version: 66.11
glider: 192
mission: 2
dive: 544
start: 12 27 113 22 24 43
data:
$ID,192
$MISSION,2
$DIVE,544
$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,-12206.888
$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,24
$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
$GPS1,271213,220206,6642.517,-5806.287,43,0.9,44,-33.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-22.9
$GPS2,271213,222359,6642.475,-5806.211,42,1.1,42,-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,300.6,102303,-15.5,-8.250,-18.49,2720
$D_GRID,647
$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,-146.0,140,2509,1159,1031,0.0,0.0,0,164,0.00,0.00,-141.02,0.000,16390,0.000,0.000,140,2509,3337,3510,3165,0,0,0,0,0,0,28.83,28.83,14.63
$GC,172,-0.89,-146.0,140,2509,3510,3165,1.1,-0.2,24,185,7.68,1.67,0.00,0.000,2308,0.243,0.145,2210,3350,3338,3511,3165,0,0,0,0,0,0,13.83,14.01,28.83
$GC,425,-0.82,-146.0,2210,3351,3512,3164,1.0,0.7,71,433,0.15,1.52,0.00,0.000,3078,0.288,0.095,2240,2498,3338,3512,3165,0,0,0,0,0,0,13.71,14.09,28.83
$GC,746,-0.75,-146.0,2241,2498,3512,3165,1.1,-0.0,132,752,0.00,1.65,0.00,0.000,260,0.000,0.142,2236,3352,3338,3512,3165,0,0,0,0,0,0,28.83,13.85,28.83
$GC,994,-0.68,-146.0,2236,3352,3512,3165,1.1,0.0,178,1002,0.22,1.52,0.00,0.000,3078,0.271,0.093,2286,2496,3338,3512,3164,0,0,0,0,0,0,13.60,14.04,28.83
$GC,1322,-0.60,-146.0,2287,2496,3512,3165,1.1,-0.2,239,1329,0.00,1.65,0.00,0.000,260,0.000,0.142,2282,3346,3338,3512,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1569,-0.53,-146.0,2282,3347,3512,3165,1.0,0.4,285,1576,0.22,1.52,0.00,0.000,3078,0.271,0.093,2333,2491,3338,3511,3165,0,0,0,0,0,0,13.53,14.00,28.83
$GC,1898,-0.45,-146.0,2333,2491,3512,3165,1.2,-0.5,346,1905,0.00,1.65,0.00,0.000,260,0.000,0.142,2328,3346,3338,3512,3165,0,0,0,0,0,0,28.83,13.74,28.83
$GC,2143,-0.38,-146.0,2328,3346,3512,3165,1.0,0.2,392,2151,0.22,1.52,0.00,0.000,3078,0.271,0.092,2378,2489,3338,3512,3165,0,0,0,0,0,0,13.52,13.97,28.83
$GC,2469,-0.31,-146.0,2378,2489,3512,3165,1.1,-0.1,453,2476,0.12,1.67,0.00,0.000,2308,0.305,0.142,2404,3345,3338,3512,3165,0,0,0,0,0,0,13.76,13.71,28.83
$GC,2718,-0.23,-146.0,2403,3345,3512,3165,1.1,-0.4,499,2724,0.00,1.52,0.00,0.000,1030,0.000,0.093,2404,2490,3338,3512,3164,0,0,0,0,0,0,28.83,13.95,28.83
$GC,3039,-0.16,-146.0,2403,2490,3512,3165,1.1,0.4,560,3046,0.17,1.67,0.00,0.000,2308,0.296,0.139,2441,3346,3338,3512,3165,0,0,0,0,0,0,13.50,13.70,28.83
$GC,3287,-0.09,-146.0,2441,3346,3512,3165,1.2,-0.6,606,3295,0.17,1.52,0.00,0.000,3078,0.282,0.091,2476,2491,3338,3512,3165,0,0,0,0,0,0,13.50,13.95,28.83
