version: 66.11
glider: 192
mission: 2
dive: 568
start: 12 31 113 21 23 23
data:
$ID,192
$MISSION,2
$DIVE,568
$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,-12242.939
$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,21
$R_STBD_OVSHOOT,14
$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
$GPS1,311213,211600,6434.502,-5857.683,43,1.2,43,-31.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-23.0
$GPS2,311213,212241,6434.304,-5857.949,4,1.2,4,-31.2
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,95.0,290936,-15.5,-8.250,-18.49,2720
$D_GRID,471
$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,-146.0,140,2494,1160,1033,0.0,0.0,0,161,0.00,0.00,-135.75,0.000,16390,0.000,0.000,139,2495,3337,3508,3166,0,0,0,0,0,0,28.83,28.83,14.55
$GC,167,-0.89,-146.0,140,2495,3509,3166,1.1,-0.0,4,181,7.88,1.52,0.00,0.000,2564,0.249,0.093,2216,1658,3337,3509,3166,0,0,0,0,0,0,13.66,14.02,28.83
$GC,416,-0.89,-146.0,2216,1658,3510,3166,0.9,-0.0,13,419,0.00,1.58,0.00,0.000,1030,0.000,0.104,2212,2503,3338,3510,3166,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1056,-0.82,-146.0,2212,2503,3510,3166,1.0,-0.1,34,1060,0.12,1.58,0.00,0.000,2564,0.317,0.092,2240,1649,3338,3510,3166,0,0,0,0,0,0,13.75,13.78,28.83
$GC,1293,-0.82,-146.0,2240,1649,3510,3166,0.9,0.0,41,1297,0.00,1.60,0.00,0.000,1030,0.000,0.105,2235,2506,3338,3510,3166,0,0,0,0,0,0,28.83,13.73,28.83
$GC,1915,-0.74,-146.0,2235,2506,3510,3166,1.0,0.0,62,1919,0.12,1.60,0.00,0.000,2564,0.314,0.092,2264,1662,3338,3510,3166,0,0,0,0,0,0,13.76,13.66,28.83
$GC,2153,-0.67,-146.0,2265,1662,3510,3166,0.9,0.0,69,2157,0.10,1.60,0.00,0.000,3078,0.265,0.102,2285,2492,3338,3510,3166,0,0,0,0,0,0,13.30,13.63,28.83
$GC,2774,-0.59,-146.0,2285,2492,3510,3166,0.9,0.0,90,2778,0.12,1.55,0.00,0.000,2564,0.309,0.093,2316,1654,3338,3510,3166,0,0,0,0,0,0,13.76,13.71,28.83
$GC,3012,-0.52,-146.0,2316,1654,3509,3166,1.0,0.0,97,3016,0.12,1.60,0.00,0.000,3078,0.311,0.104,2334,2510,3338,3510,3166,0,0,0,0,0,0,13.35,13.66,28.83
$GC,3627,-0.52,-146.0,2335,2510,3510,3166,0.9,0.0,118,3631,0.00,1.60,0.00,0.000,516,0.000,0.096,2335,1659,3338,3510,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,3865,-0.44,-146.0,2335,1659,3510,3166,1.0,0.0,125,3869,0.12,1.60,0.00,0.000,3078,0.276,0.102,2359,2495,3338,3510,3166,0,0,0,0,0,0,13.20,13.59,28.83
$GC,4481,-0.44,-146.0,2360,2495,3510,3166,1.0,0.0,146,4484,0.00,1.55,0.00,0.000,516,0.000,0.095,2359,1655,3338,3510,3166,0,0,0,0,0,0,28.83,13.67,28.83
$GC,4717,-0.37,-146.0,2360,1655,3510,3166,0.9,-0.1,153,4721,0.15,1.60,0.00,0.000,3078,0.285,0.103,2385,2508,3338,3510,3166,0,0,0,0,0,0,13.32,13.64,28.83
$GC,5333,-0.37,-146.0,2385,2508,3510,3166,1.0,0.1,174,5337,0.00,1.62,0.00,0.000,516,0.000,0.096,2385,1655,3338,3510,3166,0,0,0,0,0,0,28.83,13.60,28.83
$GC,5570,-0.37,-146.0,2385,1655,3509,3166,0.9,0.0,181,5573,0.00,1.65,0.00,0.000,1030,0.000,0.103,2380,2502,3338,3510,3166,0,0,0,0,0,0,28.83,13.57,28.83
$GC,6184,-0.37,-146.0,2380,2502,3510,3166,0.9,-0.0,202,6188,0.00,1.58,0.00,0.000,516,0.000,0.095,2380,1652,3338,3510,3166,0,0,0,0,0,0,28.83,13.66,28.83
$GC,6421,-0.37,-146.0,2380,1652,3510,3166,0.9,0.0,209,6424,0.00,1.60,0.00,0.000,1030,0.000,0.104,2374,2502,3338,3510,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7035,-0.37,-146.0,2373,2502,3510,3166,0.9,0.0,230,7038,0.00,1.55,0.00,0.000,516,0.000,0.094,2374,1659,3338,3510,3166,0,0,0,0,0,0,28.83,13.65,28.83
$GC,7271,-0.37,-146.0,2374,1659,3510,3166,0.9,0.2,237,7275,0.00,1.58,0.00,0.000,1030,0.000,0.103,2367,2499,3338,3510,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,7892,-0.29,-146.0,2368,2500,3510,3166,0.9,0.1,258,7896,0.15,1.62,0.00,0.000,2564,0.295,0.092,2403,1657,3338,3510,3166,0,0,0,0,0,0,13.63,13.57,28.83
$GC,8129,-0.29,-146.0,2403,1657,3510,3166,0.9,0.1,265,8133,0.00,1.65,0.00,0.000,1030,0.000,0.104,2399,2502,3338,3510,3166,0,0,0,0,0,0,28.83,13.54,28.83
