version: 66.11
glider: 192
mission: 2
dive: 577
start: 1 2 114 3 18 44
data:
$ID,192
$MISSION,2
$DIVE,577
$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,-12442.853
$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,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
$GPS1,020114,031205,6400.630,-6003.111,35,1.7,35,-30.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.5
$GPS2,020114,031756,6400.508,-6003.437,35,1.6,35,-30.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6400.508,-5938.794
$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,75.8,20000,-15.5,-8.250,-18.49,2720
$D_GRID,374
$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,-146.0,133,2504,1131,1062,0.0,0.0,0,109,0.00,0.00,-86.57,0.000,16386,0.000,0.000,132,2504,2715,2770,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.89,-146.0,132,2504,2771,2663,3.0,-2.1,3,148,10.30,1.55,-16.83,0.000,18692,0.421,0.155,2208,3349,3338,3495,3181,0,0,0,0,0,0,13.81,14.21,14.73
$GC,199,-0.48,-146.0,2208,3349,3501,3178,13.6,-10.1,5,205,0.50,1.52,0.00,0.000,3078,0.274,0.086,2344,2501,3339,3501,3177,0,0,0,0,0,0,13.83,14.23,28.83
$GC,800,-0.48,-146.0,2345,2501,3505,3175,95.6,-12.3,26,804,0.00,1.58,0.00,0.000,260,0.000,0.130,2341,3349,3340,3505,3175,0,0,0,0,0,0,28.83,14.06,28.83
$GC,865,-0.48,-146.0,2341,3349,3505,3174,103.8,-12.2,28,868,0.00,1.52,0.00,0.000,1030,0.000,0.090,2340,2482,3339,3505,3174,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1501,-0.48,-146.0,2340,2482,3504,3174,180.6,-10.5,49,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2482,3338,3503,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2100,-0.50,-146.0,2341,2482,3504,3173,241.2,-10.2,69,2103,0.00,1.50,0.00,0.000,516,0.000,0.103,2340,1639,3338,3504,3173,0,0,0,0,0,0,28.83,14.05,28.83
$GC,2231,-0.52,-146.0,2340,1638,3504,3172,252.9,-9.3,73,2235,0.00,1.62,0.00,0.000,1030,0.000,0.120,2336,2492,3338,3504,3172,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2872,-0.53,-146.0,2336,2492,3505,3171,313.5,-10.1,94,2876,0.00,1.60,0.00,0.000,260,0.000,0.132,2329,3353,3338,3505,3172,0,0,0,0,0,0,28.83,13.95,28.83
$GC,2897,-0.54,-146.0,2330,3353,3505,3172,313.5,-10.1,94,2901,0.00,1.50,0.00,0.000,1030,0.000,0.086,2329,2492,3338,3505,3172,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,3482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3483,begin apogee
$GC,3496,-0.22,0.0,2329,2492,3507,3172,375.3,-10.0,114,3664,0.38,0.00,152.95,2.288,10246,0.215,0.000,2431,2492,2741,2858,2624,0,0,0,0,0,0,13.81,28.83,12.28
$STATE,3665,end apogee,CONTROL_FINISHED_OK
$STATE,3665,begin climb
$GC,3671,0.89,146.0,2432,2492,2857,2625,385.8,0.0,120,3852,1.25,0.00,169.15,2.215,10758,0.171,0.000,2787,2492,2145,2242,2048,0,0,0,0,0,0,13.47,28.83,11.61
$GC,4443,0.87,146.0,2787,2492,2241,2034,333.4,8.6,146,4447,0.00,1.65,0.00,0.000,260,0.000,0.133,2787,3366,2137,2241,2034,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4624,0.83,146.0,2787,3366,2240,2034,318.5,9.3,151,4631,0.00,1.50,0.00,0.000,1030,0.000,0.090,2793,2510,2137,2240,2034,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5237,0.80,146.0,2793,2511,2240,2033,268.1,8.4,172,5241,0.00,1.58,0.00,0.000,260,0.000,0.132,2793,3358,2136,2240,2033,0,0,0,0,0,0,28.83,14.13,28.83
