version: 66.11
glider: 192
mission: 2
dive: 562
start: 12 30 113 21 56 8
data:
$ID,192
$MISSION,2
$DIVE,562
$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
$GPS1,301213,181529,6519.433,-5811.462,39,1.4,39,-31.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_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,-146.0,2495,2492,2840,2622,0.0,0.0,0,63,0.00,0.00,-40.45,0.000,16390,0.000,0.000,2495,2492,3337,3504,3171,0,0,0,0,0,0,28.83,28.83,14.57
$GC,71,-0.89,-146.0,2495,2492,3506,3170,1.1,-0.4,7,78,0.82,1.50,0.00,0.000,4612,0.100,0.093,2221,1654,3338,3506,3170,0,0,0,0,0,0,13.93,13.95,28.83
$GC,316,-0.82,-146.0,2221,1654,3507,3170,0.9,0.3,53,325,0.12,1.58,0.00,0.000,3078,0.305,0.105,2237,2505,3338,3507,3170,0,0,0,0,0,0,13.53,13.82,28.83
$GC,638,-0.82,-146.0,2238,2504,3507,3170,0.9,-1.0,114,645,0.00,1.55,0.00,0.000,516,0.000,0.096,2238,1653,3338,3506,3170,0,0,0,0,0,0,28.83,13.81,28.83
$GC,883,-0.75,-146.0,1376,1652,3499,3167,1.0,0.1,160,890,0.15,1.58,0.00,0.000,3078,0.290,0.106,2264,2500,3338,3507,3170,0,0,0,0,0,0,13.47,13.77,28.83
$GC,1211,-0.67,-146.0,2264,2499,3507,3170,1.0,-0.3,221,1218,0.00,1.52,0.00,0.000,516,0.000,0.096,2264,1656,3338,3507,3170,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1458,-0.60,-146.0,2263,1656,3507,3170,0.9,0.5,267,1466,0.22,1.58,0.00,0.000,3078,0.265,0.105,2310,2504,3338,3507,3170,0,0,0,0,0,0,13.43,13.76,28.83
$GC,1785,-0.52,-146.0,2310,2504,3507,3170,1.0,-0.1,328,1792,0.12,1.55,0.00,0.000,2564,0.314,0.092,2341,1659,3338,3507,3170,0,0,0,0,0,0,13.67,13.80,28.83
$GC,2032,-0.45,-146.0,2341,1659,3507,3170,1.0,-0.6,374,2038,0.00,1.55,0.00,0.000,1030,0.000,0.102,2336,2499,3338,3507,3170,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2354,-0.38,-146.0,2336,2499,3507,3170,0.9,0.5,435,2363,0.17,1.55,0.00,0.000,2564,0.296,0.092,2378,1653,3338,3507,3170,0,0,0,0,0,0,13.45,13.79,28.83
$GC,2601,-0.30,-146.0,2378,1653,3507,3170,0.9,0.3,481,2608,0.15,1.58,0.00,0.000,3078,0.281,0.106,2403,2499,3338,3507,3170,0,0,0,0,0,0,13.45,13.75,28.83
$GC,2929,-0.23,-146.0,2404,2499,3507,3170,0.9,-0.2,542,2936,0.12,1.55,0.00,0.000,2564,0.321,0.093,2434,1655,3338,3507,3170,0,0,0,0,0,0,13.64,13.77,28.83
$GC,3174,-0.16,-146.0,2434,1655,3507,3170,0.9,-0.1,588,3181,0.00,1.58,0.00,0.000,1030,0.000,0.106,2429,2502,3338,3507,3170,0,0,0,0,0,0,28.83,13.74,28.83
$GC,3497,-0.08,-146.0,2429,2502,3507,3170,1.0,-0.1,649,3505,0.17,1.55,0.00,0.000,2564,0.297,0.092,2471,1656,3338,3507,3170,0,0,0,0,0,0,13.46,13.78,28.83
$GC,3742,-0.01,-146.0,1536,1654,3499,3167,0.9,0.4,695,3749,0.15,1.58,0.00,0.000,3078,0.288,0.104,2497,2502,3339,3507,3171,0,0,0,0,0,0,13.43,13.74,28.83
$GC,4063,0.07,-146.0,1568,2500,3499,3167,1.0,0.2,756,4070,0.12,1.55,0.00,0.000,2564,0.317,0.091,2528,1659,3338,3507,3170,0,0,0,0,0,0,13.67,13.78,28.83
$GC,4307,0.07,-146.0,2528,1659,3507,3170,1.0,0.0,802,4315,0.00,1.58,0.00,0.000,1030,0.000,0.103,2523,2505,3338,3507,3170,0,0,0,0,0,0,28.83,13.74,28.83
$GC,4627,0.07,-146.0,2523,2504,3507,3170,1.0,-0.0,863,4634,0.00,1.55,0.00,0.000,516,0.000,0.095,2523,1657,3339,3507,3171,0,0,0,0,0,0,28.83,13.75,28.83
$GC,4872,0.14,-146.0,2523,1657,3507,3170,0.9,0.0,909,4881,0.15,1.58,0.00,0.000,3078,0.292,0.104,2546,2504,3338,3507,3170,0,0,0,0,0,0,13.41,13.72,28.83
