version: 66.11
glider: 192
mission: 2
dive: 573
start: 1 1 114 16 42 10
data:
$ID,192
$MISSION,2
$DIVE,573
$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,-12249.215
$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,11
$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
$GPS1,010114,163505,6405.844,-5954.192,29,1.3,30,-30.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-42.4
$GPS2,010114,164128,6405.722,-5954.464,7,0.9,7,-30.9
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6405.722,-5929.745
$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,75.9,20000,-15.5,-8.250,-18.49,2720
$D_GRID,345
$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,-146.0,142,2504,1148,1043,0.0,0.0,0,156,0.00,0.00,-132.43,0.000,16390,0.000,0.000,142,2505,3336,3486,3187,0,0,0,0,0,0,28.83,28.83,14.52
$GC,163,-0.89,-146.0,142,2505,3487,3187,1.3,-0.0,4,176,9.65,1.52,0.00,0.000,2564,0.376,0.090,2212,1651,3337,3488,3187,0,0,0,0,0,0,13.61,14.13,28.83
$GC,411,-0.89,-146.0,2211,1649,3490,3186,1.2,0.0,13,416,0.00,1.65,0.00,0.000,1030,0.000,0.141,2204,2500,3338,3490,3186,0,0,0,0,0,0,28.83,13.75,28.83
$GC,1054,-0.61,-146.0,2195,2504,3490,3186,1.2,0.0,34,1060,0.52,1.52,0.00,0.000,2564,0.385,0.085,2299,1651,3338,3490,3186,0,0,0,0,0,0,13.31,13.91,28.83
$GC,1292,-0.61,-146.0,2292,1648,3490,3186,1.3,-0.0,41,1298,0.00,1.65,0.00,0.000,1030,0.000,0.136,2284,2500,3338,3490,3186,0,0,0,0,0,0,28.83,13.64,28.83
$GC,1905,-0.31,-146.0,2275,2505,3490,3186,1.2,0.1,62,1912,0.65,1.58,0.00,0.000,2564,0.400,0.090,2402,1646,3337,3490,3185,0,0,0,0,0,0,13.26,13.92,28.83
$GC,2145,-0.31,-146.0,2395,1643,3490,3186,1.3,-0.1,69,2150,0.00,1.67,0.00,0.000,1030,0.000,0.126,2388,2504,3337,3489,3186,0,0,0,0,0,0,28.83,13.62,28.83
$GC,2757,-0.02,-146.0,2382,2508,3490,3185,1.3,-0.0,90,2763,0.57,1.55,0.00,0.000,2564,0.404,0.091,2494,1652,3337,3490,3185,0,0,0,0,0,0,13.16,13.82,28.83
$GC,2996,-0.02,-146.0,2489,1649,3490,3186,1.3,0.1,97,3002,0.00,1.70,0.00,0.000,1030,0.000,0.139,2481,2502,3337,3490,3185,0,0,0,0,0,0,28.83,13.59,28.83
$GC,3609,0.33,-146.0,2479,2508,3490,3185,1.3,0.0,118,3615,0.65,1.50,0.00,0.000,2564,0.409,0.096,2605,1663,3337,3490,3185,0,0,0,0,0,0,13.17,13.74,28.83
$GC,3848,0.33,-146.0,2605,1661,3490,3185,1.5,-0.2,125,3854,0.00,1.65,0.00,0.000,1030,0.000,0.126,2598,2510,3337,3490,3185,0,0,0,0,0,0,28.83,13.63,28.83
$GC,4462,0.26,-146.0,2586,2518,3497,3181,7.1,-4.8,146,4465,0.00,1.62,0.00,0.000,516,0.000,0.109,2586,1663,3338,3497,3180,0,0,0,0,0,0,28.83,13.50,28.83
$GC,4529,0.17,-146.0,2586,1663,3496,3180,10.6,-4.9,148,4532,0.00,1.62,0.00,0.000,1030,0.000,0.132,2586,2499,3339,3497,3181,0,0,0,0,0,0,28.83,13.58,28.83
$GC,5170,0.07,-146.0,2586,2499,3498,3180,49.0,-8.2,169,5174,0.15,1.62,0.00,0.000,4612,0.148,0.106,2529,1639,3339,3498,3180,0,0,0,0,0,0,14.14,13.52,28.83
