version: 66.11
glider: 192
mission: 2
dive: 687
start: 1 23 114 11 10 38
data:
$ID,192
$MISSION,2
$DIVE,687
$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,-15530.82
$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,21
$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
$GPS1,230114,110353,6409.648,-5344.484,38,1.3,38,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-64.2
$GPS2,230114,110950,6409.679,-5344.582,5,1.3,5,-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,136.7,40550,-15.5,-8.250,-18.49,2720
$D_GRID,259
$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,-146.0,119,2598,1108,1080,0.0,0.0,0,109,0.00,0.00,-86.68,0.000,16386,0.000,0.000,117,2598,2788,2831,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.89,-146.0,115,2598,2832,2746,3.2,-1.9,9,146,10.38,1.58,-13.77,0.000,18948,0.418,0.125,2213,1730,3339,3497,3182,0,0,0,0,0,0,13.87,14.23,14.71
$GC,382,-0.84,-146.0,2213,1730,3500,3181,55.6,-20.9,35,386,0.12,1.55,0.00,0.000,3078,0.285,0.116,2233,2575,3340,3500,3181,0,0,0,0,0,0,13.84,14.02,28.83
$GC,708,-0.80,-146.0,2233,2575,3499,3181,110.5,-15.8,63,712,0.00,1.50,0.00,0.000,516,0.000,0.090,2233,1731,3340,3500,3180,0,0,0,0,0,0,28.83,13.97,28.83
$GC,762,-0.76,-146.0,2233,1732,3500,3180,115.7,-15.3,64,766,0.15,1.58,0.00,0.000,3078,0.261,0.116,2261,2587,3340,3500,3180,0,0,0,0,0,0,13.75,13.93,28.83
$GC,1079,-0.73,-146.0,2261,2588,3500,3179,157.2,-12.0,75,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2587,3339,3500,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1378,-0.71,-146.0,2261,2587,3500,3179,194.7,-12.5,85,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2588,3339,3500,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1678,-0.69,-146.0,2261,2588,3500,3179,234.0,-12.9,95,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2587,3339,3500,3178,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1882,begin apogee
$GC,1896,-0.22,0.0,2261,2480,3499,3179,259.6,-12.1,102,2056,0.62,0.00,148.20,2.114,10246,0.222,0.000,2429,2480,2741,2854,2628,0,0,0,0,0,0,13.54,28.83,12.80
$STATE,2057,end apogee,CONTROL_FINISHED_OK
$STATE,2057,begin climb
$GC,2063,0.89,146.0,2429,2480,2854,2628,267.8,0.0,107,2224,1.23,0.00,155.12,2.017,10758,0.164,0.000,2789,2480,2145,2245,2045,0,0,0,0,0,0,13.71,28.83,12.38
$GC,2518,0.87,146.0,2789,2480,2244,2036,236.4,9.4,123,2521,0.00,1.55,0.00,0.000,260,0.000,0.124,2789,3329,2140,2244,2037,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2561,0.85,146.0,2789,3329,2243,2037,232.8,9.5,124,2565,0.00,1.50,0.00,0.000,1030,0.000,0.086,2795,2461,2139,2242,2037,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2888,0.83,146.0,2795,2460,2243,2035,199.9,9.9,135,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2460,2139,2243,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3187,0.80,146.0,2795,2460,2243,2035,172.1,9.0,145,3191,0.00,1.50,0.00,0.000,516,0.000,0.099,2801,1635,2139,2243,2035,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3291,0.78,146.0,2801,1635,2243,2033,163.5,9.0,148,3296,0.12,1.58,0.00,0.000,5126,0.207,0.112,2766,2480,2138,2243,2033,0,0,0,0,0,0,13.95,14.11,28.83
