version: 66.11
glider: 192
mission: 2
dive: 545
start: 12 28 113 2 29 22
data:
$ID,192
$MISSION,2
$DIVE,545
$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,-12208.144
$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,23
$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
$GPS1,281213,020806,6641.030,-5806.126,29,0.8,30,-33.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-22.9
$GPS2,281213,022835,6640.851,-5806.108,32,1.0,32,-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,351.7,102506,-15.5,-8.250,-18.49,2720
$D_GRID,644
$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,-146.0,134,2506,1159,1031,0.0,0.0,0,166,0.00,0.00,-141.48,0.000,16390,0.000,0.000,134,2506,3337,3510,3164,0,0,0,0,0,0,28.83,28.83,14.62
$GC,174,-0.89,-146.0,134,2506,3509,3164,1.1,0.2,24,188,7.65,1.55,0.00,0.000,2564,0.237,0.101,2219,1660,3337,3511,3164,0,0,0,0,0,0,13.84,14.11,28.83
$GC,428,-0.82,-146.0,2219,1660,3511,3164,1.0,0.4,71,436,0.12,1.55,0.00,0.000,3078,0.305,0.114,2238,2501,3338,3512,3164,0,0,0,0,0,0,13.72,13.96,28.83
$GC,751,-0.75,-146.0,1376,2499,3504,3161,1.2,-0.3,132,757,0.00,1.52,0.00,0.000,516,0.000,0.103,2239,1660,3337,3511,3164,0,0,0,0,0,0,28.83,13.93,28.83
$GC,996,-0.67,-146.0,2239,1660,3511,3164,1.0,0.4,178,1005,0.22,1.55,0.00,0.000,3078,0.272,0.112,2285,2501,3337,3511,3164,0,0,0,0,0,0,13.61,13.90,28.83
$GC,1324,-0.60,-146.0,2285,2501,3512,3165,1.0,0.1,239,1331,0.12,1.55,0.00,0.000,2564,0.306,0.099,2317,1653,3338,3512,3164,0,0,0,0,0,0,13.80,13.91,28.83
$GC,1570,-0.53,-146.0,2317,1653,3512,3164,1.1,-0.0,285,1577,0.00,1.58,0.00,0.000,1030,0.000,0.115,2313,2502,3337,3511,3164,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1893,-0.45,-146.0,2313,2502,3512,3164,1.1,0.0,346,1901,0.17,1.55,0.00,0.000,2564,0.294,0.099,2354,1653,3337,3511,3164,0,0,0,0,0,0,13.55,13.88,28.83
$GC,2142,-0.38,-146.0,2355,1652,3512,3164,1.0,0.4,392,2149,0.15,1.58,0.00,0.000,3078,0.291,0.114,2380,2500,3338,3512,3164,0,0,0,0,0,0,13.55,13.83,28.83
$GC,2473,-0.31,-146.0,2380,2500,3512,3164,1.1,-0.5,453,2479,0.00,1.55,0.00,0.000,516,0.000,0.103,2381,1650,3338,3512,3164,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2719,-0.23,-146.0,2380,1650,3511,3164,1.0,0.3,499,2727,0.22,1.60,0.00,0.000,3078,0.273,0.115,2425,2507,3337,3511,3164,0,0,0,0,0,0,13.49,13.81,28.83
$GC,3047,-0.16,-146.0,1488,2505,3503,3161,1.0,0.3,560,3055,0.12,1.55,0.00,0.000,2564,0.314,0.099,2456,1660,3337,3511,3164,0,0,0,0,0,0,13.71,13.85,28.83
$GC,3296,-0.08,-146.0,1536,1659,3504,3161,1.1,0.0,606,3303,0.00,1.58,0.00,0.000,1030,0.000,0.112,2452,2501,3338,3512,3164,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3618,-0.01,-146.0,2452,2501,3512,3164,1.1,-0.4,667,3625,0.17,1.55,0.00,0.000,2564,0.292,0.099,2494,1660,3337,3511,3164,0,0,0,0,0,0,13.52,13.84,28.83
$GC,3864,-0.01,-146.0,1556,1659,3504,3160,1.1,0.3,713,3872,0.00,1.58,0.00,0.000,1030,0.000,0.109,2490,2505,3337,3511,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4186,-0.01,-146.0,2489,2505,3512,3164,1.1,-1.7,774,4192,0.00,1.55,0.00,0.000,516,0.000,0.101,2489,1658,3338,3512,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4430,0.06,-146.0,1552,1657,3504,3161,1.1,0.1,820,4437,0.17,1.58,0.00,0.000,3078,0.283,0.111,2520,2503,3338,3512,3164,0,0,0,0,0,0,13.47,13.78,28.83
$GC,4759,0.14,-146.0,2520,2503,3512,3164,1.0,-0.0,881,4766,0.12,1.55,0.00,0.000,2564,0.314,0.098,2552,1661,3338,3512,3164,0,0,0,0,0,0,13.69,13.83,28.83
