version: 66.11
glider: 192
mission: 2
dive: 549
start: 12 28 113 18 51 42
data:
$ID,192
$MISSION,2
$DIVE,549
$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,-12219.238
$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,16
$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
$GPS1,281213,182735,6633.193,-5810.180,29,1.0,30,-33.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-22.9
$GPS2,281213,185055,6632.909,-5810.110,46,1.2,46,-33.2
$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,359.9,101511,-15.5,-8.250,-18.49,2720
$D_GRID,629
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,140,2515,1159,1032,0.0,0.0,0,168,0.00,0.00,-142.00,0.000,16390,0.000,0.000,140,2516,3337,3509,3165,0,0,0,0,0,0,28.83,28.83,14.62
$GC,176,-0.89,-146.0,140,2516,3510,3165,1.1,-0.1,25,191,7.72,1.58,0.00,0.000,2564,0.239,0.098,2219,1658,3338,3512,3164,0,0,0,0,0,0,13.82,14.01,28.83
$GC,432,-0.82,-146.0,2219,1657,3512,3165,1.1,-0.2,72,439,0.12,1.58,0.00,0.000,3078,0.301,0.112,2239,2507,3338,3512,3165,0,0,0,0,0,0,13.74,13.97,28.83
$GC,754,-0.75,-146.0,2239,2507,3512,3165,1.0,-0.1,133,760,0.00,1.55,0.00,0.000,516,0.000,0.099,2239,1653,3338,3512,3165,0,0,0,0,0,0,28.83,13.96,28.83
$GC,998,-0.67,-146.0,2239,1653,3512,3165,0.9,0.3,179,1005,0.22,1.58,0.00,0.000,3078,0.269,0.107,2286,2500,3338,3512,3165,0,0,0,0,0,0,13.63,13.92,28.83
$GC,1328,-0.60,-146.0,2286,2500,3512,3165,1.0,-0.1,240,1334,0.00,1.52,0.00,0.000,516,0.000,0.098,2287,1653,3338,3512,3165,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1573,-0.53,-146.0,2286,1653,3512,3165,1.1,-0.5,286,1580,0.22,1.58,0.00,0.000,3078,0.271,0.110,2332,2499,3338,3512,3165,0,0,0,0,0,0,13.54,13.88,28.83
$GC,1901,-0.45,-146.0,2332,2499,3512,3164,0.9,0.4,347,1908,0.00,1.52,0.00,0.000,516,0.000,0.099,2333,1660,3338,3511,3165,0,0,0,0,0,0,28.83,13.87,28.83
$GC,2147,-0.38,-146.0,1440,1659,3504,3161,1.0,0.3,393,2156,0.22,1.55,0.00,0.000,3078,0.272,0.106,2379,2499,3338,3512,3164,0,0,0,0,0,0,13.54,13.85,28.83
$GC,2476,-0.31,-146.0,2379,2500,3512,3165,0.9,0.5,454,2483,0.12,1.55,0.00,0.000,2564,0.304,0.095,2409,1649,3338,3512,3165,0,0,0,0,0,0,13.76,13.89,28.83
$GC,2722,-0.23,-146.0,2410,1649,3512,3165,1.1,-0.4,500,2729,0.00,1.60,0.00,0.000,1030,0.000,0.109,2405,2505,3338,3512,3165,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3044,-0.16,-146.0,2405,2505,3512,3164,1.0,-0.3,561,3051,0.17,1.55,0.00,0.000,2564,0.304,0.094,2446,1659,3338,3512,3164,0,0,0,0,0,0,13.50,13.88,28.83
$GC,3289,-0.16,-146.0,2446,1659,3512,3165,0.9,0.4,607,3296,0.00,1.55,0.00,0.000,1030,0.000,0.105,2443,2499,3338,3512,3164,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3613,-0.09,-146.0,2442,2499,3512,3164,1.0,-0.4,668,3620,0.15,1.52,0.00,0.000,2564,0.301,0.091,2477,1659,3338,3512,3165,0,0,0,0,0,0,13.61,13.88,28.83
$GC,3860,-0.01,-146.0,2477,1659,3512,3164,1.0,0.1,714,3867,0.12,1.55,0.00,0.000,3078,0.304,0.100,2495,2506,3338,3511,3165,0,0,0,0,0,0,13.54,13.83,28.83
$GC,4181,-0.01,-146.0,2496,2505,3512,3164,1.0,2.3,775,4187,0.00,1.52,0.00,0.000,516,0.000,0.093,2496,1660,3338,3512,3164,0,0,0,0,0,0,28.83,13.83,28.83
$GC,4425,0.06,-146.0,2496,1660,3512,3164,1.1,-0.7,821,4432,0.15,1.55,0.00,0.000,3078,0.295,0.101,2520,2501,3338,3512,3164,0,0,0,0,0,0,13.47,13.81,28.83
$GC,4754,0.13,-146.0,2520,2502,3512,3164,1.0,-0.4,882,4761,0.12,1.52,0.00,0.000,2564,0.314,0.090,2551,1660,3338,3512,3165,0,0,0,0,0,0,13.67,13.85,28.83