$GC,3615,-0.01,-146.0,2477,2491,3512,3164,1.1,-0.3,667,3623,0.00,1.67,0.00,0.000,260,0.000,0.142,2472,3351,3338,3512,3165,0,0,0,0,0,0,28.83,13.69,28.83
$GC,3864,-0.01,-146.0,2472,3350,3512,3165,1.0,-1.0,713,3871,0.12,1.52,0.00,0.000,3078,0.301,0.093,2495,2497,3338,3512,3165,0,0,0,0,0,0,13.56,13.93,28.83
$GC,4192,0.06,-146.0,2495,2497,3512,3165,1.1,0.1,774,4200,0.12,1.65,0.00,0.000,2308,0.311,0.138,2521,3345,3338,3512,3164,0,0,0,0,0,0,13.72,13.69,28.83
$GC,4440,0.13,-146.0,2521,3345,3512,3164,1.1,-0.1,820,4446,0.00,1.52,0.00,0.000,1030,0.000,0.091,2521,2493,3338,3512,3165,0,0,0,0,0,0,28.83,13.93,28.83
$GC,4759,0.13,-146.0,2521,2493,3512,3165,1.0,0.0,881,4767,0.00,1.67,0.00,0.000,260,0.000,0.142,2515,3351,3338,3512,3164,0,0,0,0,0,0,28.83,13.67,28.83
$GC,5008,0.21,-146.0,2515,3351,3512,3165,1.0,-0.1,927,5015,0.25,1.52,0.00,0.000,3078,0.272,0.093,2571,2500,3338,3512,3165,0,0,0,0,0,0,13.42,13.91,28.83
$GC,5336,0.28,-146.0,1600,2497,3504,3162,1.0,0.2,988,5343,0.00,1.65,0.00,0.000,260,0.000,0.142,2566,3345,3338,3512,3165,0,0,0,0,0,0,28.83,13.66,28.83
$GC,5582,0.35,-146.0,2565,3345,3512,3165,1.0,0.4,1034,5591,0.22,1.52,0.00,0.000,3078,0.269,0.090,2616,2492,3338,3512,3165,0,0,0,0,0,0,13.43,13.93,28.83
$GC,5913,0.42,-146.0,2616,2492,3512,3164,1.2,-0.7,1095,5921,0.00,1.67,0.00,0.000,260,0.000,0.142,2611,3349,3338,3512,3164,0,0,0,0,0,0,28.83,13.65,28.83
$GC,6162,0.50,-146.0,1648,3348,3504,3162,1.0,0.4,1141,6170,0.22,1.52,0.00,0.000,3078,0.275,0.092,2661,2501,3338,3512,3164,0,0,0,0,0,0,13.40,13.89,28.83
$GC,6491,0.57,-146.0,2660,2501,3512,3165,1.2,-0.6,1202,6498,0.12,1.65,0.00,0.000,2308,0.312,0.138,2687,3345,3338,3512,3165,0,0,0,0,0,0,13.67,13.66,28.83
$GC,6738,0.64,-146.0,1712,3343,3504,3161,1.0,0.0,1248,6748,0.00,1.52,0.00,0.000,1030,0.000,0.091,2687,2491,3338,3512,3165,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7068,0.72,-146.0,2687,2491,3512,3165,1.0,0.1,1309,7075,0.17,1.67,0.00,0.000,2308,0.291,0.139,2723,3345,3338,3512,3165,0,0,0,0,0,0,13.45,13.65,28.83
$GC,7316,0.79,-146.0,2723,3345,3512,3165,1.0,0.4,1355,7325,0.15,1.52,0.00,0.000,3078,0.285,0.091,2752,2495,3338,3512,3164,0,0,0,0,0,0,13.47,13.89,28.83
$GC,7640,0.79,-146.0,2752,2495,3512,3164,1.1,-0.4,1416,7647,0.00,1.65,0.00,0.000,260,0.000,0.140,2748,3345,3338,3511,3165,0,0,0,0,0,0,28.83,13.65,28.83
$GC,7886,0.86,-146.0,2748,3345,3512,3164,1.0,-0.1,1462,7894,0.15,1.52,0.00,0.000,3078,0.290,0.091,2777,2494,3338,3511,3165,0,0,0,0,0,0,13.47,13.89,28.83
