version: 66.11
glider: 192
mission: 2
dive: 543
start: 12 27 113 18 18 54
data:
$ID,192
$MISSION,2
$DIVE,543
$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,-12205.627
$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
$GPS1,271213,180035,6642.379,-5808.363,84,0.8,84,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-22.8
$GPS2,271213,181815,6642.379,-5808.132,9,0.8,9,-33.4
$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,310.9,100903,-15.5,-8.250,-18.49,2720
$D_GRID,650
$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,-146.0,138,2501,1159,1031,0.0,0.0,0,166,0.00,0.00,-140.25,0.000,16390,0.000,0.000,138,2501,3337,3509,3165,0,0,0,0,0,0,28.83,28.83,14.62
$GC,174,-0.89,-146.0,138,2501,3510,3165,1.2,0.0,25,189,7.72,1.62,0.00,0.000,2308,0.240,0.139,2210,3350,3338,3511,3165,0,0,0,0,0,0,13.85,14.02,28.83
$GC,428,-0.82,-146.0,2211,3351,3511,3165,1.1,0.1,72,436,0.15,1.52,0.00,0.000,3078,0.284,0.093,2241,2493,3338,3511,3165,0,0,0,0,0,0,13.72,14.09,28.83
$GC,749,-0.75,-146.0,2241,2493,3511,3164,1.1,0.2,133,755,0.00,1.65,0.00,0.000,260,0.000,0.141,2237,3348,3338,3511,3165,0,0,0,0,0,0,28.83,13.84,28.83
$GC,996,-0.67,-146.0,2237,3348,3511,3165,1.1,-0.1,179,1003,0.22,1.52,0.00,0.000,3078,0.269,0.093,2288,2492,3338,3511,3165,0,0,0,0,0,0,13.61,14.04,28.83
$GC,1322,-0.60,-146.0,2288,2493,3511,3164,1.2,-0.2,240,1329,0.00,1.65,0.00,0.000,260,0.000,0.140,2283,3344,3338,3511,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1569,-0.53,-146.0,2283,3345,3511,3165,1.1,0.0,286,1576,0.22,1.52,0.00,0.000,3078,0.270,0.093,2334,2495,3338,3511,3165,0,0,0,0,0,0,13.53,14.00,28.83
$GC,1897,-0.45,-146.0,2334,2495,3511,3164,1.2,-0.6,347,1905,0.00,1.67,0.00,0.000,260,0.000,0.139,2329,3352,3337,3511,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2147,-0.38,-146.0,2329,3352,3511,3165,1.1,-0.0,393,2154,0.20,1.58,0.00,0.000,3078,0.259,0.093,2379,2498,3338,3511,3165,0,0,0,0,0,0,13.45,13.93,28.83
$GC,2473,-0.30,-146.0,2379,2498,3510,3165,1.1,-0.2,454,2481,0.12,1.65,0.00,0.000,2308,0.308,0.138,2406,3344,3338,3511,3165,0,0,0,0,0,0,13.74,13.72,28.83
$GC,2719,-0.23,-146.0,2406,3344,3511,3164,1.1,-0.3,500,2726,0.00,1.52,0.00,0.000,1030,0.000,0.092,2405,2495,3338,3511,3165,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3040,-0.16,-146.0,1488,2493,3503,3161,1.1,0.3,561,3048,0.17,1.67,0.00,0.000,2308,0.293,0.136,2442,3350,3337,3511,3163,0,0,0,0,0,0,13.50,13.71,28.83
$GC,3288,-0.09,-146.0,2443,3350,3511,3165,1.1,-0.0,607,3296,0.15,1.52,0.00,0.000,3078,0.286,0.092,2472,2498,3338,3511,3165,0,0,0,0,0,0,13.53,13.95,28.83
$GC,3616,-0.01,-146.0,2472,2498,3511,3164,1.1,-0.1,668,3623,0.12,1.67,0.00,0.000,2308,0.308,0.138,2499,3351,3337,3510,3165,0,0,0,0,0,0,13.72,13.70,28.83
$GC,3862,0.06,-146.0,2499,3351,3511,3164,1.1,-0.4,714,3869,0.00,1.52,0.00,0.000,1030,0.000,0.092,2499,2498,3338,3511,3165,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4182,0.14,-146.0,1568,2496,3503,3162,1.2,-0.1,775,4191,0.17,1.65,0.00,0.000,2308,0.290,0.136,2536,3346,3337,3511,3164,0,0,0,0,0,0,13.50,13.69,28.83
$GC,4429,0.21,-146.0,2536,3346,3511,3164,1.2,-0.8,821,4436,0.15,1.52,0.00,0.000,3078,0.291,0.090,2566,2492,3337,3511,3164,0,0,0,0,0,0,13.50,13.93,28.83
$GC,4758,0.28,-146.0,2567,2492,3511,3165,1.1,0.1,882,4766,0.12,1.67,0.00,0.000,2308,0.309,0.138,2593,3349,3338,3511,3165,0,0,0,0,0,0,13.72,13.68,28.83