$GC,5001,0.21,-146.0,2551,1660,3512,3165,1.0,0.2,928,5009,0.00,1.55,0.00,0.000,1030,0.000,0.099,2546,2509,3338,3512,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5322,0.21,-146.0,2546,2508,3512,3165,1.0,-0.2,989,5328,0.00,1.55,0.00,0.000,516,0.000,0.092,2546,1653,3338,3512,3164,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5567,0.28,-146.0,2546,1653,3512,3165,1.0,-0.0,1035,5574,0.22,1.58,0.00,0.000,3078,0.273,0.102,2589,2506,3338,3512,3164,0,0,0,0,0,0,13.45,13.81,28.83
$GC,5895,0.35,-146.0,2589,2506,3512,3164,0.9,0.4,1096,5904,0.12,1.55,0.00,0.000,2564,0.311,0.090,2621,1655,3338,3512,3164,0,0,0,0,0,0,13.68,13.83,28.83
$GC,6143,0.43,-146.0,2621,1655,3512,3164,1.0,0.1,1142,6149,0.00,1.55,0.00,0.000,1030,0.000,0.103,2616,2499,3338,3512,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6464,0.43,-146.0,2616,2499,3512,3165,1.1,-1.6,1203,6471,0.00,1.52,0.00,0.000,516,0.000,0.095,2615,1655,3338,3512,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,6712,0.50,-146.0,1648,1654,3504,3161,1.0,0.4,1249,6719,0.22,1.58,0.00,0.000,3078,0.277,0.103,2659,2503,3338,3512,3164,0,0,0,0,0,0,13.41,13.77,28.83
$GC,7039,0.57,-146.0,2659,2503,3512,3164,1.0,0.4,1310,7048,0.12,1.52,0.00,0.000,2564,0.308,0.090,2689,1659,3338,3512,3164,0,0,0,0,0,0,13.70,13.83,28.83
$GC,7289,0.65,-146.0,2690,1659,3512,3164,1.0,-0.2,1356,7295,0.00,1.55,0.00,0.000,1030,0.000,0.099,2685,2503,3338,3512,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,7617,0.72,-146.0,2686,2503,3512,3165,1.0,0.4,1417,7624,0.20,1.55,0.00,0.000,2564,0.284,0.090,2733,1650,3338,3512,3165,0,0,0,0,0,0,13.42,13.83,28.83
$GC,7865,0.79,-146.0,2733,1650,3512,3164,1.0,0.1,1463,7872,0.15,1.58,0.00,0.000,3078,0.291,0.102,2758,2505,3338,3512,3164,0,0,0,0,0,0,13.46,13.79,28.83
$GC,8191,0.87,-146.0,2757,2506,3512,3164,1.0,-0.2,1524,8198,0.00,1.52,0.00,0.000,516,0.000,0.093,2758,1659,3338,3512,3164,0,0,0,0,0,0,28.83,13.80,28.83
$GC,8438,0.94,-146.0,2758,1659,3512,3164,1.0,0.0,1570,8445,0.22,1.55,0.00,0.000,3078,0.270,0.097,2802,2509,3338,3512,3164,0,0,0,0,0,0,13.43,13.78,28.83
$GC,8769,1.01,-146.0,2802,2509,3512,3164,1.0,-0.0,1631,8776,0.12,1.55,0.00,0.000,2564,0.321,0.089,2833,1656,3338,3512,3164,0,0,0,0,0,0,13.67,13.83,28.83
$GC,9018,1.09,-146.0,2832,1656,3512,3164,1.0,-0.2,1677,9025,0.00,1.55,0.00,0.000,1030,0.000,0.101,2827,2499,3338,3512,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9340,1.16,-146.0,2828,2500,3512,3164,1.0,-0.2,1738,9347,0.17,1.52,0.00,0.000,2564,0.298,0.090,2870,1660,3338,3512,3165,0,0,0,0,0,0,13.45,13.83,28.83
$GC,9585,1.24,-146.0,2870,1660,3512,3164,1.0,0.1,1784,9592,0.15,1.55,0.00,0.000,3078,0.290,0.099,2896,2506,3338,3512,3164,0,0,0,0,0,0,13.45,13.78,28.83
$GC,9913,1.31,-146.0,2896,2506,3512,3164,1.0,-0.1,1845,9920,0.12,1.55,0.00,0.000,2564,0.314,0.090,2926,1657,3338,3512,3164,0,0,0,0,0,0,13.69,13.83,28.83
$GC,10158,1.38,-146.0,2926,1657,3512,3165,1.1,-0.2,1891,10165,0.00,1.55,0.00,0.000,1030,0.000,0.102,2921,2500,3338,3512,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,10485,1.46,-146.0,2921,2499,3512,3164,1.1,-0.1,1952,10494,0.20,1.52,0.00,0.000,2564,0.297,0.089,2968,1659,3338,3512,3164,0,0,0,0,0,0,13.38,13.83,28.83