$GC,8216,0.94,-146.0,2777,2494,3512,3164,1.0,0.4,1523,8223,0.12,1.67,0.00,0.000,2308,0.307,0.138,2803,3346,3338,3512,3165,0,0,0,0,0,0,13.69,13.64,28.83
$GC,8464,1.01,-146.0,2803,3346,3512,3164,1.0,0.0,1569,8470,0.00,1.52,0.00,0.000,1030,0.000,0.093,2803,2497,3338,3512,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,8795,1.08,-146.0,2803,2497,3512,3165,1.0,-0.1,1630,8802,0.17,1.67,0.00,0.000,2308,0.289,0.138,2840,3349,3338,3512,3165,0,0,0,0,0,0,13.44,13.65,28.83
$GC,9041,1.16,-146.0,1832,3348,3504,3162,1.1,0.1,1676,9049,0.15,1.52,0.00,0.000,3078,0.288,0.091,2870,2498,3338,3512,3165,0,0,0,0,0,0,13.47,13.89,28.83
$GC,9371,1.23,-146.0,2870,2498,3512,3165,1.0,-0.4,1737,9379,0.12,1.67,0.00,0.000,2308,0.309,0.139,2896,3349,3338,3512,3165,0,0,0,0,0,0,13.69,13.65,28.83
$GC,9619,1.30,-146.0,2896,3349,3512,3164,1.0,-0.0,1783,9625,0.00,1.52,0.00,0.000,1030,0.000,0.092,2896,2498,3338,3512,3165,0,0,0,0,0,0,28.83,13.88,28.83
$GC,9941,1.38,-146.0,2896,2498,3513,3165,1.0,0.1,1844,9950,0.17,1.67,0.00,0.000,2308,0.290,0.140,2933,3348,3338,3512,3164,0,0,0,0,0,0,13.45,13.64,28.83
$GC,10190,1.45,-146.0,2933,3348,3512,3165,1.0,-0.2,1890,10198,0.17,1.52,0.00,0.000,3078,0.285,0.092,2968,2496,3338,3512,3165,0,0,0,0,0,0,13.41,13.88,28.83
$GC,10518,1.52,-146.0,2968,2496,3511,3165,1.1,-0.6,1951,10525,0.00,1.67,0.00,0.000,260,0.000,0.142,2963,3353,3338,3512,3165,0,0,0,0,0,0,28.83,13.64,28.83
$GC,10763,1.52,-146.0,1984,3351,3504,3162,1.0,1.4,1997,10772,0.12,1.52,0.00,0.000,3078,0.298,0.091,2986,2499,3338,3511,3165,0,0,0,0,0,0,13.50,13.88,28.83
$GC,11094,1.59,-146.0,2985,2499,3512,3164,1.0,0.4,2058,11102,0.12,1.67,0.00,0.000,2308,0.315,0.140,3011,3349,3338,3512,3164,0,0,0,0,0,0,13.68,13.64,28.83
$GC,11340,1.59,-146.0,3012,3349,3512,3164,1.1,-0.1,2104,11347,0.00,1.52,0.00,0.000,1030,0.000,0.092,3012,2499,3338,3512,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,11662,1.59,-146.0,2048,2496,3504,3162,1.1,0.5,2165,11669,0.00,1.65,0.00,0.000,260,0.000,0.142,3005,3345,3338,3512,3165,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11910,1.59,-146.0,3005,3345,3512,3164,1.1,-0.5,2211,11917,0.00,1.52,0.00,0.000,1030,0.000,0.090,3005,2493,3338,3512,3165,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12237,1.59,-146.0,3005,2493,3511,3164,1.0,0.1,2272,12244,0.00,1.67,0.00,0.000,260,0.000,0.141,2998,3349,3338,3512,3165,0,0,0,0,0,0,28.83,13.63,28.83
$GC,12485,1.59,-146.0,2998,3349,3512,3165,1.1,-0.1,2318,12491,0.00,1.52,0.00,0.000,1030,0.000,0.091,2998,2499,3338,3512,3164,0,0,0,0,0,0,28.83,13.88,28.83
