version: 66.11
glider: 192
mission: 2
dive: 557
start: 12 30 113 2 16 16
data:
$ID,192
$MISSION,2
$DIVE,557
$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,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
$GPS1,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_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,338.7,120618,-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,-146.0,2504,2505,3346,3001,0.0,0.0,0,33,0.00,0.00,-11.00,0.000,16390,0.000,0.000,2503,2505,3337,3509,3165,0,0,0,0,0,0,28.83,28.83,14.54
$GC,41,-0.89,-146.0,2504,2504,3509,3165,1.0,1.4,2,47,0.85,0.00,0.00,0.000,4102,0.091,0.000,2223,2505,3337,3509,3165,0,0,0,0,0,0,13.91,28.83,28.83
$GC,365,-0.82,-146.0,2223,2504,3510,3165,1.1,-0.2,63,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2504,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,685,-0.75,-146.0,2223,2504,3510,3165,0.9,-0.4,124,691,0.15,0.00,0.00,0.000,2054,0.282,0.000,2258,2504,3338,3510,3166,0,0,0,0,0,0,13.56,28.83,28.83
$GC,1005,-0.67,-146.0,2259,2504,3510,3166,1.1,-0.2,185,1012,0.12,0.00,0.00,0.000,2054,0.301,0.000,2290,2504,3338,3510,3166,0,0,0,0,0,0,13.74,28.83,28.83
$GC,1327,-0.60,-146.0,1408,2503,3502,3163,1.0,-0.2,246,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2504,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1652,-0.52,-146.0,2290,2504,3510,3166,1.0,-0.0,307,1658,0.15,0.00,0.00,0.000,2054,0.298,0.000,2328,2504,3338,3510,3166,0,0,0,0,0,0,13.54,28.83,28.83
$GC,1972,-0.52,-146.0,2328,2505,3510,3166,1.0,0.0,368,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2505,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2296,-0.45,-146.0,1440,2502,3502,3163,1.0,0.3,429,2304,0.12,0.00,0.00,0.000,2054,0.312,0.000,2358,2505,3338,3510,3166,0,0,0,0,0,0,13.64,28.83,28.83
$GC,2618,-0.38,-146.0,2358,2505,3510,3166,0.9,0.4,490,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2505,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2940,-0.30,-146.0,2358,2505,3509,3166,1.0,0.1,551,2946,0.17,0.00,0.00,0.000,2054,0.275,0.000,2403,2505,3338,3510,3166,0,0,0,0,0,0,13.50,28.83,28.83
$GC,3258,-0.30,-146.0,2403,2505,3510,3166,1.0,0.0,612,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2505,3337,3510,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3582,-0.23,-146.0,1488,2503,3503,3163,1.1,-0.4,673,3590,0.12,0.00,0.00,0.000,2054,0.315,0.000,2433,2505,3337,3510,3165,0,0,0,0,0,0,13.69,28.83,28.83
$GC,3905,-0.15,-146.0,2433,2505,3510,3166,1.0,0.4,734,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2504,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4226,-0.08,-146.0,2433,2504,3510,3166,1.1,-0.1,795,4232,0.17,0.00,0.00,0.000,2054,0.291,0.000,2475,2505,3338,3510,3166,0,0,0,0,0,0,13.45,28.83,28.83
$GC,4548,-0.01,-146.0,2475,2504,3510,3166,1.0,-0.3,856,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2504,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4868,0.07,-146.0,1536,2502,3502,3163,1.0,-0.3,917,4876,0.17,0.00,0.00,0.000,2054,0.291,0.000,2519,2505,3338,3510,3166,0,0,0,0,0,0,13.45,28.83,28.83
