version: 66.11
glider: 192
mission: 2
dive: 556
start: 12 29 113 22 37 19
data:
$ID,192
$MISSION,2
$DIVE,556
$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,-12231.635
$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
$GPS1,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-22.9
$GPS2,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
$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,339.0,120618,-15.5,-8.250,-18.49,2720
$D_GRID,592
$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,-146.0,2501,2504,3128,2808,0.0,0.0,0,49,0.00,0.00,-24.75,0.000,16390,0.000,0.000,2501,2504,3336,3506,3167,0,0,0,0,0,0,28.83,28.83,14.54
$GC,57,-0.89,-146.0,2501,2504,3507,3167,1.1,0.2,5,66,0.85,1.55,0.00,0.000,4612,0.095,0.096,2221,1654,3337,3507,3167,0,0,0,0,0,0,13.92,13.93,28.83
$GC,305,-0.82,-146.0,1364,1653,3501,3164,0.9,0.7,51,312,0.12,1.58,0.00,0.000,3078,0.299,0.110,2238,2498,3338,3509,3167,0,0,0,0,0,0,13.53,13.79,28.83
$GC,625,-0.82,-146.0,2238,2498,3509,3167,1.0,0.0,112,632,0.00,1.55,0.00,0.000,516,0.000,0.097,2239,1650,3338,3509,3167,0,0,0,0,0,0,28.83,13.78,28.83
$GC,870,-0.75,-146.0,2239,1650,3509,3167,0.9,0.2,158,878,0.15,1.60,0.00,0.000,3078,0.291,0.110,2265,2503,3338,3509,3167,0,0,0,0,0,0,13.45,13.75,28.83
$GC,1197,-0.67,-146.0,2265,2503,3509,3167,1.0,-0.1,219,1204,0.00,1.55,0.00,0.000,516,0.000,0.097,2264,1660,3338,3509,3167,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1441,-0.60,-146.0,2265,1660,3508,3167,1.0,-0.2,265,1449,0.22,1.58,0.00,0.000,3078,0.265,0.107,2311,2502,3338,3509,3167,0,0,0,0,0,0,13.42,13.74,28.83
$GC,1770,-0.52,-146.0,1408,2500,3501,3164,0.9,0.4,326,1776,0.00,1.55,0.00,0.000,516,0.000,0.097,2311,1660,3338,3509,3167,0,0,0,0,0,0,28.83,13.75,28.83
$GC,2014,-0.45,-146.0,2311,1660,3509,3167,1.0,-0.1,372,2023,0.22,1.58,0.00,0.000,3078,0.278,0.107,2356,2500,3338,3509,3167,0,0,0,0,0,0,13.38,13.73,28.83
$GC,2342,-0.38,-146.0,2356,2500,3509,3167,0.9,0.7,433,2349,0.12,1.55,0.00,0.000,2564,0.308,0.094,2387,1660,3338,3509,3167,0,0,0,0,0,0,13.72,13.77,28.83
$GC,2588,-0.30,-146.0,2387,1660,3509,3167,1.0,-0.3,479,2594,0.00,1.58,0.00,0.000,1030,0.000,0.106,2382,2499,3338,3509,3167,0,0,0,0,0,0,28.83,13.73,28.83
$GC,2909,-0.23,-146.0,2382,2499,3509,3167,1.0,-0.1,540,2916,0.17,1.58,0.00,0.000,2564,0.290,0.095,2425,1649,3338,3509,3167,0,0,0,0,0,0,13.45,13.76,28.83
$GC,3156,-0.16,-146.0,2425,1650,3509,3167,0.9,0.2,586,3163,0.17,1.60,0.00,0.000,3078,0.287,0.109,2456,2498,3338,3509,3167,0,0,0,0,0,0,13.38,13.72,28.83
$GC,3483,-0.08,-146.0,1504,2496,3501,3164,1.0,0.1,647,3490,0.00,1.55,0.00,0.000,516,0.000,0.096,2456,1652,3338,3509,3167,0,0,0,0,0,0,28.83,13.74,28.83
$GC,3727,-0.08,-146.0,1536,1651,3502,3164,0.9,0.4,693,3734,0.00,1.60,0.00,0.000,1030,0.000,0.109,2452,2505,3338,3509,3167,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4050,-0.01,-146.0,2452,2505,3509,3168,1.0,-0.2,754,4057,0.17,1.58,0.00,0.000,2564,0.291,0.093,2494,1659,3338,3509,3167,0,0,0,0,0,0,13.47,13.76,28.83
$GC,4296,0.06,-146.0,2494,1659,3509,3167,1.0,-0.0,800,4303,0.15,1.58,0.00,0.000,3078,0.290,0.106,2520,2498,3338,3509,3167,0,0,0,0,0,0,13.40,13.72,28.83
$GC,4616,0.06,-146.0,2520,2498,3509,3167,1.0,1.0,861,4624,0.00,1.55,0.00,0.000,516,0.000,0.097,2521,1656,3338,3509,3167,0,0,0,0,0,0,28.83,13.73,28.83
