version: 66.11
glider: 192
mission: 2
dive: 570
start: 1 1 114 5 6 12
data:
$ID,192
$MISSION,2
$DIVE,570
$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,90
$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,-12245.451
$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
$GPS1,010114,045753,6421.204,-5915.147,40,1.1,41,-31.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-23.0
$GPS2,010114,050529,6420.964,-5915.569,7,1.1,7,-31.0
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6420.964,-5850.622
$TGT_RADIUS,1852.000
$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,76.0,20000,-15.5,-8.250,-18.49,2720
$D_GRID,447
$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,21,-0.89,-146.0,140,2507,1160,1032,0.0,0.0,0,162,0.00,0.00,-136.73,0.000,16390,0.000,0.000,140,2508,3335,3506,3165,0,0,0,0,0,0,28.83,28.83,14.54
$GC,169,-0.89,-146.0,140,2508,3507,3165,1.1,0.0,4,182,7.82,1.58,0.00,0.000,2564,0.246,0.096,2214,1648,3336,3507,3165,0,0,0,0,0,0,13.65,14.00,28.83
$GC,417,-0.89,-146.0,2214,1649,3508,3165,1.0,-0.1,13,420,0.00,1.60,0.00,0.000,1030,0.000,0.109,2210,2501,3336,3508,3165,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1058,-0.82,-146.0,2210,2501,3508,3165,0.9,-0.0,34,1063,0.12,1.58,0.00,0.000,2564,0.311,0.094,2238,1656,3336,3508,3165,0,0,0,0,0,0,13.75,13.74,28.83
$GC,1295,-0.82,-146.0,2239,1656,3509,3165,1.0,-0.0,41,1299,0.00,1.60,0.00,0.000,1030,0.000,0.109,2234,2503,3336,3508,3165,0,0,0,0,0,0,28.83,13.69,28.83
$GC,1917,-0.74,-146.0,2234,2502,3508,3165,0.9,-0.1,62,1921,0.12,1.62,0.00,0.000,2564,0.311,0.094,2263,1656,3336,3508,3165,0,0,0,0,0,0,13.76,13.62,28.83
$GC,2155,-0.67,-146.0,2263,1656,3508,3165,0.9,-0.0,69,2160,0.10,1.62,0.00,0.000,3078,0.263,0.108,2284,2491,3336,3508,3165,0,0,0,0,0,0,13.28,13.57,28.83
$GC,2777,-0.59,-146.0,2283,2491,3508,3165,1.0,-0.0,90,2781,0.12,1.55,0.00,0.000,2564,0.308,0.095,2315,1659,3336,3508,3165,0,0,0,0,0,0,13.76,13.66,28.83
$GC,3015,-0.52,-146.0,2315,1659,3508,3165,1.0,-0.0,97,3020,0.12,1.60,0.00,0.000,3078,0.311,0.107,2334,2506,3336,3508,3165,0,0,0,0,0,0,13.31,13.62,28.83
$GC,3631,-0.52,-146.0,2334,2507,3507,3165,1.0,0.0,118,3635,0.00,1.62,0.00,0.000,516,0.000,0.098,2335,1657,3336,3508,3165,0,0,0,0,0,0,28.83,13.57,28.83
$GC,3868,-0.44,-146.0,2335,1656,3508,3165,0.9,0.1,125,3873,0.10,1.65,0.00,0.000,3078,0.279,0.108,2354,2502,3336,3508,3165,0,0,0,0,0,0,13.20,13.54,28.83
$GC,4485,-0.44,-146.0,2353,2502,3508,3165,0.9,0.0,146,4488,0.00,1.58,0.00,0.000,516,0.000,0.096,2353,1653,3336,3508,3165,0,0,0,0,0,0,28.83,13.64,28.83
