version: 66.11
glider: 192
mission: 2
dive: 681
start: 1 23 114 1 15 1
data:
$ID,192
$MISSION,2
$DIVE,681
$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,-5
$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,-1
$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,-15506.854
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2580
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,19
$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
$GPS1,230114,010804,6407.730,-5347.082,39,1.4,42,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-61.9
$GPS2,230114,011413,6407.799,-5347.166,5,1.2,5,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6420.000,-5300.000
$TGT_RADIUS,5000.000
$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,134.0,44069,-15.5,-8.250,-18.49,2720
$D_GRID,320
$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,-146.0,106,2587,1113,1073,0.0,0.0,0,111,0.00,0.00,-88.62,0.000,16386,0.000,0.000,104,2587,2838,2885,2792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.89,-146.0,104,2587,2887,2792,3.4,-2.5,9,145,10.18,1.55,-11.80,0.000,18948,0.409,0.122,2213,1734,3339,3493,3185,0,0,0,0,0,0,13.92,14.35,14.74
$GC,278,-0.85,-146.0,2214,1733,3499,3182,34.5,-17.7,24,282,0.00,1.55,0.00,0.000,1030,0.000,0.112,2209,2582,3340,3499,3182,0,0,0,0,0,0,28.83,14.12,28.83
$GC,595,-0.79,-146.0,2209,2582,3499,3181,89.8,-17.2,55,602,0.15,0.00,0.00,0.000,2054,0.289,0.000,2246,2582,3339,3499,3180,0,0,0,0,0,0,13.80,28.83,28.83
$GC,905,-0.76,-146.0,2246,2582,3499,3180,136.3,-14.1,70,908,0.00,1.58,0.00,0.000,260,0.000,0.122,2241,3432,3339,3499,3179,0,0,0,0,0,0,28.83,13.89,28.83
$GC,980,-0.72,-146.0,2241,3431,3499,3179,146.2,-14.7,72,984,0.15,1.50,0.00,0.000,3078,0.262,0.076,2273,2574,3339,3499,3179,0,0,0,0,0,0,13.76,14.08,28.83
$GC,1307,-0.71,-146.0,2273,2575,3499,3179,192.9,-13.6,83,1311,0.00,1.50,0.00,0.000,516,0.000,0.086,2273,1722,3339,3499,3179,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1343,-0.69,-146.0,2273,1722,3499,3179,198.0,-13.7,84,1346,0.00,1.58,0.00,0.000,1030,0.000,0.109,2269,2582,3339,3499,3179,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1679,-0.68,-146.0,2269,2583,3499,3179,238.1,-11.1,95,1683,0.00,1.62,0.00,0.000,260,0.000,0.122,2262,3428,3339,3499,3179,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1703,-0.66,-146.0,2263,3429,3499,3178,238.1,-11.1,95,1707,0.12,1.50,0.00,0.000,3078,0.257,0.076,2290,2571,3339,3499,3179,0,0,0,0,0,0,13.76,14.03,28.83
$GC,2019,-0.66,-146.0,2290,2572,3500,3179,271.8,-10.8,106,2023,0.00,1.67,0.00,0.000,260,0.000,0.125,2285,3432,3339,3500,3179,0,0,0,0,0,0,28.83,13.73,28.83
$GC,2259,-0.77,-146.0,2285,3432,3501,3178,278.1,-0.1,113,2263,0.00,1.50,0.00,0.000,1030,0.000,0.081,2285,2584,3339,3500,3178,0,0,0,0,0,0,28.83,13.98,28.83
$STATE,2328,end dive,NO_VERTICAL_VELOCITY
$STATE,2328,begin apogee
$GC,2343,-0.22,0.0,2285,2482,3501,3178,278.1,0.0,116,2499,0.47,0.00,146.00,2.108,10246,0.125,0.000,2438,2482,2741,2854,2628,0,0,0,0,0,0,13.93,28.83,12.90
$STATE,2500,end apogee,CONTROL_FINISHED_OK
$STATE,2500,begin climb
$GC,2507,0.89,146.0,2438,2482,2854,2629,278.3,0.0,121,2666,1.12,0.00,154.20,2.027,10758,0.130,0.000,2788,2482,2144,2243,2045,0,0,0,0,0,0,13.85,28.83,12.51