$GC,4862,0.14,-146.0,2521,1656,3510,3167,1.0,-0.3,907,4870,0.15,1.60,0.00,0.000,3078,0.288,0.110,2546,2506,3338,3509,3167,0,0,0,0,0,0,13.41,13.70,28.83
$GC,5192,0.21,-146.0,2546,2506,3509,3167,1.0,-0.2,968,5199,0.12,1.58,0.00,0.000,2564,0.312,0.094,2577,1660,3338,3509,3167,0,0,0,0,0,0,13.66,13.75,28.83
$GC,5436,0.29,-146.0,1616,1658,3502,3164,1.0,0.1,1014,5443,0.00,1.58,0.00,0.000,1030,0.000,0.106,2572,2500,3338,3509,3167,0,0,0,0,0,0,28.83,13.71,28.83
$GC,5757,0.29,-146.0,2572,2500,3509,3167,1.0,-1.3,1075,5764,0.00,1.55,0.00,0.000,516,0.000,0.096,2572,1653,3338,3509,3167,0,0,0,0,0,0,28.83,13.73,28.83
$GC,6003,0.36,-146.0,2572,1653,3509,3168,1.0,-0.4,1121,6010,0.22,1.60,0.00,0.000,3078,0.269,0.109,2615,2502,3338,3509,3168,0,0,0,0,0,0,13.38,13.69,28.83
$GC,6329,0.43,-146.0,1632,2500,3501,3164,1.0,0.8,1182,6336,0.12,0.00,0.00,0.000,2054,0.313,0.000,2646,2501,3338,3509,3167,0,0,0,0,0,0,13.64,28.83,28.83
$GC,6654,0.43,-146.0,1680,2500,3502,3164,1.0,-0.4,1243,6661,0.00,1.55,0.00,0.000,516,0.000,0.097,2646,1660,3337,3508,3167,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6900,0.51,-146.0,2646,1661,3509,3167,1.0,0.1,1289,6907,0.00,1.58,0.00,0.000,1030,0.000,0.107,2642,2501,3338,3509,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,7223,0.58,-146.0,2642,2501,3509,3168,0.9,0.7,1350,7230,0.17,1.55,0.00,0.000,2564,0.296,0.094,2684,1660,3338,3509,3167,0,0,0,0,0,0,13.41,13.75,28.83
$GC,7469,0.65,-146.0,2684,1660,3509,3167,1.0,0.0,1396,7478,0.15,1.58,0.00,0.000,3078,0.288,0.106,2709,2502,3338,3509,3168,0,0,0,0,0,0,13.42,13.70,28.83
$GC,7799,0.73,-146.0,2709,2501,3509,3167,1.0,-0.0,1457,7807,0.12,0.00,0.00,0.000,2054,0.311,0.000,2738,2502,3338,3509,3168,0,0,0,0,0,0,13.65,28.83,28.83
$GC,8127,0.80,-146.0,2738,2502,3509,3166,0.9,0.3,1518,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2502,3338,3509,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8447,0.80,-146.0,2739,2502,3509,3167,1.0,0.0,1579,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2501,3338,3509,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8766,0.80,-146.0,2738,2501,3509,3167,1.0,0.1,1640,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2502,3338,3509,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9088,0.88,-146.0,2738,2502,3509,3168,1.0,-0.1,1701,9094,0.15,0.00,0.00,0.000,2054,0.301,0.000,2775,2502,3338,3509,3167,0,0,0,0,0,0,13.53,28.83,28.83
$GC,9412,0.95,-146.0,2776,2502,3509,3167,1.0,0.2,1762,9418,0.12,0.00,0.00,0.000,2054,0.313,0.000,2806,2502,3338,3509,3168,0,0,0,0,0,0,13.69,28.83,28.83
$GC,9731,1.02,-146.0,1808,2500,3502,3164,1.0,0.7,1823,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2502,3338,3509,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10053,1.10,-146.0,2806,2502,3509,3167,0.9,0.4,1884,10059,0.17,0.00,0.00,0.000,2054,0.292,0.000,2850,2502,3338,3509,3168,0,0,0,0,0,0,13.43,28.83,28.83
$GC,10382,1.17,-146.0,2850,2502,3509,3168,0.9,0.2,1945,10390,0.12,1.58,0.00,0.000,2564,0.308,0.095,2881,1660,3338,3509,3167,0,0,0,0,0,0,13.67,13.74,28.83
$GC,10630,1.25,-146.0,1888,1659,3502,3165,1.0,0.0,1991,10638,0.12,1.60,0.00,0.000,3078,0.301,0.107,2900,2504,3338,3509,3168,0,0,0,0,0,0,13.43,13.70,28.83
