version: 66.11
glider: 192
mission: 2
dive: 546
start: 12 28 113 6 30 50
data:
$ID,192
$MISSION,2
$DIVE,546
$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,-12215.464
$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
$GPS1,281213,061235,6639.171,-5805.197,31,1.2,32,-33.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-22.9
$GPS2,281213,063006,6639.099,-5805.220,40,0.9,40,-33.3
$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,353.3,103388,-15.5,-8.250,-18.49,2720
$D_GRID,639
$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,-146.0,136,2518,1159,1031,0.0,0.0,0,165,0.00,0.00,-141.90,0.000,16390,0.000,0.000,136,2519,3336,3509,3164,0,0,0,0,0,0,28.83,28.83,14.63
$GC,173,-0.89,-146.0,136,2519,3510,3164,1.1,-0.1,24,187,7.65,1.60,0.00,0.000,2564,0.236,0.102,2218,1654,3337,3511,3164,0,0,0,0,0,0,13.84,14.11,28.83
$GC,427,-0.82,-146.0,2218,1654,3511,3164,1.0,0.3,71,434,0.12,1.58,0.00,0.000,3078,0.307,0.115,2237,2505,3337,3511,3164,0,0,0,0,0,0,13.71,13.95,28.83
$GC,749,-0.75,-146.0,2238,2505,3512,3164,1.2,-0.6,132,757,0.12,1.55,0.00,0.000,2564,0.309,0.098,2269,1656,3338,3512,3164,0,0,0,0,0,0,13.81,13.97,28.83
$GC,998,-0.67,-146.0,2269,1657,3512,3164,1.1,-0.4,178,1004,0.00,1.58,0.00,0.000,1030,0.000,0.112,2264,2507,3338,3512,3164,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1321,-0.60,-146.0,2265,2507,3512,3164,1.1,-0.3,239,1330,0.17,1.55,0.00,0.000,2564,0.285,0.099,2308,1660,3337,3511,3164,0,0,0,0,0,0,13.62,13.92,28.83
$GC,1569,-0.53,-146.0,2308,1660,3512,3163,1.0,0.2,285,1576,0.15,1.55,0.00,0.000,3078,0.302,0.109,2333,2500,3338,3512,3164,0,0,0,0,0,0,13.56,13.86,28.83
$GC,1897,-0.45,-146.0,2334,2500,3511,3164,1.0,0.0,346,1904,0.00,1.52,0.00,0.000,516,0.000,0.101,2334,1654,3338,3512,3164,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2144,-0.38,-146.0,2334,1654,3511,3164,1.0,0.1,392,2151,0.22,1.58,0.00,0.000,3078,0.276,0.113,2379,2500,3338,3512,3164,0,0,0,0,0,0,13.52,13.83,28.83
$GC,2473,-0.31,-146.0,2379,2500,3512,3164,1.1,-0.2,453,2481,0.12,1.55,0.00,0.000,2564,0.301,0.098,2410,1656,3338,3512,3164,0,0,0,0,0,0,13.74,13.87,28.83
$GC,2720,-0.24,-146.0,2410,1656,3512,3164,1.0,0.5,499,2726,0.00,1.58,0.00,0.000,1030,0.000,0.113,2405,2500,3338,3512,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3041,-0.16,-146.0,2405,2500,3512,3164,1.0,-0.2,560,3048,0.17,1.55,0.00,0.000,2564,0.303,0.097,2446,1654,3338,3512,3164,0,0,0,0,0,0,13.49,13.85,28.83
$GC,3284,-0.16,-146.0,1536,1652,3504,3161,1.1,-0.4,606,3292,0.00,1.58,0.00,0.000,1030,0.000,0.113,2442,2500,3338,3512,3164,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3607,-0.09,-146.0,2442,2500,3512,3164,1.0,0.6,667,3614,0.12,1.55,0.00,0.000,2564,0.317,0.097,2472,1654,3338,3512,3164,0,0,0,0,0,0,13.71,13.85,28.83
$GC,3852,-0.01,-146.0,2472,1654,3511,3164,1.0,0.2,713,3860,0.15,1.58,0.00,0.000,3078,0.293,0.112,2497,2499,3338,3512,3164,0,0,0,0,0,0,13.50,13.79,28.83
$GC,4176,-0.01,-146.0,2497,2499,3512,3164,1.0,-0.3,774,4184,0.00,1.52,0.00,0.000,516,0.000,0.101,2497,1660,3338,3512,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4422,0.06,-146.0,2497,1660,3512,3163,1.0,-0.5,820,4430,0.15,1.58,0.00,0.000,3078,0.295,0.111,2522,2506,3338,3512,3164,0,0,0,0,0,0,13.48,13.78,28.83
