version: 66.11
glider: 192
mission: 2
dive: 540
start: 12 27 113 6 34 40
data:
$ID,192
$MISSION,2
$DIVE,540
$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
$GPS1,271213,004344,6642.977,-5822.333,0,2094.0,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-22.9
$GPS2,271213,004344,6642.977,-5822.333,0,2094.0,0,-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,303.6,90489,-15.5,-8.250,-18.49,2720
$D_GRID,704
$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,-146.0,2497,2496,3261,2926,0.0,0.0,0,39,0.00,0.00,-16.35,0.000,16390,0.000,0.000,2497,2496,3336,3506,3167,0,0,0,0,0,0,28.83,28.83,14.55
$GC,46,-0.89,-146.0,2497,2496,3507,3167,1.1,1.2,3,53,0.82,1.65,0.00,0.000,4356,0.098,0.140,2218,3345,3337,3507,3167,0,0,0,0,0,0,13.90,13.78,28.83
$GC,294,-0.82,-146.0,2218,3345,3508,3167,1.1,-0.1,49,301,0.00,1.52,0.00,0.000,1030,0.000,0.091,2218,2494,3337,3508,3167,0,0,0,0,0,0,28.83,13.90,28.83
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$GC,866,-0.68,-146.0,2255,3349,3508,3167,1.1,0.3,156,873,0.15,1.52,0.00,0.000,3078,0.287,0.092,2285,2500,3337,3508,3167,0,0,0,0,0,0,13.47,13.87,28.83
$GC,1197,-0.60,-146.0,2285,2500,3508,3167,1.0,0.2,217,1204,0.12,1.67,0.00,0.000,2308,0.311,0.138,2311,3350,3337,3508,3167,0,0,0,0,0,0,13.69,13.65,28.83
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$GC,1766,-0.46,-146.0,2311,2500,3508,3168,1.2,-0.1,324,1775,0.17,1.67,0.00,0.000,2308,0.292,0.138,2348,3350,3337,3508,3167,0,0,0,0,0,0,13.43,13.64,28.83
$GC,2013,-0.38,-146.0,2348,3350,3508,3167,1.2,-0.2,370,2020,0.15,1.55,0.00,0.000,3078,0.280,0.091,2378,2490,3338,3508,3168,0,0,0,0,0,0,13.46,13.87,28.83
$GC,2341,-0.31,-146.0,2378,2490,3508,3167,1.2,-0.2,431,2348,0.12,1.70,0.00,0.000,2308,0.304,0.139,2404,3350,3338,3508,3168,0,0,0,0,0,0,13.69,13.63,28.83
$GC,2588,-0.24,-146.0,2404,3350,3508,3168,1.1,0.3,477,2596,0.00,1.55,0.00,0.000,1030,0.000,0.093,2405,2495,3338,3508,3168,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2911,-0.16,-146.0,1488,2493,3500,3164,1.1,-0.2,538,2920,0.17,1.67,0.00,0.000,2308,0.291,0.137,2441,3345,3338,3508,3168,0,0,0,0,0,0,13.42,13.64,28.83
$GC,3158,-0.16,-146.0,1536,3343,3500,3164,1.1,0.5,584,3165,0.00,1.52,0.00,0.000,1030,0.000,0.091,2441,2499,3337,3508,3167,0,0,0,0,0,0,28.83,13.85,28.83
$GC,3480,-0.09,-146.0,2442,2499,3508,3167,1.1,-0.4,645,3487,0.12,1.67,0.00,0.000,2308,0.306,0.135,2466,3351,3337,3508,3167,0,0,0,0,0,0,13.68,13.63,28.83
$GC,3726,-0.09,-146.0,2466,3351,3508,3168,1.1,0.0,691,3733,0.00,1.55,0.00,0.000,1030,0.000,0.092,2466,2498,3338,3508,3168,0,0,0,0,0,0,28.83,13.85,28.83
$GC,4049,-0.09,-146.0,2466,2498,3508,3168,1.2,-0.7,752,4056,0.00,1.67,0.00,0.000,260,0.000,0.143,2460,3346,3337,3508,3167,0,0,0,0,0,0,28.83,13.62,28.83
$GC,4294,-0.02,-146.0,2460,3346,3508,3168,1.0,0.4,798,4302,0.17,1.52,0.00,0.000,3078,0.282,0.091,2495,2499,3338,3508,3168,0,0,0,0,0,0,13.40,13.85,28.83
$GC,4622,0.06,-146.0,2496,2499,3508,3168,1.1,-0.3,859,4631,0.12,1.67,0.00,0.000,2308,0.316,0.135,2521,3349,3337,3508,3167,0,0,0,0,0,0,13.66,13.62,28.83
$GC,4869,0.13,-146.0,2521,3349,3508,3167,1.0,0.4,905,4876,0.00,1.55,0.00,0.000,1030,0.000,0.091,2521,2491,3338,3508,3168,0,0,0,0,0,0,28.83,13.85,28.83
