version: 66.11
glider: 192
mission: 2
dive: 561
start: 12 30 113 18 16 7
data:
$ID,192
$MISSION,2
$DIVE,561
$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,-4
$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,-12235.409
$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
$GPS1,301213,175222,6520.215,-5811.163,43,0.9,44,-31.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-22.9
$GPS2,301213,181529,6519.433,-5811.462,39,1.4,39,-31.8
$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,44.7,184977,-15.5,-8.250,-18.49,2720
$D_GRID,530
$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,-146.0,142,2511,1160,1031,0.0,0.0,0,162,0.00,0.00,-137.98,0.000,16390,0.000,0.000,142,2511,3337,3508,3166,0,0,0,0,0,0,28.83,28.83,14.62
$GC,170,-0.89,-146.0,141,2511,3509,3165,1.1,0.0,24,184,7.70,1.58,0.00,0.000,2564,0.240,0.098,2220,1659,3337,3510,3165,0,0,0,0,0,0,13.81,14.10,28.83
$GC,423,-0.82,-146.0,2220,1659,3510,3165,1.0,-0.4,71,431,0.12,1.55,0.00,0.000,3078,0.301,0.104,2239,2507,3338,3510,3166,0,0,0,0,0,0,13.71,13.97,28.83
$GC,745,-0.75,-146.0,2239,2507,3510,3165,0.9,-0.2,132,752,0.12,1.55,0.00,0.000,2564,0.310,0.094,2271,1651,3337,3510,3165,0,0,0,0,0,0,13.79,13.96,28.83
$GC,989,-0.67,-146.0,1408,1649,3502,3162,0.9,0.3,178,996,0.00,1.58,0.00,0.000,1030,0.000,0.105,2267,2508,3337,3510,3165,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1309,-0.60,-146.0,2267,2508,3510,3165,0.9,-0.1,239,1316,0.17,1.55,0.00,0.000,2564,0.288,0.094,2310,1658,3337,3509,3165,0,0,0,0,0,0,13.60,13.92,28.83
$GC,1557,-0.52,-146.0,2309,1659,3510,3165,0.9,-0.1,285,1564,0.15,1.58,0.00,0.000,3078,0.301,0.105,2335,2508,3337,3510,3165,0,0,0,0,0,0,13.54,13.86,28.83
$GC,1884,-0.45,-146.0,2335,2508,3510,3165,1.0,-0.1,346,1890,0.00,1.55,0.00,0.000,516,0.000,0.098,2335,1652,3338,3510,3166,0,0,0,0,0,0,28.83,13.85,28.83
$GC,2129,-0.38,-146.0,2336,1652,3510,3165,0.9,0.4,392,2138,0.22,1.58,0.00,0.000,3078,0.271,0.105,2380,2500,3338,3510,3166,0,0,0,0,0,0,13.51,13.84,28.83
$GC,2456,-0.30,-146.0,2381,2500,3510,3166,0.9,-0.1,453,2464,0.12,1.55,0.00,0.000,2564,0.308,0.094,2412,1658,3337,3510,3165,0,0,0,0,0,0,13.76,13.87,28.83
$GC,2701,-0.30,-146.0,2412,1658,3510,3165,1.0,-1.7,499,2707,0.00,1.58,0.00,0.000,1030,0.000,0.104,2407,2501,3337,3510,3165,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3023,-0.23,-146.0,2407,2502,3510,3165,0.9,0.3,560,3031,0.00,1.52,0.00,0.000,516,0.000,0.096,2407,1660,3338,3510,3166,0,0,0,0,0,0,28.83,13.82,28.83
$GC,3271,-0.16,-146.0,2407,1660,3510,3165,0.9,0.2,606,3278,0.22,1.55,0.00,0.000,3078,0.282,0.103,2449,2500,3337,3510,3165,0,0,0,0,0,0,13.42,13.81,28.83
$GC,3592,-0.16,-146.0,2449,2499,3510,3166,1.0,0.0,667,3599,0.00,1.52,0.00,0.000,516,0.000,0.097,2449,1660,3337,3510,3165,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3840,-0.08,-146.0,2449,1660,3510,3165,1.0,-0.2,713,3847,0.15,1.55,0.00,0.000,3078,0.292,0.103,2474,2500,3337,3510,3165,0,0,0,0,0,0,13.48,13.80,28.83
$GC,4166,-0.01,-146.0,1536,2498,3502,3162,0.9,0.3,774,4173,0.12,1.55,0.00,0.000,2564,0.308,0.093,2503,1651,3338,3510,3166,0,0,0,0,0,0,13.72,13.83,28.83
$GC,4411,0.06,-146.0,1568,1650,3502,3163,1.0,-0.3,820,4420,0.00,1.58,0.00,0.000,1030,0.000,0.106,2500,2499,3337,3510,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,4736,0.14,-146.0,2501,2499,3510,3166,1.0,-0.3,881,4743,0.20,1.55,0.00,0.000,2564,0.295,0.092,2548,1655,3337,3510,3165,0,0,0,0,0,0,13.40,13.83,28.83
