version: 66.11
glider: 192
mission: 2
dive: 576
start: 1 2 114 1 3 26
data:
$ID,192
$MISSION,2
$DIVE,576
$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,-12436.344
$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,17
$R_STBD_OVSHOOT,13
$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
$GPS1,020114,005430,6401.790,-6001.054,40,1.2,40,-30.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-26.5
$GPS2,020114,010244,6401.638,-6001.487,16,1.1,17,-30.9
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6401.638,-5936.829
$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,370
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,137,2496,1144,1047,0.0,0.0,0,164,0.00,0.00,-135.18,0.000,16390,0.000,0.000,136,2497,3338,3490,3186,0,0,0,0,0,0,28.83,28.83,14.71
$GC,177,-0.89,-146.0,136,2497,3491,3185,1.7,-0.2,5,194,8.43,1.50,0.00,0.000,2820,0.315,0.097,2215,1650,3339,3499,3180,0,0,0,0,0,0,13.88,14.24,28.83
$GC,205,-0.65,-146.0,2215,1650,3500,3179,1.4,0.1,6,209,0.35,1.55,0.00,0.000,3078,0.282,0.108,2294,2510,3339,3500,3179,0,0,0,0,0,0,13.93,14.21,28.83
$GC,843,-0.60,-146.0,2293,2510,3501,3177,105.3,-17.6,27,846,0.00,1.52,0.00,0.000,516,0.000,0.100,2294,1653,3338,3500,3177,0,0,0,0,0,0,28.83,14.12,28.83
$GC,922,-0.56,-146.0,2294,1653,3501,3177,118.2,-17.9,29,926,0.15,1.55,0.00,0.000,3078,0.271,0.118,2322,2497,3338,3501,3176,0,0,0,0,0,0,13.87,14.08,28.83
$GC,1550,-0.54,-146.0,2323,2497,3500,3176,203.5,-13.0,50,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2497,3338,3500,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,-0.54,-146.0,2323,2497,3501,3175,286.0,-11.0,70,2147,0.00,1.60,0.00,0.000,260,0.000,0.131,2318,3352,3338,3501,3175,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2262,-0.54,-146.0,2318,3352,3501,3174,294.4,-8.9,73,2268,0.00,1.52,0.00,0.000,1030,0.000,0.089,2318,2486,3337,3501,3174,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2874,-0.54,-146.0,2318,2486,3502,3174,357.5,-11.5,94,2878,0.00,1.67,0.00,0.000,260,0.000,0.129,2312,3350,3338,3502,3174,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2943,-0.54,-146.0,2312,3350,3502,3175,365.4,-11.4,96,2947,0.00,1.50,0.00,0.000,1030,0.000,0.086,2312,2496,3338,3502,3175,0,0,0,0,0,0,28.83,14.12,28.83
$STATE,2997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2997,begin apogee
$GC,3010,-0.22,0.0,2312,2496,3501,3175,372.3,-11.1,98,3173,0.45,0.00,152.38,2.291,10246,0.230,0.000,2430,2496,2741,2860,2622,0,0,0,0,0,0,13.74,28.83,12.27
$STATE,3174,end apogee,CONTROL_FINISHED_OK
$STATE,3175,begin climb
$GC,3181,0.89,146.0,2431,2495,2860,2623,381.5,0.0,103,3364,1.27,1.80,168.68,2.228,11012,0.175,0.126,2790,3360,2144,2241,2048,0,0,0,0,0,0,13.44,12.75,11.58
$GC,3430,0.92,195.1,2790,3360,2238,2046,373.7,6.4,112,3494,0.00,1.67,57.35,2.141,9222,0.000,0.089,2796,2511,1944,2042,1847,0,0,0,0,0,0,28.83,13.21,11.81
$GC,4112,0.90,195.1,2796,2510,2041,1836,313.5,10.1,135,4116,0.00,1.58,0.00,0.000,260,0.000,0.132,2796,3360,1938,2041,1836,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4310,0.87,195.1,2797,3361,2040,1836,292.4,11.0,141,4314,0.00,1.50,0.00,0.000,1030,0.000,0.092,2803,2499,1938,2040,1836,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4942,0.85,195.1,2804,2499,2040,1834,227.2,10.4,162,4945,0.00,1.58,0.00,0.000,260,0.000,0.130,2803,3357,1937,2040,1834,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4966,0.82,195.1,2804,3357,2041,1834,227.2,10.4,162,4970,0.15,1.50,0.00,0.000,5126,0.260,0.090,2777,2499,1937,2040,1834,0,0,0,0,0,0,14.02,14.25,28.83
$GC,5588,0.89,234.9,2777,2499,2040,1834,178.3,6.7,183,5637,0.00,1.52,40.25,2.065,8708,0.000,0.103,2780,1665,1783,1882,1685,0,0,0,0,0,0,28.83,14.20,13.02
$GC,5740,0.92,234.9,2781,1665,1878,1683,163.4,10.0,188,5743,0.00,1.52,0.00,0.000,1030,0.000,0.117,2780,2510,1780,1878,1683,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6377,1.04,306.0,2780,2511,1875,1682,126.1,5.6,209,6456,0.17,1.62,69.75,2.020,10500,0.135,0.133,2849,3355,1493,1582,1405,0,0,0,0,0,0,14.39,14.02,12.95
$GC,6486,1.06,317.3,2849,3355,1580,1405,118.7,7.8,212,6500,0.00,1.50,7.30,1.649,9222,0.000,0.092,2855,2505,1447,1534,1361,0,0,0,0,0,0,28.83,14.18,12.95
$GC,7126,1.05,317.3,2855,2505,1527,1354,45.0,11.3,234,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2505,1440,1527,1353,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.50,-39.928,-0.006,2,1,0
$FREEZE,4.73,-39.928,-0.004,2,1,0
$FREEZE,0.87,-39.928,-0.001,2,1,0
$STATE,7511,end climb,SURFACE_DEPTH_REACHED
$STATE,7511,begin surface coast
$FREEZE,0.85,-39.928,-0.001,2,1,0
$FINISH,0.9,0.972744
$STATE,7548,end surface coast,CONTROL_FINISHED_OK
$STATE,7548,begin surface
$SM_CCo,7577,44.50,0.171,0,0,1109,400.08
$SM_GC,1.84,8.43,0.00,44.50,0.112,0.000,0.171,138,2504,1109,-7.36,0.11,400.08,0,0,0,0,0,0,14.26,28.83,14.10
$RAFOS_CLK,373
$RAFOS,6,1388623743,0.833333,0.817500,71,67,60,60,56,46,217,204,139,189,165,128
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6337.14,-6006.17,020114,000001
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.14
$INTERNAL_PRESSURE,8.63508
$TCM_TEMP,12.00
$XPDR_PINGS,18
$ALTIM_TOP_PING,17.1,16.8
$24V_AH,11.6,237.942
$10V_AH,11.5,0.000
$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,19.400,28.225,495.700,44.500,0.000,0.000,0.000,279.025,5.250,0.000,18.807,643.597,5600.654,522.068,995.398,370.669,0.000,1310.205,0.000,729.497,0.000,6.158,0.000
$DEVICE_MAMPS,315.180,133.110,2291.175,171.360,0.000,0.000,0.000,121.635,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$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,238492
$DATA_FILE_SIZE,10188,248
$CAP_FILE_SIZE,59799,0
$CFSIZE,259252224,206577664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$CURRENT,0.297,215.2,1
$GPS,020114,031205,6400.630,-6003.111,35,1.7,35,-30.8