$GC,5200,-0.02,-146.0,2529,1638,3498,3179,49.0,-8.2,169,5206,0.00,1.67,0.00,0.000,1030,0.000,0.129,2527,2500,3338,3498,3179,0,0,0,0,0,0,28.83,13.59,28.83
$GC,5813,-0.06,-146.0,2527,2500,3498,3179,88.4,-6.1,190,5817,0.12,1.70,0.00,0.000,4356,0.165,0.142,2473,3352,3338,3498,3179,0,0,0,0,0,0,14.22,13.47,28.83
$GC,5928,-0.07,-146.0,2474,3352,3498,3179,96.5,-7.7,193,5931,0.00,1.60,0.00,0.000,1030,0.000,0.093,2474,2496,3338,3497,3179,0,0,0,0,0,0,28.83,13.64,28.83
$GC,6554,-0.07,-146.0,2474,2497,3498,3179,152.1,-8.0,214,6557,0.00,1.70,0.00,0.000,260,0.000,0.141,2468,3351,3338,3498,3179,0,0,0,0,0,0,28.83,13.46,28.83
$GC,6589,-0.07,-146.0,2468,3351,3498,3179,155.0,-7.6,215,6592,0.00,1.55,0.00,0.000,1030,0.000,0.093,2468,2497,3338,3498,3179,0,0,0,0,0,0,28.83,13.71,28.83
$GC,7229,-0.07,-146.0,2468,2497,3497,3179,197.4,-7.3,236,7233,0.00,1.70,0.00,0.000,260,0.000,0.141,2462,3354,3338,3498,3179,0,0,0,0,0,0,28.83,13.45,28.83
$GC,7269,-0.07,-146.0,2462,3355,3498,3179,200.5,-7.6,237,7272,0.00,1.55,0.00,0.000,1030,0.000,0.093,2462,2500,3338,3498,3179,0,0,0,0,0,0,28.83,13.71,28.83
$GC,7904,-0.09,-146.0,2463,2500,3498,3179,249.0,-6.1,258,7908,0.00,1.58,0.00,0.000,516,0.000,0.105,2462,1662,3338,3498,3179,0,0,0,0,0,0,28.83,13.49,28.83
$GC,7994,-0.10,-146.0,2462,1662,3498,3179,253.2,-5.9,260,8000,0.00,1.62,0.00,0.000,1030,0.000,0.127,2458,2501,3338,3498,3179,0,0,0,0,0,0,28.83,13.56,28.83
$GC,8605,-0.13,-146.0,2458,2500,3499,3179,286.7,-5.2,281,8609,0.00,1.70,0.00,0.000,260,0.000,0.141,2452,3344,3339,3499,3179,0,0,0,0,0,0,28.83,13.37,28.83
$GC,8665,-0.16,-146.0,2453,3345,3499,3179,288.8,-5.1,282,8671,0.00,1.52,0.00,0.000,1030,0.000,0.092,2453,2498,3339,3499,3179,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9276,-0.19,-146.0,2453,2498,3501,3179,326.1,-5.4,303,9280,0.00,1.70,0.00,0.000,260,0.000,0.139,2447,3343,3340,3501,3179,0,0,0,0,0,0,28.83,13.38,28.83
$GC,9316,-0.22,-146.0,2447,3343,3500,3179,328.4,-5.5,304,9320,0.00,1.58,0.00,0.000,1030,0.000,0.090,2447,2495,3340,3501,3179,0,0,0,0,0,0,28.83,13.67,28.83
$STATE,9610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9610,begin apogee
$GC,9623,-0.22,0.0,2447,2495,3502,3179,346.3,-6.3,314,9790,0.00,0.00,156.70,2.246,8198,0.000,0.000,2447,2495,2742,2854,2630,0,0,0,0,0,0,28.83,28.83,12.08
$STATE,9792,end apogee,CONTROL_FINISHED_OK
$STATE,9792,begin climb
$GC,9798,0.89,146.0,2447,2495,2853,2631,353.9,0.0,319,9986,1.27,1.67,174.65,2.186,10756,0.207,0.103,2787,1669,2145,2238,2053,0,0,0,0,0,0,13.25,12.67,11.43
$GC,9996,1.05,216.7,2787,1669,2239,2052,346.9,5.6,326,10093,0.20,1.75,86.50,2.105,11270,0.122,0.125,2849,2508,1858,1947,1769,0,0,0,0,0,0,12.88,12.79,11.33
$GC,10697,1.05,216.7,2849,2509,1945,1752,271.5,9.9,350,10701,0.00,1.62,0.00,0.000,260,0.000,0.142,2849,3353,1849,1945,1753,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10771,1.05,216.7,2850,3353,1944,1753,264.4,10.6,352,10775,0.00,1.50,0.00,0.000,1030,0.000,0.096,2855,2500,1848,1944,1753,0,0,0,0,0,0,28.83,14.19,28.83
