,2920,2506,3335,3506,3165,0,0,0,0,0,0,28.83,13.70,28.83
$GC,10335,1.45,-146.0,2920,2506,3506,3165,1.1,-0.0,1928,10342,0.20,1.58,0.00,0.000,2564,0.295,0.096,2968,1656,3335,3506,3165,0,0,0,0,0,0,13.32,13.75,28.83
$GC,10581,1.45,-146.0,2968,1656,3506,3165,1.0,2.5,1974,10587,0.00,1.60,0.00,0.000,1030,0.000,0.111,2962,2505,3335,3506,3165,0,0,0,0,0,0,28.83,13.69,28.83
$GC,10910,1.53,-146.0,2963,2506,3506,3165,1.1,-0.7,2035,10918,0.12,1.58,0.00,0.000,2564,0.322,0.097,2990,1654,3335,3506,3165,0,0,0,0,0,0,13.63,13.74,28.83
$GC,11156,1.60,-146.0,2990,1654,3506,3166,1.2,-0.0,2081,11164,0.15,1.60,0.00,0.000,3078,0.295,0.113,3015,2503,3335,3506,3165,0,0,0,0,0,0,13.40,13.69,28.83
$GC,11478,1.60,-146.0,3015,2503,3506,3165,1.2,0.0,2142,11485,0.00,1.55,0.00,0.000,516,0.000,0.100,3015,1660,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11725,1.60,-146.0,3016,1660,3506,3165,1.2,-0.5,2188,11732,0.00,1.60,0.00,0.000,1030,0.000,0.109,3011,2503,3335,3506,3165,0,0,0,0,0,0,28.83,13.69,28.83
$GC,12053,1.60,-146.0,3011,2503,3506,3165,1.1,0.0,2249,12060,0.00,1.58,0.00,0.000,516,0.000,0.101,3011,1650,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12297,1.60,-146.0,2048,1649,3498,3162,1.1,-0.2,2295,12305,0.00,1.62,0.00,0.000,1030,0.000,0.113,3005,2508,3336,3506,3166,0,0,0,0,0,0,28.83,13.69,28.83
$GC,12626,1.60,-146.0,3005,2508,3506,3165,1.1,0.1,2356,12634,0.00,1.58,0.00,0.000,516,0.000,0.100,3005,1652,3335,3506,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12873,1.60,-146.0,2048,1651,3498,3162,1.1,0.2,2402,12880,0.00,1.60,0.00,0.000,1030,0.000,0.112,2998,2501,3336,3506,3166,0,0,0,0,0,0,28.83,13.69,28.83
$STATE,12912,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12913,begin apogee
$FREEZE,1.29,-1.810,-1.139,2,14,0
$GC,12926,-0.22,0.0,2999,2501,3506,3165,1.1,-0.4,2409,12937,1.70,0.00,7.28,0.176,12290,0.094,0.000,2435,2501,3275,3447,3103,0,0,0,0,0,0,13.89,28.83,28.83
$STATE,12938,end apogee,FINISH_DEPTH_REACHED
$STATE,12938,begin subsurface finish
$FINISH1,1.3,1.016807,0
$GC,12953,0.00,0.0,2434,2501,3448,3103,1.3,-0.5,2410,12961,0.28,0.00,5.32,0.171,10498,0.265,0.000,2502,2501,3227,3400,3054,0,0,0,0,0,0,13.48,28.83,28.83
$FINISH2,1.2
$STATE,12962,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12963,begin surface
$RAFOS_CLK,708
$RAFOS,6,1388105343,0.833333,0.817500,100,60,58,56,53,52,770,160,119,177,195,146
$RAFOS,5,1388104864,0.700000,0.684444,61,54,53,53,50,50,166,202,129,222,689,1188
$RAFOS,4,1388104384,0.566667,0.551111,88,68,64,59,49,49,662,195,159,215,229,790
$RAFOS,3,1388103901,0.433333,0.416944,71,60,60,59,58,58,211,172,731,152,226,134
$RAFOS,2,1388103423,0.300000,0.284167,66,55,52,52,50,50,187,196,151,225,119,207
$RAFOS,1,1388102941,0.166667,0.150278,70,64,58,55,55,54,199,209,139,173,186,156
$RAFOS,0,1388102462,0.033333,0.017222,64,59,56,55,54,53,208,165,223,196,151,136
$RAFOS_FIX,6642.976562,-5822.333496,271213,000044,2,94,0.39
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.02
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,11.70
$XPDR_PINGS,8
$ALTIM_TOP_PING,1.3,999.0
$24V_AH,13.3,232.590
$10V_AH,12.8,0.000
$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,6.825,72.450,12.600,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,6028.602,2652.498,211.884,3439.606,693.596,0.000,1796.024,0.000,3415.882,2520.000,2.815,0.000
$DEVICE_MAMPS,322.065,113.220,175.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1719.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93222,2411
$CAP_FILE_SIZE,177074,0
$CFSIZE,259252224,209055744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1424.9
$CURRENT,1.128, 76.0,1
$GPS,271213,004344,6642.977,-5822.333,0,2094.0,0,-33.8