$GC,3618,0.81,162.6,2766,2480,2243,2033,136.8,7.6,159,3643,0.00,1.58,16.80,1.882,8452,0.000,0.129,2766,3323,2077,2183,1972,0,0,0,0,0,0,28.83,14.15,13.35
$GC,3689,0.81,163.7,2766,3323,2184,1972,131.4,8.2,161,3693,0.00,1.50,0.00,0.000,1030,0.000,0.086,2770,2458,2078,2184,1972,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4017,0.81,166.6,2770,2458,2184,1971,103.6,8.1,172,4025,0.00,1.42,2.53,0.499,8708,0.000,0.095,2776,1638,2061,2168,1954,0,0,0,0,0,0,28.83,14.23,13.71
$GC,4126,0.83,178.7,1760,1637,2121,1949,95.6,7.8,178,4140,0.00,1.55,7.32,0.465,9222,0.000,0.112,2776,2487,2012,2119,1905,0,0,0,0,0,0,28.83,14.19,13.84
$GC,4443,0.87,207.2,2776,2487,2119,1904,69.9,7.2,210,4465,0.00,1.55,16.60,0.373,8452,0.000,0.127,2776,3333,1895,2004,1787,0,0,0,0,0,0,28.83,14.25,13.92
$GC,4577,0.87,207.2,2776,3333,2002,1787,59.9,8.4,222,4584,0.00,1.50,0.00,0.000,1030,0.000,0.086,2783,2477,1894,2002,1786,0,0,0,0,0,0,28.83,14.22,28.83
$GC,4886,0.94,250.1,2783,2477,2001,1783,36.8,6.6,253,4915,0.00,1.48,23.98,0.265,8708,0.000,0.096,2788,1638,1720,1818,1623,0,0,0,0,0,0,28.83,14.27,13.99
$GC,4973,0.97,263.4,2789,1638,1818,1622,30.8,7.7,261,4987,0.10,1.52,7.43,0.258,11270,0.174,0.112,2829,2481,1665,1760,1570,0,0,0,0,0,0,14.21,14.16,13.97
$FREEZE,8.86,0.224,-1.835,0,1,0
$FREEZE,7.94,0.217,-1.834,0,1,0
$FREEZE,7.07,0.224,-1.834,0,1,0
$FREEZE,6.07,0.224,-1.833,0,1,0
$FREEZE,5.22,0.221,-1.832,0,1,0
$FREEZE,4.41,0.217,-1.832,0,1,0
$FREEZE,3.28,0.219,-1.831,0,1,0
$FREEZE,2.29,0.219,-1.830,0,1,0
$STATE,5253,end climb,SURFACE_DEPTH_REACHED
$STATE,5253,begin surface coast
$FREEZE,1.30,0.218,-1.829,0,1,0
$FREEZE,1.03,0.184,-0.961,0,1,0
$FREEZE,1.14,0.164,-1.689,0,1,0
$FINISH,1.1,1.024788
$STATE,5285,end surface coast,CONTROL_FINISHED_OK
$STATE,5285,begin surface
$SM_CCo,5315,73.53,0.155,0,0,1108,400.08
$SM_GC,2.19,8.10,0.20,73.53,0.085,0.156,0.155,146,2584,1108,-7.34,-0.42,400.08,0,0,0,0,0,0,14.19,14.17,14.17
$RAFOS_CLK,233
$RAFOS,3,1390479901,12.433333,12.416945,67,58,56,54,53,49,215,160,194,122,224,171
$RAFOS,2,1390479446,12.300000,12.290556,65,56,56,55,55,55,190,133,212,178,109,158
$RAFOS,1,1390478959,12.166667,12.155278,68,63,53,53,52,51,194,213,156,229,116,132
$RAFOS,0,1390478468,12.033333,12.018888,70,65,56,55,53,51,203,230,171,133,158,213
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5349.28,230114,090944
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.60
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.2,18.4
$24V_AH,12.4,281.987
$10V_AH,12.4,0.000
$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,20.825,24.825,377.975,73.525,0.000,0.000,0.000,201.650,9.250,0.000,6.229,857.914,3253.405,446.942,851.635,354.162,0.000,1102.346,0.000,683.332,1800.000,2.626,0.000
$DEVICE_MAMPS,418.455,156.060,2114.460,155.295,0.000,0.000,0.000,124.695,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,202.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227736
$DATA_FILE_SIZE,13537,292
$CAP_FILE_SIZE,56740,0
$CFSIZE,259252224,200224768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.6
$CURRENT,0.298,337.9,1
$GPS,230114,124206,6410.313,-5343.871,34,1.1,34,-29.8