version: 66.11
glider: 192
mission: 2
dive: 575
start: 1 1 114 22 52 22
data:
$ID,192
$MISSION,2
$DIVE,575
$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,-12435.088
$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,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
$GPS1,010114,203752,6403.655,-5959.633,181,99.0,181,-30.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-41.0
$GPS2,010114,225135,6402.914,-6001.180,40,0.9,40,-30.9
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6402.914,-5936.502
$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,120.9,20000,-15.5,-8.250,-18.49,2720
$D_GRID,356
$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,19,-0.89,-146.0,140,2504,1138,1045,0.0,0.0,0,159,0.00,0.00,-133.82,0.000,16390,0.000,0.000,138,2505,3337,3496,3179,0,0,0,0,0,0,28.83,28.83,14.67
$GC,165,-0.89,-146.0,138,2505,3497,3179,1.4,0.1,4,180,8.65,1.55,0.00,0.000,2564,0.321,0.090,2214,1644,3338,3500,3177,0,0,0,0,0,0,13.83,14.23,28.83
$GC,277,-0.74,-146.0,2214,1644,3503,3175,10.7,-7.3,8,281,0.25,1.58,0.00,0.000,3078,0.300,0.112,2264,2503,3339,3503,3175,0,0,0,0,0,0,13.72,14.07,28.83
$GC,908,-0.66,-146.0,2264,2503,3502,3174,134.8,-18.5,29,912,0.12,1.52,0.00,0.000,2564,0.308,0.095,2296,1648,3338,3502,3174,0,0,0,0,0,0,13.94,14.06,28.83
$GC,978,-0.60,-146.0,2296,1648,3503,3174,147.2,-18.0,31,982,0.00,1.58,0.00,0.000,1030,0.000,0.119,2292,2499,3338,3503,3173,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1614,-0.55,-146.0,2292,2499,3503,3172,237.5,-13.8,52,1616,0.15,0.00,0.00,0.000,2054,0.289,0.000,2324,2499,3337,3503,3172,0,0,0,0,0,0,13.95,28.83,28.83
$GC,2209,-0.55,-146.0,2324,2499,3504,3172,303.3,-10.3,72,2212,0.00,1.50,0.00,0.000,516,0.000,0.099,2324,1657,3338,3504,3172,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2307,-0.55,-146.0,2325,1657,3504,3172,313.2,-10.4,75,2310,0.00,1.55,0.00,0.000,1030,0.000,0.116,2321,2499,3338,3504,3172,0,0,0,0,0,0,28.83,13.93,28.83
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2704,-0.22,0.0,2321,2499,3506,3172,356.8,-11.4,88,2869,0.40,0.00,153.40,2.307,10246,0.232,0.000,2426,2502,2741,2860,2623,0,0,0,0,0,0,13.68,28.83,12.24
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin climb
$GC,2876,0.89,146.0,2427,2501,2860,2623,360.8,0.0,93,3062,1.30,1.73,169.68,2.207,10756,0.190,0.098,2790,1669,2144,2244,2045,0,0,0,0,0,0,13.40,12.74,11.54
$GC,3247,0.91,176.9,2790,1669,2242,2034,350.5,7.1,106,3287,0.00,1.65,34.67,2.179,9222,0.000,0.116,2790,2505,2019,2124,1915,0,0,0,0,0,0,28.83,13.55,12.24
$GC,3905,0.93,198.2,2790,2505,2121,1909,298.2,7.4,128,3932,0.00,1.62,22.95,2.129,8452,0.000,0.134,2790,3354,1932,2038,1826,0,0,0,0,0,0,28.83,14.21,13.08
$GC,4076,0.92,198.2,2790,3355,2036,1825,284.3,9.4,133,4080,0.00,1.50,0.00,0.000,1030,0.000,0.091,2797,2497,1930,2036,1825,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4698,0.93,214.9,2797,2497,2036,1823,232.5,7.6,154,4720,0.00,1.45,17.83,2.049,8708,0.000,0.102,2803,1665,1867,1974,1760,0,0,0,0,0,0,28.83,14.35,13.17
