version: 66.11
glider: 192
mission: 2
dive: 571
start: 1 1 114 8 56 55
data:
$ID,192
$MISSION,2
$DIVE,571
$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,-12246.705
$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,15
$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
$GPS1,010114,085005,6414.583,-5929.760,32,1.7,33,-31.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-23.2
$GPS2,010114,085617,6414.435,-5930.163,7,1.7,7,-31.0
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6414.435,-5905.314
$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,348
$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,-146.0,141,2503,1160,1033,0.0,0.0,0,161,0.00,0.00,-136.48,0.000,16390,0.000,0.000,140,2504,3335,3506,3165,0,0,0,0,0,0,28.83,28.83,14.54
$GC,168,-0.89,-146.0,140,2504,3506,3165,1.0,-0.0,4,178,7.93,0.00,0.00,0.000,2054,0.246,0.000,2218,2504,3336,3507,3165,0,0,0,0,0,0,13.67,28.83,28.83
$GC,774,-0.82,-146.0,2218,2504,3509,3165,0.9,0.0,25,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.74,-146.0,2218,2504,3508,3165,0.9,0.0,45,1376,0.20,0.00,0.00,0.000,2054,0.291,0.000,2264,2504,3336,3508,3165,0,0,0,0,0,0,13.56,28.83,28.83
$GC,1973,-0.74,-146.0,2264,2505,3508,3165,1.0,0.0,65,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2504,3337,3508,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2573,-0.74,-146.0,2264,2504,3508,3165,0.9,0.1,85,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2504,3336,3508,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3174,-0.67,-146.0,2264,2504,3508,3165,1.0,-0.1,105,3176,0.12,0.00,0.00,0.000,2054,0.304,0.000,2292,2504,3336,3508,3165,0,0,0,0,0,0,13.93,28.83,28.83
$GC,3780,-0.59,-146.0,2292,2504,3508,3165,0.9,0.0,125,3784,0.00,1.62,0.00,0.000,516,0.000,0.096,2292,1660,3336,3508,3165,0,0,0,0,0,0,28.83,13.55,28.83
$GC,4018,-0.52,-146.0,2292,1659,3508,3165,0.9,-0.0,132,4022,0.20,1.65,0.00,0.000,3078,0.256,0.106,2337,2499,3336,3508,3165,0,0,0,0,0,0,13.19,13.52,28.83
$GC,4639,-0.44,-146.0,2337,2499,3507,3165,0.9,0.0,153,4643,0.00,1.58,0.00,0.000,516,0.000,0.099,2337,1649,3336,3508,3165,0,0,0,0,0,0,28.83,13.62,28.83
$GC,4877,-0.37,-146.0,2337,1649,3508,3165,1.0,-0.0,160,4881,0.22,1.62,0.00,0.000,3078,0.266,0.110,2382,2499,3336,3508,3165,0,0,0,0,0,0,13.29,13.59,28.83
$GC,5492,-0.37,-146.0,2382,2499,3508,3165,1.0,0.0,181,5496,0.00,1.60,0.00,0.000,516,0.000,0.099,2383,1661,3336,3508,3165,0,0,0,0,0,0,28.83,13.54,28.83
$GC,5730,-0.29,-146.0,2383,1661,3508,3165,0.9,0.0,188,5734,0.12,1.65,0.00,0.000,3078,0.268,0.110,2407,2496,3336,3508,3165,0,0,0,0,0,0,13.19,13.50,28.83
$GC,6351,-0.29,-146.0,2407,2496,3508,3165,0.9,0.0,209,6355,0.00,1.58,0.00,0.000,516,0.000,0.099,2408,1649,3336,3508,3165,0,0,0,0,0,0,28.83,13.59,28.83
$GC,6589,-0.22,-146.0,2408,1649,3508,3165,0.9,-0.0,216,6593,0.15,1.62,0.00,0.000,3078,0.295,0.112,2431,2503,3336,3508,3165,0,0,0,0,0,0,13.24,13.56,28.83
$GC,7204,-0.22,-146.0,2431,2503,3508,3165,0.9,0.1,237,7208,0.00,1.62,0.00,0.000,516,0.000,0.098,2431,1654,3336,3508,3165,0,0,0,0,0,0,28.83,13.52,28.83
$GC,7441,-0.22,-146.0,2431,1654,3508,3165,1.0,0.0,244,7445,0.00,1.67,0.00,0.000,1030,0.000,0.111,2427,2499,3336,3508,3165,0,0,0,0,0,0,28.83,13.47,28.83
$GC,8056,-0.22,-146.0,2427,2499,3508,3165,0.9,-0.0,265,8059,0.00,1.58,0.00,0.000,516,0.000,0.098,2427,1652,3336,3508,3165,0,0,0,0,0,0,28.83,13.59,28.83
$GC,8292,-0.22,-146.0,2427,1651,3508,3166,0.9,0.0,272,8296,0.00,1.65,0.00,0.000,1030,0.000,0.113,2421,2504,3337,3509,3165,0,0,0,0,0,0,28.83,13.55,28.83
$GC,8906,-0.22,-146.0,2421,2503,3508,3165,1.0,-0.1,293,8910,0.00,1.58,0.00,0.000,516,0.000,0.096,2421,1659,3336,3508,3165,0,0,0,0,0,0,28.83,13.59,28.83
