version: 66.11
glider: 192
mission: 2
dive: 581
start: 1 2 114 11 59 47
data:
$ID,192
$MISSION,2
$DIVE,581
$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,23
$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,8.61
$_SM_ANGLEo,-1.4
$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,-146.0,2537,2494,2679,2479,0.0,0.0,0,30,0.00,0.00,-8.00,0.000,16386,0.000,0.000,2538,2495,2917,3030,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-0.89,-146.0,2537,2495,3032,2805,10.8,0.0,1,54,0.95,1.58,-9.30,0.000,20740,0.124,0.153,2222,3348,3339,3509,3169,0,0,0,0,0,0,14.12,14.12,14.71
$GC,150,-0.80,-146.0,1344,3346,3502,3164,28.7,-21.5,11,157,0.00,1.50,0.00,0.000,1030,0.000,0.083,2222,2486,3339,3511,3168,0,0,0,0,0,0,28.83,14.22,28.83
$GC,459,-0.71,-146.0,2222,2487,3511,3167,96.2,-22.3,42,463,0.20,1.50,0.00,0.000,2564,0.291,0.093,2272,1659,3339,3510,3168,0,0,0,0,0,0,13.85,14.13,28.83
$GC,529,-0.64,-146.0,2272,1659,3511,3167,108.6,-18.4,46,533,0.12,1.52,0.00,0.000,3078,0.287,0.114,2295,2500,3339,3511,3167,0,0,0,0,0,0,13.93,14.11,28.83
$GC,860,-0.61,-146.0,2295,2500,3511,3167,157.8,-14.1,57,863,0.00,1.58,0.00,0.000,260,0.000,0.134,2290,3352,3338,3510,3167,0,0,0,0,0,0,28.83,14.04,28.83
$GC,919,-0.58,-146.0,2290,3352,3510,3167,163.2,-14.4,58,926,0.12,1.50,0.00,0.000,3078,0.279,0.086,2314,2492,3338,3510,3166,0,0,0,0,0,0,13.90,14.19,28.83
$GC,1225,-0.57,-146.0,2315,2492,3511,3166,208.1,-12.6,69,1229,0.00,1.50,0.00,0.000,516,0.000,0.101,2315,1663,3338,3510,3166,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1309,-0.57,-146.0,2315,1663,3511,3166,216.5,-12.5,71,1312,0.00,1.55,0.00,0.000,1030,0.000,0.124,2311,2503,3338,3510,3166,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1625,-0.57,-146.0,2311,2503,3511,3165,255.0,-10.4,82,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2503,3337,3510,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.57,-146.0,2311,2503,3511,3164,286.7,-10.2,92,1929,0.00,1.52,0.00,0.000,516,0.000,0.099,2311,1663,3337,3511,3163,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1990,-0.57,-146.0,2311,1663,3511,3164,293.9,-10.6,94,1994,0.00,1.55,0.00,0.000,1030,0.000,0.122,2306,2505,3337,3510,3164,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2326,-0.57,-146.0,2306,2504,3511,3164,326.0,-9.4,105,2329,0.00,1.55,0.00,0.000,260,0.000,0.131,2300,3349,3337,3510,3164,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2379,-0.57,-146.0,2300,3349,3510,3164,329.7,-9.8,106,2382,0.00,1.50,0.00,0.000,1030,0.000,0.086,2300,2484,3337,3511,3164,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2695,-0.57,-146.0,2300,2484,3512,3164,368.6,-12.1,117,2698,0.00,1.50,0.00,0.000,516,0.000,0.097,2300,1630,3338,3512,3164,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2723,-0.57,-146.0,2300,1630,3512,3164,368.6,-12.1,117,2729,0.00,1.62,0.00,0.000,1030,0.000,0.119,2294,2509,3338,3512,3164,0,0,0,0,0,0,28.83,14.04,28.83
$STATE,2753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2753,begin apogee
$GC,2766,-0.22,0.0,2295,2509,3512,3164,376.5,-12.2,119,2933,0.50,0.00,153.52,2.264,10246,0.231,0.000,2428,2509,2741,2863,2619,0,0,0,0,0,0,13.78,28.83,12.31
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2934,begin climb
$GC,2940,0.89,146.0,2428,2509,2862,2619,386.0,0.0,124,3116,1.27,0.00,168.77,2.150,10246,0.174,0.000,2789,2509,2145,2243,2047,0,0,0,0,0,0,13.48,28.83,11.68
$GC,3426,0.89,163.6,2788,2509,2242,2036,361.0,7.6,141,3449,0.00,1.58,18.50,2.072,8452,0.000,0.130,2789,3358,2074,2178,1971,0,0,0,0,0,0,28.83,14.02,12.84
$GC,3505,0.88,179.0,2789,3357,2178,1971,356.5,7.7,143,3532,0.00,1.50,17.95,2.069,9222,0.000,0.089,2795,2502,2011,2114,1908,0,0,0,0,0,0,28.83,14.18,12.89
$GC,3837,0.86,179.0,2795,2503,2114,1904,323.2,9.1,155,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2503,2009,2114,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4137,0.84,179.0,2794,2504,2114,1902,296.5,9.2,165,4140,0.00,1.58,0.00,0.000,260,0.000,0.129,2794,3366,2008,2114,1902,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4215,0.81,179.0,2795,3366,2113,1903,290.1,9.5,167,4219,0.12,1.50,0.00,0.000,5126,0.265,0.089,2774,2506,2007,2113,1902,0,0,0,0,0,0,14.14,14.34,28.83