$GC,5193,0.20,-146.0,2521,2491,3508,3168,1.2,-0.4,966,5200,0.17,1.70,0.00,0.000,2308,0.294,0.138,2558,3349,3337,3508,3167,0,0,0,0,0,0,13.38,13.62,28.83
$GC,5438,0.28,-146.0,2558,3349,3508,3167,1.1,0.2,1012,5445,0.15,1.55,0.00,0.000,3078,0.283,0.090,2589,2491,3337,3508,3167,0,0,0,0,0,0,13.43,13.85,28.83
$GC,5769,0.35,-146.0,2589,2491,3508,3168,1.1,-0.3,1073,5778,0.12,1.70,0.00,0.000,2308,0.313,0.138,2615,3349,3337,3508,3167,0,0,0,0,0,0,13.64,13.62,28.83
$GC,6017,0.43,-146.0,2614,3349,3508,3168,1.1,-0.4,1119,6023,0.00,1.55,0.00,0.000,1030,0.000,0.091,2614,2492,3337,3508,3167,0,0,0,0,0,0,28.83,13.84,28.83
$GC,6344,0.50,-146.0,2614,2492,3508,3167,1.1,0.3,1180,6351,0.17,1.70,0.00,0.000,2308,0.289,0.137,2652,3346,3338,3508,3168,0,0,0,0,0,0,13.38,13.62,28.83
$GC,6591,0.57,-146.0,2652,3346,3508,3168,1.2,-0.2,1226,6598,0.17,1.52,0.00,0.000,3078,0.282,0.090,2689,2499,3337,3508,3167,0,0,0,0,0,0,13.40,13.85,28.83
$GC,6919,0.65,-146.0,2688,2499,3508,3167,1.2,-0.5,1287,6926,0.00,1.67,0.00,0.000,260,0.000,0.135,2684,3351,3337,3508,3167,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7165,0.72,-146.0,2684,3350,3508,3168,1.0,0.4,1333,7172,0.22,1.55,0.00,0.000,3078,0.269,0.092,2732,2495,3337,3508,3167,0,0,0,0,0,0,13.38,13.84,28.83
$GC,7493,0.79,-146.0,2732,2495,3508,3168,1.1,-0.0,1394,7499,0.00,1.67,0.00,0.000,260,0.000,0.142,2728,3345,3338,3508,3168,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7740,0.87,-146.0,2728,3345,3508,3167,1.1,0.1,1440,7747,0.22,1.52,0.00,0.000,3078,0.272,0.091,2777,2499,3337,3508,3167,0,0,0,0,0,0,13.39,13.83,28.83
$GC,8069,0.94,-146.0,2777,2499,3508,3167,1.0,-0.0,1501,8078,0.12,1.67,0.00,0.000,2308,0.310,0.138,2803,3348,3338,3508,3168,0,0,0,0,0,0,13.67,13.62,28.83
$GC,8318,1.01,-146.0,2803,3348,3508,3167,1.1,-0.2,1547,8326,0.12,1.55,0.00,0.000,3078,0.302,0.092,2826,2495,3338,3508,3168,0,0,0,0,0,0,13.45,13.84,28.83
$GC,8645,1.09,-146.0,2827,2495,3508,3167,1.1,-0.3,1608,8652,0.00,1.67,0.00,0.000,260,0.000,0.142,2821,3345,3338,3508,3168,0,0,0,0,0,0,28.83,13.61,28.83
$GC,8892,1.09,-146.0,2822,3345,3508,3168,1.1,0.9,1654,8901,0.15,1.52,0.00,0.000,3078,0.297,0.092,2851,2500,3338,3508,3168,0,0,0,0,0,0,13.38,13.84,28.83
$GC,9219,1.16,-146.0,1824,2497,3500,3164,1.1,0.5,1715,9227,0.00,1.65,0.00,0.000,260,0.000,0.135,2846,3350,3337,3508,3167,0,0,0,0,0,0,28.83,13.63,28.83
$GC,9466,1.23,-146.0,2846,3350,3508,3167,1.1,0.2,1761,9473,0.22,1.55,0.00,0.000,3078,0.273,0.092,2895,2493,3337,3507,3168,0,0,0,0,0,0,13.36,13.85,28.83
$GC,9786,1.23,-146.0,2896,2493,3508,3167,1.1,0.8,1822,9793,0.00,1.67,0.00,0.000,260,0.000,0.141,2891,3345,3338,3508,3168,0,0,0,0,0,0,28.83,13.61,28.83
$GC,10032,1.31,-146.0,2891,3345,3508,3167,1.1,-0.8,1868,10039,0.15,1.52,0.00,0.000,3078,0.295,0.091,2920,2499,3336,3506,3167,0,0,0,0,0,0,13.39,13.84,28.83
$GC,10359,1.38,-146.0,2920,2499,3508,3167,1.2,-0.4,1929,10366,0.00,1.65,0.00,0.000,260,0.000,0.137,2916,3345,3338,3508,3168,0,0,0,0,0,0,28.83,13.62,28.83
$GC,10606,1.45,-146.0,2916,3345,3508,3167,1.1,0.4,1975,10613,0.25,1.52,0.00,0.000,3078,0.275,0.093,2969,2499,3337,3508,3167,0,0,0,0,0,0,13.38,13.83,28.83