$GC,4722,-0.37,-146.0,2354,1653,3508,3165,0.9,0.1,153,4726,0.17,1.62,0.00,0.000,3078,0.275,0.109,2385,2506,3336,3508,3165,0,0,0,0,0,0,13.29,13.59,28.83
$GC,5337,-0.37,-146.0,2385,2507,3507,3165,0.9,0.4,174,5341,0.00,1.60,0.00,0.000,516,0.000,0.097,2385,1661,3336,3508,3165,0,0,0,0,0,0,28.83,13.56,28.83
$GC,5574,-0.37,-146.0,2385,1661,3508,3165,1.0,0.0,181,5578,0.00,1.62,0.00,0.000,1030,0.000,0.111,2381,2493,3336,3508,3165,0,0,0,0,0,0,28.83,13.50,28.83
$GC,6189,-0.37,-146.0,2381,2493,3508,3165,0.9,0.1,202,6192,0.00,1.55,0.00,0.000,516,0.000,0.098,2381,1653,3336,3508,3165,0,0,0,0,0,0,28.83,13.61,28.83
$GC,6426,-0.37,-146.0,2380,1653,3508,3165,0.9,0.0,209,6430,0.00,1.62,0.00,0.000,1030,0.000,0.109,2374,2509,3336,3508,3165,0,0,0,0,0,0,28.83,13.59,28.83
$GC,7040,-0.37,-146.0,2375,2509,3508,3165,0.8,0.1,230,7044,0.00,1.62,0.00,0.000,516,0.000,0.097,2374,1660,3336,3508,3165,0,0,0,0,0,0,28.83,13.54,28.83
$GC,7277,-0.37,-146.0,2375,1660,3508,3165,1.0,-0.0,237,7281,0.00,1.65,0.00,0.000,1030,0.000,0.109,2368,2497,3336,3508,3165,0,0,0,0,0,0,28.83,13.50,28.83
$GC,7899,-0.29,-146.0,2368,2497,3508,3165,0.8,0.1,258,7903,0.15,1.58,0.00,0.000,2564,0.296,0.093,2404,1656,3336,3508,3165,0,0,0,0,0,0,13.60,13.63,28.83
$GC,8135,-0.29,-146.0,2404,1656,3508,3165,0.9,0.2,265,8139,0.00,1.62,0.00,0.000,1030,0.000,0.109,2400,2506,3336,3508,3165,0,0,0,0,0,0,28.83,13.57,28.83
$GC,8757,-0.22,-146.0,2399,2506,3508,3164,0.9,0.0,286,8762,0.12,1.62,0.00,0.000,2564,0.321,0.093,2428,1660,3336,3508,3165,0,0,0,0,0,0,13.68,13.52,28.83
$GC,8995,-0.22,-146.0,2428,1660,3509,3165,0.9,0.0,293,8998,0.00,1.65,0.00,0.000,1030,0.000,0.107,2423,2502,3336,3508,3165,0,0,0,0,0,0,28.83,13.49,28.83
$GC,9616,-0.14,-146.0,2423,2502,3508,3164,0.9,0.0,314,9620,0.12,1.58,0.00,0.000,2564,0.316,0.093,2452,1659,3336,3508,3164,0,0,0,0,0,0,13.68,13.62,28.83
$GC,9854,-0.07,-146.0,2452,1659,3508,3165,0.9,0.1,321,9858,0.15,1.60,0.00,0.000,3078,0.284,0.106,2477,2507,3336,3508,3165,0,0,0,0,0,0,13.26,13.57,28.83
$GC,10476,0.00,-146.0,2477,2507,3508,3165,0.9,0.1,342,10481,0.12,1.62,0.00,0.000,2564,0.311,0.093,2508,1661,3336,3508,3165,0,0,0,0,0,0,13.73,13.52,28.83
$GC,10714,0.08,-146.0,2508,1661,3508,3165,1.0,-0.1,349,10717,0.00,1.60,0.00,0.000,1030,0.000,0.109,2504,2501,3336,3508,3165,0,0,0,0,0,0,28.83,13.54,28.83
$GC,11329,0.08,-146.0,2504,2501,3508,3165,0.9,0.0,370,11333,0.00,1.58,0.00,0.000,516,0.000,0.096,2504,1652,3336,3508,3165,0,0,0,0,0,0,28.83,13.58,28.83
$GC,11568,0.15,-146.0,2504,1651,3508,3165,0.9,-0.1,377,11572,0.20,1.65,0.00,0.000,3078,0.262,0.109,2546,2491,3336,3508,3165,0,0,0,0,0,0,13.21,13.47,28.83