$GC,4839,0.98,246.5,2803,1665,1975,1758,221.8,7.1,159,4878,0.00,1.58,34.95,2.091,9222,0.000,0.117,2803,2510,1734,1833,1636,0,0,0,0,0,0,28.83,14.22,12.99
$GC,5496,1.00,259.3,2803,2510,1826,1635,169.5,7.8,181,5514,0.00,1.55,13.90,1.951,8452,0.000,0.131,2803,3367,1682,1776,1589,0,0,0,0,0,0,28.83,14.34,13.21
$GC,5564,1.00,259.3,2803,3367,1775,1589,164.2,8.4,182,5569,0.00,1.50,0.00,0.000,1030,0.000,0.092,2809,2503,1682,1775,1589,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6192,1.08,310.8,2809,2503,1774,1589,113.9,6.3,203,6233,0.12,1.67,34.12,1.920,10500,0.158,0.132,2859,3369,1474,1563,1386,0,0,0,0,0,0,14.40,14.23,13.13
$GC,6327,1.06,310.8,2859,3369,1557,1385,101.9,9.9,207,6331,0.00,1.50,0.00,0.000,1030,0.000,0.093,2865,2512,1470,1556,1385,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6948,1.02,310.8,2865,2511,1553,1380,33.1,16.0,228,6952,0.00,1.60,0.00,0.000,260,0.000,0.138,2865,3365,1466,1553,1380,0,0,0,0,0,0,28.83,14.12,28.83
$FREEZE,7.68,-39.928,-0.006,2,1,0
$FREEZE,7.68,-39.928,-0.006,2,1,0
$FREEZE,7.68,-39.928,-0.006,2,1,0
$FREEZE,7.68,-39.928,-0.006,2,1,0
$FREEZE,7.68,-39.928,-0.006,2,1,0
$FREEZE,7.68,-39.928,-0.006,2,1,0
$FREEZE,3.59,-39.928,-0.003,2,1,0
$FREEZE,3.59,-39.928,-0.003,2,1,0
$FREEZE,3.59,-39.928,-0.003,2,1,0
$FREEZE,3.59,-39.928,-0.003,2,1,0
$FREEZE,3.59,-39.928,-0.003,2,1,0
$FREEZE,3.59,-39.928,-0.003,2,1,0
$FREEZE,0.74,-39.928,-0.001,2,1,0
$STATE,7137,end climb,SURFACE_DEPTH_REACHED
$STATE,7137,begin surface coast
$FREEZE,0.74,-39.928,-0.001,2,1,0
$FINISH,0.7,0.972744
$STATE,7142,end surface coast,CONTROL_FINISHED_OK
$STATE,7142,begin surface
$SM_CCo,7173,48.33,0.174,0,0,1109,400.08
$SM_GC,1.25,8.52,1.60,48.33,0.119,0.102,0.174,142,2502,1109,-7.36,0.65,400.08,0,0,0,0,0,0,14.21,14.24,14.16
$RAFOS_CLK,349
$RAFOS,5,1388623288,0.700000,0.691111,63,59,58,55,53,53,223,149,184,136,201,233
$RAFOS,4,1388622801,0.566667,0.555833,64,62,54,51,50,50,152,216,194,180,166,129
$RAFOS,3,1388622309,0.433333,0.419167,59,57,53,52,51,51,202,170,142,213,122,226
$RAFOS,2,1388621841,0.300000,0.289167,66,62,56,55,54,52,149,181,133,191,163,208
$RAFOS,1,1388621367,0.166667,0.157500,62,56,55,55,52,49,175,197,118,156,187,218
$RAFOS,0,1388620887,0.033333,0.024167,64,60,57,57,54,53,204,147,175,138,216,187
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6337.14,-6001.27,010114,202053
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.51
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.10
$XPDR_PINGS,23
$ALTIM_TOP_PING,16.1,999.0
$24V_AH,11.5,237.598
$10V_AH,11.7,0.000
$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,19.525,28.225,481.500,48.325,0.000,0.000,0.000,288.400,6.500,0.000,41.993,643.551,5233.212,492.395,1096.413,372.967,0.000,1313.821,0.000,788.673,2520.000,6.356,0.000
$DEVICE_MAMPS,321.300,138.465,2307.240,173.655,0.000,0.000,0.000,120.870,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$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,238528
$DATA_FILE_SIZE,10226,234
$CAP_FILE_SIZE,63707,0
$CFSIZE,259252224,206602240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.285,177.2,1
$GPS,020114,005430,6401.790,-6001.054,40,1.2,40,-30.9