$GC,4752,0.13,-146.0,2522,2506,3512,3164,1.0,-0.1,881,4758,0.00,1.55,0.00,0.000,516,0.000,0.102,2522,1659,3338,3512,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,4998,0.21,-146.0,2522,1659,3512,3164,1.0,-0.1,927,5005,0.22,1.58,0.00,0.000,3078,0.280,0.109,2567,2504,3338,3512,3164,0,0,0,0,0,0,13.42,13.78,28.83
$GC,5325,0.28,-146.0,2567,2504,3511,3164,1.0,-0.0,988,5332,0.12,1.55,0.00,0.000,2564,0.309,0.097,2598,1660,3338,3512,3164,0,0,0,0,0,0,13.72,13.82,28.83
$GC,5572,0.35,-146.0,2598,1660,3512,3164,1.1,-0.2,1034,5579,0.00,1.58,0.00,0.000,1030,0.000,0.108,2594,2505,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5898,0.43,-146.0,2594,2504,3512,3164,1.1,-0.3,1095,5907,0.17,1.55,0.00,0.000,2564,0.297,0.097,2636,1660,3337,3512,3163,0,0,0,0,0,0,13.46,13.81,28.83
$GC,6147,0.50,-146.0,2636,1660,3512,3164,1.0,0.4,1141,6154,0.15,1.58,0.00,0.000,3078,0.297,0.109,2661,2500,3338,3512,3164,0,0,0,0,0,0,13.45,13.76,28.83
$GC,6478,0.57,-146.0,2661,2501,3512,3164,1.0,0.2,1202,6485,0.12,1.55,0.00,0.000,2564,0.314,0.096,2692,1658,3338,3512,3164,0,0,0,0,0,0,13.67,13.81,28.83
$GC,6724,0.65,-146.0,2692,1658,3512,3164,1.0,-0.3,1248,6731,0.00,1.58,0.00,0.000,1030,0.000,0.109,2687,2502,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7052,0.72,-146.0,2687,2501,3512,3165,1.1,-0.6,1309,7060,0.17,1.55,0.00,0.000,2564,0.293,0.096,2729,1660,3337,3511,3164,0,0,0,0,0,0,13.44,13.80,28.83
$GC,7300,0.79,-146.0,2728,1660,3512,3164,1.0,0.4,1355,7308,0.15,1.58,0.00,0.000,3078,0.293,0.109,2753,2505,3338,3512,3164,0,0,0,0,0,0,13.45,13.76,28.83
$GC,7626,0.87,-146.0,2754,2505,3512,3164,1.1,-0.2,1416,7634,0.12,1.58,0.00,0.000,2564,0.309,0.097,2784,1653,3337,3511,3164,0,0,0,0,0,0,13.69,13.79,28.83
$GC,7876,0.94,-146.0,2784,1652,3512,3164,0.9,0.4,1462,7883,0.00,1.60,0.00,0.000,1030,0.000,0.110,2779,2506,3338,3512,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8204,1.01,-146.0,2780,2506,3512,3164,1.1,-0.2,1523,8213,0.17,1.58,0.00,0.000,2564,0.298,0.098,2821,1652,3338,3512,3164,0,0,0,0,0,0,13.45,13.80,28.83
$GC,8454,1.09,-146.0,2821,1652,3512,3164,0.9,0.2,1569,8461,0.15,1.60,0.00,0.000,3078,0.298,0.110,2847,2506,3338,3512,3164,0,0,0,0,0,0,13.43,13.74,28.83
$GC,8782,1.16,-146.0,1824,2504,3504,3161,1.0,-0.1,1630,8789,0.12,1.58,0.00,0.000,2564,0.314,0.096,2878,1651,3338,3511,3165,0,0,0,0,0,0,13.66,13.80,28.83
$GC,9027,1.23,-146.0,2878,1651,3512,3164,0.9,0.3,1676,9033,0.00,1.60,0.00,0.000,1030,0.000,0.110,2873,2506,3338,3512,3164,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9352,1.30,-146.0,1872,2504,3504,3161,1.1,-0.3,1737,9360,0.17,1.58,0.00,0.000,2564,0.296,0.096,2914,1656,3338,3512,3164,0,0,0,0,0,0,13.46,13.80,28.83
$GC,9599,1.38,-146.0,2914,1655,3512,3164,0.9,0.4,1783,9609,0.17,1.58,0.00,0.000,3078,0.286,0.109,2944,2500,3338,3512,3164,0,0,0,0,0,0,13.41,13.75,28.83
$GC,9930,1.45,-146.0,2945,2500,3512,3164,1.0,-0.0,1844,9937,0.00,1.52,0.00,0.000,516,0.000,0.099,2945,1660,3337,3512,3163,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10178,1.52,-146.0,2945,1660,3512,3164,1.0,0.1,1890,10185,0.22,1.58,0.00,0.000,3078,0.277,0.109,2988,2502,3338,3512,3164,0,0,0,0,0,0,13.40,13.75,28.83
$GC,10507,1.60,-146.0,2988,2502,3512,3164,1.0,-0.4,1951,10514,0.12,1.55,0.00,0.000,2564,0.317,0.096,3018,1660,3338,3512,3164,0,0,0,0,0,0,13.65,13.78,28.83
