version: 66.11
glider: 192
mission: 2
dive: 559
start: 12 30 113 9 59 22
data:
$ID,192
$MISSION,2
$DIVE,559
$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,-12232.893
$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
$GPS1,301213,093905,6532.601,-5811.714,31,1.1,32,-32.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-23.0
$GPS2,301213,095835,6532.272,-5811.885,36,1.1,36,-32.1
$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,40.7,165144,-15.5,-8.250,-18.49,2720
$D_GRID,491
$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,-146.0,135,2511,1159,1031,0.0,0.0,0,164,0.00,0.00,-136.07,0.000,16390,0.000,0.000,135,2511,3333,3504,3162,0,0,0,0,0,0,28.83,28.83,14.63
$GC,172,-0.89,-146.0,135,2512,3505,3162,1.1,-0.2,24,186,7.70,1.60,0.00,0.000,2564,0.239,0.099,2219,1659,3334,3506,3162,0,0,0,0,0,0,13.81,14.10,28.83
$GC,427,-0.82,-146.0,2219,1659,3507,3162,1.0,0.3,71,434,0.12,1.58,0.00,0.000,3078,0.298,0.109,2239,2505,3334,3506,3162,0,0,0,0,0,0,13.71,13.95,28.83
$GC,749,-0.75,-146.0,2239,2505,3506,3162,1.0,-0.2,132,755,0.00,1.55,0.00,0.000,516,0.000,0.099,2240,1656,3334,3506,3162,0,0,0,0,0,0,28.83,13.93,28.83
$GC,995,-0.67,-146.0,2240,1655,3506,3162,0.9,-0.1,178,1002,0.22,1.58,0.00,0.000,3078,0.266,0.108,2286,2505,3334,3506,3162,0,0,0,0,0,0,13.59,13.89,28.83
$GC,1321,-0.60,-146.0,2286,2505,3506,3162,1.0,-0.3,239,1329,0.12,1.55,0.00,0.000,2564,0.308,0.096,2318,1659,3333,3506,3161,0,0,0,0,0,0,13.77,13.90,28.83
$GC,1567,-0.52,-146.0,2318,1659,3506,3162,0.9,0.4,285,1574,0.00,1.58,0.00,0.000,1030,0.000,0.108,2314,2509,3333,3506,3161,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1890,-0.45,-146.0,2314,2509,3505,3162,0.9,0.3,346,1898,0.17,1.55,0.00,0.000,2564,0.298,0.095,2355,1660,3334,3506,3162,0,0,0,0,0,0,13.54,13.88,28.83
$GC,2137,-0.38,-146.0,2356,1660,3506,3162,1.0,0.2,392,2144,0.15,1.55,0.00,0.000,3078,0.289,0.106,2381,2499,3334,3506,3162,0,0,0,0,0,0,13.54,13.82,28.83
$GC,2463,-0.30,-146.0,1448,2497,3498,3159,0.9,0.9,453,2471,0.12,1.55,0.00,0.000,2564,0.304,0.096,2413,1653,3334,3506,3162,0,0,0,0,0,0,13.74,13.85,28.83
$GC,2709,-0.30,-146.0,2413,1653,3506,3162,1.1,0.0,499,2716,0.00,1.60,0.00,0.000,1030,0.000,0.110,2408,2503,3334,3506,3162,0,0,0,0,0,0,28.83,13.79,28.83
$GC,3029,-0.30,-146.0,2408,2503,3506,3162,1.0,-0.7,560,3035,0.00,1.55,0.00,0.000,516,0.000,0.098,2408,1654,3334,3506,3162,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3276,-0.23,-146.0,2408,1653,3506,3162,0.9,0.3,606,3283,0.15,1.58,0.00,0.000,3078,0.295,0.109,2431,2498,3334,3506,3162,0,0,0,0,0,0,13.47,13.78,28.83
$GC,3603,-0.15,-146.0,2430,2498,3506,3162,1.0,0.0,667,3611,0.00,1.55,0.00,0.000,516,0.000,0.097,2431,1655,3334,3506,3162,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3849,-0.08,-146.0,1504,1654,3498,3159,1.0,-0.1,713,3857,0.22,1.60,0.00,0.000,3078,0.272,0.109,2475,2508,3333,3504,3162,0,0,0,0,0,0,13.44,13.77,28.83
$GC,4178,-0.01,-146.0,2475,2508,3506,3162,0.9,0.3,774,4185,0.12,1.58,0.00,0.000,2564,0.308,0.095,2506,1657,3334,3506,3162,0,0,0,0,0,0,13.72,13.81,28.83
$GC,4425,0.07,-146.0,2506,1657,3506,3162,0.9,0.4,820,4431,0.00,1.58,0.00,0.000,1030,0.000,0.107,2502,2500,3334,3506,3162,0,0,0,0,0,0,28.83,13.77,28.83
$GC,4750,0.14,-146.0,2502,2499,3506,3162,1.0,-0.4,881,4757,0.17,1.55,0.00,0.000,2564,0.298,0.094,2544,1659,3334,3506,3162,0,0,0,0,0,0,13.46,13.81,28.83
