version: 66.11
glider: 192
mission: 2
dive: 551
start: 12 29 113 3 8 19
data:
$ID,192
$MISSION,2
$DIVE,551
$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,-12221.753
$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
$GPS1,291213,024523,6623.012,-5811.623,42,1.1,43,-33.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-22.9
$GPS2,291213,030736,6622.334,-5811.932,40,0.9,40,-33.0
$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,10.3,105970,-15.5,-8.250,-18.49,2720
$D_GRID,616
$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,-146.0,142,2514,1160,1032,0.0,0.0,0,167,0.00,0.00,-140.93,0.000,16390,0.000,0.000,142,2514,3337,3509,3165,0,0,0,0,0,0,28.83,28.83,14.63
$GC,175,-0.89,-146.0,142,2514,3510,3164,1.0,0.3,24,188,7.65,1.60,0.00,0.000,2564,0.237,0.096,2218,1651,3337,3510,3164,0,0,0,0,0,0,13.83,14.12,28.83
$GC,429,-0.82,-146.0,2219,1651,3511,3164,1.0,0.5,71,436,0.12,1.55,0.00,0.000,3078,0.300,0.106,2239,2500,3338,3511,3165,0,0,0,0,0,0,13.74,13.98,28.83
$GC,754,-0.75,-146.0,2239,2500,3511,3165,1.0,0.4,132,761,0.12,1.52,0.00,0.000,2564,0.312,0.091,2271,1653,3337,3511,3164,0,0,0,0,0,0,13.81,13.99,28.83
$GC,1000,-0.67,-146.0,1408,1652,3504,3161,0.9,0.2,178,1007,0.00,1.58,0.00,0.000,1030,0.000,0.105,2267,2506,3337,3511,3164,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1322,-0.60,-146.0,2266,2506,3511,3164,1.0,-0.2,239,1329,0.17,1.55,0.00,0.000,2564,0.285,0.093,2309,1650,3337,3511,3164,0,0,0,0,0,0,13.62,13.95,28.83
$GC,1569,-0.53,-146.0,2309,1650,3512,3165,1.0,0.3,285,1576,0.15,1.55,0.00,0.000,3078,0.296,0.103,2335,2500,3338,3511,3165,0,0,0,0,0,0,13.59,13.90,28.83
$GC,1896,-0.46,-146.0,2336,2500,3511,3164,1.0,0.1,346,1902,0.00,1.52,0.00,0.000,516,0.000,0.095,2336,1651,3337,3511,3164,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2141,-0.38,-146.0,2336,1651,3511,3164,0.9,0.3,392,2148,0.22,1.55,0.00,0.000,3078,0.270,0.104,2381,2499,3338,3511,3165,0,0,0,0,0,0,13.55,13.88,28.83
$GC,2469,-0.31,-146.0,2380,2499,3511,3164,1.1,-0.5,453,2477,0.00,1.52,0.00,0.000,516,0.000,0.094,2381,1652,3338,3511,3165,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2716,-0.24,-146.0,2381,1652,3511,3164,1.0,0.2,499,2724,0.22,1.58,0.00,0.000,3078,0.267,0.106,2426,2508,3337,3511,3164,0,0,0,0,0,0,13.51,13.85,28.83
$GC,3044,-0.16,-146.0,1488,2506,3503,3161,1.0,-0.2,560,3051,0.12,1.55,0.00,0.000,2564,0.317,0.090,2456,1656,3338,3511,3165,0,0,0,0,0,0,13.70,13.90,28.83
$GC,3291,-0.09,-146.0,2456,1656,3511,3164,1.1,-0.2,606,3298,0.00,1.58,0.00,0.000,1030,0.000,0.102,2452,2508,3338,3511,3165,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3619,-0.02,-146.0,2452,2509,3511,3164,1.0,-0.2,667,3628,0.17,1.55,0.00,0.000,2564,0.291,0.090,2494,1659,3337,3511,3164,0,0,0,0,0,0,13.53,13.88,28.83
$GC,3867,0.06,-146.0,1552,1658,3503,3161,1.1,-0.1,713,3876,0.15,1.58,0.00,0.000,3078,0.289,0.100,2520,2504,3338,3511,3165,0,0,0,0,0,0,13.50,13.82,28.83
$GC,4197,0.13,-146.0,2520,2504,3511,3164,1.0,-0.2,774,4204,0.12,1.55,0.00,0.000,2564,0.316,0.090,2550,1656,3337,3511,3164,0,0,0,0,0,0,13.68,13.86,28.83
$GC,4444,0.21,-146.0,2551,1656,3511,3164,1.1,-0.6,820,4451,0.00,1.58,0.00,0.000,1030,0.000,0.104,2546,2507,3337,3511,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4771,0.28,-146.0,2546,2507,3511,3164,1.0,-0.1,881,4779,0.17,1.55,0.00,0.000,2564,0.291,0.092,2588,1656,3337,3511,3164,0,0,0,0,0,0,13.50,13.85,28.83
