version: 66.11
glider: 192
mission: 2
dive: 588
start: 1 3 114 2 38 18
data:
$ID,192
$MISSION,2
$DIVE,588
$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,-12628.73
$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,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
$GPS1,020114,055812,6359.083,-6007.537,181,99.0,181,-30.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-34.1
$GPS2,030114,023736,6349.784,-6011.056,45,1.9,45,-30.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6349.784,-5946.570
$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,120.7,20000,-15.5,-8.250,-18.49,2720
$D_GRID,553
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.89,-146.0,126,2510,507,448,0.0,0.0,0,149,0.00,0.00,-126.12,0.000,16386,0.000,0.000,121,2510,2936,3006,2866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,157,-0.89,-146.0,121,2510,3007,2866,4.9,-7.1,13,183,10.75,1.50,-7.80,0.000,18948,0.432,0.128,2212,1654,3338,3485,3192,0,0,0,0,0,0,13.71,14.28,14.70
$GC,282,-0.79,-146.0,2212,1654,3494,3184,37.5,-19.9,25,286,0.15,1.60,0.00,0.000,3078,0.275,0.112,2245,2504,3339,3494,3184,0,0,0,0,0,0,13.83,14.13,28.83
$GC,599,-0.71,-146.0,2245,2504,3497,3182,98.4,-19.9,56,605,0.12,0.00,0.00,0.000,2054,0.318,0.000,2276,2505,3339,3497,3182,0,0,0,0,0,0,13.98,28.83,28.83
$GC,909,-0.66,-146.0,2276,2504,3497,3182,149.9,-15.1,67,912,0.00,1.50,0.00,0.000,516,0.000,0.097,2277,1654,3339,3497,3181,0,0,0,0,0,0,28.83,14.18,28.83
$GC,948,-0.61,-146.0,1408,1653,3489,3179,155.9,-15.8,68,952,0.15,1.55,0.00,0.000,3078,0.263,0.115,2304,2500,3339,3497,3181,0,0,0,0,0,0,13.97,14.14,28.83
$GC,1279,-0.59,-146.0,2305,2500,3497,3180,198.9,-12.8,79,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2500,3339,3497,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-0.58,-146.0,2304,2500,3497,3181,235.7,-11.8,89,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2500,3338,3496,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1879,-0.58,-146.0,2304,2500,3497,3181,269.3,-11.0,99,1883,0.00,1.52,0.00,0.000,516,0.000,0.099,2305,1647,3338,3497,3180,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1927,-0.58,-146.0,2305,1647,3497,3181,273.1,-10.9,100,1931,0.00,1.58,0.00,0.000,1030,0.000,0.119,2301,2499,3339,3497,3181,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2247,-0.58,-146.0,2301,2499,3498,3180,306.8,-10.5,111,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2499,3339,3498,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2548,-0.58,-146.0,2302,2499,3499,3180,339.1,-10.7,121,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2499,3340,3499,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-0.58,-146.0,2301,2499,3499,3180,369.8,-10.4,131,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2499,3340,3499,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-0.58,-146.0,2301,2500,3500,3180,400.5,-10.0,141,3152,0.00,1.58,0.00,0.000,260,0.000,0.129,2295,3349,3340,3500,3181,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3192,-0.58,-146.0,2295,3349,3500,3181,404.4,-10.2,142,3196,0.00,1.50,0.00,0.000,1030,0.000,0.085,2295,2485,3340,3500,3181,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3517,-0.58,-146.0,2295,2485,3501,3181,440.1,-10.6,153,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2485,3341,3501,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3817,-0.58,-146.0,2295,2485,3502,3181,470.8,-10.1,163,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2485,3341,3502,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4119,-0.58,-146.0,2295,2485,3503,3181,501.4,-10.1,173,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2485,3342,3503,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-0.58,-146.0,2295,2485,3503,3181,532.4,-10.3,183,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2485,3342,3504,3181,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4621,begin apogee