$GC,2960,0.87,146.0,2788,2482,2243,2038,245.6,9.8,137,2964,0.00,1.60,0.00,0.000,260,0.000,0.124,2788,3330,2140,2243,2038,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3059,0.84,146.0,2788,3330,2242,2038,235.4,10.3,140,3063,0.00,1.50,0.00,0.000,1030,0.000,0.082,2794,2467,2140,2242,2038,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3391,0.81,146.0,2794,2466,2242,2036,199.7,10.5,151,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2467,2139,2242,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3690,0.79,146.0,2794,2467,2242,2036,168.0,10.5,161,3693,0.00,1.50,0.00,0.000,516,0.000,0.093,2801,1621,2139,2243,2036,0,0,0,0,0,0,28.83,14.15,28.83
$GC,3713,0.76,146.0,2801,1620,2242,2035,168.0,10.5,161,3718,0.17,1.58,0.00,0.000,5126,0.230,0.110,2759,2485,2138,2242,2034,0,0,0,0,0,0,14.00,14.16,28.83
$GC,4030,0.80,167.2,2758,2485,2242,2035,139.3,7.4,172,4056,0.00,1.60,21.10,1.880,8452,0.000,0.125,2759,3327,2060,2167,1953,0,0,0,0,0,0,28.83,14.23,13.35
$GC,4141,0.85,205.4,2759,3327,2166,1953,132.8,6.8,175,4186,0.00,1.50,40.28,1.900,9222,0.000,0.082,2764,2461,1903,2010,1796,0,0,0,0,0,0,28.83,14.37,13.22
$GC,4516,0.90,234.5,2764,2461,2010,1790,104.6,7.2,188,4539,0.12,1.58,17.55,0.494,10500,0.149,0.122,2811,3328,1784,1886,1683,0,0,0,0,0,0,14.46,14.35,13.89
$GC,4584,0.94,260.2,2811,3327,1883,1684,100.0,7.3,190,4605,0.00,1.50,15.70,0.473,9222,0.000,0.082,2818,2460,1679,1773,1586,0,0,0,0,0,0,28.83,14.37,13.93
$GC,4918,0.93,260.2,2818,2459,1770,1584,66.0,10.0,223,4921,0.00,1.50,0.00,0.000,516,0.000,0.095,2824,1612,1677,1770,1584,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4986,0.93,260.2,1840,1610,1736,1579,59.4,9.8,229,4993,0.00,1.58,0.00,0.000,1030,0.000,0.109,2824,2481,1676,1770,1582,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5295,0.92,260.2,2824,2481,1769,1582,26.3,11.5,260,5298,0.00,1.55,0.00,0.000,260,0.000,0.124,2824,3329,1675,1768,1582,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5417,0.91,260.2,2824,3329,1765,1582,13.6,10.8,271,5421,0.00,1.52,0.00,0.000,1030,0.000,0.084,2830,2485,1674,1766,1582,0,0,0,0,0,0,28.83,14.14,28.83
$FREEZE,8.32,-0.131,-1.833,0,1,0
$FREEZE,7.33,-0.137,-1.833,0,1,0
$FREEZE,6.21,-0.136,-1.832,0,1,0
$FREEZE,5.44,-0.139,-1.831,0,1,0
$FREEZE,4.40,-0.139,-1.830,0,1,0
$FREEZE,3.68,-0.141,-1.830,0,1,0
$FREEZE,2.83,-0.140,-1.829,0,1,0
$STATE,5518,end climb,SURFACE_DEPTH_REACHED
$STATE,5518,begin surface coast
$FREEZE,2.01,-0.142,-1.828,0,1,0
$FREEZE,1.16,-0.141,-1.828,0,1,0
$FREEZE,1.24,-0.039,-1.821,0,1,0
$FINISH,1.2,1.026664
$STATE,5557,end surface coast,CONTROL_FINISHED_OK
$STATE,5557,begin surface
$SM_CCo,5586,74.88,0.160,0,0,1110,400.08
$SM_GC,2.09,8.18,0.20,74.88,0.094,0.155,0.160,139,2582,1110,-7.36,-0.57,400.08,0,0,0,0,0,0,14.21,14.21,14.18
$RAFOS_CLK,247
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5347.15,220114,232328
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.52
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.90
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.0,18.1
$24V_AH,12.5,280.411
$10V_AH,12.5,0.000
$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,20.675,34.425,394.825,74.875,0.000,0.000,0.000,208.800,8.250,0.000,6.296,880.078,3396.704,481.488,895.849,396.585,0.000,1160.497,0.000,725.711,0.000,2.624,0.000
$DEVICE_MAMPS,409.275,155.295,2108.340,159.885,0.000,0.000,0.000,124.695,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227700
$DATA_FILE_SIZE,13511,284
$CAP_FILE_SIZE,62362,0
$CFSIZE,259252224,200421376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.3
$CURRENT,0.198,332.9,1
$GPS,230114,025125,6408.141,-5346.189,37,2.3,57,-29.8