$GC,12183,0.15,-146.0,2546,2491,3508,3165,0.9,0.0,398,12187,0.00,1.60,0.00,0.000,516,0.000,0.096,2546,1657,3336,3508,3165,0,0,0,0,0,0,28.83,13.50,28.83
$GC,12421,0.23,-146.0,2546,1657,3508,3165,0.9,0.0,405,12430,0.17,1.62,0.00,0.000,3078,0.284,0.109,2577,2503,3336,3508,3165,0,0,0,0,0,0,13.24,13.55,28.83
$STATE,12913,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12913,begin apogee
$FREEZE,0.94,-39.928,-0.001,2,1,0
$GC,12926,-0.22,0.0,2577,2503,3508,3165,0.9,0.0,422,12934,0.43,0.00,4.70,0.169,12290,0.114,0.000,2441,2503,3298,3472,3124,0,0,0,0,0,0,13.76,28.83,28.83
$STATE,12935,end apogee,SURFACE_DEPTH_REACHED
$STATE,12935,begin surface coast
$FREEZE,0.94,-39.928,-0.001,2,1,0
$FREEZE,0.94,-39.928,-0.001,2,1,0
$FREEZE,0.94,-39.928,-0.001,2,1,0
$FREEZE,0.94,-39.928,-0.001,2,1,0
$FREEZE,1.00,-39.928,-0.001,2,1,0
$FREEZE,0.78,-39.928,-0.001,2,1,0
$FREEZE,0.91,-39.928,-0.001,2,1,0
$FINISH,0.9,0.972744
$STATE,13025,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13025,begin surface
$SM_CCo,13054,280.80,0.162,0,0,1108,400.08
$SM_GC,1.07,7.12,0.00,280.80,0.086,0.000,0.162,140,2503,1108,-7.35,0.08,400.08,0,0,0,0,0,0,13.83,28.83,13.83
$RAFOS_CLK,717
$RAFOS,4,1388565182,8.566667,8.550555,63,62,58,57,55,52,199,216,181,134,120,158
$RAFOS,3,1388564710,8.433333,8.419444,65,58,58,55,54,43,214,132,115,193,172,93
$RAFOS,2,1388564225,8.300000,8.284722,58,57,57,53,50,47,158,192,223,170,180,205
$RAFOS,1,1388563764,8.166667,8.156667,57,53,51,51,49,47,224,201,127,176,187,212
$RAFOS,0,1388563262,8.033334,8.017222,64,59,56,55,54,50,204,219,191,144,179,119
$RAFOS,6,1388551768,4.833333,4.824444,60,58,58,56,54,52,188,142,221,122,208,198
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6401.59,-5903.03,010114,010117
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.01
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.80
$XPDR_PINGS,49
$ALTIM_TOP_PING,0.9,999.0
$24V_AH,13.2,236.515
$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,17.300,48.225,4.700,280.800,0.000,0.000,0.000,238.850,12.500,0.000,8.330,1192.164,9932.362,414.133,1742.142,521.322,0.000,1426.092,0.000,1511.698,2160.000,2.814,0.000
$DEVICE_MAMPS,320.535,110.925,169.065,162.180,0.000,0.000,0.000,121.635,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$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,238596
$DATA_FILE_SIZE,16769,425
$CAP_FILE_SIZE,96949,0
$CFSIZE,259252224,206753792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,1.225,224.0,1
$GPS,010114,085005,6414.583,-5929.760,32,1.7,33,-31.0