$GC,5005,0.28,-146.0,2593,3349,3511,3164,1.0,1.0,928,5011,0.00,1.52,0.00,0.000,1030,0.000,0.091,2593,2496,3337,3511,3164,0,0,0,0,0,0,28.83,13.92,28.83
$GC,5326,0.35,-146.0,2593,2496,3511,3165,1.1,0.3,989,5333,0.00,1.65,0.00,0.000,260,0.000,0.138,2587,3346,3338,3511,3165,0,0,0,0,0,0,28.83,13.67,28.83
$GC,5573,0.43,-146.0,2587,3346,3511,3165,1.0,0.4,1035,5581,0.22,1.52,0.00,0.000,3078,0.272,0.090,2637,2491,3337,3511,3164,0,0,0,0,0,0,13.43,13.92,28.83
$GC,5895,0.43,-146.0,2637,2491,3511,3165,1.1,-0.3,1096,5903,0.00,1.67,0.00,0.000,260,0.000,0.140,2632,3350,3338,3511,3165,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6144,0.50,-146.0,2632,3351,3511,3165,1.1,0.0,1142,6151,0.15,1.52,0.00,0.000,3078,0.291,0.090,2662,2499,3338,3511,3165,0,0,0,0,0,0,13.45,13.89,28.83
$GC,6472,0.58,-146.0,2662,2499,3511,3165,1.1,0.3,1203,6478,0.00,1.65,0.00,0.000,260,0.000,0.137,2658,3347,3338,3511,3165,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6721,0.65,-146.0,2658,3347,3511,3165,1.1,-0.2,1249,6728,0.22,1.52,0.00,0.000,3078,0.268,0.090,2707,2495,3338,3511,3165,0,0,0,0,0,0,13.41,13.90,28.83
$GC,7049,0.72,-146.0,2707,2495,3511,3164,1.0,0.4,1310,7057,0.12,1.67,0.00,0.000,2308,0.310,0.135,2733,3351,3338,3511,3165,0,0,0,0,0,0,13.70,13.66,28.83
$GC,7298,0.79,-146.0,2733,3351,3511,3164,1.0,-0.0,1356,7304,0.00,1.52,0.00,0.000,1030,0.000,0.090,2733,2499,3337,3511,3164,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7625,0.87,-146.0,2733,2499,3511,3165,1.0,-0.0,1417,7632,0.17,1.67,0.00,0.000,2308,0.288,0.136,2770,3349,3337,3511,3164,0,0,0,0,0,0,13.43,13.66,28.83
$GC,7871,0.94,-146.0,2771,3349,3511,3164,1.1,0.2,1463,7878,0.17,1.52,0.00,0.000,3078,0.281,0.090,2806,2499,3337,3511,3164,0,0,0,0,0,0,13.43,13.88,28.83
$GC,8202,1.01,-146.0,2806,2499,3511,3164,1.1,0.1,1524,8208,0.00,1.65,0.00,0.000,260,0.000,0.138,2802,3345,3338,3511,3165,0,0,0,0,0,0,28.83,13.64,28.83
$GC,8446,1.09,-146.0,2802,3345,3511,3165,1.1,-0.2,1570,8453,0.22,1.52,0.00,0.000,3078,0.277,0.089,2851,2495,3337,3511,3164,0,0,0,0,0,0,13.40,13.90,28.83
$GC,8776,1.16,-146.0,2851,2495,3511,3164,1.2,-0.3,1631,8783,0.00,1.67,0.00,0.000,260,0.000,0.138,2846,3346,3337,3511,3164,0,0,0,0,0,0,28.83,13.64,28.83
$GC,9023,1.23,-146.0,2846,3346,3511,3165,1.1,-0.1,1677,9031,0.22,1.52,0.00,0.000,3078,0.273,0.089,2896,2497,3337,3511,3164,0,0,0,0,0,0,13.38,13.88,28.83
$GC,9353,1.31,-146.0,2896,2498,3511,3164,1.1,-0.4,1738,9360,0.12,1.67,0.00,0.000,2308,0.312,0.137,2922,3348,3337,3510,3164,0,0,0,0,0,0,13.66,13.64,28.83
$GC,9599,1.38,-146.0,2921,3348,3511,3165,1.1,0.3,1784,9606,0.00,1.52,0.00,0.000,1030,0.000,0.090,2922,2497,3338,3511,3165,0,0,0,0,0,0,28.83,13.89,28.83
$GC,9927,1.45,-146.0,2922,2497,3511,3164,1.1,-0.5,1845,9934,0.20,1.67,0.00,0.000,2308,0.285,0.135,2964,3349,3337,3511,3164,0,0,0,0,0,0,13.38,13.66,28.83
$GC,10173,1.45,-146.0,2964,3349,3511,3164,1.1,0.0,1891,10179,0.00,1.52,0.00,0.000,1030,0.000,0.090,2964,2497,3337,3511,3164,0,0,0,0,0,0,28.83,13.90,28.83
$GC,10500,1.53,-146.0,1952,2495,3503,3161,1.1,0.1,1952,10508,0.12,1.67,0.00,0.000,2308,0.311,0.136,2987,3350,3337,3511,3164,0,0,0,0,0,0,13.67,13.64,28.83
$GC,10745,1.60,-146.0,2000,3349,3502,3161,1.1,-0.1,1998,10753,0.12,1.52,0.00,0.000,3078,0.298,0.090,3010,2497,3337,3511,3164,0,0,0,0,0,0,13.50,13.89,28.83