$GC,5281,0.77,146.8,2793,3359,2240,2033,264.7,8.2,173,5285,0.17,1.50,0.00,0.000,5126,0.246,0.090,2759,2503,2136,2240,2033,0,0,0,0,0,0,14.01,14.25,28.83
$GC,5906,0.85,200.4,2759,2503,2240,2032,226.9,6.2,194,5968,0.00,1.58,55.67,2.119,8708,0.000,0.101,2763,1660,1924,2031,1817,0,0,0,0,0,0,28.83,14.13,12.95
$GC,6164,0.94,241.9,2763,1661,2030,1812,210.9,6.7,202,6214,0.10,1.60,43.92,2.050,11270,0.106,0.116,2809,2515,1755,1853,1657,0,0,0,0,0,0,14.27,14.21,12.97
$GC,6841,0.94,241.9,2809,2515,1844,1655,146.7,8.4,225,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2515,1749,1844,1655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7440,0.99,278.2,2809,2515,1843,1653,104.8,6.9,245,7467,0.00,1.62,22.30,0.503,8452,0.000,0.132,2808,3362,1605,1697,1514,0,0,0,0,0,0,28.83,14.30,13.78
$GC,7497,1.04,313.2,2809,3362,1695,1517,102.8,6.9,246,7523,0.00,1.50,21.77,0.490,9222,0.000,0.092,2815,2500,1463,1553,1374,0,0,0,0,0,0,28.83,14.33,13.83
$GC,8130,1.06,313.2,2815,2500,1548,1366,40.7,10.8,267,8134,0.12,1.50,0.00,0.000,2564,0.165,0.103,2870,1663,1457,1548,1366,0,0,0,0,0,0,14.43,14.19,28.83
$GC,8183,1.06,313.2,2871,1663,1547,1366,35.5,11.2,268,8187,0.00,1.58,0.00,0.000,1030,0.000,0.117,2870,2522,1456,1547,1366,0,0,0,0,0,0,28.83,14.15,28.83
$FREEZE,8.08,-39.928,-0.006,2,1,0
$FREEZE,4.48,-39.928,-0.003,2,1,0
$FREEZE,1.36,-39.928,-0.001,2,1,0
$STATE,8433,end climb,SURFACE_DEPTH_REACHED
$STATE,8433,begin surface coast
$FREEZE,0.72,-39.928,-0.001,2,1,0
$FINISH,0.7,0.972744
$STATE,8470,end surface coast,CONTROL_FINISHED_OK
$STATE,8470,begin surface
$SM_CCo,8499,47.45,0.172,0,0,1109,400.08
$SM_GC,1.62,8.35,0.00,47.45,0.103,0.000,0.172,145,2523,1109,-7.35,0.68,400.08,0,0,0,0,0,0,14.22,28.83,14.07
$RAFOS_CLK,430
$RAFOS,6,1388638144,4.833333,4.817778,61,59,53,52,49,48,188,208,1048,159,138,229
$RAFOS,5,1388637679,4.700000,4.688611,67,57,55,54,53,48,214,188,129,140,161,112
$RAFOS,4,1388637185,4.566667,4.551389,56,55,52,52,51,46,189,200,175,224,152,100
$RAFOS,3,1388636710,4.433333,4.419445,61,59,53,52,52,52,198,163,223,129,210,116
$RAFOS,2,1388636223,4.300000,4.284167,56,55,54,52,51,50,210,194,184,112,227,172
$RAFOS,1,1388635750,4.166667,4.152778,63,60,58,58,54,53,206,218,162,181,115,149
$RAFOS,0,1388635285,4.033333,4.023611,66,60,57,54,54,52,215,201,179,164,134,249
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6337.14,-6003.72,020114,000011
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.53
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.00
$XPDR_PINGS,36
$ALTIM_TOP_PING,16.2,15.4
$24V_AH,11.6,238.248
$10V_AH,11.8,0.000
$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,21.175,28.000,465.775,47.450,0.000,0.000,0.000,173.250,9.750,0.000,42.054,719.587,6406.741,485.859,947.630,359.429,0.000,1160.374,0.000,753.669,2520.000,6.155,0.000
$DEVICE_MAMPS,420.750,154.530,2288.115,172.125,0.000,0.000,0.000,126.225,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$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,10210,278
$CAP_FILE_SIZE,60956,0
$CFSIZE,259252224,206548992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.361,233.0,1
$GPS,020114,054259,6359.492,-6006.506,42,1.0,42,-30.8