$GC,5020,0.35,-146.0,2588,1656,3511,3164,1.0,0.3,927,5029,0.15,1.58,0.00,0.000,3078,0.286,0.103,2614,2504,3337,3511,3164,0,0,0,0,0,0,13.52,13.81,28.83
$GC,5351,0.43,-146.0,2615,2504,3511,3164,1.0,-0.0,988,5357,0.00,1.52,0.00,0.000,516,0.000,0.094,2615,1660,3337,3511,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5600,0.43,-146.0,2615,1660,3511,3164,1.1,-0.2,1034,5607,0.15,1.55,0.00,0.000,3078,0.291,0.101,2640,2503,3337,3511,3164,0,0,0,0,0,0,13.49,13.80,28.83
$GC,5928,0.50,-146.0,2640,2503,3511,3164,0.9,0.1,1095,5935,0.00,1.55,0.00,0.000,516,0.000,0.094,2641,1651,3337,3511,3164,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6176,0.57,-146.0,2641,1652,3511,3164,1.0,-0.3,1141,6184,0.22,1.60,0.00,0.000,3078,0.268,0.104,2685,2509,3337,3511,3164,0,0,0,0,0,0,13.45,13.79,28.83
$GC,6499,0.57,-146.0,2685,2508,3511,3164,1.0,-0.1,1202,6506,0.00,1.55,0.00,0.000,516,0.000,0.093,2686,1649,3337,3511,3164,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6748,0.65,-146.0,2685,1649,3510,3164,1.0,-0.7,1248,6755,0.15,1.58,0.00,0.000,3078,0.285,0.104,2710,2500,3337,3511,3164,0,0,0,0,0,0,13.51,13.80,28.83
$GC,7077,0.72,-146.0,2710,2500,3511,3164,1.0,-0.4,1309,7084,0.00,1.52,0.00,0.000,516,0.000,0.093,2711,1659,3337,3511,3164,0,0,0,0,0,0,28.83,13.81,28.83
$GC,7323,0.79,-146.0,2711,1658,3511,3164,0.9,0.2,1355,7330,0.22,1.55,0.00,0.000,3078,0.271,0.101,2755,2501,3337,3511,3164,0,0,0,0,0,0,13.43,13.80,28.83
$GC,7650,0.87,-146.0,2755,2501,3511,3164,1.0,0.0,1416,7658,0.12,1.52,0.00,0.000,2564,0.316,0.090,2785,1659,3337,3511,3164,0,0,0,0,0,0,13.71,13.85,28.83
$GC,7898,0.94,-146.0,2785,1659,3511,3164,1.0,0.5,1462,7905,0.00,1.55,0.00,0.000,1030,0.000,0.099,2781,2504,3337,3511,3164,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8221,1.01,-146.0,2781,2504,3511,3164,1.0,0.2,1523,8230,0.17,1.55,0.00,0.000,2564,0.301,0.090,2823,1653,3337,3511,3164,0,0,0,0,0,0,13.46,13.83,28.83
$GC,8470,1.09,-146.0,2823,1653,3511,3164,1.0,0.2,1569,8478,0.10,1.60,0.00,0.000,3078,0.268,0.103,2843,2496,3337,3511,3164,0,0,0,0,0,0,13.38,13.72,28.83
$GC,8799,1.16,-146.0,2843,2496,3511,3164,1.0,0.3,1630,8806,0.12,1.52,0.00,0.000,2564,0.313,0.091,2874,1659,3337,3511,3164,0,0,0,0,0,0,13.69,13.82,28.83
$GC,9046,1.23,-146.0,2874,1659,3511,3164,1.0,-0.4,1676,9053,0.15,1.55,0.00,0.000,3078,0.292,0.103,2899,2500,3337,3511,3164,0,0,0,0,0,0,13.46,13.77,28.83
$GC,9376,1.31,-146.0,2900,2500,3511,3164,1.0,0.0,1737,9384,0.00,1.52,0.00,0.000,516,0.000,0.094,2899,1659,3337,3511,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,9624,1.38,-146.0,2900,1658,3511,3164,1.0,-0.1,1783,9631,0.22,1.55,0.00,0.000,3078,0.272,0.101,2942,2503,3337,3510,3164,0,0,0,0,0,0,13.40,13.78,28.83
$GC,9951,1.45,-146.0,2942,2503,3511,3164,1.0,-0.0,1844,9958,0.00,1.52,0.00,0.000,516,0.000,0.094,2943,1659,3338,3511,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10196,1.45,-146.0,2943,1659,3511,3164,1.0,-0.1,1890,10204,0.15,1.55,0.00,0.000,3078,0.294,0.099,2967,2499,3337,3511,3163,0,0,0,0,0,0,13.45,13.78,28.83
$GC,10522,1.53,-146.0,1952,2497,3503,3161,1.0,-0.1,1951,10530,0.00,1.52,0.00,0.000,516,0.000,0.093,2968,1659,3337,3511,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,10769,1.60,-146.0,2968,1659,3511,3164,1.0,-0.3,1997,10778,0.22,1.55,0.00,0.000,3078,0.271,0.101,3011,2501,3337,3511,3164,0,0,0,0,0,0,13.42,13.77,28.83