$GC,5196,0.21,-146.0,2546,2504,3507,3170,0.9,0.3,970,5203,0.12,1.55,0.00,0.000,2564,0.316,0.092,2578,1659,3339,3508,3170,0,0,0,0,0,0,13.71,13.77,28.83
$GC,5443,0.29,-146.0,2578,1659,3507,3170,1.0,-0.3,1016,5449,0.00,1.55,0.00,0.000,1030,0.000,0.101,2573,2500,3338,3507,3170,0,0,0,0,0,0,28.83,13.73,28.83
$GC,5764,0.36,-146.0,2573,2500,3507,3170,1.0,-0.2,1077,5772,0.17,1.55,0.00,0.000,2564,0.297,0.092,2615,1659,3338,3507,3170,0,0,0,0,0,0,13.44,13.77,28.83
$GC,6010,0.44,-146.0,2615,1659,3507,3170,1.0,0.1,1123,6017,0.15,1.58,0.00,0.000,3078,0.297,0.103,2639,2507,3339,3507,3171,0,0,0,0,0,0,13.40,13.72,28.83
$GC,6330,0.51,-146.0,1672,2505,3499,3167,0.9,0.2,1184,6339,0.12,1.58,0.00,0.000,2564,0.321,0.092,2670,1650,3338,3507,3170,0,0,0,0,0,0,13.61,13.76,28.83
$GC,6579,0.59,-146.0,2671,1650,3507,3170,1.0,-0.3,1230,6586,0.00,1.60,0.00,0.000,1030,0.000,0.105,2666,2503,3338,3507,3170,0,0,0,0,0,0,28.83,13.71,28.83
$GC,6899,0.66,-146.0,2666,2503,3507,3170,0.9,0.2,1291,6906,0.20,1.55,0.00,0.000,2564,0.285,0.093,2713,1659,3339,3507,3171,0,0,0,0,0,0,13.38,13.76,28.83
$GC,7146,0.73,-146.0,2713,1659,3507,3170,0.9,-0.4,1337,7155,0.15,1.55,0.00,0.000,3078,0.291,0.102,2738,2499,3338,3507,3170,0,0,0,0,0,0,13.41,13.72,28.83
$GC,7470,0.81,-146.0,2738,2499,3507,3170,1.0,-0.3,1398,7477,0.00,1.55,0.00,0.000,516,0.000,0.097,2738,1651,3338,3507,3170,0,0,0,0,0,0,28.83,13.72,28.83
$GC,7715,0.81,-146.0,1760,1650,3499,3168,1.0,-1.0,1444,7722,0.15,1.60,0.00,0.000,3078,0.294,0.106,2762,2507,3338,3507,3170,0,0,0,0,0,0,13.40,13.70,28.83
$GC,8044,0.88,-146.0,1744,2505,3499,3167,0.9,-0.2,1505,8051,0.00,1.55,0.00,0.000,516,0.000,0.094,2763,1657,3338,3507,3170,0,0,0,0,0,0,28.83,13.72,28.83
$GC,8288,0.96,-146.0,2763,1657,3507,3170,1.0,-0.0,1551,8297,0.22,1.58,0.00,0.000,3078,0.268,0.104,2807,2505,3338,3507,3170,0,0,0,0,0,0,13.41,13.71,28.83
$GC,8617,1.03,-146.0,2808,2505,3507,3171,0.9,0.5,1612,8625,0.00,1.55,0.00,0.000,516,0.000,0.095,2808,1656,3338,3507,3170,0,0,0,0,0,0,28.83,13.71,28.83
$GC,8862,1.10,-146.0,1824,1655,3499,3167,0.9,0.2,1658,8869,0.22,1.58,0.00,0.000,3078,0.277,0.104,2853,2499,3338,3507,3170,0,0,0,0,0,0,13.36,13.72,28.83
$GC,9188,1.18,-146.0,2853,2499,3507,3170,0.9,0.3,1719,9196,0.12,1.55,0.00,0.000,2564,0.321,0.092,2884,1659,3338,3507,3170,0,0,0,0,0,0,13.62,13.74,28.83
$GC,9437,1.25,-146.0,2884,1659,3507,3170,0.9,0.5,1765,9444,0.00,1.58,0.00,0.000,1030,0.000,0.103,2879,2504,3338,3507,3170,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9758,1.33,-146.0,2878,2504,3507,3170,1.0,-0.5,1826,9767,0.20,1.58,0.00,0.000,2564,0.291,0.092,2926,1650,3338,3507,3170,0,0,0,0,0,0,13.33,13.75,28.83
$GC,10005,1.33,-146.0,2927,1650,3507,3170,1.0,-0.3,1872,10012,0.00,1.60,0.00,0.000,1030,0.000,0.106,2922,2507,3338,3507,3170,0,0,0,0,0,0,28.83,13.70,28.83
$GC,10330,1.40,-146.0,1904,2505,3499,3167,1.0,-0.0,1933,10337,0.12,1.58,0.00,0.000,2564,0.320,0.091,2950,1654,3338,3506,3170,0,0,0,0,0,0,13.63,13.75,28.83
$GC,10577,1.47,-146.0,2950,1655,3507,3170,0.9,0.4,1979,10586,0.15,1.58,0.00,0.000,3078,0.296,0.105,2974,2499,3338,3507,3170,0,0,0,0,0,0,13.38,13.71,28.83
$GC,10909,1.47,-146.0,2974,2499,3507,3171,0.8,4.4,2040,10915,0.00,1.55,0.00,0.000,516,0.000,0.095,2975,1657,3339,3507,3171,0,0,0,0,0,0,28.83,13.73,28.83