$GC,9143,-0.22,-146.0,2421,1658,3508,3165,0.9,-0.0,300,9146,0.00,1.62,0.00,0.000,1030,0.000,0.109,2415,2506,3336,3508,3165,0,0,0,0,0,0,28.83,13.55,28.83
$GC,9764,-0.14,-146.0,2415,2506,3508,3165,1.0,-0.1,321,9769,0.17,1.62,0.00,0.000,2564,0.304,0.092,2455,1663,3336,3508,3165,0,0,0,0,0,0,13.40,13.52,28.83
$GC,10001,-0.14,-146.0,2455,1663,3508,3165,0.9,0.1,328,10005,0.00,1.65,0.00,0.000,1030,0.000,0.113,2451,2496,3336,3508,3165,0,0,0,0,0,0,28.83,13.47,28.83
$GC,10623,-0.06,-146.0,2451,2497,3508,3166,0.9,0.1,349,10627,0.12,1.58,0.00,0.000,2564,0.314,0.090,2479,1657,3336,3508,3165,0,0,0,0,0,0,13.71,13.62,28.83
$GC,10860,-0.06,-146.0,2479,1657,3508,3165,0.9,-0.0,356,10864,0.00,1.65,0.00,0.000,1030,0.000,0.112,2474,2510,3336,3508,3165,0,0,0,0,0,0,28.83,13.54,28.83
$GC,11483,0.01,-146.0,2474,2510,3508,3165,1.0,-0.1,377,11487,0.12,1.60,0.00,0.000,2564,0.312,0.091,2503,1651,3336,3508,3165,0,0,0,0,0,0,13.71,13.63,28.83
$GC,11722,0.09,-146.0,2502,1652,3508,3165,0.9,-0.1,384,11731,0.17,1.65,0.00,0.000,3078,0.286,0.115,2532,2503,3336,3508,3165,0,0,0,0,0,0,13.22,13.53,28.83
$GC,12334,0.17,-146.0,2532,2503,3508,3165,1.0,-0.1,405,12338,0.12,1.58,0.00,0.000,2564,0.334,0.088,2561,1652,3336,3508,3165,0,0,0,0,0,0,13.61,13.63,28.83
$GC,12573,0.26,-146.0,2561,1652,3508,3165,1.0,0.0,412,12577,0.15,1.65,0.00,0.000,3078,0.294,0.117,2586,2506,3336,3508,3165,0,0,0,0,0,0,13.25,13.52,28.83
$STATE,12912,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12912,begin apogee
$FREEZE,0.98,-39.928,-0.001,2,1,0
$GC,12925,-0.22,0.0,2586,2506,3509,3165,1.0,0.0,424,12935,0.45,0.00,7.03,0.169,12290,0.113,0.000,2439,2506,3278,3451,3106,0,0,0,0,0,0,13.76,28.83,28.83
$STATE,12936,end apogee,SURFACE_DEPTH_REACHED
$STATE,12937,begin surface coast
$FREEZE,0.98,-39.928,-0.001,2,1,0
$FREEZE,0.98,-39.928,-0.001,2,1,0
$FREEZE,0.98,-39.928,-0.001,2,1,0
$FREEZE,0.98,-39.928,-0.001,2,1,0
$FREEZE,1.01,-39.928,-0.001,2,1,0
$FREEZE,0.92,-39.928,-0.001,2,1,0
$FREEZE,1.02,-39.928,-0.001,2,1,0
$FREEZE,0.96,-39.928,-0.001,2,1,0
$FREEZE,0.91,-39.928,-0.001,2,1,0
$FREEZE,0.96,-39.928,-0.001,2,1,0
$FREEZE,1.02,-39.928,-0.001,2,1,0
$FREEZE,1.00,-39.928,-0.001,2,1,0
$FREEZE,0.97,-39.928,-0.001,2,1,0
$FINISH,1.0,0.972744
$STATE,13214,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13215,begin surface
$SM_CCo,13242,278.60,0.164,0,0,1109,400.08
$SM_GC,1.06,7.10,0.00,278.60,0.087,0.000,0.164,142,2506,1109,-7.35,0.17,400.08,0,0,0,0,0,0,13.83,28.83,13.83
$RAFOS_CLK,730
$RAFOS,3,1388579102,12.433333,12.417222,68,59,57,54,53,45,208,190,156,230,132,110
$RAFOS,2,1388578642,12.300000,12.289444,66,60,59,58,56,50,198,208,183,150,170,117
$RAFOS,1,1388578146,12.166667,12.151667,59,56,54,51,50,49,214,118,171,189,159,138
$RAFOS,0,1388577664,12.033333,12.017777,64,59,57,56,54,53,187,165,219,196,176,121
$RAFOS,5,1388565678,8.700000,8.688334,65,60,58,54,53,52,109,192,201,221,161,175
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6351.77,-5917.48,010114,050517
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,11.60
$XPDR_PINGS,52
$ALTIM_TOP_PING,1.0,999.0
$24V_AH,13.2,236.579
$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,17.375,35.625,7.025,278.600,0.000,0.000,0.000,209.425,13.250,0.000,8.169,1144.213,10378.267,414.248,1488.086,476.198,0.000,1288.279,0.000,1290.451,1800.000,2.816,0.000
$DEVICE_MAMPS,333.540,117.045,169.065,163.710,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$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,238552
$DATA_FILE_SIZE,16764,433
$CAP_FILE_SIZE,87469,0
$CFSIZE,259252224,206721024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,1.015,229.8,1
$GPS,010114,124405,6409.615,-5943.240,41,1.0,42,-30.9