$GC,12813,1.59,-146.0,1984,2497,3504,3161,1.1,-0.0,2379,12822,0.00,1.65,0.00,0.000,260,0.000,0.142,2992,3345,3338,3512,3165,0,0,0,0,0,0,28.83,13.62,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12907,begin apogee
$FREEZE,1.19,-3.303,-0.461,2,1,0
$GC,12923,-0.22,0.0,2993,2507,3512,3165,1.2,-0.8,2397,12935,1.67,0.00,7.28,0.178,12290,0.094,0.000,2435,2506,3279,3455,3103,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12936,end apogee,SURFACE_DEPTH_REACHED
$STATE,12936,begin surface coast
$FREEZE,1.04,-3.304,-0.461,2,1,0
$FREEZE,1.03,-3.304,-0.461,2,1,0
$FREEZE,1.10,-3.304,-0.461,2,1,0
$FREEZE,1.04,-3.304,-0.461,2,1,0
$FREEZE,1.10,-3.304,-0.461,2,1,0
$FREEZE,1.10,-3.304,-0.461,2,1,0
$FREEZE,1.00,-3.304,-0.461,2,1,0
$FREEZE,1.09,-3.304,-0.461,2,1,0
$FREEZE,1.08,-3.304,-0.461,2,1,0
$FREEZE,1.04,-3.305,-0.461,2,1,0
$FINISH,1.0,1.006497
$STATE,12994,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12994,begin surface
$SM_CCo,13023,272.17,0.161,0,0,1108,400.08
$SM_GC,1.25,7.03,0.00,272.17,0.086,0.000,0.161,134,2506,1108,-7.36,0.17,400.08,0,0,0,0,0,0,14.00,28.83,13.97
$RAFOS_CLK,667
$RAFOS,6,1388191745,0.833333,0.818056,97,60,58,58,54,51,771,206,171,192,220,127
$RAFOS,5,1388191265,0.700000,0.684722,96,58,56,56,55,53,659,196,134,157,213,146
$RAFOS,4,1388190781,0.566667,0.550278,81,65,56,55,55,53,707,214,189,176,200,162
$RAFOS,3,1388190305,0.433333,0.418056,108,69,67,60,52,50,742,199,147,174,186,222
$RAFOS,2,1388189826,0.300000,0.285000,57,56,53,53,50,49,200,153,115,219,166,133
$RAFOS,1,1388189343,0.166667,0.150833,59,58,56,54,52,50,174,201,137,147,187,210
$RAFOS,0,1388188866,0.033333,0.018333,65,65,58,57,55,53,201,214,168,475,127,159
$RAFOS_FIX,6642.776367,-5809.248535,281213,000056,4,96,0.28
$IRIDIUM_FIX,6614.97,-5802.56,271213,222224
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.32
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.70
$XPDR_PINGS,40
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,233.363
$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,20.400,73.400,7.275,272.175,0.000,0.000,0.000,834.800,10.250,0.000,43.855,5994.875,2712.362,585.542,4116.893,1196.747,0.000,3027.444,0.000,3414.349,2520.000,2.815,0.000
$DEVICE_MAMPS,315.180,144.585,178.245,161.415,0.000,0.000,0.000,163.710,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1725.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150664
$DATA_FILE_SIZE,93089,2408
$CAP_FILE_SIZE,194959,0
$CFSIZE,259252224,208531456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.203,177.2,1
$GPS,281213,020806,6641.030,-5806.126,29,0.8,30,-33.4