$GC,5008,0.21,-146.0,2551,1661,3512,3164,1.1,-0.5,927,5014,0.00,1.58,0.00,0.000,1030,0.000,0.110,2546,2503,3337,3511,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5329,0.28,-146.0,2546,2503,3512,3164,1.1,0.1,988,5336,0.17,1.55,0.00,0.000,2564,0.294,0.098,2589,1660,3337,3511,3164,0,0,0,0,0,0,13.51,13.82,28.83
$GC,5575,0.35,-146.0,2589,1660,3512,3164,1.0,0.2,1034,5583,0.15,1.58,0.00,0.000,3078,0.290,0.111,2614,2504,3337,3511,3164,0,0,0,0,0,0,13.47,13.76,28.83
$GC,5904,0.43,-146.0,2614,2504,3511,3164,1.0,0.1,1095,5914,0.12,1.55,0.00,0.000,2564,0.313,0.097,2645,1659,3338,3512,3164,0,0,0,0,0,0,13.70,13.81,28.83
$GC,6153,0.50,-146.0,2644,1659,3512,3164,1.0,0.1,1141,6159,0.00,1.58,0.00,0.000,1030,0.000,0.108,2640,2508,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6482,0.57,-146.0,1648,2507,3504,3161,1.0,0.0,1202,6489,0.17,1.58,0.00,0.000,2564,0.296,0.097,2682,1651,3338,3512,3164,0,0,0,0,0,0,13.45,13.80,28.83
$GC,6729,0.65,-146.0,1704,1650,3504,3161,1.0,-0.1,1248,6738,0.15,1.60,0.00,0.000,3078,0.291,0.114,2707,2505,3337,3511,3164,0,0,0,0,0,0,13.47,13.75,28.83
$GC,7060,0.72,-146.0,2707,2504,3512,3164,1.0,0.2,1309,7067,0.12,1.55,0.00,0.000,2564,0.311,0.098,2738,1660,3338,3512,3164,0,0,0,0,0,0,13.68,13.79,28.83
$GC,7308,0.79,-146.0,2737,1660,3511,3164,1.0,0.3,1355,7315,0.00,1.58,0.00,0.000,1030,0.000,0.112,2733,2504,3337,3511,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7635,0.87,-146.0,2733,2504,3512,3164,1.1,-0.4,1416,7642,0.17,1.55,0.00,0.000,2564,0.297,0.097,2774,1660,3338,3512,3164,0,0,0,0,0,0,13.42,13.79,28.83
$GC,7882,0.87,-146.0,2774,1660,3512,3164,1.1,0.3,1462,7889,0.00,1.58,0.00,0.000,1030,0.000,0.110,2770,2504,3338,3512,3164,0,0,0,0,0,0,28.83,13.75,28.83
$GC,8204,0.94,-146.0,2770,2504,3512,3164,1.0,-0.2,1523,8213,0.12,1.58,0.00,0.000,2564,0.311,0.097,2799,1651,3337,3511,3164,0,0,0,0,0,0,13.66,13.79,28.83
$GC,8453,1.01,-146.0,2799,1651,3512,3164,1.0,0.1,1569,8460,0.15,1.60,0.00,0.000,3078,0.295,0.112,2824,2503,3338,3512,3164,0,0,0,0,0,0,13.43,13.74,28.83
$GC,8779,1.09,-146.0,2824,2503,3512,3164,1.0,-0.0,1630,8786,0.12,1.55,0.00,0.000,2564,0.317,0.097,2855,1660,3337,3511,3164,0,0,0,0,0,0,13.66,13.80,28.83
$GC,9025,1.16,-146.0,2856,1660,3512,3164,1.0,-0.0,1676,9033,0.00,1.58,0.00,0.000,1030,0.000,0.109,2850,2502,3338,3512,3164,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9349,1.23,-146.0,2851,2502,3511,3164,1.1,0.6,1737,9356,0.17,1.55,0.00,0.000,2564,0.295,0.096,2893,1660,3338,3513,3164,0,0,0,0,0,0,13.45,13.79,28.83
$GC,9593,1.23,-146.0,2893,1660,3512,3164,1.0,0.0,1783,9600,0.00,1.58,0.00,0.000,1030,0.000,0.110,2889,2502,3338,3512,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9915,1.31,-146.0,1888,2500,3504,3161,1.1,-0.2,1844,9922,0.12,1.55,0.00,0.000,2564,0.313,0.096,2917,1660,3338,3512,3164,0,0,0,0,0,0,13.71,13.79,28.83
$GC,10162,1.38,-146.0,2917,1660,3511,3164,1.0,0.0,1890,10169,0.15,1.58,0.00,0.000,3078,0.297,0.109,2942,2506,3338,3512,3164,0,0,0,0,0,0,13.43,13.75,28.83
$GC,10490,1.46,-146.0,2942,2506,3511,3164,1.1,0.3,1951,10498,0.12,1.58,0.00,0.000,2564,0.319,0.096,2972,1651,3338,3512,3164,0,0,0,0,0,0,13.67,13.79,28.83
$GC,10737,1.53,-146.0,2972,1651,3511,3164,1.1,-0.3,1997,10743,0.00,1.60,0.00,0.000,1030,0.000,0.112,2968,2502,3337,3511,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11063,1.60,-146.0,2968,2502,3512,3164,1.0,-0.3,2058,11070,0.17,1.55,0.00,0.000,2564,0.295,0.096,3009,1660,3338,3512,3164,0,0,0,0,0,0,13.45,13.79,28.83