$GC,4537,0.85,209.9,2774,2506,2113,1901,263.5,7.1,178,4575,0.00,1.48,33.47,2.130,8708,0.000,0.099,2779,1667,1884,1992,1777,0,0,0,0,0,0,28.83,14.26,13.05
$GC,4615,0.91,248.2,2779,1667,1992,1775,259.6,6.8,180,4661,0.00,1.55,41.47,2.094,9222,0.000,0.117,2779,2516,1729,1826,1632,0,0,0,0,0,0,28.83,14.26,12.91
$GC,4986,0.91,248.2,2778,2516,1819,1630,225.4,8.9,193,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2516,1724,1819,1630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5278,0.93,248.2,2778,2516,1818,1628,200.3,8.4,203,5282,0.00,1.52,0.00,0.000,516,0.000,0.102,2784,1670,1723,1818,1628,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5323,0.95,251.6,2784,1670,1818,1628,197.4,8.1,204,5327,0.00,1.55,0.00,0.000,1030,0.000,0.116,2784,2504,1722,1818,1627,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5650,0.96,251.6,2784,2504,1818,1628,169.1,8.5,215,5654,0.12,1.48,0.00,0.000,2564,0.165,0.099,2842,1662,1723,1818,1628,0,0,0,0,0,0,14.45,14.30,28.83
$GC,5674,0.98,251.6,2842,1662,1818,1627,169.1,8.5,215,5678,0.00,1.52,0.00,0.000,1030,0.000,0.116,2842,2510,1722,1818,1627,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5990,0.96,251.6,2842,2509,1817,1628,136.0,9.1,226,5994,0.00,1.55,0.00,0.000,260,0.000,0.132,2842,3357,1722,1817,1628,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6079,0.93,251.6,2842,3357,1817,1628,130.2,8.7,228,6086,0.15,1.50,0.00,0.000,5126,0.262,0.090,2813,2496,1722,1816,1628,0,0,0,0,0,0,14.07,14.31,28.83
$GC,6386,0.97,276.7,2813,2496,1817,1627,105.8,7.3,239,6412,0.00,1.65,17.17,0.509,8452,0.000,0.132,2813,3356,1612,1704,1520,0,0,0,0,0,0,28.83,14.18,13.74
$GC,6449,0.97,278.8,2813,3356,1703,1520,100.1,8.2,241,6453,0.00,1.50,0.00,0.000,1030,0.000,0.090,2818,2493,1611,1703,1520,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6766,1.01,305.4,2819,2493,1700,1518,74.3,7.2,270,6790,0.00,0.00,17.45,0.399,8198,0.000,0.000,2818,2493,1494,1585,1403,0,0,0,0,0,0,28.83,28.83,13.77
$GC,7095,1.01,305.4,2819,2493,1582,1399,40.6,9.4,303,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2493,1490,1582,1398,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.56,-1.748,-1.822,2,5,0
$STATE,7398,end climb,FINISH_DEPTH_REACHED
$STATE,7398,begin subsurface finish
$FINISH1,8.6,1.026664,41
$GC,7412,0.06,41.2,2819,2493,1581,1397,8.6,12.3,333,7453,1.00,1.55,-34.55,0.000,20996,0.199,0.136,2533,1661,2576,2676,2476,0,0,0,0,0,0,13.94,14.25,14.76
$FINISH2,6.9
$STATE,7454,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7454,begin surface
$RAFOS_CLK,411
$RAFOS,6,1388666951,12.833333,12.819722,60,58,51,48,47,46,217,160,122,132,227,170
$RAFOS,5,1388666465,12.700000,12.684722,56,56,55,55,55,54,185,207,146,158,229,174
$RAFOS,4,1388665984,12.566667,12.551111,76,68,65,55,52,52,197,168,220,151,138,186
$RAFOS,3,1388665515,12.433333,12.420834,65,64,54,53,52,51,199,210,165,121,221,185
$RAFOS,2,1388665026,12.300000,12.285000,58,57,57,55,52,48,200,181,215,117,155,1594
$RAFOS,1,1388664570,12.166667,12.158334,58,57,53,53,50,49,197,142,180,208,155,115
$RAFOS,0,1388664061,12.033333,12.016945,61,59,54,50,48,47,206,164,177,225,92,131
$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,46.73
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,12.00
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,11.7,239.573
$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,4.575,44.475,468.325,0.000,0.000,0.000,0.000,0.000,5.750,0.000,0.000,950.041,5015.783,444.708,810.015,296.522,0.000,961.283,0.000,798.253,2520.000,6.355,0.000
$DEVICE_MAMPS,290.700,153.000,2263.635,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238588
$DATA_FILE_SIZE,13489,338
$CAP_FILE_SIZE,66659,0
$CFSIZE,259252224,206376960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.4
$GPS,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8