$GC,11091,1.60,-146.0,3011,2501,3511,3164,1.0,0.1,2058,11098,0.00,1.52,0.00,0.000,516,0.000,0.093,3011,1659,3337,3511,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11338,1.60,-146.0,2048,1657,3503,3161,1.0,-0.1,2104,11344,0.00,1.55,0.00,0.000,1030,0.000,0.101,3007,2499,3337,3511,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11664,1.60,-146.0,3007,2499,3511,3164,1.0,-0.0,2165,11670,0.00,1.52,0.00,0.000,516,0.000,0.095,3007,1659,3337,3511,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,11911,1.60,-146.0,3007,1659,3511,3165,1.0,0.2,2211,11918,0.00,1.55,0.00,0.000,1030,0.000,0.100,3001,2500,3337,3511,3164,0,0,0,0,0,0,28.83,13.77,28.83
$GC,12239,1.60,-146.0,3001,2500,3511,3164,1.0,0.5,2272,12246,0.00,1.52,0.00,0.000,516,0.000,0.094,3001,1654,3337,3511,3164,0,0,0,0,0,0,28.83,13.78,28.83
$GC,12486,1.60,-146.0,3001,1655,3511,3164,1.0,0.1,2318,12492,0.00,1.58,0.00,0.000,1030,0.000,0.105,2995,2503,3337,3511,3164,0,0,0,0,0,0,28.83,13.76,28.83
$GC,12812,1.60,-146.0,2995,2503,3511,3164,1.0,0.2,2379,12820,0.00,1.55,0.00,0.000,516,0.000,0.093,2995,1654,3338,3512,3164,0,0,0,0,0,0,28.83,13.78,28.83
$STATE,12906,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12906,begin apogee
$FREEZE,1.17,-3.793,-0.338,2,1,0
$GC,12921,-0.22,0.0,2988,2512,3511,3164,1.0,0.1,2397,12936,1.67,0.00,9.90,0.166,12290,0.095,0.000,2434,2512,3256,3433,3080,0,0,0,0,0,0,13.90,28.83,28.83
$STATE,12937,end apogee,SURFACE_DEPTH_REACHED
$STATE,12937,begin surface coast
$FREEZE,1.05,-3.792,-0.338,2,1,0
$FREEZE,1.07,-3.792,-0.338,2,1,0
$FREEZE,1.04,-3.791,-0.338,2,1,0
$FREEZE,1.06,-3.791,-0.338,2,1,0
$FREEZE,0.99,-3.791,-0.338,2,1,0
$FREEZE,0.93,-3.791,-0.338,2,1,0
$FREEZE,1.03,-3.790,-0.338,2,1,0
$FREEZE,1.07,-3.790,-0.338,2,1,0
$FREEZE,1.01,-3.790,-0.338,2,1,0
$FREEZE,0.99,-3.790,-0.338,2,1,0
$FREEZE,1.01,-3.789,-0.338,2,1,0
$FINISH,1.0,1.004572
$STATE,13001,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13001,begin surface
$SM_CCo,13029,270.52,0.164,0,0,1108,400.08
$SM_GC,1.06,7.00,0.00,270.52,0.085,0.000,0.164,141,2512,1108,-7.35,0.34,400.08,0,0,0,0,0,0,14.00,28.83,13.95
$RAFOS_CLK,661
$RAFOS,6,1388292541,4.833333,4.816945,60,60,56,55,51,50,177,220,156,198,120,108
$RAFOS,5,1388292062,4.700000,4.683889,64,59,57,56,55,54,212,152,224,120,190,134
$RAFOS,4,1388291583,4.566667,4.550833,61,61,60,55,52,51,166,215,199,148,116,130
$RAFOS,3,1388291105,4.433333,4.418056,57,56,55,55,55,52,204,188,124,225,1921,142
$RAFOS,2,1388290626,4.300000,4.285000,60,58,57,55,51,51,200,166,189,144,121,223
$RAFOS,1,1388290141,4.166667,4.150278,65,58,55,54,53,47,194,163,205,222,134,153
$RAFOS,0,1388289661,4.033333,4.016944,54,53,52,52,51,51,214,190,147,163,136,224
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6553.70,-5816.17,291213,020241
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.36
$INTERNAL_PRESSURE,8.60578
$TCM_TEMP,11.90
$XPDR_PINGS,28
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,234.502
$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,20.275,71.425,9.900,270.525,0.000,0.000,0.000,856.900,7.250,0.000,41.775,6002.630,2682.398,588.242,4108.348,1227.690,0.000,3053.549,0.000,3415.415,2520.000,2.816,0.000
$DEVICE_MAMPS,317.475,105.570,166.005,163.710,0.000,0.000,0.000,159.120,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1727.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150596
$DATA_FILE_SIZE,93199,2409
$CAP_FILE_SIZE,199129,0
$CFSIZE,259252224,207904768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1465.0
$CURRENT,0.770,191.8,1
$GPS,291213,065135,6616.899,-5814.868,39,0.8,39,-32.9