$GC,10959,1.32,-146.0,2900,2504,3509,3168,1.0,-0.4,2052,10965,0.12,0.00,0.00,0.000,2054,0.311,0.000,2930,2505,3338,3509,3167,0,0,0,0,0,0,13.67,28.83,28.83
$GC,11286,1.39,-146.0,2929,2504,3509,3168,0.9,0.1,2113,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2504,3338,3509,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11607,1.39,-146.0,2930,2505,3509,3168,0.9,0.0,2174,11613,0.00,1.58,0.00,0.000,516,0.000,0.100,2930,1657,3338,3509,3167,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11858,1.47,-146.0,2930,1657,3509,3168,1.0,-0.0,2220,11865,0.22,1.60,0.00,0.000,3078,0.278,0.110,2973,2505,3338,3509,3168,0,0,0,0,0,0,13.38,13.69,28.83
$GC,12188,1.54,-146.0,1952,2502,3501,3164,1.0,0.3,2281,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2504,3338,3509,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12508,1.54,-146.0,2973,2504,3509,3167,1.0,0.0,2342,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2504,3338,3509,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12828,1.54,-146.0,2973,2505,3509,3167,1.0,-0.3,2403,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2505,3338,3509,3168,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12904,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12905,begin apogee
$FREEZE,1.02,-1.539,-1.147,2,3,0
$GC,12918,-0.22,0.0,2973,2504,3509,3167,1.1,-0.4,2418,12930,1.62,0.00,7.32,0.175,12290,0.095,0.000,2437,2504,3279,3454,3105,0,0,0,0,0,0,13.86,28.83,28.83
$STATE,12931,end apogee,FINISH_DEPTH_REACHED
$STATE,12931,begin subsurface finish
$FINISH1,1.0,1.016937,0
$GC,12945,0.00,0.0,2437,2504,3453,3106,1.0,0.1,2419,12961,0.28,0.00,12.52,0.160,10242,0.264,0.000,2504,2504,3175,3349,3001,0,0,0,0,0,0,13.45,28.83,28.83
$FINISH2,1.1
$STATE,12962,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12962,begin surface
$RAFOS_CLK,706
$RAFOS,6,1388364542,0.833333,0.817222,73,58,57,53,51,51,191,218,151,173,164,120
$RAFOS,5,1388364065,0.700000,0.684722,62,59,58,55,49,49,218,204,177,137,149,193
$RAFOS,4,1388363583,0.566667,0.550833,63,62,57,57,54,51,199,187,130,161,113,216
$RAFOS,3,1388363103,0.433333,0.417500,65,65,53,51,50,45,187,205,146,224,126,168
$RAFOS,2,1388362624,0.300000,0.284444,65,62,56,55,55,53,168,211,134,192,115,221
$RAFOS,1,1388362143,0.166667,0.150833,67,58,56,55,55,53,208,218,141,158,170,124
$RAFOS,0,1388361665,0.033333,0.018056,61,57,56,56,53,49,122,182,163,197,146,210
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6543.17,-5810.98,291213,111104
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.94
$INTERNAL_PRESSURE,8.79133
$TCM_TEMP,11.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,1.0,999.0
$24V_AH,13.4,235.151
$10V_AH,12.8,0.000
$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,6.400,47.175,19.850,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,6017.137,2674.061,212.398,3450.962,672.145,0.000,1803.847,0.000,3430.356,2520.000,2.817,0.000
$DEVICE_MAMPS,312.885,110.160,175.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1726.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150724
$DATA_FILE_SIZE,96441,2421
$CAP_FILE_SIZE,171412,0
$CFSIZE,259252224,207482880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1422.7
$CURRENT,0.003,295.3,1
$GPS,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7