$GC,4635,-0.22,0.0,2295,2516,3505,3181,554.5,-10.3,190,4810,0.50,0.00,161.57,2.482,10246,0.223,0.000,2430,2516,2741,2857,2626,0,0,0,0,0,0,13.83,28.83,12.10
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4817,0.89,146.0,2430,2516,2856,2626,563.1,0.0,196,5003,1.25,0.00,180.82,2.368,10758,0.160,0.000,2787,2516,2144,2242,2047,0,0,0,0,0,0,13.35,28.83,11.44
$GC,5294,0.86,146.0,2788,2516,2242,2038,531.3,8.5,212,5298,0.00,1.58,0.00,0.000,516,0.000,0.097,2793,1673,2139,2242,2037,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5338,0.82,146.0,2793,1673,2242,2035,527.9,8.7,213,5341,0.00,1.58,0.00,0.000,1030,0.000,0.114,2793,2503,2138,2242,2035,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5664,0.79,146.0,2793,2503,2242,2034,496.7,9.4,224,5668,0.00,1.58,0.00,0.000,260,0.000,0.129,2793,3363,2138,2242,2034,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5732,0.74,146.0,1824,3362,2197,2029,490.3,9.4,226,5736,0.20,1.50,0.00,0.000,5126,0.244,0.088,2752,2498,2137,2241,2034,0,0,0,0,0,0,14.09,14.33,28.83
$GC,6063,0.78,173.0,2752,2498,2242,2033,466.4,7.2,237,6094,0.00,0.00,28.90,2.312,8198,0.000,0.000,2752,2498,2035,2141,1929,0,0,0,0,0,0,28.83,28.83,13.00
$GC,6393,0.78,173.0,2753,2498,2140,1926,439.5,8.4,248,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2498,2033,2141,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6693,0.78,173.0,2752,2498,2141,1925,412.9,9.1,258,6696,0.00,1.58,0.00,0.000,260,0.000,0.127,2752,3357,2033,2141,1925,0,0,0,0,0,0,28.83,14.25,28.83
$GC,6731,0.78,173.0,2752,3357,2140,1925,409.6,9.2,259,6734,0.00,1.50,0.00,0.000,1030,0.000,0.087,2756,2496,2032,2140,1925,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7061,0.78,173.0,2756,2496,2140,1925,377.9,9.2,270,7065,0.00,1.50,0.00,0.000,516,0.000,0.099,2762,1667,2032,2140,1925,0,0,0,0,0,0,28.83,14.25,28.83
$GC,7109,0.78,173.0,2762,1667,2140,1924,374.6,9.2,271,7113,0.00,1.58,0.00,0.000,1030,0.000,0.114,2762,2511,2032,2140,1924,0,0,0,0,0,0,28.83,14.22,28.83
$GC,7431,0.78,173.4,2762,2511,2140,1924,345.8,8.2,282,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2511,2031,2140,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7730,0.80,183.4,2762,2511,2140,1924,322.3,7.9,292,7748,0.00,1.60,11.57,2.093,8452,0.000,0.129,2762,3357,1994,2102,1886,0,0,0,0,0,0,28.83,14.37,13.25
$GC,7790,0.80,183.4,2762,3357,2101,1886,317.2,8.3,294,7793,0.00,1.50,0.00,0.000,1030,0.000,0.089,2768,2485,1994,2102,1886,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8125,0.80,183.4,2768,2485,2102,1885,286.8,9.0,305,8129,0.00,1.48,0.00,0.000,516,0.000,0.100,2774,1667,1993,2102,1885,0,0,0,0,0,0,28.83,14.23,28.83
$GC,8178,0.80,183.4,2774,1667,2102,1884,283.7,8.9,306,8182,0.00,1.52,0.00,0.000,1030,0.000,0.114,2774,2511,1992,2101,1884,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8493,0.80,183.4,2774,2511,2102,1884,255.2,8.5,317,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2511,1992,2101,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8794,0.82,200.1,2774,2511,2101,1884,231.1,7.6,327,8819,0.00,1.55,18.60,2.097,8452,0.000,0.126,2774,3360,1927,2036,1818,0,0,0,0,0,0,28.83,14.33,13.17
