version: 66.11
glider: 192
mission: 2
dive: 683
start: 1 23 114 4 41 36
data:
$ID,192
$MISSION,2
$DIVE,683
$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,-15517.583
$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,22
$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
$GPS1,230114,043236,6408.203,-5345.765,42,1.0,42,-29.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.7
$GPS2,230114,044103,6408.216,-5345.801,5,1.0,5,-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,126.2,42733,-15.5,-8.250,-18.49,2720
$D_GRID,304
$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,-146.0,108,2587,1113,1075,0.0,0.0,0,110,0.00,0.00,-86.65,0.000,16386,0.000,0.000,105,2587,2799,2851,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,105,2587,2852,2748,3.5,-2.8,9,145,10.30,1.58,-12.90,0.000,18948,0.415,0.121,2217,1731,3339,3496,3182,0,0,0,0,0,0,13.93,14.36,14.74
$GC,379,-0.85,-146.0,2217,1731,3499,3181,52.4,-16.6,34,386,0.00,1.58,0.00,0.000,1030,0.000,0.110,2212,2583,3340,3499,3181,0,0,0,0,0,0,28.83,14.12,28.83
$GC,716,-0.79,-146.0,2212,2583,3500,3179,105.2,-15.5,65,720,0.12,1.48,0.00,0.000,2564,0.300,0.080,2243,1733,3339,3500,3178,0,0,0,0,0,0,13.92,14.10,28.83
$GC,735,-0.74,-146.0,2243,1733,3500,3179,105.2,-15.5,65,739,0.15,1.55,0.00,0.000,3078,0.269,0.110,2270,2580,3338,3499,3178,0,0,0,0,0,0,13.83,14.03,28.83
$GC,1057,-0.72,-146.0,2270,2580,3500,3178,153.0,-14.4,76,1061,0.00,1.52,0.00,0.000,516,0.000,0.086,2271,1732,3339,3500,3178,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1117,-0.70,-146.0,2271,1732,3500,3178,158.1,-14.3,77,1124,0.00,1.58,0.00,0.000,1030,0.000,0.112,2266,2587,3339,3500,3178,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1423,-0.68,-146.0,2266,2586,3500,3177,202.2,-13.4,88,1426,0.00,1.58,0.00,0.000,260,0.000,0.124,2260,3433,3338,3499,3177,0,0,0,0,0,0,28.83,13.86,28.83
$GC,1537,-0.66,-146.0,2260,3433,3500,3177,215.6,-13.9,91,1542,0.15,1.50,0.00,0.000,3078,0.249,0.078,2293,2575,3338,3500,3177,0,0,0,0,0,0,13.78,14.06,28.83
$GC,1853,-0.66,-146.0,2293,2575,3500,3177,254.8,-10.9,102,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2575,3338,3499,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2155,-0.70,-146.0,2293,2575,3501,3177,279.5,-4.7,112,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2575,3338,3500,3177,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2327,end dive,NO_VERTICAL_VELOCITY
$STATE,2327,begin apogee
$GC,2341,-0.22,0.0,2293,2478,3502,3177,279.5,0.0,118,2502,0.45,0.00,147.95,2.137,10246,0.149,0.000,2434,2478,2741,2854,2629,0,0,0,0,0,0,13.87,28.83,12.85
$STATE,2503,end apogee,CONTROL_FINISHED_OK
$STATE,2503,begin climb
$GC,2509,0.89,146.0,2434,2478,2853,2629,279.5,0.0,123,2678,1.15,1.70,156.48,2.071,10500,0.140,0.117,2790,3328,2143,2242,2045,0,0,0,0,0,0,13.82,13.39,12.38
$GC,2756,0.86,146.0,2790,3329,2241,2043,262.8,10.0,132,2760,0.00,1.55,0.00,0.000,1030,0.000,0.081,2796,2471,2142,2241,2043,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3092,0.84,146.0,2796,2471,2240,2038,228.3,10.0,143,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2471,2139,2241,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3392,0.81,146.0,2796,2471,2241,2038,195.2,11.5,153,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2471,2139,2240,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3693,0.79,146.0,2796,2471,2241,2037,162.7,10.4,163,3697,0.12,1.60,0.00,0.000,4356,0.260,0.120,2763,3327,2139,2241,2037,0,0,0,0,0,0,14.10,14.12,28.83
