version: 66.11
glider: 192
mission: 2
dive: 693
start: 1 23 114 19 56 8
data:
$ID,192
$MISSION,2
$DIVE,693
$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,-15538.432
$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,16
$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
$GPS1,230114,194935,6411.208,-5342.096,38,1.0,38,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-67.7
$GPS2,230114,195520,6411.213,-5342.140,5,1.0,5,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6405.000,-5320.000
$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,148.2,21297,-15.5,-8.250,-18.49,2720
$D_GRID,244
$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,-146.0,129,2589,1113,1076,0.0,0.0,0,110,0.00,0.00,-86.80,0.000,16386,0.000,0.000,126,2589,2777,2823,2731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,126,2589,2823,2730,3.1,-1.9,9,146,10.40,1.50,-13.98,0.000,18948,0.423,0.118,2211,1732,3339,3497,3181,0,0,0,0,0,0,13.88,14.29,14.71
$GC,365,-0.84,-146.0,2211,1731,3499,3180,50.8,-18.5,33,373,0.12,1.58,0.00,0.000,3078,0.290,0.117,2231,2578,3339,3499,3180,0,0,0,0,0,0,13.85,14.03,28.83
$GC,687,-0.80,-146.0,2230,2578,3499,3179,105.1,-16.5,63,690,0.00,1.58,0.00,0.000,260,0.000,0.125,2227,3427,3339,3499,3179,0,0,0,0,0,0,28.83,13.91,28.83
$GC,752,-0.76,-146.0,2227,3427,3499,3179,116.6,-17.0,65,757,0.12,1.55,0.00,0.000,3078,0.246,0.080,2259,2576,3339,3500,3179,0,0,0,0,0,0,13.68,14.04,28.83
$GC,1090,-0.73,-146.0,2259,2576,3499,3178,163.5,-13.1,76,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2576,3338,3499,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1389,-0.71,-146.0,2259,2576,3499,3177,202.3,-12.9,86,1393,0.00,1.65,0.00,0.000,260,0.000,0.129,2254,3431,3338,3499,3177,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1425,-0.69,-146.0,2255,3432,3499,3177,207.2,-13.1,87,1429,0.12,1.52,0.00,0.000,3078,0.270,0.080,2281,2571,3338,3500,3176,0,0,0,0,0,0,13.71,14.01,28.83
$STATE,1758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1758,begin apogee
$GC,1778,-0.22,0.0,2282,2481,3499,3177,245.9,-11.4,98,1937,0.55,0.00,146.98,2.143,10246,0.217,0.000,2430,2482,2741,2852,2630,0,0,0,0,0,0,13.57,28.83,12.78
$STATE,1938,end apogee,CONTROL_FINISHED_OK
$STATE,1938,begin climb
$GC,1944,0.89,146.0,2431,2482,2853,2630,253.9,0.0,103,2118,1.23,1.77,154.85,1.958,10500,0.169,0.125,2788,3330,2144,2244,2045,0,0,0,0,0,0,13.66,13.33,12.39
$GC,2229,0.87,146.0,2788,3330,2240,2042,236.8,10.3,112,2232,0.00,1.52,0.00,0.000,1030,0.000,0.084,2794,2478,2141,2241,2042,0,0,0,0,0,0,28.83,14.04,28.83
$GC,2549,0.84,146.0,2794,2478,2241,2039,204.8,9.6,123,2553,0.00,1.50,0.00,0.000,516,0.000,0.097,2801,1630,2139,2240,2039,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2639,0.82,146.0,2801,1630,2241,2037,198.6,9.5,125,2646,0.00,1.55,0.00,0.000,1030,0.000,0.112,2801,2484,2138,2239,2037,0,0,0,0,0,0,28.83,14.25,28.83
$GC,2945,0.80,146.0,2801,2484,2241,2037,166.8,9.8,136,2947,0.15,0.00,0.00,0.000,4102,0.247,0.000,2766,2484,2139,2241,2037,0,0,0,0,0,0,14.12,28.83,28.83
$GC,3245,0.81,158.6,2766,2484,2241,2037,142.4,7.8,146,3262,0.00,1.55,12.68,1.878,8452,0.000,0.124,2766,3329,2095,2199,1991,0,0,0,0,0,0,28.83,14.25,13.36