$GC,8900,0.81,200.1,2775,3360,2035,1817,223.1,8.4,330,8904,0.00,1.50,0.00,0.000,1030,0.000,0.088,2781,2495,1926,2036,1817,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9226,0.88,247.6,2781,2495,2035,1816,197.3,6.5,341,9284,0.00,1.52,52.10,2.123,8708,0.000,0.102,2786,1668,1731,1830,1632,0,0,0,0,0,0,28.83,14.14,12.98
$GC,9367,0.93,275.7,2787,1669,1827,1631,188.7,7.2,345,9405,0.00,1.52,31.35,1.996,9222,0.000,0.115,2786,2511,1616,1711,1522,0,0,0,0,0,0,28.83,14.26,13.05
$GC,9715,0.98,305.2,2787,2511,1706,1519,160.5,7.1,357,9750,0.12,0.00,32.55,2.052,10246,0.156,0.000,2832,2511,1496,1589,1404,0,0,0,0,0,0,14.49,28.83,13.09
$GC,10039,0.97,305.2,2832,2511,1585,1399,126.9,10.4,368,10042,0.00,1.50,0.00,0.000,516,0.000,0.103,2838,1667,1492,1585,1399,0,0,0,0,0,0,28.83,14.32,28.83
$GC,10165,0.97,305.2,2839,1667,1585,1397,112.9,11.2,372,10168,0.00,1.58,0.00,0.000,1030,0.000,0.116,2839,2512,1491,1585,1397,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10485,1.03,342.0,2839,2512,1583,1396,82.8,6.9,395,10513,0.00,1.58,21.27,0.425,8452,0.000,0.130,2838,3350,1346,1437,1256,0,0,0,0,0,0,28.83,14.29,13.90
$GC,10555,1.00,342.0,2839,3351,1435,1256,73.6,14.4,402,10559,0.00,1.50,0.00,0.000,1030,0.000,0.090,2845,2484,1345,1435,1256,0,0,0,0,0,0,28.83,14.36,28.83
$GC,10872,0.99,342.0,2845,2483,1430,1254,38.7,12.7,433,10878,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2483,1341,1430,1253,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.05,-1.702,-1.825,2,12,0
$FREEZE,7.27,-1.700,-1.824,2,12,0
$FREEZE,6.11,-1.700,-1.824,2,12,0
$FREEZE,5.45,-1.703,-1.823,2,12,0
$FREEZE,4.49,-1.705,-1.822,2,12,0
$FREEZE,3.37,-1.694,-1.821,2,12,0
$FREEZE,2.25,-1.711,-1.821,2,12,0
$STATE,11167,end climb,SURFACE_DEPTH_REACHED
$STATE,11167,begin surface coast
$FREEZE,1.46,-1.716,-1.820,2,12,0
$FREEZE,1.02,-1.697,-1.818,2,12,0
$FREEZE,1.05,-1.724,-1.820,2,12,0
$FINISH,1.0,1.026717
$STATE,11198,end surface coast,FINISH_DEPTH_REACHED
$STATE,11198,begin surface
$SM_CCo,11227,111.38,0.172,0,0,498,549.72
$SM_GC,2.37,8.27,0.00,111.38,0.104,0.000,0.172,141,2483,498,-7.36,-0.48,549.72,0,0,0,0,0,0,14.32,28.83,14.14
$RAFOS_CLK,563
$RAFOS,6,1388724546,4.833333,4.818333,63,61,59,53,51,51,196,147,205,163,180,226
$RAFOS,5,1388724061,4.700000,4.683611,61,55,54,50,49,48,120,154,200,142,213,226
$RAFOS,4,1388723602,4.566667,4.556111,62,58,55,55,53,52,170,208,188,232,153,115
$RAFOS,3,1388723114,4.433333,4.420556,67,64,56,54,53,49,203,186,221,147,177,115
$RAFOS,2,1388722634,4.300000,4.287222,68,60,54,50,50,49,207,182,165,142,122,223
$RAFOS,1,1388722145,4.166667,4.151389,62,58,56,56,55,53,153,203,175,119,219,138
$RAFOS,0,1388721679,4.033333,4.021945,72,66,66,64,54,53,223,209,166,200,187,135
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6322.64,-6007.44,030114,020254
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.44
$INTERNAL_PRESSURE,8.59601
$TCM_TEMP,12.10
$XPDR_PINGS,21
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,11.4,241.928
$10V_AH,11.3,0.000
$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,21.525,43.125,538.750,111.375,0.000,0.000,0.000,468.450,7.000,0.000,46.105,1303.760,8154.134,685.872,1444.605,680.123,0.000,1802.747,0.000,1018.487,2520.000,13.432,0.000
$DEVICE_MAMPS,432.225,213.435,2482.425,172.125,0.000,0.000,0.000,130.815,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238540
$DATA_FILE_SIZE,20164,466
$CAP_FILE_SIZE,99585,0
$CFSIZE,259252224,206036992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.2
$GPS,030114,023736,6349.784,-6011.056,181,99.0,181,-30.7