version: 66.11
glider: 192
mission: 2
dive: 547
start: 12 28 113 10 31 53
data:
$ID,192
$MISSION,2
$DIVE,547
$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,-12216.723
$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
$GPS1,281213,101359,6638.312,-5806.990,38,1.9,39,-33.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-22.8
$GPS2,281213,103105,6638.232,-5807.163,39,1.7,39,-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,338.8,102128,-15.5,-8.250,-18.49,2720
$D_GRID,642
$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,-146.0,143,2520,1159,1031,0.0,0.0,0,165,0.00,0.00,-142.00,0.000,16390,0.000,0.000,142,2520,3336,3509,3164,0,0,0,0,0,0,28.83,28.83,14.62
$GC,173,-0.89,-146.0,142,2520,3510,3165,1.2,0.1,24,186,7.65,0.00,0.00,0.000,2054,0.237,0.000,2218,2520,3337,3511,3164,0,0,0,0,0,0,13.83,28.83,28.83
$GC,500,-0.89,-146.0,1376,2518,3505,3161,1.0,0.7,86,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-0.82,-146.0,2218,2520,3512,3164,1.0,0.2,147,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.82,-146.0,2217,2520,3512,3165,1.0,0.0,208,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2520,3338,3512,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-0.82,-146.0,2218,2520,3512,3163,1.0,-0.8,269,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1783,-0.75,-146.0,2218,2520,3512,3164,1.0,0.2,330,1789,0.17,0.00,0.00,0.000,2054,0.293,0.000,2262,2520,3338,3512,3164,0,0,0,0,0,0,13.57,28.83,28.83
$GC,2105,-0.67,-146.0,2262,2520,3512,3164,1.0,0.4,391,2112,0.12,0.00,0.00,0.000,2054,0.295,0.000,2294,2520,3338,3512,3164,0,0,0,0,0,0,13.81,28.83,28.83
$GC,2427,-0.60,-146.0,2294,2520,3512,3165,1.1,-0.1,452,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2749,-0.53,-146.0,2294,2520,3512,3164,1.0,0.1,513,2756,0.15,0.00,0.00,0.000,2054,0.298,0.000,2331,2520,3337,3511,3164,0,0,0,0,0,0,13.62,28.83,28.83
$GC,3070,-0.45,-146.0,2331,2520,3512,3164,1.0,0.0,574,3077,0.12,0.00,0.00,0.000,2054,0.314,0.000,2362,2520,3338,3512,3164,0,0,0,0,0,0,13.72,28.83,28.83
$GC,3391,-0.38,-146.0,2361,2520,3512,3164,1.0,-0.0,635,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3713,-0.31,-146.0,2362,2520,3512,3164,1.0,0.2,696,3720,0.15,0.00,0.00,0.000,2054,0.288,0.000,2400,2520,3338,3512,3164,0,0,0,0,0,0,13.65,28.83,28.83
$GC,4034,-0.23,-146.0,2401,2520,3512,3164,1.1,-0.8,757,4042,0.12,0.00,0.00,0.000,2054,0.311,0.000,2430,2520,3337,3512,3163,0,0,0,0,0,0,13.74,28.83,28.83
$GC,4358,-0.23,-146.0,1504,2518,3504,3161,1.0,0.0,818,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4677,-0.23,-146.0,2430,2520,3512,3164,1.1,0.2,879,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4999,-0.16,-146.0,2430,2520,3512,3164,1.1,-0.5,940,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2520,3337,3511,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.09,-146.0,2431,2520,3512,3164,1.1,-0.3,1001,5329,0.17,0.00,0.00,0.000,2054,0.295,0.000,2473,2520,3338,3512,3164,0,0,0,0,0,0,13.50,28.83,28.83
$GC,5645,-0.01,-146.0,2473,2520,3512,3164,1.0,0.3,1062,5652,0.12,0.00,0.00,0.000,2054,0.305,0.000,2504,2520,3338,3512,3164,0,0,0,0,0,0,13.71,28.83,28.83
$GC,5973,0.06,-146.0,2504,2520,3512,3164,1.0,-0.1,1123,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6297,0.06,-146.0,2504,2520,3511,3164,1.0,0.0,1184,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6619,0.14,-146.0,2504,2520,3512,3164,1.0,-0.0,1245,6628,0.15,0.00,0.00,0.000,2054,0.301,0.000,2540,2520,3337,3511,3164,0,0,0,0,0,0,13.55,28.83,28.83
$GC,6949,0.21,-146.0,2541,2520,3512,3165,0.9,0.5,1306,6956,0.12,0.00,0.00,0.000,2054,0.311,0.000,2572,2520,3338,3512,3164,0,0,0,0,0,0,13.67,28.83,28.83
$GC,7276,0.28,-146.0,2572,2520,3511,3164,0.9,0.4,1367,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7596,0.28,-146.0,2571,2520,3511,3164,1.0,0.0,1428,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7918,0.28,-146.0,2571,2519,3512,3164,1.0,0.4,1489,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8241,0.36,-146.0,2571,2520,3512,3164,1.0,-0.5,1550,8248,0.15,0.00,0.00,0.000,2054,0.301,0.000,2610,2520,3337,3511,3164,0,0,0,0,0,0,13.54,28.83,28.83
