version: 66.11
glider: 192
mission: 2
dive: 563
start: 12 31 113 1 58 19
data:
$ID,192
$MISSION,2
$DIVE,563
$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,-12236.664
$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
$GPS1,311213,013835,6506.975,-5819.734,36,2.0,36,-31.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-22.9
$GPS2,311213,015737,6506.400,-5820.208,39,1.1,39,-31.6
$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,49.6,202831,-15.5,-8.250,-18.49,2720
$D_GRID,529
$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,-146.0,142,2505,1160,1031,0.0,0.0,0,161,0.00,0.00,-136.93,0.000,16390,0.000,0.000,143,2506,3335,3506,3165,0,0,0,0,0,0,28.83,28.83,14.61
$GC,168,-0.89,-146.0,142,2506,3507,3165,1.1,-0.0,4,181,7.70,1.52,0.00,0.000,2564,0.242,0.095,2216,1655,3336,3508,3165,0,0,0,0,0,0,13.76,14.04,28.83
$GC,415,-0.89,-146.0,2216,1655,3508,3165,1.0,0.1,13,419,0.00,1.58,0.00,0.000,1030,0.000,0.107,2211,2506,3336,3508,3165,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1057,-0.82,-146.0,2211,2506,3508,3165,1.0,-0.0,34,1061,0.12,1.55,0.00,0.000,2564,0.314,0.094,2240,1659,3336,3509,3164,0,0,0,0,0,0,13.82,13.92,28.83
$GC,1294,-0.82,-146.0,2240,1658,3508,3165,1.0,-0.0,41,1297,0.00,1.55,0.00,0.000,1030,0.000,0.105,2235,2500,3336,3508,3165,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1915,-0.75,-146.0,2236,2500,3508,3165,1.0,-0.0,62,1919,0.12,1.60,0.00,0.000,2564,0.311,0.094,2265,1659,3336,3508,3165,0,0,0,0,0,0,13.82,13.78,28.83
$GC,2153,-0.67,-146.0,2265,1659,3508,3165,1.0,-0.0,69,2158,0.10,1.60,0.00,0.000,3078,0.261,0.104,2285,2496,3336,3508,3165,0,0,0,0,0,0,13.43,13.74,28.83
$GC,2776,-0.60,-146.0,2286,2497,3508,3165,0.9,0.0,90,2780,0.12,1.55,0.00,0.000,2564,0.308,0.095,2317,1654,3336,3508,3165,0,0,0,0,0,0,13.80,13.82,28.83
$GC,3014,-0.53,-146.0,2317,1653,3508,3165,1.0,-0.0,97,3017,0.00,1.58,0.00,0.000,1030,0.000,0.108,2312,2504,3336,3508,3165,0,0,0,0,0,0,28.83,13.76,28.83
$GC,3629,-0.53,-146.0,2313,2503,3508,3165,0.9,0.0,118,3633,0.00,1.58,0.00,0.000,516,0.000,0.099,2312,1662,3336,3508,3165,0,0,0,0,0,0,28.83,13.71,28.83
$GC,3867,-0.45,-146.0,2313,1661,3508,3165,1.0,-0.0,125,3871,0.20,1.62,0.00,0.000,3078,0.256,0.110,2355,2504,3336,3508,3165,0,0,0,0,0,0,13.26,13.66,28.83
$GC,4482,-0.45,-146.0,2355,2504,3508,3165,1.1,0.0,146,4486,0.00,1.55,0.00,0.000,516,0.000,0.096,2355,1659,3336,3508,3165,0,0,0,0,0,0,28.83,13.77,28.83
$GC,4720,-0.38,-146.0,2355,1659,3508,3165,1.0,-0.0,153,4724,0.15,1.58,0.00,0.000,3078,0.288,0.103,2380,2504,3337,3509,3165,0,0,0,0,0,0,13.43,13.74,28.83
$GC,5335,-0.38,-146.0,2381,2503,3508,3165,1.0,-0.2,174,5339,0.00,1.58,0.00,0.000,516,0.000,0.097,2381,1663,3336,3508,3165,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5572,-0.38,-146.0,2381,1663,3508,3165,1.0,0.0,181,5576,0.00,1.62,0.00,0.000,1030,0.000,0.109,2376,2504,3336,3508,3165,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6187,-0.38,-146.0,2377,2504,3508,3165,1.0,-0.1,202,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6788,-0.31,-146.0,2377,2504,3508,3165,0.8,0.1,222,6790,0.12,0.00,0.00,0.000,2054,0.306,0.000,2401,2504,3337,3509,3165,0,0,0,0,0,0,13.93,28.83,28.83
$GC,7397,-0.23,-146.0,2401,2504,3508,3165,0.9,-0.0,242,7399,0.12,0.00,0.00,0.000,2054,0.318,0.000,2427,2505,3336,3508,3165,0,0,0,0,0,0,13.85,28.83,28.83
