version: 66.11
glider: 192
mission: 2
dive: 690
start: 1 23 114 15 34 46
data:
$ID,192
$MISSION,2
$DIVE,690
$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,-15534.678
$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
$GPS1,230114,152757,6411.083,-5342.541,36,2.2,56,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.1
$GPS2,230114,153358,6411.120,-5342.573,25,1.3,38,-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,139.1,37904,-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,20,-0.89,-146.0,120,2590,1109,1078,0.0,0.0,0,110,0.00,0.00,-87.45,0.000,16386,0.000,0.000,119,2590,2797,2843,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,119,2591,2845,2752,3.3,-2.4,9,147,10.40,1.58,-13.02,0.000,18692,0.421,0.157,2206,3423,3339,3497,3181,0,0,0,0,0,0,13.85,14.17,14.71
$GC,382,-0.84,-146.0,2206,3423,3500,3181,59.4,-20.2,35,387,0.15,1.50,0.00,0.000,3078,0.281,0.080,2237,2564,3340,3500,3181,0,0,0,0,0,0,13.82,14.16,28.83
$GC,719,-0.80,-146.0,2237,2564,3500,3181,114.3,-14.8,62,722,0.00,1.62,0.00,0.000,260,0.000,0.129,2233,3426,3340,3500,3181,0,0,0,0,0,0,28.83,13.91,28.83
$GC,889,-0.76,-146.0,2233,3426,3500,3180,138.1,-15.4,67,894,0.12,1.50,0.00,0.000,3078,0.276,0.081,2258,2576,3340,3500,3180,0,0,0,0,0,0,13.77,14.07,28.83
$GC,1212,-0.73,-146.0,2259,2576,3500,3179,182.7,-12.9,78,1216,0.00,1.67,0.00,0.000,260,0.000,0.130,2254,3429,3339,3500,3179,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1251,-0.71,-146.0,2254,3429,3500,3179,187.7,-12.9,79,1255,0.00,1.55,0.00,0.000,1030,0.000,0.081,2254,2581,3339,3500,3179,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1440,-0.22,0.0,2254,2481,3500,3179,212.3,-13.4,85,1600,0.65,0.00,146.70,2.078,10246,0.222,0.000,2427,2481,2741,2853,2629,0,0,0,0,0,0,13.60,28.83,12.86
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1607,0.89,146.0,2427,2481,2853,2629,221.0,0.0,90,1767,1.23,0.00,155.73,2.002,10246,0.164,0.000,2787,2481,2144,2246,2043,0,0,0,0,0,0,13.74,28.83,12.41
$GC,2072,0.87,146.0,2787,2481,2245,2035,192.1,9.2,106,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2481,2140,2245,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,0.86,146.0,2787,2481,2245,2033,164.5,9.3,116,2366,0.00,1.55,0.00,0.000,516,0.000,0.101,2793,1637,2139,2245,2033,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2411,0.84,146.0,2793,1637,2245,2032,161.2,9.2,117,2415,0.00,1.58,0.00,0.000,1030,0.000,0.115,2793,2480,2138,2245,2032,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2732,0.82,146.0,2793,2478,2245,2033,132.4,8.3,128,2735,0.00,1.58,0.00,0.000,260,0.000,0.131,2793,3333,2139,2245,2033,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2916,0.79,146.0,2793,3333,2245,2033,119.5,8.3,133,2925,0.15,1.52,0.00,0.000,5126,0.246,0.087,2766,2472,2138,2245,2032,0,0,0,0,0,0,13.99,14.20,28.83
$GC,3223,0.82,169.7,2766,2472,2245,2032,96.5,7.4,146,3240,0.00,1.65,13.30,0.461,8452,0.000,0.129,2766,3326,2049,2157,1942,0,0,0,0,0,0,28.83,14.19,13.83
$GC,3365,0.81,169.7,2765,3326,2156,1941,85.4,8.5,159,3368,0.00,1.52,0.00,0.000,1030,0.000,0.087,2770,2468,2048,2156,1941,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3682,0.86,197.4,2770,2468,2156,1940,60.9,7.2,190,3706,0.00,1.45,15.62,0.342,8708,0.000,0.097,2776,1643,1937,2045,1829,0,0,0,0,0,0,28.83,14.15,13.87
$GC,3812,0.91,223.2,1760,1641,2000,1822,51.8,7.3,202,3834,0.00,1.55,14.73,0.312,9222,0.000,0.116,2776,2487,1830,1936,1725,0,0,0,0,0,0,28.83,14.12,13.93
$GC,4138,1.00,276.3,2776,2487,1931,1724,28.4,6.2,235,4173,0.15,1.60,29.88,0.233,10756,0.139,0.102,2842,1639,1613,1705,1521,0,0,0,0,0,0,14.23,14.25,14.03
$GC,4203,0.99,276.3,1864,1637,1674,1518,21.7,10.7,241,4211,0.00,1.55,0.00,0.000,1030,0.000,0.116,2843,2482,1611,1703,1520,0,0,0,0,0,0,28.83,14.16,28.83
$FREEZE,8.71,0.287,-1.837,0,1,0
$FREEZE,7.63,0.281,-1.836,0,1,0
$FREEZE,6.58,0.277,-1.835,0,1,0
$FREEZE,5.49,0.280,-1.835,0,1,0
$FREEZE,4.25,0.289,-1.833,0,1,0
$FREEZE,3.08,0.291,-1.833,0,1,0
$FREEZE,1.83,0.288,-1.832,0,1,0
$STATE,4374,end climb,SURFACE_DEPTH_REACHED
$STATE,4374,begin surface coast
$FREEZE,1.00,0.316,-0.339,0,1,0
$FREEZE,0.86,0.223,-1.740,0,1,0
$FINISH,0.9,1.025509
$STATE,4391,end surface coast,CONTROL_FINISHED_OK
$STATE,4391,begin surface
$SM_CCo,4421,66.30,0.162,0,0,1108,400.08
$SM_GC,1.87,8.18,0.20,66.30,0.089,0.144,0.162,141,2591,1108,-7.35,-0.42,400.08,0,0,0,0,0,0,14.21,14.24,14.14
$RAFOS_CLK,190
$RAFOS,5,1390495266,16.700001,16.684999,67,58,58,56,54,52,213,193,181,157,132,114
$RAFOS,4,1390494789,16.566668,16.552500,60,54,53,52,50,47,174,120,191,151,209,137
$RAFOS,3,1390494322,16.433332,16.422777,71,60,60,58,56,52,209,190,174,199,162,118
$RAFOS,2,1390493831,16.299999,16.286388,69,66,60,57,54,54,187,201,216,162,144,236
$RAFOS,1,1390493341,16.166666,16.150278,61,59,59,59,58,56,141,119,175,203,184,163
$RAFOS,0,1390492862,16.033333,16.017221,67,64,61,59,57,51,216,146,183,198,166,113
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5338.40,230114,141441
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.27
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,12.4,282.701
$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,21.025,25.350,375.950,66.300,0.000,0.000,0.000,180.725,5.750,0.000,39.150,772.158,2466.235,476.850,822.270,331.486,0.000,1065.038,0.000,638.149,2160.000,2.821,0.000
$DEVICE_MAMPS,420.750,156.825,2077.740,162.180,0.000,0.000,0.000,124.695,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227684
$DATA_FILE_SIZE,10220,260
$CAP_FILE_SIZE,52604,0
$CFSIZE,259252224,200134656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.0
$CURRENT,0.181,313.9,1
$GPS,230114,165121,6411.192,-5342.358,43,1.3,43,-29.8