version: 66.11
glider: 192
mission: 2
dive: 580
start: 1 2 114 10 8 38
data:
$ID,192
$MISSION,2
$DIVE,580
$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,10
$SURFACE_URGENCY_FORCE,20
$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,0
$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,549.71729
$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,-12444.111
$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,22
$R_STBD_OVSHOOT,16
$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
$GPS1,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.06
$_SM_ANGLEo,-2.8
$GPS2,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6359.083,-5942.916
$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,120.8,20000,-15.5,-8.250,-18.49,2720
$D_GRID,372
$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,-146.0,2539,2502,2675,2458,0.0,0.0,0,27,0.00,0.00,-5.45,0.000,16386,0.000,0.000,2539,2503,2869,2977,2761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.89,-146.0,2539,2503,2979,2761,17.2,0.0,1,51,1.00,1.60,-8.02,0.000,20740,0.155,0.165,2223,3346,3339,3511,3168,0,0,0,0,0,0,14.07,14.14,14.74
$GC,276,-0.80,-146.0,1384,3345,3507,3165,65.7,-20.5,24,283,0.00,1.50,0.00,0.000,1030,0.000,0.084,2223,2479,3341,3514,3168,0,0,0,0,0,0,28.83,14.27,28.83
$GC,595,-0.71,-146.0,2223,2479,3514,3167,134.7,-22.2,46,599,0.20,1.45,0.00,0.000,2564,0.291,0.091,2273,1652,3340,3514,3166,0,0,0,0,0,0,13.90,14.23,28.83
$GC,680,-0.64,-146.0,2273,1651,3514,3167,147.5,-20.7,48,684,0.15,1.55,0.00,0.000,3078,0.271,0.117,2301,2500,3341,3515,3167,0,0,0,0,0,0,13.97,14.16,28.83
$GC,996,-0.61,-146.0,2301,2500,3514,3166,192.3,-12.3,59,999,0.00,1.48,0.00,0.000,516,0.000,0.098,2301,1653,3340,3514,3166,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1062,-0.60,-146.0,2302,1653,3514,3165,200.2,-12.3,61,1066,0.00,1.60,0.00,0.000,1030,0.000,0.119,2298,2499,3340,3514,3166,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1398,-0.58,-146.0,2298,2498,3514,3165,246.3,-14.1,72,1402,0.00,1.58,0.00,0.000,260,0.000,0.133,2291,3348,3339,3514,3165,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1437,-0.56,-146.0,2291,3348,3514,3164,251.1,-13.7,73,1441,0.15,1.50,0.00,0.000,3078,0.265,0.086,2323,2485,3339,3514,3165,0,0,0,0,0,0,13.93,14.23,28.83
$GC,1768,-0.56,-146.0,2323,2485,3514,3164,285.3,-9.8,84,1772,0.00,1.50,0.00,0.000,516,0.000,0.097,2324,1660,3338,3514,3163,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1834,-0.57,-146.0,2324,1660,3514,3164,291.1,-9.2,86,1838,0.00,1.55,0.00,0.000,1030,0.000,0.119,2321,2502,3339,3515,3164,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2170,-0.57,-146.0,2321,2502,3515,3164,323.8,-10.3,97,2174,0.00,1.60,0.00,0.000,260,0.000,0.132,2315,3346,3339,3514,3164,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2206,-0.57,-146.0,2315,3346,3514,3164,327.8,-10.5,98,2209,0.00,1.50,0.00,0.000,1030,0.000,0.084,2315,2479,3339,3514,3164,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2541,-0.57,-146.0,2315,2479,3515,3164,364.1,-10.7,109,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2479,3339,3515,3164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2624,begin apogee
$GC,2639,-0.22,0.0,2315,2512,3515,3164,373.4,-10.3,112,2804,0.43,0.00,152.85,2.255,10246,0.221,0.000,2430,2511,2741,2863,2619,0,0,0,0,0,0,13.88,28.83,12.34
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin climb
$GC,2811,0.89,146.0,2430,2512,2863,2619,382.2,0.0,117,2988,1.27,1.80,168.35,2.149,10500,0.175,0.130,2790,3353,2145,2242,2048,0,0,0,0,0,0,13.49,12.85,11.71
$GC,3004,1.08,304.2,2790,3353,2241,2047,381.0,2.3,124,3207,0.20,1.62,189.40,2.093,11270,0.119,0.087,2858,2512,1500,1582,1419,0,0,0,0,0,0,13.07,13.05,11.49