$GC,4982,0.14,-146.0,2548,1655,3510,3165,1.0,0.9,927,4988,0.00,1.58,0.00,0.000,1030,0.000,0.106,2543,2501,3337,3510,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,5303,0.21,-146.0,2544,2501,3510,3165,1.1,-0.3,988,5312,0.12,1.55,0.00,0.000,2564,0.314,0.092,2573,1655,3337,3509,3165,0,0,0,0,0,0,13.69,13.82,28.83
$GC,5551,0.28,-146.0,2573,1655,3510,3165,1.0,-0.6,1034,5558,0.12,1.58,0.00,0.000,3078,0.304,0.105,2592,2502,3337,3510,3165,0,0,0,0,0,0,13.50,13.77,28.83
$GC,5873,0.28,-146.0,2592,2502,3510,3165,1.0,0.0,1095,5879,0.00,1.52,0.00,0.000,516,0.000,0.096,2593,1659,3337,3510,3165,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6117,0.36,-146.0,1632,1657,3502,3162,0.9,-0.0,1141,6126,0.15,1.55,0.00,0.000,3078,0.292,0.101,2618,2500,3337,3510,3165,0,0,0,0,0,0,13.44,13.77,28.83
$GC,6447,0.43,-146.0,2618,2500,3509,3165,1.0,-0.4,1202,6454,0.00,1.55,0.00,0.000,516,0.000,0.096,2618,1653,3338,3510,3166,0,0,0,0,0,0,28.83,13.76,28.83
$GC,6693,0.50,-146.0,2617,1653,3510,3165,1.0,0.0,1248,6701,0.22,1.58,0.00,0.000,3078,0.279,0.105,2662,2500,3337,3510,3164,0,0,0,0,0,0,13.38,13.76,28.83
$GC,7022,0.58,-146.0,2663,2500,3510,3165,1.0,-0.2,1309,7029,0.12,1.55,0.00,0.000,2564,0.312,0.092,2693,1657,3337,3510,3165,0,0,0,0,0,0,13.65,13.78,28.83
$GC,7268,0.65,-146.0,2693,1657,3510,3165,1.0,-0.4,1355,7276,0.00,1.58,0.00,0.000,1030,0.000,0.103,2689,2504,3337,3510,3165,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7591,0.72,-146.0,2689,2504,3510,3165,0.9,0.3,1416,7598,0.17,1.58,0.00,0.000,2564,0.288,0.092,2730,1652,3337,3510,3165,0,0,0,0,0,0,13.43,13.79,28.83
$GC,7839,0.80,-146.0,2730,1652,3510,3165,0.9,0.1,1462,7846,0.15,1.58,0.00,0.000,3078,0.292,0.104,2755,2499,3337,3509,3165,0,0,0,0,0,0,13.43,13.74,28.83
$GC,8166,0.87,-146.0,1744,2497,3502,3162,1.0,-0.2,1523,8175,0.12,1.55,0.00,0.000,2564,0.315,0.091,2785,1658,3337,3510,3165,0,0,0,0,0,0,13.69,13.80,28.83
$GC,8414,0.95,-146.0,2785,1658,3510,3165,0.9,0.4,1569,8420,0.00,1.58,0.00,0.000,1030,0.000,0.103,2781,2504,3337,3510,3165,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8744,1.02,-146.0,1760,2502,3502,3162,1.0,-0.0,1630,8751,0.17,1.55,0.00,0.000,2564,0.298,0.092,2823,1660,3337,3510,3165,0,0,0,0,0,0,13.39,13.78,28.83
$GC,8990,1.02,-146.0,2822,1660,3510,3164,0.9,0.2,1676,8996,0.00,1.58,0.00,0.000,1030,0.000,0.100,2818,2504,3337,3510,3165,0,0,0,0,0,0,28.83,13.73,28.83
$GC,9320,1.09,-146.0,2818,2502,3510,3165,1.0,-0.4,1737,9328,0.12,1.55,0.00,0.000,2564,0.319,0.091,2847,1659,3337,3510,3165,0,0,0,0,0,0,13.64,13.78,28.83
$GC,9565,1.09,-146.0,1856,1657,3502,3162,0.9,0.0,1783,9572,0.00,1.58,0.00,0.000,1030,0.000,0.100,2842,2500,3337,3510,3165,0,0,0,0,0,0,28.83,13.75,28.83
$GC,9885,1.09,-146.0,2843,2500,3510,3166,0.9,0.7,1844,9892,0.00,1.55,0.00,0.000,516,0.000,0.096,2843,1651,3337,3510,3165,0,0,0,0,0,0,28.83,13.76,28.83
$GC,10131,1.17,-146.0,2843,1651,3510,3165,0.8,0.8,1890,10138,0.17,1.60,0.00,0.000,3078,0.287,0.104,2873,2508,3337,3510,3165,0,0,0,0,0,0,13.40,13.74,28.83
$GC,10459,1.24,-146.0,2873,2509,3510,3165,0.9,0.1,1951,10468,0.12,1.58,0.00,0.000,2564,0.315,0.091,2903,1657,3337,3510,3165,0,0,0,0,0,0,13.67,13.79,28.83
