version: 66.11
glider: 192
mission: 2
dive: 691
start: 1 23 114 16 58 3
data:
$ID,192
$MISSION,2
$DIVE,691
$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,-15535.931
$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,22
$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
$GPS1,230114,165121,6411.192,-5342.358,43,1.3,43,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.1
$GPS2,230114,165715,6411.208,-5342.376,5,1.0,6,-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,137.6,37691,-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,-146.0,125,2596,1107,1080,0.0,0.0,0,110,0.00,0.00,-87.10,0.000,16386,0.000,0.000,121,2597,2785,2830,2740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,121,2597,2830,2740,3.0,-1.9,9,146,10.40,1.52,-14.05,0.000,18948,0.421,0.117,2212,1731,3337,3496,3179,0,0,0,0,0,0,13.87,14.28,14.71
$GC,341,-0.84,-146.0,2212,1730,3499,3178,45.1,-18.6,31,346,0.12,1.55,0.00,0.000,3078,0.284,0.117,2232,2573,3338,3499,3178,0,0,0,0,0,0,13.87,14.04,28.83
$GC,659,-0.80,-146.0,2233,2573,3499,3178,99.8,-16.6,62,662,0.00,1.58,0.00,0.000,260,0.000,0.125,2228,3426,3338,3499,3177,0,0,0,0,0,0,28.83,13.93,28.83
$GC,717,-0.76,-146.0,2229,3426,3499,3177,105.7,-16.2,64,725,0.15,1.50,0.00,0.000,3078,0.272,0.080,2259,2571,3338,3499,3177,0,0,0,0,0,0,13.75,14.08,28.83
$GC,1025,-0.73,-146.0,2259,2571,3499,3176,151.4,-12.5,75,1029,0.00,1.62,0.00,0.000,260,0.000,0.128,2255,3427,3337,3499,3176,0,0,0,0,0,0,28.83,13.84,28.83
$GC,1100,-0.71,-146.0,2255,3427,3499,3176,159.9,-12.6,77,1104,0.00,1.50,0.00,0.000,1030,0.000,0.081,2255,2579,3337,3499,3175,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1425,-0.68,-146.0,2255,2579,3499,3176,203.8,-13.2,88,1427,0.12,0.00,0.00,0.000,2054,0.281,0.000,2282,2578,3337,3499,3175,0,0,0,0,0,0,14.00,28.83,28.83
$STATE,1480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1480,begin apogee
$GC,1494,-0.22,0.0,2283,2479,3499,3176,211.0,-12.6,90,1653,0.55,0.00,146.93,2.083,10246,0.213,0.000,2432,2479,2741,2855,2628,0,0,0,0,0,0,13.63,28.83,12.85
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1661,0.89,146.0,2433,2479,2854,2628,219.3,0.0,95,1822,1.20,0.00,156.75,1.994,10246,0.160,0.000,2787,2478,2145,2247,2044,0,0,0,0,0,0,13.74,28.83,12.40
$GC,2122,0.88,152.6,2787,2478,2247,2035,192.0,8.0,111,2134,0.00,1.48,6.78,1.701,8708,0.000,0.098,2792,1631,2119,2225,2014,0,0,0,0,0,0,28.83,14.31,13.31
$GC,2179,0.88,162.2,1808,1629,2181,2009,187.3,7.9,113,2195,0.00,1.55,11.48,1.820,9222,0.000,0.115,2793,2490,2078,2184,1973,0,0,0,0,0,0,28.83,14.29,13.31
$GC,2502,0.86,162.2,2793,2490,2185,1972,160.5,8.3,123,2506,0.00,1.52,0.00,0.000,260,0.000,0.129,2793,3332,2078,2185,1972,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2531,0.84,162.2,2793,3332,2185,1972,160.5,8.3,123,2537,0.00,1.50,0.00,0.000,1030,0.000,0.087,2800,2474,2078,2184,1972,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2839,0.82,162.2,2800,2474,2185,1972,130.7,8.8,134,2843,0.00,1.60,0.00,0.000,260,0.000,0.129,2800,3332,2078,2184,1972,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2907,0.80,162.2,1824,3330,2140,1968,124.5,8.8,136,2911,0.12,1.55,0.00,0.000,5126,0.226,0.088,2772,2480,2078,2185,1972,0,0,0,0,0,0,13.94,14.19,28.83
$GC,3238,0.81,173.3,2772,2479,2184,1972,97.8,7.8,147,3250,0.00,1.62,6.65,0.468,8452,0.000,0.130,2771,3326,2033,2141,1926,0,0,0,0,0,0,28.83,14.12,13.79
$GC,3293,0.81,173.3,2772,3326,2141,1928,93.1,9.5,152,3296,0.00,1.50,0.00,0.000,1030,0.000,0.087,2776,2479,2034,2141,1927,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3610,0.84,194.2,2776,2479,2141,1927,68.1,7.5,183,3627,0.00,1.58,12.18,0.367,8708,0.000,0.099,2782,1627,1948,2055,1841,0,0,0,0,0,0,28.83,14.23,13.88
$GC,3695,0.88,221.9,2782,1627,2055,1839,62.1,7.2,191,3721,0.00,1.58,16.20,0.348,9222,0.000,0.117,2782,2487,1835,1942,1729,0,0,0,0,0,0,28.83,14.14,13.88
$GC,4025,0.94,257.5,2782,2487,1939,1724,37.3,6.9,224,4050,0.00,1.60,19.92,0.269,8452,0.000,0.129,2782,3326,1690,1787,1593,0,0,0,0,0,0,28.83,14.20,13.97
$GC,4070,0.99,281.4,1808,3325,1752,1590,34.1,7.3,228,4089,0.12,1.50,14.07,0.262,11270,0.150,0.088,2835,2478,1591,1682,1501,0,0,0,0,0,0,14.26,14.23,14.02
$FREEZE,8.11,0.230,-1.837,0,1,0
$FREEZE,7.13,0.225,-1.836,0,1,0
$FREEZE,6.11,0.229,-1.835,0,1,0
$FREEZE,5.05,0.230,-1.835,0,1,0
$FREEZE,4.07,0.226,-1.834,0,1,0
$FREEZE,2.97,0.223,-1.833,0,1,0
$STATE,4367,end climb,SURFACE_DEPTH_REACHED
$STATE,4367,begin surface coast
$FREEZE,2.17,0.222,-1.832,0,1,0
$FREEZE,1.25,0.221,-1.832,0,1,0
$FINISH,1.3,1.026806
$STATE,4387,end surface coast,CONTROL_FINISHED_OK
$STATE,4388,begin surface
$SM_CCo,4417,64.28,0.156,0,0,1108,400.08
$SM_GC,1.91,8.18,0.22,64.28,0.086,0.145,0.156,143,2584,1108,-7.35,-0.42,400.08,0,0,0,0,0,0,14.14,14.18,14.14
$RAFOS_CLK,191
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5346.36,230114,151526
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.82
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.2,19.9
$24V_AH,12.4,282.925
$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,20.975,28.250,390.950,64.275,0.000,0.000,0.000,199.250,5.750,0.000,6.670,758.532,2537.363,479.986,749.323,328.795,0.000,1074.157,0.000,587.325,0.000,2.626,0.000
$DEVICE_MAMPS,420.750,144.585,2083.095,156.060,0.000,0.000,0.000,126.225,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227748
$DATA_FILE_SIZE,10165,260
$CAP_FILE_SIZE,52791,0
$CFSIZE,259252224,200101888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.9
$CURRENT,0.181,299.5,1
$GPS,230114,181429,6411.258,-5342.051,40,1.0,40,-29.8