$GC,5190,0.07,-146.0,2519,2505,3510,3166,1.0,0.0,978,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2505,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,0.14,-146.0,1576,2503,3502,3163,0.9,0.3,1039,5521,0.12,0.00,0.00,0.000,2054,0.312,0.000,2550,2505,3338,3510,3166,0,0,0,0,0,0,13.67,28.83,28.83
$GC,5837,0.21,-146.0,2550,2505,3510,3166,1.0,-0.2,1100,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2505,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6158,0.29,-146.0,2550,2504,3510,3166,1.0,-0.3,1161,6165,0.17,0.00,0.00,0.000,2054,0.295,0.000,2594,2505,3338,3510,3166,0,0,0,0,0,0,13.44,28.83,28.83
$GC,6482,0.36,-146.0,2594,2505,3510,3166,0.9,0.1,1222,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2504,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6805,0.43,-146.0,2594,2505,3510,3166,1.0,0.1,1283,6811,0.17,0.00,0.00,0.000,2054,0.299,0.000,2637,2505,3338,3510,3166,0,0,0,0,0,0,13.38,28.83,28.83
$GC,7126,0.43,-146.0,2637,2505,3510,3166,0.9,0.0,1344,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2504,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7448,0.43,-146.0,2637,2505,3510,3166,1.0,-0.4,1405,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2505,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7769,0.51,-146.0,2637,2505,3510,3166,0.9,0.5,1466,7776,0.12,0.00,0.00,0.000,2054,0.317,0.000,2668,2505,3338,3510,3166,0,0,0,0,0,0,13.62,28.83,28.83
$GC,8090,0.58,-146.0,1696,2503,3502,3163,1.0,-0.2,1527,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2505,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8413,0.66,-146.0,2668,2505,3510,3166,1.0,0.5,1588,8420,0.17,0.00,0.00,0.000,2054,0.291,0.000,2710,2505,3338,3510,3166,0,0,0,0,0,0,13.41,28.83,28.83
$GC,8738,0.66,-146.0,2710,2505,3510,3166,1.0,-0.5,1649,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2505,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9058,0.73,-146.0,2710,2505,3510,3166,1.0,-0.2,1710,9066,0.12,0.00,0.00,0.000,2054,0.312,0.000,2740,2505,3338,3510,3166,0,0,0,0,0,0,13.66,28.83,28.83
$GC,9387,0.80,-146.0,2740,2505,3510,3166,1.0,0.1,1771,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2504,3338,3510,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9708,0.88,-146.0,2740,2505,3510,3166,1.0,-0.1,1832,9714,0.17,0.00,0.00,0.000,2054,0.289,0.000,2783,2505,3338,3510,3166,0,0,0,0,0,0,13.45,28.83,28.83
$GC,10028,0.95,-146.0,2783,2505,3510,3166,1.0,-0.2,1893,10035,0.00,1.58,0.00,0.000,516,0.000,0.096,2783,1651,3338,3510,3166,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10275,1.03,-146.0,1792,1650,3502,3163,1.0,-0.3,1939,10283,0.22,1.60,0.00,0.000,3078,0.271,0.106,2828,2500,3338,3510,3166,0,0,0,0,0,0,13.38,13.71,28.83
$GC,10605,1.10,-146.0,2827,2500,3510,3166,1.0,-0.0,2000,10613,0.12,1.55,0.00,0.000,2564,0.313,0.094,2858,1660,3338,3510,3166,0,0,0,0,0,0,13.65,13.74,28.83
$GC,10851,1.17,-146.0,2859,1660,3510,3166,1.0,-0.2,2046,10858,0.00,1.58,0.00,0.000,1030,0.000,0.106,2855,2504,3338,3510,3166,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11177,1.25,-146.0,2854,2505,3510,3166,1.0,0.0,2107,11184,0.17,1.58,0.00,0.000,2564,0.295,0.094,2897,1659,3338,3510,3166,0,0,0,0,0,0,13.40,13.74,28.83