$GC,10708,1.31,-146.0,2904,1657,3510,3164,0.9,-0.1,1997,10715,0.00,1.58,0.00,0.000,1030,0.000,0.103,2899,2502,3337,3510,3165,0,0,0,0,0,0,28.83,13.75,28.83
$GC,11034,1.39,-146.0,2899,2502,3510,3165,1.0,-0.3,2058,11041,0.17,1.55,0.00,0.000,2564,0.293,0.091,2941,1659,3337,3510,3165,0,0,0,0,0,0,13.42,13.78,28.83
$GC,11280,1.46,-146.0,2941,1659,3509,3165,0.8,1.1,2104,11288,0.17,1.55,0.00,0.000,3078,0.283,0.101,2971,2500,3337,3510,3165,0,0,0,0,0,0,13.39,13.74,28.83
$GC,11608,1.54,-146.0,1952,2498,3502,3162,1.0,-0.2,2165,11614,0.00,1.52,0.00,0.000,516,0.000,0.095,2971,1658,3337,3510,3165,0,0,0,0,0,0,28.83,13.75,28.83
$GC,11852,1.54,-146.0,1968,1657,3502,3162,0.9,0.3,2211,11861,0.15,1.58,0.00,0.000,3078,0.285,0.103,2996,2507,3337,3510,3165,0,0,0,0,0,0,13.43,13.74,28.83
$GC,12175,1.54,-146.0,2996,2507,3509,3165,0.9,-1.2,2272,12182,0.00,1.55,0.00,0.000,516,0.000,0.094,2997,1656,3337,3510,3165,0,0,0,0,0,0,28.83,13.75,28.83
$GC,12420,1.54,-146.0,2997,1656,3510,3165,1.0,-0.8,2318,12427,0.00,1.58,0.00,0.000,1030,0.000,0.103,2992,2499,3337,3510,3165,0,0,0,0,0,0,28.83,13.74,28.83
$GC,12746,1.54,-146.0,2993,2499,3510,3165,0.9,0.6,2379,12753,0.00,1.55,0.00,0.000,516,0.000,0.094,2992,1657,3337,3510,3165,0,0,0,0,0,0,28.83,13.74,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,0.97,-1.771,-1.812,2,1,0
$GC,12923,-0.22,0.0,2986,2515,3509,3165,1.0,0.0,2410,12934,1.65,0.00,7.18,0.177,12290,0.095,0.000,2439,2515,3280,3455,3105,0,0,0,0,0,0,13.88,28.83,28.83
$STATE,12935,end apogee,FINISH_DEPTH_REACHED
$STATE,12935,begin subsurface finish
$FINISH1,1.0,1.026600,0
$GC,12950,0.00,0.0,2439,2515,3454,3106,1.0,-0.0,2411,13025,0.25,1.58,66.57,0.161,10500,0.272,0.135,2495,3353,2737,2853,2622,0,0,0,0,0,0,13.45,13.98,13.89
$FINISH2,1.0
$STATE,13026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13026,begin surface
$RAFOS_CLK,651
$RAFOS,6,1388436543,20.833334,20.817499,67,59,59,54,53,51,191,117,209,165,181,141
$RAFOS,5,1388436063,20.700001,20.684166,69,57,57,54,53,48,206,195,157,173,118,217
$RAFOS,4,1388435582,20.566668,20.550556,62,59,54,54,54,51,141,190,167,158,206,122
$RAFOS,3,1388435102,20.433332,20.417223,67,59,56,55,51,50,216,190,147,122,179,202
$RAFOS,2,1388434622,20.299999,20.283890,73,65,55,53,51,49,209,187,153,170,133,115
$RAFOS,1,1388434143,20.166666,20.150833,68,63,57,56,54,54,214,133,146,174,193,160
$RAFOS,0,1388433664,20.033333,20.017778,62,59,55,55,53,51,197,175,117,218,660,159
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6451.58,-5805.68,301213,171736
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.03
$INTERNAL_PRESSURE,8.75227
$TCM_TEMP,11.70
$XPDR_PINGS,28
$ALTIM_TOP_PING,1.0,999.0
$24V_AH,13.4,235.840
$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,13.525,73.400,73.750,0.000,0.000,0.000,0.000,921.800,7.250,0.000,40.529,5909.719,2747.152,352.664,4185.692,1177.756,0.000,2900.071,0.000,3433.364,2520.000,2.816,0.000
$DEVICE_MAMPS,319.005,134.640,177.480,0.000,0.000,0.000,0.000,163.710,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1724.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238476
$DATA_FILE_SIZE,96420,2423
$CAP_FILE_SIZE,195936,0
$CFSIZE,259252224,207007744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1438.4
$CURRENT,1.633,319.8,1
$GPS,301213,181529,6519.433,-5811.462,39,1.4,39,-31.8