$GC,11309,1.60,-146.0,3009,1660,3512,3164,1.0,0.4,2104,11316,0.00,1.58,0.00,0.000,1030,0.000,0.109,3005,2505,3337,3511,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11637,1.60,-146.0,1984,2502,3504,3161,1.0,0.4,2165,11643,0.00,1.55,0.00,0.000,516,0.000,0.098,3004,1658,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11882,1.60,-146.0,2048,1656,3503,3161,1.1,-0.3,2211,11891,0.00,1.58,0.00,0.000,1030,0.000,0.110,2998,2501,3338,3512,3164,0,0,0,0,0,0,28.83,13.72,28.83
$GC,12210,1.60,-146.0,2999,2501,3512,3164,1.0,-0.1,2272,12218,0.00,1.55,0.00,0.000,516,0.000,0.099,2998,1654,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,12457,1.60,-146.0,2048,1653,3504,3161,1.0,0.3,2318,12464,0.00,1.60,0.00,0.000,1030,0.000,0.112,2992,2505,3338,3512,3164,0,0,0,0,0,0,28.83,13.72,28.83
$GC,12784,1.60,-146.0,2992,2505,3512,3164,1.0,-0.1,2379,12790,0.00,1.55,0.00,0.000,516,0.000,0.099,2992,1659,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$STATE,12915,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12915,begin apogee
$FREEZE,1.20,-3.461,-0.450,2,1,0
$GC,12930,-0.22,0.0,2986,2518,3511,3164,0.9,0.2,2403,12942,1.70,0.00,7.55,0.169,12290,0.095,0.000,2437,2518,3277,3454,3100,0,0,0,0,0,0,13.83,28.83,28.83
$STATE,12943,end apogee,SURFACE_DEPTH_REACHED
$STATE,12943,begin surface coast
$FREEZE,1.10,-3.461,-0.450,2,1,0
$FREEZE,1.01,-3.461,-0.450,2,1,0
$FREEZE,1.04,-3.462,-0.450,2,1,0
$FREEZE,1.08,-3.461,-0.450,2,1,0
$FREEZE,1.07,-3.461,-0.450,2,1,0
$FREEZE,0.99,-3.461,-0.450,2,1,0
$FREEZE,0.98,-3.462,-0.450,2,1,0
$FREEZE,1.10,-3.461,-0.450,2,1,0
$FREEZE,0.99,-3.462,-0.450,2,1,0
$FINISH,1.0,1.006314
$STATE,12997,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12997,begin surface
$SM_CCo,13026,272.75,0.161,0,0,1108,400.08
$SM_GC,1.13,7.03,0.00,272.75,0.086,0.000,0.161,136,2518,1108,-7.36,0.51,400.08,0,0,0,0,0,0,14.01,28.83,13.97
$RAFOS_CLK,670
$RAFOS,6,1388206141,4.833333,4.816945,93,63,58,56,56,53,807,195,173,224,215,143
$RAFOS,5,1388205666,4.700000,4.685000,62,59,54,51,51,46,205,173,136,151,217,78
$RAFOS,4,1388205184,4.566667,4.551111,74,67,56,52,52,51,703,155,198,219,126,171
$RAFOS,3,1388204703,4.433333,4.417500,65,60,60,59,59,57,195,164,213,204,225,127
$RAFOS,2,1388204221,4.300000,4.283611,56,55,54,53,52,51,210,201,169,150,124,135
$RAFOS,1,1388203746,4.166667,4.151667,65,65,57,55,51,50,152,213,189,134,167,226
$RAFOS,0,1388203265,4.033333,4.018055,67,63,62,57,56,54,216,163,127,179,204,150
$RAFOS_FIX,6641.042969,-5806.222656,281213,040440,2,84,0.05
$IRIDIUM_FIX,6609.62,-5805.43,281213,020229
$TT8_MAMPS,0.023968,0.023968
$HUMID,42.20
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.80
$XPDR_PINGS,39
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,233.522
$10V_AH,12.7,0.000
$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,20.225,72.075,7.550,272.750,0.000,0.000,0.000,762.850,10.000,0.000,33.940,6009.979,2685.407,591.096,4028.754,1198.493,0.000,2962.708,0.000,3419.910,2520.000,2.816,0.000
$DEVICE_MAMPS,319.005,114.750,169.065,160.650,0.000,0.000,0.000,166.005,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1729.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,93099,2413
$CAP_FILE_SIZE,195377,0
$CFSIZE,259252224,208441344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.242,166.9,1
$GPS,281213,061235,6639.171,-5805.197,31,1.2,32,-33.3