$GC,10753,1.60,-146.0,3018,1660,3512,3163,1.0,0.4,1997,10759,0.00,1.58,0.00,0.000,1030,0.000,0.109,3014,2504,3338,3512,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11079,1.60,-146.0,1984,2502,3504,3161,1.1,-0.2,2058,11085,0.00,1.55,0.00,0.000,516,0.000,0.099,3014,1656,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11324,1.60,-146.0,2048,1654,3504,3161,1.0,0.5,2104,11331,0.00,1.58,0.00,0.000,1030,0.000,0.110,3008,2500,3338,3512,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11652,1.60,-146.0,3008,2500,3512,3164,1.0,0.2,2165,11659,0.00,1.52,0.00,0.000,516,0.000,0.099,3008,1658,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,11898,1.60,-146.0,3008,1658,3512,3164,1.0,-0.2,2211,11905,0.00,1.58,0.00,0.000,1030,0.000,0.110,3002,2502,3338,3512,3164,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12225,1.60,-146.0,1984,2500,3504,3161,0.9,0.7,2272,12233,0.00,1.55,0.00,0.000,516,0.000,0.098,3002,1657,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,12473,1.60,-146.0,3002,1657,3512,3164,0.9,0.5,2318,12479,0.00,1.58,0.00,0.000,1030,0.000,0.109,2996,2499,3338,3512,3164,0,0,0,0,0,0,28.83,13.74,28.83
$GC,12800,1.60,-146.0,2996,2500,3511,3164,1.0,0.4,2379,12807,0.00,1.55,0.00,0.000,516,0.000,0.099,2995,1652,3338,3512,3164,0,0,0,0,0,0,28.83,13.76,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12907,begin apogee
$FREEZE,1.11,-3.547,-0.425,2,1,0
$GC,12922,-0.22,0.0,2989,2519,3512,3163,1.0,-0.2,2400,12933,1.67,0.00,7.20,0.177,12290,0.096,0.000,2435,2519,3279,3455,3104,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12934,end apogee,SURFACE_DEPTH_REACHED
$STATE,12934,begin surface coast
$FREEZE,0.98,-3.547,-0.425,2,1,0
$FREEZE,0.98,-3.547,-0.425,2,1,0
$FREEZE,1.11,-3.547,-0.425,2,1,0
$FREEZE,1.07,-3.548,-0.425,2,1,0
$FREEZE,1.02,-3.548,-0.425,2,1,0
$FREEZE,1.05,-3.548,-0.425,2,1,0
$FREEZE,1.04,-3.547,-0.425,2,1,0
$FINISH,1.0,1.005931
$STATE,12979,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12979,begin surface
$SM_CCo,13007,273.40,0.161,0,0,1108,400.08
$SM_GC,1.18,7.00,0.00,273.40,0.085,0.000,0.161,142,2518,1108,-7.34,0.54,400.08,0,0,0,0,0,0,14.01,28.83,13.97
$RAFOS_CLK,671
$RAFOS,6,1388220543,8.833333,8.817500,147,60,58,57,56,56,798,175,157,233,131,205
$RAFOS,5,1388220066,8.700000,8.685000,100,66,66,58,56,53,669,195,152,226,126,172
$RAFOS,4,1388219583,8.566667,8.550834,135,71,59,58,57,54,707,207,167,156,223,146
$RAFOS,3,1388219101,8.433333,8.416945,89,66,65,63,54,53,746,210,193,174,118,225
$RAFOS,2,1388218622,8.300000,8.283889,68,63,58,55,54,52,193,174,123,114,215,152
$RAFOS,1,1388218153,8.166667,8.153611,60,59,55,53,52,51,220,195,134,152,113,170
$RAFOS,0,1388217662,8.033334,8.017222,58,58,57,56,56,49,150,197,231,220,185,175
$RAFOS_FIX,6639.283203,-5807.874023,281213,080856,4,118,0.26
$IRIDIUM_FIX,6609.62,-5717.19,281213,020241
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.40
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.80
$XPDR_PINGS,41
$ALTIM_TOP_PING,1.1,999.0
$24V_AH,13.4,233.676
$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,20.250,72.075,7.200,273.400,0.000,0.000,0.000,656.150,10.500,0.000,47.278,5984.339,2643.721,586.625,3948.574,1161.621,0.000,2848.910,0.000,3412.715,2520.000,2.816,0.000
$DEVICE_MAMPS,317.475,114.750,176.715,160.650,0.000,0.000,0.000,164.475,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1726.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150708
$DATA_FILE_SIZE,93211,2408
$CAP_FILE_SIZE,193492,0
$CFSIZE,259252224,208351232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.145,219.1,1
$GPS,281213,101359,6638.312,-5806.990,38,1.9,39,-33.3