version: 66.11
glider: 192
mission: 2
dive: 586
start: 1 2 114 22 19 58
data:
$ID,192
$MISSION,2
$DIVE,586
$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,23
$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
$GPS1,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.72
$_SM_ANGLEo,-1.9
$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,19,-0.89,-146.0,2533,2502,2676,2491,0.0,0.0,0,29,0.00,0.00,-7.55,0.000,16386,0.000,0.000,2533,2501,2923,3032,2815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.89,-146.0,2532,2502,3034,2815,12.0,0.0,1,53,0.95,1.55,-8.73,0.000,20740,0.119,0.153,2215,3355,3339,3509,3169,0,0,0,0,0,0,14.19,14.21,14.76
$GC,288,-0.79,-146.0,2215,3354,3510,3168,57.6,-20.7,25,295,0.15,1.50,0.00,0.000,3078,0.301,0.083,2246,2487,3339,3511,3168,0,0,0,0,0,0,13.90,14.28,28.83
$GC,625,-0.72,-146.0,2246,2487,3511,3168,124.9,-19.5,50,629,0.12,1.62,0.00,0.000,2308,0.316,0.127,2273,3357,3339,3510,3168,0,0,0,0,0,0,14.04,14.14,28.83
$GC,654,-0.65,-146.0,2273,3358,3511,3168,124.9,-19.5,50,661,0.00,1.50,0.00,0.000,1030,0.000,0.084,2273,2499,3339,3511,3167,0,0,0,0,0,0,28.83,14.26,28.83
$GC,961,-0.60,-146.0,2273,2499,3510,3166,183.3,-15.0,61,965,0.12,1.52,0.00,0.000,2564,0.292,0.094,2305,1660,3338,3510,3166,0,0,0,0,0,0,14.07,14.16,28.83
$GC,1028,-0.57,-146.0,2305,1659,3510,3166,192.3,-14.5,63,1032,0.00,1.55,0.00,0.000,1030,0.000,0.116,2300,2509,3338,3510,3166,0,0,0,0,0,0,28.83,14.15,28.83
$GC,1364,-0.55,-146.0,2301,2509,3510,3165,235.3,-12.2,74,1368,0.12,1.55,0.00,0.000,2564,0.299,0.095,2331,1663,3337,3511,3164,0,0,0,0,0,0,14.07,14.14,28.83
$GC,1424,-0.54,-146.0,2331,1663,3510,3165,239.8,-12.2,75,1431,0.00,1.55,0.00,0.000,1030,0.000,0.116,2327,2507,3338,3511,3165,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1729,-0.54,-146.0,2327,2507,3511,3164,274.3,-9.6,86,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2507,3336,3510,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-0.55,-146.0,2327,2507,3510,3163,299.4,-8.9,96,2033,0.00,1.55,0.00,0.000,260,0.000,0.127,2321,3356,3337,3511,3164,0,0,0,0,0,0,28.83,14.08,28.83
$GC,2069,-0.56,-146.0,2321,3356,3511,3163,302.8,-9.2,97,2072,0.00,1.50,0.00,0.000,1030,0.000,0.084,2321,2489,3336,3510,3163,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2403,-0.56,-146.0,2321,2489,3511,3164,336.6,-9.9,108,2407,0.00,1.50,0.00,0.000,516,0.000,0.097,2321,1635,3337,3511,3164,0,0,0,0,0,0,28.83,14.14,28.83
$GC,2446,-0.56,-146.0,2321,1634,3511,3164,340.0,-9.8,109,2450,0.00,1.58,0.00,0.000,1030,0.000,0.113,2316,2502,3337,3511,3164,0,0,0,0,0,0,28.83,14.13,28.83
$STATE,2765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2765,begin apogee
$GC,2779,-0.22,0.0,2316,2502,3512,3164,372.2,-9.5,120,2945,0.43,0.00,153.57,2.305,10246,0.223,0.000,2431,2501,2741,2862,2620,0,0,0,0,0,0,13.89,28.83,12.32
$STATE,2946,end apogee,CONTROL_FINISHED_OK
$STATE,2946,begin climb
$GC,2952,0.89,146.0,2431,2502,2862,2620,379.7,0.0,125,3135,1.25,1.85,166.70,2.180,10500,0.172,0.128,2785,3356,2146,2243,2049,0,0,0,0,0,0,13.48,12.83,11.67
$GC,3172,0.95,210.7,2785,3356,2240,2048,372.7,5.8,133,3258,0.00,1.62,76.90,2.121,9222,0.000,0.085,2791,2508,1881,1981,1781,0,0,0,0,0,0,28.83,13.19,11.70
$GC,3562,0.93,210.7,2791,2508,1980,1770,334.7,10.5,146,3565,0.00,1.52,0.00,0.000,516,0.000,0.101,2797,1659,1875,1980,1770,0,0,0,0,0,0,28.83,14.06,28.83