$GC,3762,0.76,146.0,1792,3326,2196,2033,157.4,8.9,165,3765,0.00,1.55,0.00,0.000,1030,0.000,0.082,2768,2473,2138,2240,2037,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4093,0.94,272.9,2768,2473,2241,2037,142.1,3.5,176,4229,0.15,0.00,131.95,1.991,10246,0.135,0.000,2825,2473,1629,1716,1542,0,0,0,0,0,0,14.38,28.83,13.03
$GC,4512,0.93,272.9,2825,2473,1710,1534,102.5,10.8,190,4516,0.00,1.50,0.00,0.000,516,0.000,0.096,2832,1621,1622,1710,1534,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4588,0.92,272.9,2832,1621,1710,1532,94.4,11.1,195,4591,0.00,1.55,0.00,0.000,1030,0.000,0.111,2831,2483,1620,1710,1531,0,0,0,0,0,0,28.83,14.27,28.83
$GC,4904,0.90,272.9,2832,2482,1709,1529,51.6,12.6,226,4908,0.12,1.55,0.00,0.000,4356,0.254,0.121,2797,3326,1619,1709,1530,0,0,0,0,0,0,14.16,14.18,28.83
$GC,4950,0.90,272.9,2797,3326,1708,1530,46.7,10.6,230,4953,0.00,1.50,0.00,0.000,1030,0.000,0.083,2802,2468,1619,1708,1530,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5266,0.97,314.9,2802,2467,1708,1529,22.7,6.7,261,5294,0.00,1.52,22.75,0.220,8708,0.000,0.096,2808,1636,1455,1545,1365,0,0,0,0,0,0,28.83,14.25,14.09
$GC,5379,1.00,326.7,1792,1635,1520,1359,14.5,7.8,272,5390,0.00,1.58,6.03,0.203,9222,0.000,0.108,2808,2483,1407,1497,1317,0,0,0,0,0,0,28.83,14.15,14.07
$FREEZE,8.42,-0.086,-1.833,0,1,0
$FREEZE,7.44,-0.082,-1.833,0,1,0
$FREEZE,6.44,-0.083,-1.832,0,1,0
$FREEZE,5.51,-0.081,-1.831,0,1,0
$FREEZE,4.65,-0.080,-1.830,0,1,0
$FREEZE,3.61,-0.078,-1.830,0,1,0
$FREEZE,2.61,-0.077,-1.829,0,1,0
$STATE,5507,end climb,SURFACE_DEPTH_REACHED
$STATE,5512,begin surface coast
$FREEZE,1.70,-0.077,-1.828,0,1,0
$FREEZE,1.23,-0.082,-1.826,0,1,0
$FREEZE,1.28,-0.314,-1.757,0,1,0
$FINISH,1.3,1.025765
$STATE,5539,end surface coast,CONTROL_FINISHED_OK
$STATE,5539,begin surface
$SM_CCo,5570,39.53,0.156,0,0,1107,400.08
$SM_GC,2.15,8.05,0.20,39.53,0.090,0.157,0.156,141,2584,1107,-7.36,-0.42,400.08,0,0,0,0,0,0,14.23,14.24,14.19
$RAFOS_CLK,268
$RAFOS,6,1390452547,4.833333,4.818611,62,61,52,52,51,51,230,201,152,172,75,186
$RAFOS,3,1390451103,4.433333,4.417500,71,61,59,55,51,47,201,167,151,214,119,178
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5348.21,230114,040413
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.47
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.80
$XPDR_PINGS,39
$ALTIM_TOP_PING,19.2,19.0
$24V_AH,12.4,280.978
$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,20.775,28.325,465.150,39.525,0.000,0.000,0.000,286.025,10.000,0.000,8.751,848.202,3473.493,519.312,923.433,356.786,0.000,1243.185,0.000,672.129,360.000,2.625,0.000
$DEVICE_MAMPS,415.395,156.825,2137.410,156.060,0.000,0.000,0.000,120.870,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227732
$DATA_FILE_SIZE,13502,288
$CAP_FILE_SIZE,58504,0
$CFSIZE,259252224,200355840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.7
$CURRENT,0.199,304.3,1
$GPS,230114,061652,6408.463,-5345.347,25,1.0,42,-29.8