$GC,11068,1.60,-146.0,3010,2497,3511,3164,1.0,1.1,2059,11075,0.00,1.67,0.00,0.000,260,0.000,0.138,3006,3351,3337,3511,3164,0,0,0,0,0,0,28.83,13.64,28.83
$GC,11314,1.60,-146.0,2048,3350,3503,3161,1.0,0.4,2105,11321,0.00,1.52,0.00,0.000,1030,0.000,0.090,3006,2499,3337,3511,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11641,1.60,-146.0,3006,2499,3511,3164,1.2,-0.1,2166,11647,0.00,1.65,0.00,0.000,260,0.000,0.138,3000,3346,3337,3511,3164,0,0,0,0,0,0,28.83,13.64,28.83
$GC,11888,1.60,-146.0,3000,3346,3511,3165,1.1,0.1,2212,11895,0.00,1.52,0.00,0.000,1030,0.000,0.090,2999,2498,3337,3511,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12217,1.60,-146.0,3000,2498,3511,3164,1.1,0.4,2273,12224,0.00,1.67,0.00,0.000,260,0.000,0.138,2993,3352,3338,3511,3165,0,0,0,0,0,0,28.83,13.63,28.83
$GC,12465,1.60,-146.0,2993,3352,3511,3165,1.1,-0.0,2319,12471,0.00,1.52,0.00,0.000,1030,0.000,0.091,2993,2501,3337,3511,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12791,1.60,-146.0,2993,2501,3511,3164,1.1,-0.3,2380,12799,0.00,1.65,0.00,0.000,260,0.000,0.139,2987,3345,3337,3511,3164,0,0,0,0,0,0,28.83,13.62,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12907,begin apogee
$FREEZE,1.14,-3.128,-0.483,2,1,0
$GC,12927,-0.22,0.0,2987,2509,3511,3164,1.1,-0.0,2402,12939,1.65,0.00,7.20,0.177,12290,0.095,0.000,2438,2509,3277,3454,3101,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12940,end apogee,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FREEZE,1.10,-3.128,-0.483,2,1,0
$FREEZE,1.10,-3.128,-0.483,2,1,0
$FREEZE,1.01,-3.128,-0.483,2,1,0
$FREEZE,1.15,-3.128,-0.483,2,1,0
$FINISH,1.1,1.006851
$STATE,12968,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12968,begin surface
$SM_CCo,12995,271.27,0.161,0,0,1109,400.08
$SM_GC,1.09,7.00,0.00,271.27,0.086,0.000,0.161,140,2509,1109,-7.35,0.25,400.08,0,0,0,0,0,0,14.00,28.83,13.97
$RAFOS_CLK,664
$RAFOS,6,1388177344,20.833334,20.817778,98,61,60,56,56,51,759,179,215,121,196,163
$RAFOS,5,1388176864,20.700001,20.684444,76,59,55,54,53,52,650,161,170,148,129,207
$RAFOS,4,1388176384,20.566668,20.551111,88,60,59,55,53,50,683,217,185,152,170,117
$RAFOS,3,1388175905,20.433332,20.418056,71,63,63,61,54,54,743,170,139,193,222,203
$RAFOS,2,1388175421,20.299999,20.283611,64,64,55,55,53,53,180,196,166,208,148,157
$RAFOS,1,1388174944,20.166666,20.151112,67,66,65,57,54,52,217,205,193,174,183,136
$RAFOS,0,1388174465,20.033333,20.018055,62,61,55,52,48,47,215,191,138,200,994,234
$RAFOS_FIX,6644.236328,-5812.745605,271213,202028,4,83,0.57
$IRIDIUM_FIX,6614.97,-5811.79,271213,141416
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.91
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.90
$XPDR_PINGS,20
$ALTIM_TOP_PING,1.1,999.0
$24V_AH,13.4,233.199
$10V_AH,13.4,0.000
$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,20.300,73.400,7.200,271.275,0.000,0.000,0.000,688.300,5.250,0.000,10.445,5944.388,2684.982,576.120,3942.123,1176.242,0.000,2871.296,0.000,3412.918,2520.000,2.815,0.000
$DEVICE_MAMPS,312.120,140.760,177.480,161.415,0.000,0.000,0.000,162.945,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1724.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150720
$DATA_FILE_SIZE,93242,2407
$CAP_FILE_SIZE,192642,0
$CFSIZE,259252224,208617472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.108, 81.5,1
$GPS,271213,220206,6642.517,-5806.287,43,0.9,44,-33.4