$GC,3299,0.83,176.0,2766,3330,2199,1991,140.2,7.6,147,3323,0.00,1.50,19.42,1.887,9222,0.000,0.083,2770,2469,2022,2128,1917,0,0,0,0,0,0,28.83,14.33,13.31
$GC,3635,0.87,204.0,2770,2469,2128,1915,113.6,7.2,158,3658,0.00,1.45,18.05,1.784,8708,0.000,0.095,2775,1638,1909,2015,1803,0,0,0,0,0,0,28.83,14.33,13.41
$GC,3691,0.92,235.4,2777,1638,2015,1802,109.3,7.1,160,3716,0.00,1.52,19.60,0.513,9222,0.000,0.112,2776,2487,1780,1880,1681,0,0,0,0,0,0,28.83,14.31,13.91
$GC,4020,0.93,235.4,2776,2487,1874,1679,81.8,8.7,185,4023,0.00,1.52,0.00,0.000,516,0.000,0.097,2782,1632,1776,1874,1679,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4077,0.94,235.4,2782,1632,1874,1677,77.2,8.4,190,4080,0.00,1.52,0.00,0.000,1030,0.000,0.111,2782,2480,1776,1874,1678,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4394,0.99,268.1,2782,2480,1873,1677,53.7,7.0,221,4418,0.12,0.00,19.08,0.317,10246,0.151,0.000,2836,2480,1646,1737,1555,0,0,0,0,0,0,14.35,28.83,13.97
$GC,4726,0.99,268.1,2835,2480,1736,1552,19.1,10.1,254,4729,0.00,1.50,0.00,0.000,516,0.000,0.098,2842,1628,1644,1736,1552,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4815,0.98,268.1,1856,1628,1703,1548,10.3,10.4,262,4821,0.00,1.58,0.00,0.000,1030,0.000,0.113,2842,2484,1642,1736,1549,0,0,0,0,0,0,28.83,14.08,28.83
$FREEZE,7.73,0.475,-1.838,0,1,0
$FREEZE,6.53,0.486,-1.837,0,1,0
$FREEZE,5.33,0.488,-1.836,0,1,0
$FREEZE,4.22,0.478,-1.835,0,1,0
$FREEZE,3.02,0.490,-1.834,0,1,0
$FREEZE,1.96,0.473,-1.834,0,1,0
$STATE,4878,end climb,SURFACE_DEPTH_REACHED
$STATE,4878,begin surface coast
$FREEZE,0.94,0.496,-1.833,0,1,0
$FREEZE,0.93,0.262,-1.811,0,1,0
$FINISH,0.9,1.026506
$STATE,4899,end surface coast,CONTROL_FINISHED_OK
$STATE,4899,begin surface
$SM_CCo,4929,72.72,0.154,0,0,1109,400.08
$SM_GC,1.91,8.20,0.20,72.72,0.092,0.152,0.154,143,2588,1109,-7.35,-0.40,400.08,0,0,0,0,0,0,14.17,14.21,14.19
$RAFOS_CLK,212
$RAFOS,6,1390510146,20.833334,20.818333,60,57,53,53,53,51,216,179,139,198,161,109
$RAFOS,5,1390509666,20.700001,20.684999,71,56,53,52,52,49,198,211,162,120,184,148
$RAFOS,4,1390509185,20.566668,20.551390,69,69,65,62,56,55,173,192,132,150,114,209
$RAFOS,3,1390508722,20.433332,20.422777,67,62,56,52,50,50,140,204,162,213,115,173
$RAFOS,2,1390508230,20.299999,20.286112,63,57,56,53,52,52,199,171,120,216,162,185
$RAFOS,1,1390507744,20.166666,20.151112,70,60,58,56,53,53,209,225,158,194,121,139
$RAFOS,0,1390507263,20.033333,20.017500,62,60,57,52,52,49,216,159,193,146,168,113
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5345.30,230114,181810
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.95
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.60
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.1,18.2
$24V_AH,12.4,283.399
$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,21.025,28.225,390.650,72.725,0.000,0.000,0.000,190.550,7.500,0.000,5.675,818.341,2911.508,457.527,830.407,347.400,0.000,1102.194,0.000,673.313,2520.000,2.624,0.000
$DEVICE_MAMPS,423.045,152.235,2142.765,153.765,0.000,0.000,0.000,124.695,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227532
$DATA_FILE_SIZE,10186,271
$CAP_FILE_SIZE,57807,0
$CFSIZE,259252224,200028160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.8
$CURRENT,0.245,308.6,1
$GPS,230114,212106,6411.306,-5342.042,30,1.4,30,-29.8