$GC,3605,0.92,210.7,2797,1659,1979,1769,330.9,10.6,147,3609,0.00,1.58,0.00,0.000,1030,0.000,0.115,2797,2517,1874,1979,1769,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3931,0.90,210.7,2797,2517,1978,1768,294.1,11.0,158,3935,0.00,1.60,0.00,0.000,260,0.000,0.131,2797,3360,1874,1979,1769,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3967,0.87,210.7,2797,3360,1978,1768,290.0,10.9,159,3971,0.00,1.50,0.00,0.000,1030,0.000,0.089,2803,2495,1873,1979,1768,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4302,0.85,210.7,2804,2495,1978,1768,254.6,10.3,170,4306,0.00,1.62,0.00,0.000,260,0.000,0.132,2804,3354,1872,1978,1767,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4372,0.82,210.7,2804,3353,1977,1766,247.6,10.3,172,4376,0.15,1.50,0.00,0.000,5126,0.262,0.090,2777,2491,1872,1977,1767,0,0,0,0,0,0,14.11,14.33,28.83
$GC,4703,0.82,210.7,2777,2491,1977,1767,217.2,9.4,183,4706,0.00,1.50,0.00,0.000,516,0.000,0.100,2781,1670,1872,1977,1767,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4757,0.82,210.7,2781,1670,1977,1766,214.2,9.2,184,4760,0.00,1.58,0.00,0.000,1030,0.000,0.116,2781,2510,1871,1977,1766,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5072,0.89,260.8,2781,2510,1977,1766,190.7,6.4,195,5129,0.00,1.62,52.17,2.082,8452,0.000,0.130,2781,3355,1677,1773,1581,0,0,0,0,0,0,28.83,14.14,12.99
$GC,5153,0.98,321.9,2781,3355,1772,1581,187.3,5.9,197,5229,0.12,1.50,67.47,2.016,11270,0.155,0.088,2832,2496,1428,1518,1339,0,0,0,0,0,0,14.26,14.25,12.78
$GC,5556,0.98,321.9,2832,2496,1510,1334,138.9,12.4,211,5560,0.00,1.50,0.00,0.000,516,0.000,0.102,2838,1639,1422,1510,1334,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5664,0.98,321.9,2838,1639,1509,1331,127.1,12.4,214,5668,0.00,1.58,0.00,0.000,1030,0.000,0.116,2838,2512,1420,1509,1331,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5975,0.98,321.9,2838,2512,1507,1330,86.7,11.6,230,5979,0.00,1.58,0.00,0.000,260,0.000,0.130,2838,3353,1418,1507,1330,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6060,0.96,321.9,2838,3354,1506,1330,76.4,12.6,238,6065,0.00,1.50,0.00,0.000,1030,0.000,0.090,2845,2488,1418,1506,1330,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6379,0.93,321.9,2845,2487,1505,1328,40.3,14.0,269,6383,0.12,1.45,0.00,0.000,4612,0.268,0.098,2816,1660,1417,1505,1329,0,0,0,0,0,0,14.20,14.28,28.83
$GC,6445,0.96,337.4,2816,1660,1505,1327,33.6,7.7,275,6458,0.00,1.55,7.25,0.272,9222,0.000,0.117,2815,2517,1364,1452,1277,0,0,0,0,0,0,28.83,14.24,13.91
$FREEZE,8.01,-1.725,-1.823,2,10,0
$STATE,6645,end climb,FINISH_DEPTH_REACHED
$STATE,6645,begin subsurface finish
$FINISH1,8.0,1.026686,40
$GC,6659,0.06,40.1,2815,2517,1451,1277,8.0,11.1,295,6709,0.98,1.55,-43.95,0.000,20996,0.203,0.128,2536,1665,2578,2679,2478,0,0,0,0,0,0,13.98,14.22,14.78
$FINISH2,4.8
$STATE,6710,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6710,begin surface
$RAFOS_CLK,369
$RAFOS,0,1388707262,0.033333,0.017222,62,57,56,54,51,49,210,155,134,188,171,223
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6332.30,-6008.62,020114,050535
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.88
$INTERNAL_PRESSURE,8.78157
$TCM_TEMP,12.00
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.6,19.3
$24V_AH,11.7,241.193
$10V_AH,12.0,0.000
$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,4.525,49.750,524.075,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,851.781,4370.378,452.311,829.247,270.468,0.000,1000.925,0.000,815.264,720.000,6.161,0.000
$DEVICE_MAMPS,315.945,153.000,2304.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238568
$DATA_FILE_SIZE,13528,301
$CAP_FILE_SIZE,64037,0
$CFSIZE,259252224,206188544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$GPS,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8