version: 66.11
glider: 192
mission: 2
dive: 574
start: 1 1 114 20 38 40
data:
$ID,192
$MISSION,2
$DIVE,574
$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,-12250.469
$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,14
$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
$GPS1,010114,203105,6403.810,-5959.211,41,0.9,42,-30.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-32.1
$GPS2,010114,203752,6403.655,-5959.633,4,1.0,5,-30.9
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6403.655,-5934.945
$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,75.9,20000,-15.5,-8.250,-18.49,2720
$D_GRID,351
$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,-146.0,140,2504,1143,1043,0.0,0.0,0,139,0.00,0.00,-115.75,0.000,16386,0.000,0.000,140,2504,3151,3258,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,146,-0.89,-146.0,140,2504,3260,3046,3.7,-2.2,4,169,10.52,1.55,-4.05,0.000,18948,0.429,0.125,2213,1646,3340,3490,3191,0,0,0,0,0,0,13.69,14.24,14.64
$GC,260,-0.66,-146.0,2213,1646,3499,3184,29.4,-24.1,7,269,0.35,1.60,0.00,0.000,3078,0.298,0.119,2294,2507,3341,3499,3183,0,0,0,0,0,0,13.67,14.02,28.83
$GC,873,-0.58,-146.0,2293,2507,3501,3182,142.0,-16.6,28,876,0.00,1.58,0.00,0.000,260,0.000,0.133,2290,3348,3341,3501,3181,0,0,0,0,0,0,28.83,13.88,28.83
$GC,912,-0.49,-146.0,2290,3349,3501,3181,148.9,-16.3,29,917,0.25,1.50,0.00,0.000,3078,0.279,0.091,2345,2498,3340,3500,3181,0,0,0,0,0,0,13.59,14.04,28.83
$GC,1543,-0.46,-146.0,2345,2498,3501,3180,226.0,-10.7,50,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2498,3340,3501,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,-0.44,-146.0,2345,2498,3501,3179,293.1,-11.7,70,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2498,3340,3501,3179,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2721,-0.22,0.0,2345,2498,3502,3179,352.2,-9.9,89,2888,0.32,0.00,155.95,2.328,10246,0.237,0.000,2431,2498,2741,2856,2626,0,0,0,0,0,0,13.64,28.83,12.12
$STATE,2889,end apogee,CONTROL_FINISHED_OK
$STATE,2889,begin climb
$GC,2895,0.89,146.0,2431,2498,2856,2626,361.3,0.0,94,3082,1.33,1.75,170.90,2.175,10756,0.197,0.106,2793,1671,2145,2243,2048,0,0,0,0,0,0,13.33,12.72,11.50
$GC,3138,0.95,183.1,2793,1672,2242,2042,350.5,6.8,102,3189,0.00,1.75,43.88,2.093,9222,0.000,0.122,2793,2507,1994,2095,1893,0,0,0,0,0,0,28.83,13.06,11.73
$GC,3794,1.00,215.4,2793,2507,2094,1883,300.1,7.0,124,3833,0.12,1.62,34.00,2.130,10500,0.154,0.136,2843,3370,1862,1966,1759,0,0,0,0,0,0,14.36,14.12,12.94
$GC,3951,0.96,215.4,2844,3370,1963,1760,283.2,11.8,129,3955,0.12,1.52,0.00,0.000,5126,0.274,0.095,2823,2501,1861,1963,1759,0,0,0,0,0,0,14.06,14.26,28.83
$GC,4588,0.96,215.4,2823,2501,1962,1756,218.8,9.6,150,4592,0.00,1.50,0.00,0.000,516,0.000,0.106,2828,1651,1859,1962,1756,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4626,0.96,215.4,2828,1651,1962,1755,214.8,9.6,151,4630,0.00,1.60,0.00,0.000,1030,0.000,0.125,2828,2521,1858,1962,1755,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5262,0.96,215.4,2828,2520,1962,1755,152.7,8.7,172,5266,0.00,1.60,0.00,0.000,260,0.000,0.138,2828,3353,1858,1962,1755,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5346,0.96,215.8,2828,3353,1961,1755,146.8,8.2,174,5349,0.00,1.50,0.00,0.000,1030,0.000,0.095,2834,2501,1857,1961,1754,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5961,1.01,248.6,2834,2500,1961,1755,98.6,7.0,195,5986,0.00,1.48,19.67,0.478,8708,0.000,0.103,2841,1666,1727,1824,1631,0,0,0,0,0,0,28.83,14.28,13.74
$GC,6027,1.07,288.1,2841,1666,1823,1631,94.4,6.8,197,6056,0.00,1.55,24.45,0.463,9222,0.000,0.124,2841,2513,1565,1657,1474,0,0,0,0,0,0,28.83,14.16,13.83
$GC,6682,1.07,288.1,2841,2513,1648,1468,34.9,9.7,219,6686,0.00,1.60,0.00,0.000,260,0.000,0.141,2841,3355,1558,1648,1469,0,0,0,0,0,0,28.83,13.98,28.83
$GC,6791,1.07,288.1,2840,3356,1646,1469,25.1,10.5,222,6795,0.00,1.50,0.00,0.000,1030,0.000,0.093,2847,2508,1557,1645,1469,0,0,0,0,0,0,28.83,14.14,28.83
$FREEZE,6.99,-39.928,-0.005,2,1,0
$FREEZE,4.60,-39.928,-0.003,2,1,0
$FREEZE,1.73,-39.928,-0.001,2,1,0
$STATE,7016,end climb,SURFACE_DEPTH_REACHED
$STATE,7016,begin surface coast
$FREEZE,1.34,-39.928,-0.001,2,1,0
$FINISH,1.3,0.972744
$STATE,7052,end surface coast,CONTROL_FINISHED_OK
$STATE,7052,begin surface
$SM_CCo,7082,59.80,0.164,0,0,1109,400.08
$SM_GC,1.53,8.15,0.00,59.80,0.085,0.000,0.164,144,2506,1109,-7.35,0.17,400.08,0,0,0,0,0,0,14.16,28.83,14.09
$RAFOS_CLK,348
$RAFOS,6,1388609369,20.833334,20.824722,61,60,56,52,51,50,208,188,159,146,116,1071
$RAFOS,5,1388608869,20.700001,20.685833,63,56,55,55,52,49,200,191,144,212,223,91
$RAFOS,3,1388607927,20.433332,20.424166,64,61,61,60,56,54,166,198,210,140,115,226
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6337.14,-5957.01,010114,161656
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.82
$INTERNAL_PRESSURE,8.62531
$TCM_TEMP,12.00
$XPDR_PINGS,32
$ALTIM_TOP_PING,17.9,999.0
$24V_AH,11.5,237.260
$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,21.175,25.200,448.850,59.800,0.000,0.000,0.000,245.725,8.750,0.000,5.500,590.242,5259.633,480.898,866.052,367.719,0.000,1197.401,0.000,660.326,720.000,6.357,0.000
$DEVICE_MAMPS,429.165,140.760,2327.895,164.475,0.000,0.000,0.000,126.990,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$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,238544
$DATA_FILE_SIZE,10216,231
$CAP_FILE_SIZE,54913,0
$CFSIZE,259252224,206639104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.000,  0.0,1
$GPS,010114,203752,6403.655,-5959.633,181,99.0,181,-30.9