$GC,11401,1.05,216.7,2856,2500,1944,1752,200.2,10.8,373,11405,0.00,1.52,0.00,0.000,516,0.000,0.106,2862,1671,1848,1945,1752,0,0,0,0,0,0,28.83,14.09,28.83
$GC,11515,1.05,216.7,2862,1671,1944,1751,190.2,10.1,376,11519,0.00,1.60,0.00,0.000,1030,0.000,0.125,2861,2508,1847,1943,1751,0,0,0,0,0,0,28.83,14.03,28.83
$GC,12136,1.05,216.7,2862,2508,1944,1751,125.2,10.3,397,12139,0.00,1.58,0.00,0.000,516,0.000,0.109,2868,1667,1847,1944,1751,0,0,0,0,0,0,28.83,14.01,28.83
$GC,12179,1.05,216.7,2867,1667,1944,1750,120.9,10.5,398,12183,0.00,1.62,0.00,0.000,1030,0.000,0.125,2867,2514,1847,1944,1750,0,0,0,0,0,0,28.83,13.99,28.83
$GC,12810,1.07,230.5,2867,2514,1944,1749,66.0,7.7,419,12821,0.00,1.60,6.60,0.369,8452,0.000,0.138,2867,3365,1800,1896,1705,0,0,0,0,0,0,28.83,14.04,13.66
$GC,12919,1.12,261.6,2868,3364,1895,1706,59.5,7.1,422,12942,0.00,1.52,18.30,0.338,9222,0.000,0.096,2873,2505,1673,1765,1582,0,0,0,0,0,0,28.83,14.12,13.78
$FREEZE,8.57,-39.928,-0.006,2,1,0
$FREEZE,5.74,-39.928,-0.004,2,1,0
$FREEZE,2.21,-39.928,-0.002,2,1,0
$STATE,13487,end climb,SURFACE_DEPTH_REACHED
$STATE,13488,begin surface coast
$FREEZE,1.47,-39.928,-0.001,2,1,0
$FINISH,1.5,0.972744
$STATE,13518,end surface coast,CONTROL_FINISHED_OK
$STATE,13519,begin surface
$SM_CCo,13554,74.03,0.168,0,0,1108,400.08
$SM_GC,1.46,8.27,0.00,74.03,0.086,0.000,0.168,140,2503,1108,-7.35,0.08,400.08,0,0,0,0,0,0,14.12,28.83,14.04
$RAFOS_CLK,716
$RAFOS,2,1388607421,20.299999,20.283611,60,59,56,56,54,53,143,185,214,224,118,170
$RAFOS,1,1388606968,20.166666,20.157778,62,56,55,55,53,51,120,182,154,211,222,192
$RAFOS,0,1388606474,20.033333,20.020555,68,62,58,57,55,54,216,150,193,227,204,114
$RAFOS,6,1388594944,16.833334,16.817778,67,60,60,56,54,53,204,191,173,153,117,132
$RAFOS,3,1388593523,16.433332,16.423056,64,58,57,55,54,54,201,147,225,210,183,165
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5947.81,010114,121241
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.35
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.00
$XPDR_PINGS,27
$ALTIM_TOP_PING,17.9,999.0
$24V_AH,11.3,236.963
$10V_AH,11.6,0.000
$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,22.075,58.050,442.750,74.025,0.000,0.000,0.000,218.950,7.250,0.000,8.295,1112.816,10317.476,535.334,1500.978,554.590,0.000,1532.631,0.000,1295.228,1800.000,4.589,0.000
$DEVICE_MAMPS,408.510,141.525,2246.040,168.300,0.000,0.000,0.000,124.695,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$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,238560
$DATA_FILE_SIZE,16838,443
$CAP_FILE_SIZE,95620,0
$CFSIZE,259252224,206635008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.381,227.4,1
$GPS,010114,203105,6403.810,-5959.211,41,0.9,42,-30.9