version: 66.11
glider: 192
mission: 2
dive: 585
start: 1 2 114 20 23 22
data:
$ID,192
$MISSION,2
$DIVE,585
$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,24
$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,-6007.537,149,1.2,150,-30.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.25
$_SM_ANGLEo,-3.4
$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,-146.0,2533,2503,2670,2494,0.0,0.0,0,30,0.00,0.00,-8.12,0.000,16386,0.000,0.000,2533,2503,2943,3051,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-0.89,-146.0,2533,2502,3053,2836,11.5,0.0,1,54,0.95,1.55,-8.27,0.000,20740,0.121,0.159,2218,3353,3340,3511,3169,0,0,0,0,0,0,14.18,14.20,14.74
$GC,95,-0.81,-146.0,2218,3353,3514,3169,19.6,-16.4,6,103,0.12,1.50,0.00,0.000,3078,0.306,0.081,2241,2485,3341,3514,3168,0,0,0,0,0,0,13.95,14.31,28.83
$GC,405,-0.73,-146.0,2241,2485,3514,3168,82.1,-19.5,37,410,0.12,1.50,0.00,0.000,2564,0.314,0.091,2273,1654,3341,3514,3168,0,0,0,0,0,0,14.02,14.16,28.83
$GC,452,-0.68,-146.0,2273,1654,3515,3168,90.8,-18.9,41,456,0.00,1.58,0.00,0.000,1030,0.000,0.114,2268,2499,3341,3514,3168,0,0,0,0,0,0,28.83,14.12,28.83
$GC,778,-0.63,-146.0,2268,2499,3514,3166,145.6,-15.6,55,780,0.15,0.00,0.00,0.000,2054,0.298,0.000,2300,2499,3340,3514,3167,0,0,0,0,0,0,14.06,28.83,28.83
$GC,1081,-0.60,-146.0,2300,2499,3514,3166,185.2,-13.1,65,1084,0.00,1.50,0.00,0.000,516,0.000,0.097,2301,1651,3340,3514,3166,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1150,-0.59,-146.0,2301,1651,3514,3166,194.4,-13.4,67,1153,0.00,1.58,0.00,0.000,1030,0.000,0.119,2296,2504,3340,3515,3166,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1480,-0.57,-146.0,2296,2504,3515,3165,235.2,-11.1,78,1485,0.12,1.55,0.00,0.000,2564,0.295,0.094,2327,1659,3339,3514,3165,0,0,0,0,0,0,14.06,14.13,28.83
$GC,1520,-0.55,-146.0,1448,1657,3508,3161,238.9,-10.7,79,1524,0.00,1.58,0.00,0.000,1030,0.000,0.116,2323,2494,3339,3514,3164,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1850,-0.55,-146.0,2323,2494,3514,3164,270.9,-9.7,90,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2494,3338,3514,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2151,-0.55,-146.0,2323,2494,3514,3164,301.7,-10.6,100,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2494,3339,3514,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,-0.55,-146.0,2323,2494,3514,3164,331.3,-9.3,110,2454,0.00,1.50,0.00,0.000,516,0.000,0.096,2323,1641,3339,3514,3164,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2488,-0.55,-146.0,1472,1640,3507,3161,334.7,-9.2,111,2492,0.00,1.58,0.00,0.000,1030,0.000,0.117,2317,2503,3339,3514,3164,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2819,-0.55,-146.0,2318,2503,3515,3164,364.6,-8.7,122,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2503,3339,3515,3164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2902,begin apogee
$GC,2915,-0.22,0.0,2318,2503,3515,3164,372.6,-8.7,125,3078,0.43,0.00,152.05,2.240,10246,0.222,0.000,2433,2502,2741,2863,2620,0,0,0,0,0,0,13.88,28.83,12.39
$STATE,3079,end apogee,CONTROL_FINISHED_OK
$STATE,3079,begin climb
$GC,3085,0.89,146.0,2433,2503,2863,2620,379.6,0.0,130,3260,1.25,1.77,166.45,2.153,10500,0.169,0.127,2790,3356,2146,2243,2050,0,0,0,0,0,0,13.52,12.87,11.73
$GC,3292,1.01,253.3,2790,3356,2241,2049,375.0,4.2,137,3432,0.12,1.62,126.50,2.108,11270,0.140,0.086,2836,2510,1708,1795,1622,0,0,0,0,0,0,13.17,13.16,11.62