$GC,4997,0.22,-146.0,1600,1658,3498,3159,0.9,-0.0,927,5006,0.15,1.58,0.00,0.000,3078,0.294,0.106,2569,2505,3334,3506,3162,0,0,0,0,0,0,13.44,13.76,28.83
$GC,5327,0.29,-146.0,1600,2503,3497,3159,0.9,0.0,988,5335,0.12,1.58,0.00,0.000,2564,0.306,0.094,2601,1650,3334,3506,3162,0,0,0,0,0,0,13.71,13.80,28.83
$GC,5575,0.36,-146.0,2601,1650,3506,3161,1.0,-0.3,1034,5581,0.00,1.60,0.00,0.000,1030,0.000,0.108,2596,2505,3333,3506,3161,0,0,0,0,0,0,28.83,13.75,28.83
$GC,5896,0.44,-146.0,2596,2505,3506,3162,0.9,-0.4,1095,5904,0.17,1.55,0.00,0.000,2564,0.294,0.094,2638,1660,3334,3506,3162,0,0,0,0,0,0,13.47,13.80,28.83
$GC,6143,0.51,-146.0,1672,1657,3498,3159,1.0,-0.3,1141,6153,0.15,1.58,0.00,0.000,3078,0.288,0.106,2664,2506,3334,3506,3162,0,0,0,0,0,0,13.44,13.75,28.83
$GC,6477,0.58,-146.0,2664,2505,3505,3162,0.9,0.3,1202,6484,0.12,1.55,0.00,0.000,2564,0.308,0.090,2695,1659,3334,3506,3162,0,0,0,0,0,0,13.69,13.81,28.83
$GC,6722,0.58,-146.0,2695,1659,3506,3162,1.0,0.6,1248,6729,0.00,1.55,0.00,0.000,1030,0.000,0.100,2691,2500,3334,3506,3162,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7044,0.66,-146.0,2691,2500,3506,3162,0.9,0.1,1309,7052,0.00,1.52,0.00,0.000,516,0.000,0.094,2691,1659,3334,3506,3162,0,0,0,0,0,0,28.83,13.76,28.83
$GC,7293,0.73,-146.0,2691,1659,3506,3162,1.0,-0.3,1355,7300,0.22,1.55,0.00,0.000,3078,0.272,0.101,2733,2500,3334,3506,3162,0,0,0,0,0,0,13.38,13.76,28.83
$GC,7614,0.73,-146.0,2733,2500,3506,3162,1.0,0.0,1416,7620,0.00,1.52,0.00,0.000,516,0.000,0.095,2734,1655,3334,3506,3162,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7862,0.80,-146.0,2734,1656,3506,3162,0.9,0.5,1462,7869,0.15,1.58,0.00,0.000,3078,0.285,0.103,2758,2500,3334,3506,3162,0,0,0,0,0,0,13.43,13.74,28.83
$GC,8190,0.88,-146.0,2758,2500,3506,3162,1.0,0.5,1523,8199,0.12,1.55,0.00,0.000,2564,0.314,0.090,2789,1659,3334,3506,3162,0,0,0,0,0,0,13.69,13.78,28.83
$GC,8438,0.95,-146.0,1792,1658,3498,3159,1.0,0.2,1569,8445,0.00,1.58,0.00,0.000,1030,0.000,0.101,2784,2508,3334,3506,3162,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8766,1.03,-146.0,2785,2508,3506,3162,1.0,-0.1,1630,8773,0.17,1.58,0.00,0.000,2564,0.295,0.091,2827,1654,3333,3506,3161,0,0,0,0,0,0,13.39,13.77,28.83
$GC,9011,1.10,-146.0,2826,1654,3506,3162,1.0,-0.2,1676,9019,0.15,1.58,0.00,0.000,3078,0.295,0.102,2852,2501,3333,3505,3162,0,0,0,0,0,0,13.40,13.74,28.83
$GC,9339,1.17,-146.0,1824,2499,3498,3159,0.9,0.4,1737,9346,0.12,1.55,0.00,0.000,2564,0.315,0.091,2883,1659,3334,3506,3162,0,0,0,0,0,0,13.64,13.77,28.83
$GC,9585,1.25,-146.0,2883,1659,3506,3162,1.0,-0.3,1783,9594,0.00,1.58,0.00,0.000,1030,0.000,0.100,2878,2507,3333,3506,3161,0,0,0,0,0,0,28.83,13.74,28.83
$GC,9916,1.32,-146.0,2878,2506,3506,3162,1.0,-0.1,1844,9923,0.17,1.58,0.00,0.000,2564,0.294,0.091,2920,1657,3334,3506,3162,0,0,0,0,0,0,13.42,13.77,28.83
$GC,10161,1.40,-146.0,2920,1657,3506,3162,0.9,0.8,1890,10168,0.17,1.58,0.00,0.000,3078,0.287,0.102,2950,2504,3334,3506,3162,0,0,0,0,0,0,13.39,13.74,28.83
$GC,10488,1.47,-146.0,1920,2502,3498,3158,0.9,0.3,1951,10495,0.00,1.55,0.00,0.000,516,0.000,0.093,2951,1656,3334,3506,3162,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10735,1.54,-146.0,2951,1656,3506,3162,0.9,0.4,1997,10742,0.22,1.58,0.00,0.000,3078,0.275,0.102,2994,2502,3333,3506,3161,0,0,0,0,0,0,13.38,13.74,28.83