$GC,11425,1.32,-146.0,2897,1659,3510,3166,0.9,0.2,2153,11432,0.15,1.58,0.00,0.000,3078,0.288,0.106,2922,2501,3338,3510,3166,0,0,0,0,0,0,13.39,13.70,28.83
$GC,11754,1.39,-146.0,2922,2501,3511,3166,1.0,0.2,2214,11762,0.12,1.55,0.00,0.000,2564,0.322,0.094,2952,1660,3338,3510,3167,0,0,0,0,0,0,13.62,13.74,28.83
$GC,12002,1.47,-146.0,1952,1659,3502,3162,1.0,0.1,2260,12009,0.00,1.58,0.00,0.000,1030,0.000,0.106,2947,2503,3338,3510,3166,0,0,0,0,0,0,28.83,13.69,28.83
$GC,12330,1.54,-146.0,2948,2503,3510,3166,1.1,-0.2,2321,12338,0.20,1.58,0.00,0.000,2564,0.289,0.094,2994,1650,3338,3510,3166,0,0,0,0,0,0,13.34,13.74,28.83
$GC,12575,1.54,-146.0,2994,1649,3510,3166,1.0,0.1,2367,12581,0.00,1.60,0.00,0.000,1030,0.000,0.108,2990,2504,3338,3510,3166,0,0,0,0,0,0,28.83,13.70,28.83
$GC,12904,1.54,-146.0,2990,2504,3510,3166,1.0,0.1,2428,12911,0.00,1.55,0.00,0.000,516,0.000,0.097,2990,1659,3338,3510,3166,0,0,0,0,0,0,28.83,13.70,28.83
$STATE,12916,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12916,begin apogee
$FREEZE,1.12,-1.521,-1.371,2,4,0
$GC,12932,-0.22,0.0,2984,2515,3510,3166,1.0,-0.3,2430,12943,1.65,0.00,7.30,0.174,12290,0.093,0.000,2435,2516,3280,3454,3106,0,0,0,0,0,0,13.86,28.83,28.83
$STATE,12944,end apogee,FINISH_DEPTH_REACHED
$STATE,12944,begin subsurface finish
$FINISH1,1.1,1.020234,0
$GC,12959,0.00,0.0,2435,2516,3454,3105,1.1,-0.2,2431,13009,0.25,0.00,46.95,0.155,10498,0.269,0.000,2497,2516,2896,3049,2744,0,0,0,0,0,0,13.47,28.83,28.83
$FINISH2,1.0
$STATE,13010,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13010,begin surface
$RAFOS_CLK,708
$RAFOS,6,1388378943,4.833333,4.817500,65,62,62,61,53,49,140,171,223,196,116,157
$RAFOS,5,1388378465,4.700000,4.684722,67,56,54,52,52,52,186,213,222,198,175,144
$RAFOS,4,1388377984,4.566667,4.551111,67,60,60,60,59,57,223,192,201,136,211,123
$RAFOS,3,1388377502,4.433333,4.417222,61,56,55,55,51,49,186,201,134,213,152,169
$RAFOS,2,1388377021,4.300000,4.283611,67,57,54,50,50,48,208,222,166,152,130,88
$RAFOS,1,1388376543,4.166667,4.150833,61,58,54,51,50,49,194,158,169,215,109,142
$RAFOS,0,1388376063,4.033333,4.017500,62,57,57,54,51,49,191,142,217,85,178,155
$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,45.55
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,11.80
$XPDR_PINGS,17
$ALTIM_TOP_PING,1.1,999.0
$24V_AH,13.3,235.246
$10V_AH,12.9,0.000
$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,6.025,18.950,54.250,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,6045.440,2691.858,226.850,3474.275,626.691,0.000,1825.430,0.000,3455.880,2520.000,2.816,0.000
$DEVICE_MAMPS,322.065,107.865,174.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1739.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150700
$DATA_FILE_SIZE,96540,2439
$CAP_FILE_SIZE,166825,0
$CFSIZE,259252224,207400960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1425.0
$CURRENT,0.002,298.4,1
$GPS,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7