version: 66.11
glider: 192
mission: 2
dive: 587
start: 1 3 114 0 14 11
data:
$ID,192
$MISSION,2
$DIVE,587
$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,10.66
$_SM_ANGLEo,-5.7
$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,-146.0,2535,2507,2679,2482,0.0,0.0,0,27,0.00,0.00,-5.38,0.000,16386,0.000,0.000,2535,2507,2853,2949,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.89,-146.0,2535,2507,2952,2756,14.7,0.0,1,51,0.98,1.48,-8.93,0.000,20996,0.135,0.120,2224,1657,3340,3510,3171,0,0,0,0,0,0,14.16,14.29,14.73
$GC,285,-0.81,-146.0,2224,1656,3513,3169,59.6,-18.3,25,292,0.12,1.52,0.00,0.000,3078,0.308,0.108,2241,2504,3341,3513,3169,0,0,0,0,0,0,13.96,14.21,28.83
$GC,595,-0.73,-146.0,2242,2504,3513,3169,117.9,-18.4,50,597,0.12,0.00,0.00,0.000,2054,0.321,0.000,2268,2504,3340,3512,3169,0,0,0,0,0,0,14.12,28.83,28.83
$GC,894,-0.68,-146.0,2268,2504,3514,3168,162.7,-15.2,60,898,0.00,1.50,0.00,0.000,516,0.000,0.096,2269,1647,3340,3513,3168,0,0,0,0,0,0,28.83,14.21,28.83
$GC,938,-0.63,-146.0,2269,1647,3513,3168,168.5,-15.9,61,942,0.15,1.55,0.00,0.000,3078,0.269,0.116,2297,2499,3340,3513,3168,0,0,0,0,0,0,13.98,14.17,28.83
$GC,1270,-0.61,-146.0,2297,2500,3513,3168,212.1,-12.9,72,1274,0.00,1.52,0.00,0.000,516,0.000,0.096,2297,1657,3340,3513,3167,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1319,-0.59,-146.0,2298,1657,3513,3167,217.1,-12.6,73,1322,0.00,1.58,0.00,0.000,1030,0.000,0.116,2294,2497,3339,3512,3167,0,0,0,0,0,0,28.83,14.11,28.83
$GC,1641,-0.58,-146.0,2294,2497,3513,3166,254.3,-10.9,84,1645,0.00,1.50,0.00,0.000,516,0.000,0.095,2293,1645,3339,3513,3165,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1680,-0.56,-146.0,2294,1644,3513,3166,258.3,-10.7,85,1684,0.17,1.58,0.00,0.000,3078,0.257,0.119,2327,2503,3339,3513,3166,0,0,0,0,0,0,13.93,14.14,28.83
$GC,2012,-0.57,-146.0,2328,2504,3513,3166,286.3,-8.7,96,2016,0.00,1.60,0.00,0.000,260,0.000,0.130,2322,3350,3339,3512,3166,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2042,-0.58,-146.0,2323,3350,3512,3165,286.3,-8.7,96,2049,0.00,1.50,0.00,0.000,1030,0.000,0.084,2323,2485,3339,3513,3165,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2347,-0.58,-146.0,2323,2486,3513,3166,319.0,-9.9,107,2351,0.00,1.50,0.00,0.000,516,0.000,0.096,2323,1630,3339,3513,3166,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2422,-0.59,-146.0,2323,1630,3513,3166,325.5,-10.0,109,2425,0.00,1.62,0.00,0.000,1030,0.000,0.114,2317,2496,3339,3513,3166,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2747,-0.59,-146.0,2317,2496,3514,3166,359.4,-10.2,120,2750,0.00,1.50,0.00,0.000,516,0.000,0.094,2317,1641,3340,3514,3166,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2782,-0.59,-146.0,2317,1641,3514,3166,362.8,-10.0,121,2785,0.00,1.58,0.00,0.000,1030,0.000,0.116,2312,2501,3340,3514,3166,0,0,0,0,0,0,28.83,14.13,28.83
$STATE,2871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2871,begin apogee
$GC,2885,-0.22,0.0,2312,2501,3514,3166,372.1,-9.8,124,3050,0.45,0.00,155.38,2.297,10246,0.223,0.000,2433,2502,2741,2863,2620,0,0,0,0,0,0,13.90,28.83,12.30
$STATE,3051,end apogee,CONTROL_FINISHED_OK
$STATE,3051,begin climb
$GC,3057,0.89,146.0,2433,2501,2862,2621,379.6,0.0,129,3233,1.25,0.00,170.23,2.181,10758,0.169,0.000,2789,2502,2145,2242,2048,0,0,0,0,0,0,13.47,28.83,11.68
$GC,3544,0.87,149.3,2789,2501,2242,2037,351.2,8.1,146,3548,0.00,1.65,0.00,0.000,260,0.000,0.132,2789,3361,2139,2241,2037,0,0,0,0,0,0,28.83,13.98,28.83
$GC,3582,0.84,149.3,1824,3359,2196,2033,347.5,8.3,147,3586,0.00,1.55,0.00,0.000,1030,0.000,0.090,2795,2509,2139,2241,2037,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3914,0.80,149.3,2795,2508,2241,2034,318.8,8.7,158,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2508,2137,2241,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,0.77,149.3,2795,2509,2241,2034,292.9,8.4,168,4217,0.12,1.50,0.00,0.000,4612,0.261,0.100,2767,1663,2137,2241,2033,0,0,0,0,0,0,14.23,14.29,28.83
$GC,4315,0.76,155.3,2767,1663,2241,2032,285.2,8.0,171,4334,0.00,1.58,9.25,1.942,9222,0.000,0.118,2767,2504,2108,2213,2003,0,0,0,0,0,0,28.83,14.21,13.24