$GC,8562,0.43,-146.0,1664,2518,3504,3161,1.0,-0.2,1611,8573,0.12,0.00,0.00,0.000,2054,0.305,0.000,2639,2520,3338,3512,3164,0,0,0,0,0,0,13.65,28.83,28.83
$GC,8894,0.50,-146.0,2640,2520,3512,3164,1.0,0.3,1672,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9217,0.58,-146.0,2640,2520,3512,3164,1.1,-0.4,1733,9223,0.17,0.00,0.00,0.000,2054,0.292,0.000,2683,2520,3337,3512,3163,0,0,0,0,0,0,13.50,28.83,28.83
$GC,9539,0.58,-146.0,2683,2520,3512,3164,0.9,0.0,1794,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9861,0.65,-146.0,2683,2520,3512,3164,1.1,-0.6,1855,9869,0.12,0.00,0.00,0.000,2054,0.312,0.000,2713,2520,3338,3512,3164,0,0,0,0,0,0,13.71,28.83,28.83
$GC,10191,0.72,-146.0,2713,2520,3512,3164,1.0,0.0,1916,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2520,3337,3512,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,0.80,-146.0,2713,2520,3512,3164,1.0,-0.2,1977,10521,0.17,0.00,0.00,0.000,2054,0.298,0.000,2755,2520,3338,3512,3164,0,0,0,0,0,0,13.45,28.83,28.83
$GC,10842,0.87,-146.0,2755,2520,3510,3164,1.0,0.0,2038,10848,0.12,0.00,0.00,0.000,2054,0.311,0.000,2785,2520,3338,3512,3164,0,0,0,0,0,0,13.69,28.83,28.83
$GC,11162,0.87,-146.0,1792,2518,3504,3161,1.0,-1.0,2099,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11483,0.94,-146.0,2785,2520,3512,3164,1.1,-0.2,2160,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2520,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11806,1.02,-146.0,1792,2518,3504,3161,1.0,0.4,2221,11812,0.15,0.00,0.00,0.000,2054,0.304,0.000,2822,2520,3337,3511,3164,0,0,0,0,0,0,13.51,28.83,28.83
$GC,12132,1.09,-146.0,2822,2520,3512,3164,1.0,-0.3,2282,12138,0.12,0.00,0.00,0.000,2054,0.319,0.000,2852,2520,3338,3512,3164,0,0,0,0,0,0,13.65,28.83,28.83
$GC,12458,1.16,-146.0,2853,2520,3512,3164,1.0,-0.2,2343,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2520,3337,3512,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12777,1.16,-146.0,2853,2520,3512,3164,1.0,0.0,2404,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2521,3338,3512,3164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.20,-3.560,-0.436,2,1,0
$GC,12921,-0.22,0.0,2853,2519,3512,3164,1.0,-0.1,2429,12932,1.27,0.00,7.55,0.161,12290,0.097,0.000,2442,2520,3276,3453,3099,0,0,0,0,0,0,13.82,28.83,28.83
$STATE,12933,end apogee,SURFACE_DEPTH_REACHED
$STATE,12934,begin surface coast
$FREEZE,1.03,-3.560,-0.436,2,1,0
$FINISH,1.0,1.006090
$STATE,12940,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12940,begin surface
$SM_CCo,12969,273.02,0.162,0,0,1108,400.08
$SM_GC,1.22,7.05,0.00,273.02,0.087,0.000,0.162,137,2520,1108,-7.36,0.57,400.08,0,0,0,0,0,0,14.00,28.83,13.95
$RAFOS_CLK,663
$RAFOS,6,1388234944,12.833333,12.817778,114,67,62,56,54,54,802,193,184,213,126,155
$RAFOS,5,1388234461,12.700000,12.683611,80,63,63,58,56,53,713,193,115,215,138,183
$RAFOS,4,1388233993,12.566667,12.553611,112,63,57,54,52,51,650,207,216,192,121,173
$RAFOS,3,1388233504,12.433333,12.417778,59,58,56,54,50,50,207,165,195,140,177,152
$RAFOS,2,1388233022,12.300000,12.283889,59,56,53,51,51,44,211,152,180,189,167,113
$RAFOS,1,1388232543,12.166667,12.150833,64,57,54,53,52,50,216,203,115,145,190,159
$RAFOS,0,1388232063,12.033333,12.017500,59,59,56,56,53,53,216,229,140,164,120,198
$RAFOS_FIX,6638.127441,-5809.619629,281213,121244,3,102,0.23
$IRIDIUM_FIX,6609.62,-5810.04,281213,060639
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.71
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.80
$XPDR_PINGS,28
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,233.825
$10V_AH,12.6,0.000
$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,18.550,0.000,7.550,273.025,0.000,0.000,0.000,629.275,7.250,0.000,40.391,5965.671,2716.116,565.694,3956.643,1057.149,0.000,2804.565,0.000,3445.077,2520.000,2.815,0.000
$DEVICE_MAMPS,319.005,0.000,161.415,162.180,0.000,0.000,0.000,166.770,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1743.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93151,2431
$CAP_FILE_SIZE,176192,0
$CFSIZE,259252224,208281600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.307,202.3,1
$GPS,281213,141424,6636.222,-5809.377,40,0.8,41,-33.3