$GC,8751,-0.22,-146.0,2399,2501,3510,3166,1.0,-0.0,286,8755,0.12,1.58,0.00,0.000,2564,0.321,0.091,2427,1656,3338,3510,3166,0,0,0,0,0,0,13.68,13.66,28.83
$GC,8988,-0.22,-146.0,2427,1656,3510,3166,0.9,0.1,293,8991,0.00,1.60,0.00,0.000,1030,0.000,0.104,2423,2503,3338,3510,3166,0,0,0,0,0,0,28.83,13.61,28.83
$GC,9608,-0.14,-146.0,2423,2503,3510,3166,1.0,-0.1,314,9612,0.12,1.58,0.00,0.000,2564,0.317,0.090,2449,1656,3338,3510,3166,0,0,0,0,0,0,13.65,13.64,28.83
$GC,9846,-0.07,-146.0,2451,1656,3510,3166,0.9,0.0,321,9851,0.17,1.60,0.00,0.000,3078,0.282,0.103,2482,2506,3338,3510,3166,0,0,0,0,0,0,13.25,13.59,28.83
$GC,10464,0.01,-146.0,2482,2506,3510,3166,1.0,0.0,342,10467,0.00,1.55,0.00,0.000,516,0.000,0.094,2482,1658,3338,3510,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,10702,0.09,-146.0,2482,1658,3510,3166,0.9,0.0,349,10710,0.25,1.58,0.00,0.000,3078,0.272,0.101,2531,2499,3338,3510,3166,0,0,0,0,0,0,13.23,13.59,28.83
$GC,11321,0.09,-146.0,2531,2499,3510,3166,0.9,0.0,370,11325,0.00,1.55,0.00,0.000,516,0.000,0.095,2531,1659,3338,3510,3166,0,0,0,0,0,0,28.83,13.62,28.83
$GC,11559,0.16,-146.0,2531,1659,3510,3165,0.9,-0.0,377,11564,0.10,1.62,0.00,0.000,3078,0.281,0.100,2550,2498,3338,3510,3166,0,0,0,0,0,0,13.16,13.52,28.83
$GC,12175,0.16,-146.0,2550,2498,3510,3166,0.9,0.0,398,12178,0.00,1.55,0.00,0.000,516,0.000,0.093,2550,1654,3337,3509,3166,0,0,0,0,0,0,28.83,13.60,28.83
$GC,12412,0.24,-146.0,2550,1655,3509,3166,0.9,-0.0,405,12416,0.12,1.62,0.00,0.000,3078,0.265,0.104,2576,2492,3338,3510,3166,0,0,0,0,0,0,13.17,13.51,28.83
$STATE,12931,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12937,begin apogee
$FREEZE,0.99,-39.928,-0.001,2,1,0
$GC,12950,-0.22,0.0,2576,2492,3510,3166,1.0,-0.0,423,12958,0.43,0.00,4.82,0.172,12290,0.114,0.000,2439,2492,3298,3473,3123,0,0,0,0,0,0,13.78,28.83,28.83
$STATE,12959,end apogee,SURFACE_DEPTH_REACHED
$STATE,12959,begin surface coast
$FREEZE,0.99,-39.928,-0.001,2,1,0
$FREEZE,0.99,-39.928,-0.001,2,1,0
$FREEZE,0.99,-39.928,-0.001,2,1,0
$FREEZE,0.99,-39.928,-0.001,2,1,0
$FREEZE,0.91,-39.928,-0.001,2,1,0
$FINISH,0.9,0.972744
$STATE,12988,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12988,begin surface
$SM_CCo,13016,280.58,0.164,0,0,1108,400.08
$SM_GC,1.08,7.12,0.00,280.58,0.086,0.000,0.164,137,2492,1108,-7.36,-0.23,400.08,0,0,0,0,0,0,13.85,28.83,13.85
$RAFOS_CLK,709
$RAFOS,6,1388537344,0.833333,0.817778,66,61,54,52,51,48,213,158,178,202,115,145
$RAFOS,5,1388536872,0.700000,0.686667,62,60,59,58,56,53,208,217,143,174,228,186
$RAFOS,4,1388536384,0.566667,0.551111,63,63,59,54,54,52,194,212,160,148,129,119
$RAFOS,3,1388535919,0.433333,0.421944,63,59,57,52,49,49,165,215,191,178,111,123
$RAFOS,2,1388535429,0.300000,0.285833,69,57,56,55,55,53,190,133,207,162,221,116
$RAFOS,1,1388534949,0.166667,0.152500,64,59,57,54,54,52,119,177,162,146,217,195
$RAFOS,0,1388534479,0.033333,0.021944,65,62,58,56,54,53,181,167,202,191,155,212
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6416.43,-5846.63,311213,171708
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.38
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.70
$XPDR_PINGS,17
$ALTIM_TOP_PING,1.0,999.0
$24V_AH,13.2,236.378
$10V_AH,12.1,0.000
$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,17.350,47.650,4.825,280.575,0.000,0.000,0.000,246.175,4.500,0.000,5.456,1164.070,9878.216,413.175,1739.802,514.305,0.000,1430.144,0.000,1510.495,2520.000,2.815,0.000
$DEVICE_MAMPS,321.300,104.805,172.125,163.710,0.000,0.000,0.000,129.285,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$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,238508
$DATA_FILE_SIZE,16837,424
$CAP_FILE_SIZE,96370,0
$CFSIZE,259252224,206835712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.968,208.9,1
$GPS,010114,010636,6428.181,-5905.788,29,1.0,29,-31.1