version: 66.11
glider: 192
mission: 2
dive: 689
start: 1 23 114 14 19 44
data:
$ID,192
$MISSION,2
$DIVE,689
$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,-15533.42
$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,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
$GPS1,230114,141305,6410.750,-5343.104,25,1.7,25,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-65.4
$GPS2,230114,141856,6410.796,-5343.114,5,1.6,5,-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,138.6,38557,-15.5,-8.250,-18.49,2720
$D_GRID,210
$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,-146.0,128,2588,1112,1077,0.0,0.0,0,110,0.00,0.00,-87.55,0.000,16386,0.000,0.000,127,2589,2804,2852,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,127,2588,2852,2758,3.1,-2.0,9,147,10.30,1.50,-13.27,0.000,19204,0.420,0.124,2212,1735,3339,3497,3181,0,0,0,0,0,0,13.83,14.25,14.71
$GC,382,-0.84,-146.0,2212,1735,3499,3181,53.2,-17.8,35,386,0.12,1.55,0.00,0.000,3078,0.289,0.116,2232,2586,3340,3500,3181,0,0,0,0,0,0,13.83,14.02,28.83
$GC,699,-0.80,-146.0,2232,2586,3500,3180,104.7,-14.8,64,703,0.00,1.52,0.00,0.000,516,0.000,0.088,2233,1734,3339,3499,3180,0,0,0,0,0,0,28.83,13.95,28.83
$GC,723,-0.76,-146.0,2232,1734,3499,3180,104.7,-14.8,64,727,0.15,1.55,0.00,0.000,3078,0.259,0.117,2260,2579,3339,3499,3180,0,0,0,0,0,0,13.76,13.94,28.83
$GC,1040,-0.73,-146.0,2260,2579,3500,3179,150.2,-13.5,75,1044,0.00,1.62,0.00,0.000,260,0.000,0.124,2256,3423,3339,3500,3179,0,0,0,0,0,0,28.83,13.77,28.83
$GC,1154,-0.71,-146.0,2256,3423,3499,3178,163.9,-14.1,78,1158,0.00,1.52,0.00,0.000,1030,0.000,0.080,2256,2581,3338,3499,3178,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1470,-0.68,-146.0,2256,2581,3500,3178,208.5,-12.8,89,1474,0.12,1.55,0.00,0.000,2564,0.276,0.087,2287,1740,3339,3500,3178,0,0,0,0,0,0,13.93,13.85,28.83
$STATE,1500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1500,begin apogee
$GC,1515,-0.22,0.0,2284,2487,3499,3178,213.0,-12.6,90,1674,0.55,0.00,146.68,2.069,10246,0.215,0.000,2432,2487,2741,2854,2628,0,0,0,0,0,0,13.63,28.83,12.86
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1682,0.89,146.0,2432,2487,2854,2628,221.9,0.0,95,1850,1.20,1.65,154.12,2.013,10756,0.165,0.100,2791,1640,2146,2247,2045,0,0,0,0,0,0,13.76,13.38,12.40
$GC,1895,0.99,230.5,2791,1640,2247,2041,217.0,5.1,102,1995,0.12,1.62,91.25,1.951,11270,0.148,0.115,2836,2487,1800,1897,1704,0,0,0,0,0,0,13.74,13.67,12.40
$GC,2326,0.96,230.5,2836,2487,1892,1699,163.1,12.3,117,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2487,1795,1892,1699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,0.94,230.5,2837,2487,1892,1697,127.6,12.5,127,2631,0.00,1.60,0.00,0.000,260,0.000,0.130,2836,3326,1794,1892,1697,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2726,0.91,230.5,2837,3326,1891,1697,114.1,13.5,130,2730,0.17,1.50,0.00,0.000,5126,0.249,0.087,2803,2472,1794,1891,1697,0,0,0,0,0,0,14.02,14.25,28.83
$GC,3037,0.90,230.5,1792,2470,1853,1694,78.1,11.0,153,3041,0.00,1.60,0.00,0.000,260,0.000,0.130,2802,3326,1794,1891,1697,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3105,0.88,230.5,2802,3326,1891,1697,70.7,11.2,159,3108,0.00,1.50,0.00,0.000,1030,0.000,0.086,2807,2474,1794,1891,1697,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3420,0.88,230.5,2807,2474,1892,1697,39.2,8.5,190,3424,0.00,1.50,0.00,0.000,516,0.000,0.099,2813,1638,1794,1891,1697,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3458,0.88,230.5,2813,1638,1891,1696,36.2,8.4,193,3465,0.00,1.55,0.00,0.000,1030,0.000,0.115,2813,2482,1793,1891,1696,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3768,0.87,230.5,2813,2482,1891,1696,10.1,8.8,224,3772,0.00,1.55,0.00,0.000,516,0.000,0.102,2819,1633,1793,1891,1695,0,0,0,0,0,0,28.83,14.04,28.83
$FREEZE,8.55,0.405,-1.836,0,1,0
$FREEZE,8.55,0.405,-1.836,0,1,0
$FREEZE,7.36,0.409,-1.835,0,1,0
$FREEZE,7.36,0.409,-1.835,0,1,0
$FREEZE,6.47,0.401,-1.835,0,1,0
$FREEZE,6.47,0.401,-1.835,0,1,0
$FREEZE,5.61,0.404,-1.834,0,1,0
$FREEZE,5.61,0.404,-1.834,0,1,0
$FREEZE,4.55,0.403,-1.833,0,1,0
$FREEZE,4.55,0.403,-1.833,0,1,0
$FREEZE,3.41,0.408,-1.832,0,1,0
$FREEZE,3.41,0.408,-1.832,0,1,0
$FREEZE,2.57,0.406,-1.832,0,1,0
$STATE,3845,end climb,SURFACE_DEPTH_REACHED
$STATE,3845,begin surface coast
$FREEZE,2.57,0.406,-1.832,0,1,0
$FREEZE,1.00,0.407,-1.830,0,1,0
$FINISH,1.0,1.026779
$STATE,3857,end surface coast,CONTROL_FINISHED_OK
$STATE,3857,begin surface
$SM_CCo,3889,91.43,0.152,0,0,1107,400.08
$SM_GC,1.92,8.15,1.83,91.43,0.094,0.116,0.152,140,2585,1107,-7.36,-0.37,400.08,0,0,0,0,0,0,14.18,14.04,14.16
$RAFOS_CLK,166
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5345.30,230114,121253
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.07
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.70
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,12.4,282.485
$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,20.900,28.175,392.050,91.425,0.000,0.000,0.000,200.300,4.250,0.000,6.199,697.609,2078.673,466.508,780.305,321.980,0.000,1088.692,0.000,612.889,0.000,2.625,0.000
$DEVICE_MAMPS,419.985,130.050,2069.325,152.235,0.000,0.000,0.000,126.225,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,161.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227744
$DATA_FILE_SIZE,10186,232
$CAP_FILE_SIZE,49675,0
$CFSIZE,259252224,200163328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.9
$CURRENT,0.213,329.0,1
$GPS,230114,152757,6411.083,-5342.541,36,2.2,56,-29.8