$GC,7987,-0.23,-146.0,2427,2504,3508,3165,1.0,0.0,262,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8587,-0.23,-146.0,2427,2504,3508,3165,1.0,-0.4,282,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2504,3337,3509,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9187,-0.23,-146.0,2427,2504,3509,3165,0.9,0.1,302,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9796,-0.16,-146.0,2427,2505,3508,3165,1.1,-0.1,322,9798,0.12,0.00,0.00,0.000,2054,0.316,0.000,2452,2505,3336,3508,3165,0,0,0,0,0,0,13.84,28.83,28.83
$GC,10394,-0.08,-146.0,2452,2505,3509,3164,0.9,0.1,342,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10987,-0.08,-146.0,2452,2505,3509,3165,0.9,0.0,362,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11588,-0.08,-146.0,2452,2505,3508,3165,1.0,-0.0,382,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12188,-0.01,-146.0,2452,2504,3508,3165,1.0,-0.0,402,12192,0.17,1.70,0.00,0.000,2308,0.288,0.133,2492,3336,3336,3508,3165,0,0,0,0,0,0,13.59,13.45,28.83
$GC,12426,-0.01,-146.0,2492,3336,3509,3165,0.9,0.1,409,12429,0.00,1.52,0.00,0.000,1030,0.000,0.090,2492,2498,3336,3508,3165,0,0,0,0,0,0,28.83,13.81,28.83
$STATE,12914,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12914,begin apogee
$FREEZE,0.91,-39.928,-0.001,2,1,0
$GC,12928,-0.22,0.0,2493,2499,3508,3165,0.9,0.2,426,12936,0.15,0.00,5.12,0.168,12290,0.141,0.000,2440,2498,3295,3470,3121,0,0,0,0,0,0,14.16,28.83,28.83
$STATE,12938,end apogee,SURFACE_DEPTH_REACHED
$STATE,12938,begin surface coast
$FREEZE,0.91,-39.928,-0.001,2,1,0
$FREEZE,0.91,-39.928,-0.001,2,1,0
$FREEZE,0.91,-39.928,-0.001,2,1,0
$FREEZE,0.91,-39.928,-0.001,2,1,0
$FREEZE,0.97,-39.928,-0.001,2,1,0
$FREEZE,0.90,-39.928,-0.001,2,1,0
$FREEZE,1.02,-39.928,-0.001,2,1,0
$FREEZE,0.99,-39.928,-0.001,2,1,0
$FREEZE,0.95,-39.928,-0.001,2,1,0
$FREEZE,0.96,-39.928,-0.001,2,1,0
$FREEZE,0.88,-39.928,-0.001,2,1,0
$FINISH,0.9,0.972744
$STATE,13148,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13148,begin surface
$SM_CCo,13177,278.95,0.161,0,0,1109,400.08
$SM_GC,1.07,7.10,0.00,278.95,0.085,0.000,0.161,136,2498,1109,-7.36,-0.06,400.08,0,0,0,0,0,0,13.85,28.83,13.87
$RAFOS_CLK,719
$RAFOS,6,1388465360,4.833333,4.822222,72,58,57,53,52,49,212,161,185,107,138,195
$RAFOS,5,1388464880,4.700000,4.688889,63,62,55,54,50,49,190,215,202,143,174,224
$RAFOS,4,1388464400,4.566667,4.555555,65,55,55,55,51,51,194,180,171,218,112,135
$RAFOS,3,1388463920,4.433333,4.422222,60,59,56,51,51,49,181,202,212,137,193,156
$RAFOS,2,1388463440,4.300000,4.288889,58,55,54,53,51,50,219,177,189,128,203,157
$RAFOS,1,1388462960,4.166667,4.155556,64,60,56,55,53,49,212,182,117,170,146,617
$RAFOS,0,1388462480,4.033333,4.022222,55,53,51,49,48,47,216,168,124,135,179,230
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6451.58,-5812.76,301213,181837
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.30
$INTERNAL_PRESSURE,8.61555
$TCM_TEMP,11.80
$XPDR_PINGS,41
$ALTIM_TOP_PING,0.9,999.0
$24V_AH,13.3,236.046
$10V_AH,12.2,0.000
$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,16.325,25.275,5.125,278.950,0.000,0.000,0.000,740.125,10.500,0.000,40.025,1115.979,10564.819,406.851,1744.425,751.443,0.000,1731.510,0.000,1128.014,2520.000,2.817,0.000
$DEVICE_MAMPS,318.240,133.110,168.300,161.415,0.000,0.000,0.000,162.180,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238416
$DATA_FILE_SIZE,16806,433
$CAP_FILE_SIZE,84943,0
$CFSIZE,259252224,207028224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1465.0
$CURRENT,1.100,202.9,1
$GPS,311213,054423,6458.983,-5827.607,41,1.5,42,-31.5