$GC,11155,1.55,-146.0,2975,1657,3507,3171,1.0,-0.3,2086,11162,0.15,1.58,0.00,0.000,3078,0.289,0.103,3000,2500,3338,3507,3170,0,0,0,0,0,0,13.40,13.71,28.83
$GC,11483,1.55,-146.0,3000,2500,3507,3171,1.0,-0.1,2147,11489,0.00,1.55,0.00,0.000,516,0.000,0.095,3000,1649,3338,3507,3170,0,0,0,0,0,0,28.83,13.74,28.83
$GC,11731,1.55,-146.0,3000,1649,3507,3170,1.0,-0.3,2193,11737,0.00,1.60,0.00,0.000,1030,0.000,0.105,2996,2498,3338,3507,3170,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12057,1.55,-146.0,1984,2496,3499,3167,1.0,0.2,2254,12064,0.00,1.55,0.00,0.000,516,0.000,0.095,2995,1658,3339,3507,3171,0,0,0,0,0,0,28.83,13.72,28.83
$GC,12304,1.55,-146.0,2996,1658,3507,3170,1.0,-0.4,2300,12311,0.00,1.58,0.00,0.000,1030,0.000,0.101,2989,2502,3338,3507,3170,0,0,0,0,0,0,28.83,13.72,28.83
$GC,12627,1.55,-146.0,2989,2502,3507,3170,1.0,-1.3,2361,12634,0.00,1.55,0.00,0.000,516,0.000,0.095,2989,1660,3338,3507,3170,0,0,0,0,0,0,28.83,13.73,28.83
$GC,12874,1.55,-146.0,1984,1658,3499,3167,0.9,0.6,2407,12880,0.00,1.58,0.00,0.000,1030,0.000,0.101,2983,2505,3339,3507,3171,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,12907,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12907,begin apogee
$FREEZE,1.03,-1.608,-1.814,2,2,0
$GC,12921,-0.22,0.0,2983,2504,3507,3171,1.0,-0.4,2413,12937,1.65,0.00,11.05,0.172,12290,0.096,0.000,2437,2505,3248,3421,3075,0,0,0,0,0,0,13.87,28.83,28.83
$STATE,12938,end apogee,SURFACE_DEPTH_REACHED
$STATE,12938,begin surface coast
$FREEZE,1.01,-1.603,-1.813,2,2,0
$FINISH,1.0,1.026618
$STATE,12944,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12944,begin surface
$SM_CCo,12972,270.92,0.164,0,0,1109,400.08
$SM_GC,1.11,7.00,0.00,270.92,0.085,0.000,0.164,142,2504,1109,-7.35,0.11,400.08,0,0,0,0,0,0,14.02,28.83,13.94
$RAFOS_CLK,721
$RAFOS,6,1388450941,0.833333,0.816944,65,62,56,53,50,49,181,157,213,223,198,122
$RAFOS,5,1388450461,0.700000,0.683611,62,60,56,55,53,50,220,125,194,160,203,169
$RAFOS,4,1388449982,0.566667,0.550556,68,59,54,51,50,47,204,130,121,142,155,105
$RAFOS,3,1388449503,0.433333,0.417500,62,61,58,55,50,50,160,190,214,181,128,146
$RAFOS,2,1388449026,0.300000,0.285000,63,63,60,52,51,51,167,209,199,181,113,134
$RAFOS,1,1388448541,0.166667,0.150278,65,62,59,57,52,50,187,198,216,130,146,161
$RAFOS,0,1388448066,0.033333,0.018333,70,65,55,54,52,51,201,212,191,119,137,227
$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,42.43
$INTERNAL_PRESSURE,8.60578
$TCM_TEMP,11.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,1.0,999.0
$24V_AH,13.3,235.949
$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,13.425,73.500,11.050,270.925,0.000,0.000,0.000,0.000,4.250,0.000,0.000,5941.405,2728.529,509.983,3425.405,720.215,0.000,2101.003,0.000,3419.709,2520.000,2.816,0.000
$DEVICE_MAMPS,321.300,106.335,172.125,163.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1722.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238552
$DATA_FILE_SIZE,96599,2415
$CAP_FILE_SIZE,177571,0
$CFSIZE,259252224,206938112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.6
$CURRENT,1.802,195.5,1
$GPS,311213,013835,6506.975,-5819.734,36,2.0,36,-31.6