$GC,3506,1.03,304.2,2858,2512,1581,1409,311.8,15.5,141,3509,0.00,1.60,0.00,0.000,260,0.000,0.135,2858,3354,1495,1581,1409,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3604,0.98,304.2,2858,3354,1581,1409,296.4,15.7,144,3608,0.15,1.50,0.00,0.000,5126,0.278,0.091,2832,2503,1494,1579,1409,0,0,0,0,0,0,13.96,14.19,28.83
$GC,3936,0.95,304.2,2832,2503,1580,1407,251.1,13.3,155,3940,0.00,1.50,0.00,0.000,516,0.000,0.103,2837,1670,1493,1580,1406,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3990,0.92,304.2,2837,1670,1579,1406,246.4,13.1,156,3995,0.08,1.58,0.00,0.000,5126,0.229,0.122,2815,2509,1492,1580,1405,0,0,0,0,0,0,14.07,14.21,28.83
$GC,4307,0.92,304.2,2815,2509,1579,1406,208.7,11.7,167,4311,0.00,1.55,0.00,0.000,260,0.000,0.132,2815,3360,1492,1579,1406,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4350,0.92,304.2,2815,3360,1579,1406,204.8,11.4,168,4354,0.00,1.50,0.00,0.000,1030,0.000,0.090,2820,2496,1492,1579,1406,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4675,0.92,304.2,2820,2496,1579,1406,166.6,11.1,179,4679,0.00,1.50,0.00,0.000,516,0.000,0.103,2826,1669,1492,1579,1406,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4734,0.92,304.2,2826,1669,1579,1405,162.9,10.9,180,4741,0.00,1.55,0.00,0.000,1030,0.000,0.121,2826,2521,1492,1579,1406,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5040,0.92,304.2,2826,2521,1579,1405,127.9,10.5,191,5044,0.00,1.58,0.00,0.000,260,0.000,0.133,2826,3351,1492,1579,1405,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5108,0.92,304.2,2826,3350,1579,1404,120.5,10.7,193,5112,0.00,1.50,0.00,0.000,1030,0.000,0.091,2832,2488,1492,1579,1405,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5420,0.92,304.2,2832,2488,1579,1405,90.9,12.7,208,5424,0.00,1.50,0.00,0.000,516,0.000,0.105,2838,1667,1492,1579,1405,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5475,0.92,304.2,2838,1667,1579,1404,83.7,13.4,213,5479,0.12,1.55,0.00,0.000,5126,0.256,0.122,2811,2518,1491,1579,1404,0,0,0,0,0,0,14.04,14.18,28.83
$GC,5793,0.97,322.1,2810,2518,1579,1404,66.4,7.6,244,5810,0.00,1.55,9.52,0.373,8452,0.000,0.130,2810,3354,1427,1515,1340,0,0,0,0,0,0,28.83,14.11,13.55
$GC,5877,0.97,322.1,2810,3355,1515,1340,58.8,11.7,252,5880,0.00,1.50,0.00,0.000,1030,0.000,0.093,2815,2495,1427,1515,1339,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6192,0.97,322.1,2815,2495,1513,1338,32.7,10.4,283,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2495,1425,1513,1338,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,7.83,-1.735,-1.823,2,4,0
$STATE,6462,end climb,FINISH_DEPTH_REACHED
$STATE,6463,begin subsurface finish
$FINISH1,7.8,1.026678,41
$GC,6477,0.06,40.5,2815,2495,1513,1337,7.8,12.1,310,6528,0.98,0.00,-42.67,0.000,20486,0.198,0.000,2537,2495,2578,2682,2475,0,0,0,0,0,0,13.89,28.83,14.75
$FINISH2,4.9
$STATE,6529,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6529,begin surface
$RAFOS_CLK,355
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6332.30,-6008.62,020114,050535
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,8.7718
$TCM_TEMP,12.10
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.7,19.8
$24V_AH,11.5,239.277
$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,4.725,44.925,520.125,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,884.931,4156.738,492.366,802.893,254.931,0.000,1004.739,0.000,792.623,0.000,6.164,0.000
$DEVICE_MAMPS,290.700,218.790,2255.220,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238568
$DATA_FILE_SIZE,13542,317
$CAP_FILE_SIZE,61343,0
$CFSIZE,259252224,206422016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.2
$GPS,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8