$GC,10731,1.46,-146.0,2967,1659,3512,3164,1.1,-1.6,1998,10738,0.00,1.55,0.00,0.000,1030,0.000,0.098,2963,2505,3338,3512,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11061,1.53,-146.0,2963,2505,3512,3165,1.1,-0.5,2059,11068,0.12,1.55,0.00,0.000,2564,0.321,0.089,2991,1652,3338,3512,3164,0,0,0,0,0,0,13.69,13.82,28.83
$GC,11307,1.60,-146.0,2991,1652,3512,3165,1.0,0.2,2105,11315,0.15,1.58,0.00,0.000,3078,0.295,0.102,3015,2506,3338,3513,3164,0,0,0,0,0,0,13.44,13.77,28.83
$GC,11629,1.60,-146.0,2048,2504,3505,3161,1.0,0.7,2166,11636,0.00,1.52,0.00,0.000,516,0.000,0.092,3016,1659,3338,3512,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,11878,1.60,-146.0,3016,1659,3512,3164,1.0,-0.1,2212,11884,0.00,1.55,0.00,0.000,1030,0.000,0.098,3011,2506,3338,3512,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,12206,1.60,-146.0,3012,2506,3512,3164,1.0,-0.5,2273,12212,0.00,1.55,0.00,0.000,516,0.000,0.092,3012,1649,3338,3513,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,12452,1.60,-146.0,3012,1649,3512,3165,1.0,-0.1,2319,12458,0.00,1.58,0.00,0.000,1030,0.000,0.101,3005,2501,3338,3512,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,12779,1.60,-146.0,3005,2502,3512,3165,1.0,-0.1,2380,12785,0.00,1.52,0.00,0.000,516,0.000,0.091,3005,1658,3338,3512,3165,0,0,0,0,0,0,28.83,13.78,28.83
$STATE,12911,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12911,begin apogee
$FREEZE,1.19,-3.903,-0.419,2,1,0
$GC,12926,-0.22,0.0,2999,2515,3512,3164,1.0,-0.0,2405,12940,1.70,0.00,8.77,0.168,12290,0.096,0.000,2437,2515,3266,3443,3090,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12941,end apogee,SURFACE_DEPTH_REACHED
$STATE,12941,begin surface coast
$FREEZE,1.06,-3.903,-0.419,2,1,0
$FINISH,1.1,1.005803
$STATE,12947,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12947,begin surface
$SM_CCo,12975,270.05,0.164,0,0,1108,400.08
$SM_GC,1.19,7.00,0.00,270.05,0.086,0.000,0.164,143,2515,1108,-7.34,0.42,400.08,0,0,0,0,0,0,14.02,28.83,13.95
$RAFOS_CLK,661
$RAFOS,6,1388263746,20.833334,20.818333,89,68,63,63,59,51,830,173,214,151,192,126
$RAFOS,5,1388263264,20.700001,20.684444,57,57,57,56,51,51,109,121,222,198,211,162
$RAFOS,4,1388262787,20.566668,20.551945,108,60,57,53,53,50,713,172,157,199,145,217
$RAFOS,3,1388262301,20.433332,20.416945,67,63,62,62,60,60,211,154,192,117,178,712
$RAFOS,2,1388261822,20.299999,20.283890,68,56,54,51,49,48,211,163,220,121,202,136
$RAFOS,1,1388261341,20.166666,20.150278,59,58,56,52,49,49,147,180,204,165,130,216
$RAFOS,0,1388260865,20.033333,20.018055,56,54,53,53,52,52,216,202,146,161,182,227
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6604.29,-5809.40,281213,181859
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.91
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.90
$XPDR_PINGS,22
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,234.164
$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,20.400,71.350,8.775,270.050,0.000,0.000,0.000,923.625,5.750,0.000,46.987,5934.356,2734.257,577.637,4170.312,1213.547,0.000,3108.291,0.000,3412.617,2520.000,2.815,0.000
$DEVICE_MAMPS,321.300,112.455,167.535,164.475,0.000,0.000,0.000,163.710,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1725.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150648
$DATA_FILE_SIZE,93088,2407
$CAP_FILE_SIZE,197055,0
$CFSIZE,259252224,208084992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.418,178.4,1
$GPS,281213,223405,6629.921,-5809.994,33,1.2,34,-33.2