$GC,3754,0.97,253.3,2836,2510,1792,1612,313.1,13.1,153,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2510,1701,1791,1612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,0.93,253.3,2836,2510,1792,1611,275.0,12.7,163,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2510,1701,1791,1611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4355,0.89,253.3,2836,2510,1791,1610,238.9,11.6,173,4359,0.12,1.58,0.00,0.000,4356,0.276,0.129,2803,3356,1700,1791,1610,0,0,0,0,0,0,14.19,14.23,28.83
$GC,4479,0.86,253.3,2803,3357,1790,1610,228.6,10.9,176,4486,0.00,1.50,0.00,0.000,1030,0.000,0.089,2809,2496,1700,1790,1610,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4782,0.85,253.3,2809,2496,1790,1610,192.2,11.2,187,4786,0.00,1.50,0.00,0.000,516,0.000,0.102,2815,1669,1699,1790,1609,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4842,0.83,253.3,2814,1669,1790,1609,188.2,11.0,188,4849,0.15,1.52,0.00,0.000,5126,0.231,0.118,2779,2509,1699,1790,1608,0,0,0,0,0,0,14.12,14.23,28.83
$GC,5148,0.86,257.9,2779,2509,1790,1609,161.2,8.1,199,5156,0.00,1.55,4.28,1.504,8452,0.000,0.127,2779,3366,1689,1780,1598,0,0,0,0,0,0,28.83,14.35,13.28
$GC,5182,0.88,257.9,2779,3367,1780,1599,158.7,8.5,200,5186,0.00,1.50,0.00,0.000,1030,0.000,0.090,2783,2500,1689,1779,1599,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5508,0.95,290.2,2783,2500,1780,1599,131.2,7.0,211,5547,0.00,0.00,36.88,1.997,8198,0.000,0.000,2783,2500,1556,1646,1466,0,0,0,0,0,0,28.83,28.83,13.08
$GC,5838,0.99,290.2,2783,2500,1645,1463,106.5,8.5,222,5840,0.15,0.00,0.00,0.000,2054,0.142,0.000,2838,2500,1553,1645,1462,0,0,0,0,0,0,14.47,28.83,28.83
$GC,6143,0.98,290.2,2838,2500,1645,1462,73.5,10.1,246,6146,0.00,1.52,0.00,0.000,516,0.000,0.101,2845,1666,1553,1645,1462,0,0,0,0,0,0,28.83,14.24,28.83
$GC,6188,0.96,290.2,2844,1666,1645,1461,68.7,9.4,250,6192,0.00,1.60,0.00,0.000,1030,0.000,0.118,2844,2511,1553,1645,1461,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6506,0.95,290.2,2845,2511,1645,1461,35.6,11.4,281,6509,0.00,1.55,0.00,0.000,260,0.000,0.129,2844,3359,1553,1645,1461,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6592,0.92,290.2,2845,3359,1643,1461,24.4,13.4,289,6596,0.17,1.50,0.00,0.000,5126,0.248,0.092,2809,2497,1552,1644,1461,0,0,0,0,0,0,14.07,14.29,28.83
$FREEZE,8.79,-1.711,-1.825,2,9,0
$FREEZE,7.94,-1.722,-1.824,2,9,0
$FREEZE,7.13,-1.724,-1.824,2,9,0
$STATE,6792,end climb,FINISH_DEPTH_REACHED
$STATE,6793,begin subsurface finish
$FINISH1,7.1,1.026701,39
$GC,6807,0.06,39.4,2809,2496,1644,1460,7.1,9.0,309,6847,0.98,1.52,-33.97,0.000,20996,0.213,0.136,2533,1665,2582,2676,2489,0,0,0,0,0,0,13.95,14.28,14.76
$FINISH2,6.6
$STATE,6848,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6849,begin surface
$RAFOS_CLK,375
$RAFOS,6,1388695746,20.833334,20.818333,58,57,54,54,51,50,185,132,174,212,83,101
$RAFOS,5,1388695273,20.700001,20.686945,60,58,54,54,54,52,214,171,124,198,152,134
$RAFOS,4,1388694793,20.566668,20.553612,58,54,53,52,51,51,204,190,148,135,110,173
$RAFOS,3,1388694302,20.433332,20.417223,59,56,54,53,52,51,203,187,223,214,129,151
$RAFOS,2,1388693829,20.299999,20.285833,59,59,55,53,49,45,179,218,197,161,146,133
$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,47.08
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,12.20
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.3,19.0
$24V_AH,11.6,240.852
$10V_AH,11.9,0.000
$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,4.850,37.250,486.150,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,870.704,4625.333,437.804,712.798,264.844,0.000,905.529,0.000,703.746,1440.000,6.162,0.000
$DEVICE_MAMPS,314.415,159.120,2239.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13575,314
$CAP_FILE_SIZE,60317,0
$CFSIZE,259252224,206229504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.5
$GPS,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8