$GC,11064,1.54,-146.0,2994,2502,3506,3162,0.9,-0.2,2058,11071,0.00,1.55,0.00,0.000,516,0.000,0.093,2994,1653,3334,3506,3162,0,0,0,0,0,0,28.83,13.75,28.83
$GC,11308,1.54,-146.0,2000,1651,3498,3158,1.0,0.0,2104,11316,0.00,1.58,0.00,0.000,1030,0.000,0.103,2990,2501,3334,3506,3162,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11639,1.54,-146.0,2990,2501,3506,3162,1.0,-0.3,2165,11646,0.00,1.55,0.00,0.000,516,0.000,0.093,2990,1650,3334,3506,3162,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11885,1.54,-146.0,2990,1650,3506,3162,1.0,-0.1,2211,11892,0.00,1.58,0.00,0.000,1030,0.000,0.103,2983,2500,3334,3506,3162,0,0,0,0,0,0,28.83,13.74,28.83
$GC,12215,1.54,-146.0,2984,2500,3506,3162,1.0,-0.1,2272,12221,0.00,1.55,0.00,0.000,516,0.000,0.093,2984,1653,3333,3505,3162,0,0,0,0,0,0,28.83,13.75,28.83
$GC,12462,1.54,-146.0,2984,1653,3506,3162,1.0,-0.1,2318,12468,0.00,1.58,0.00,0.000,1030,0.000,0.103,2977,2499,3334,3506,3162,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12782,1.54,-146.0,2000,2497,3498,3159,1.0,-2.0,2379,12790,0.00,1.52,0.00,0.000,516,0.000,0.093,2978,1660,3333,3505,3162,0,0,0,0,0,0,28.83,13.74,28.83
$STATE,12911,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12911,begin apogee
$FREEZE,1.17,-1.669,-1.809,2,1,0
$GC,12926,-0.22,0.0,2972,2511,3506,3162,1.0,0.1,2403,12939,1.62,0.00,8.32,0.175,12290,0.096,0.000,2434,2511,3266,3441,3092,0,0,0,0,0,0,13.86,28.83,28.83
$STATE,12940,end apogee,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FREEZE,0.98,-1.665,-1.809,2,1,0
$FINISH,1.0,1.026557
$STATE,12946,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12946,begin surface
$SM_CCo,12974,272.02,0.164,0,0,1108,400.08
$SM_GC,1.22,7.00,0.00,272.02,0.085,0.000,0.164,143,2510,1108,-7.34,0.28,400.08,0,0,0,0,0,0,14.01,28.83,13.95
$RAFOS_CLK,667
$RAFOS,6,1388407745,12.833333,12.818055,60,60,54,54,54,45,205,215,182,143,166,125
$RAFOS,5,1388407261,12.700000,12.683611,69,65,65,56,55,53,158,178,204,214,131,121
$RAFOS,4,1388406782,12.566667,12.550555,72,62,56,55,55,52,166,195,136,183,204,220
$RAFOS,3,1388406304,12.433333,12.417778,66,54,52,52,50,49,208,177,123,219,161,146
$RAFOS,2,1388405821,12.300000,12.283611,61,60,59,58,56,52,206,167,218,186,128,152
$RAFOS,1,1388405345,12.166667,12.151389,58,57,55,52,52,52,195,114,207,123,168,216
$RAFOS,0,1388404867,12.033333,12.018611,62,61,60,57,56,54,158,182,217,204,139,234
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6537.93,-5814.86,291213,151543
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.12
$INTERNAL_PRESSURE,8.60578
$TCM_TEMP,11.90
$XPDR_PINGS,26
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,235.515
$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,20.175,72.000,8.325,272.025,0.000,0.000,0.000,747.750,6.750,0.000,37.820,5965.823,2647.707,585.988,3999.898,1206.345,0.000,2938.027,0.000,3408.696,2520.000,2.816,0.000
$DEVICE_MAMPS,315.180,110.160,175.185,163.710,0.000,0.000,0.000,167.535,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1713.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150636
$DATA_FILE_SIZE,93223,2405
$CAP_FILE_SIZE,193209,0
$CFSIZE,259252224,207200256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1438.7
$CURRENT,0.594,175.3,1
$GPS,301213,134153,6528.029,-5811.120,37,1.6,38,-32.0