$GC,4639,0.78,171.5,2767,2504,2213,2002,259.8,7.6,182,4665,0.00,1.55,18.75,2.084,8452,0.000,0.132,2767,3356,2041,2147,1935,0,0,0,0,0,0,28.83,14.31,13.17
$GC,4721,0.78,182.7,2767,3356,2146,1935,254.7,7.8,184,4740,0.00,1.52,13.32,1.992,9222,0.000,0.090,2773,2507,1995,2100,1890,0,0,0,0,0,0,28.83,14.35,13.09
$GC,5062,0.88,247.7,2773,2507,2100,1888,230.5,5.8,196,5137,0.00,1.58,69.45,2.110,8708,0.000,0.102,2779,1667,1730,1826,1635,0,0,0,0,0,0,28.83,14.06,12.91
$GC,5189,0.94,287.3,1792,1666,1788,1630,222.7,6.8,200,5238,0.00,1.58,44.05,2.048,9222,0.000,0.118,2779,2504,1569,1659,1480,0,0,0,0,0,0,28.83,14.14,12.88
$GC,5547,0.96,287.3,2779,2504,1654,1473,190.1,9.4,212,5549,0.12,0.00,0.00,0.000,2054,0.151,0.000,2825,2504,1563,1654,1472,0,0,0,0,0,0,14.47,28.83,28.83
$GC,5842,0.95,287.3,2826,2504,1653,1472,154.7,11.3,222,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2504,1562,1653,1472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,0.95,287.3,2826,2504,1653,1471,119.3,11.0,232,6145,0.00,1.52,0.00,0.000,516,0.000,0.105,2832,1661,1561,1652,1471,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6176,0.95,287.3,2832,1661,1652,1471,115.5,10.9,233,6180,0.00,1.55,0.00,0.000,1030,0.000,0.118,2832,2513,1561,1652,1471,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6498,0.94,287.3,2832,2513,1651,1471,81.4,8.6,254,6501,0.00,1.60,0.00,0.000,260,0.000,0.132,2832,3356,1560,1651,1470,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6533,0.92,287.3,2832,3356,1651,1470,76.7,10.9,257,6538,0.08,1.52,0.00,0.000,5126,0.233,0.091,2816,2507,1560,1650,1471,0,0,0,0,0,0,14.07,14.30,28.83
$GC,6850,0.92,287.3,2815,2507,1650,1470,43.6,10.4,288,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2508,1560,1650,1470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7165,0.92,287.3,2815,2507,1650,1468,11.2,11.5,319,7168,0.00,1.52,0.00,0.000,516,0.000,0.104,2820,1651,1559,1650,1468,0,0,0,0,0,0,28.83,14.21,28.83
$FREEZE,8.35,-1.682,-1.824,2,11,0
$FREEZE,8.35,-1.682,-1.824,2,11,0
$FREEZE,7.32,-1.681,-1.823,2,11,0
$FREEZE,7.32,-1.681,-1.823,2,11,0
$FREEZE,6.08,-1.681,-1.822,2,11,0
$FREEZE,6.08,-1.681,-1.822,2,11,0
$FREEZE,5.02,-1.681,-1.821,2,11,0
$FREEZE,5.02,-1.681,-1.821,2,11,0
$FREEZE,4.08,-1.683,-1.821,2,11,0
$FREEZE,4.08,-1.683,-1.821,2,11,0
$FREEZE,3.41,-1.691,-1.820,2,11,0
$FREEZE,3.41,-1.691,-1.820,2,11,0
$FREEZE,1.74,-1.689,-1.819,2,11,0
$STATE,7262,end climb,SURFACE_DEPTH_REACHED
$STATE,7263,begin surface coast
$FREEZE,1.74,-1.689,-1.819,2,11,0
$FREEZE,1.25,-1.790,-1.790,2,11,0
$FINISH,1.2,1.026284
$STATE,7275,end surface coast,FINISH_DEPTH_REACHED
$STATE,7275,begin surface
$SM_CCo,7305,143.32,0.172,0,0,499,549.72
$SM_GC,1.77,8.05,1.60,143.32,0.089,0.113,0.172,138,2503,499,-7.36,-0.45,549.72,0,0,0,0,0,0,14.30,14.23,14.07
$RAFOS_CLK,406
$RAFOS,6,1388710152,0.833333,0.820000,65,56,53,52,50,48,216,140,156,178,130,494
$RAFOS,5,1388709684,0.700000,0.690000,57,56,55,52,51,49,212,133,203,162,184,193
$RAFOS,4,1388709188,0.566667,0.552222,63,60,57,54,50,46,223,199,162,125,182,779
$RAFOS,3,1388708729,0.433333,0.424722,70,67,58,58,55,55,214,191,202,142,174,151
$RAFOS,2,1388708226,0.300000,0.285000,66,59,57,54,52,52,164,188,197,130,117,207
$RAFOS,1,1388707742,0.166667,0.150556,65,56,54,51,50,47,205,1688,166,130,182,56
$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,44.40
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,12.10
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,11.7,241.522
$10V_AH,12.0,0.000
$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,11.625,44.950,480.425,143.325,0.000,0.000,0.000,0.000,4.250,0.000,0.000,973.330,4864.463,565.491,804.632,320.916,0.000,1073.437,0.000,793.998,1800.000,6.356,0.000
$DEVICE_MAMPS,320.535,132.345,2296.530,172.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13500,329
$CAP_FILE_SIZE,69437,0
$CFSIZE,259252224,206147584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,020114,055812,6359.083,-6007.537,181,99.0,181,-30.8