$GC,10926,1.45,-146.0,1984,2497,3500,3164,1.1,0.6,2036,10934,0.00,1.65,0.00,0.000,260,0.000,0.137,2965,3345,3337,3508,3167,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11173,1.53,-146.0,1984,3345,3500,3164,1.1,-0.3,2082,11181,0.12,1.52,0.00,0.000,3078,0.301,0.091,2988,2498,3337,3508,3167,0,0,0,0,0,0,13.44,13.84,28.83
$GC,11502,1.60,-146.0,2988,2499,3508,3167,1.0,-0.0,2143,11509,0.12,1.67,0.00,0.000,2308,0.315,0.140,3014,3345,3337,3507,3168,0,0,0,0,0,0,13.64,13.61,28.83
$GC,11751,1.60,-146.0,3014,3345,3508,3167,1.1,0.4,2189,11757,0.00,1.52,0.00,0.000,1030,0.000,0.091,3014,2500,3337,3508,3167,0,0,0,0,0,0,28.83,13.83,28.83
$GC,12079,1.60,-146.0,3014,2500,3508,3167,1.1,-0.4,2250,12085,0.00,1.67,0.00,0.000,260,0.000,0.138,3008,3346,3337,3508,3167,0,0,0,0,0,0,28.83,13.61,28.83
$GC,12326,1.60,-146.0,3008,3347,3508,3167,1.2,-0.2,2296,12332,0.00,1.55,0.00,0.000,1030,0.000,0.091,3007,2493,3337,3508,3167,0,0,0,0,0,0,28.83,13.85,28.83
$GC,12652,1.60,-146.0,3008,2494,3508,3167,1.2,-0.2,2357,12659,0.00,1.67,0.00,0.000,260,0.000,0.140,3001,3345,3337,3507,3167,0,0,0,0,0,0,28.83,13.61,28.83
$GC,12900,1.60,-146.0,3001,3345,3508,3167,1.2,-0.4,2403,12906,0.00,1.52,0.00,0.000,1030,0.000,0.091,3001,2499,3337,3508,3167,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,12911,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12911,begin apogee
$FREEZE,1.20,-2.218,-0.562,2,16,0
$GC,12924,-0.22,0.0,3002,2500,3508,3168,1.1,-0.3,2405,12936,1.70,0.00,7.25,0.173,12290,0.095,0.000,2434,2499,3278,3450,3106,0,0,0,0,0,0,13.88,28.83,28.83
$STATE,12937,end apogee,FINISH_DEPTH_REACHED
$STATE,12937,begin subsurface finish
$FINISH1,1.2,1.008124,0
$GC,12952,0.00,0.0,2434,2499,3450,3106,1.2,-0.1,2406,12986,0.28,0.00,31.12,0.156,10754,0.265,0.000,2501,2499,3019,3182,2856,0,0,0,0,0,0,13.48,28.83,28.83
$FINISH2,1.4
$STATE,12987,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12987,begin surface
$RAFOS_CLK,709
$RAFOS,6,1388134154,8.833333,8.820556,84,78,62,55,55,53,702,196,172,209,118,224
$RAFOS,5,1388133665,8.700000,8.684722,61,60,59,55,55,54,220,662,161,113,188,171
$RAFOS,4,1388133182,8.566667,8.550555,109,60,59,58,57,52,681,140,205,215,161,185
$RAFOS,3,1388132703,8.433333,8.417500,86,58,54,54,54,51,739,152,192,222,162,234
$RAFOS,2,1388132225,8.300000,8.284722,64,60,59,57,50,49,188,197,140,209,158,127
$RAFOS,1,1388131744,8.166667,8.151111,65,62,60,54,54,48,215,165,190,179,1075,131
$RAFOS,0,1388131263,8.033334,8.017500,65,61,59,58,55,52,217,139,205,170,156,184
$RAFOS_FIX,6642.498535,-5820.713379,271213,080841,3,93,0.05
$IRIDIUM_FIX,6625.71,-5911.55,241213,232356
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.73
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,11.80
$XPDR_PINGS,6
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,232.782
$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,6.825,73.850,38.375,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,6009.583,2673.579,232.284,3444.167,691.855,0.000,1821.956,0.000,3415.978,2520.000,2.816,0.000
$DEVICE_MAMPS,315.945,143.055,172.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1719.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93097,2411
$CAP_FILE_SIZE,176932,0
$CFSIZE,259252224,208887808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1408.4
$CURRENT,0.212,126.3,1
$GPS,271213,083741,6642.499,-5820.713,0,3093.0,0,-33.8