version: 66.11
glider: 192
mission: 2
dive: 701
start: 1 24 114 7 58 44
data:
$ID,192
$MISSION,2
$DIVE,701
$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,-15548.841
$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,19
$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
$GPS1,240114,075135,6410.708,-5345.907,29,0.9,29,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.5
$GPS2,240114,075756,6410.741,-5345.997,4,0.9,4,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6400.000,-5400.000
$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,194.6,22911,-15.5,-8.250,-18.49,2720
$D_GRID,268
$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,-146.0,110,2592,1112,1074,0.0,0.0,0,120,0.00,0.00,-97.22,0.000,16386,0.000,0.000,108,2592,3022,3089,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.89,-146.0,108,2592,3088,2955,4.2,-4.3,10,150,10.48,1.58,-6.32,0.000,18692,0.424,0.149,2207,3422,3341,3484,3198,0,0,0,0,0,0,13.88,14.20,14.70
$GC,385,-0.83,-146.0,2206,3423,3495,3189,63.5,-19.6,35,389,0.15,1.50,0.00,0.000,3078,0.278,0.077,2238,2563,3342,3495,3189,0,0,0,0,0,0,13.83,14.16,28.83
$GC,722,-0.80,-146.0,2238,2564,3495,3187,119.8,-15.9,60,725,0.00,1.62,0.00,0.000,260,0.000,0.121,2234,3430,3341,3495,3187,0,0,0,0,0,0,28.83,13.92,28.83
$GC,757,-0.76,-146.0,2234,3430,3495,3186,125.8,-16.2,61,761,0.12,1.50,0.00,0.000,3078,0.275,0.077,2258,2576,3340,3495,3186,0,0,0,0,0,0,13.78,14.08,28.83
$GC,1100,-0.74,-146.0,2259,2575,3495,3186,172.9,-13.8,72,1105,0.00,1.65,0.00,0.000,260,0.000,0.125,2254,3421,3340,3495,3186,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1210,-0.71,-146.0,2254,3420,3495,3185,187.0,-13.5,75,1214,0.00,1.50,0.00,0.000,1030,0.000,0.079,2254,2579,3340,3495,3185,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1532,-0.69,-146.0,2254,2580,3496,3185,232.1,-13.4,86,1536,0.12,1.50,0.00,0.000,2564,0.280,0.083,2286,1738,3340,3495,3185,0,0,0,0,0,0,13.91,13.94,28.83
$GC,1616,-0.67,-146.0,2286,1737,3495,3185,240.1,-12.6,88,1619,0.00,1.55,0.00,0.000,1030,0.000,0.110,2281,2576,3340,3495,3185,0,0,0,0,0,0,28.83,13.86,28.83
$STATE,1865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1865,begin apogee
$GC,1879,-0.22,0.0,2281,2484,3496,3185,271.0,-11.1,97,2039,0.55,0.00,148.93,2.140,10246,0.217,0.000,2429,2484,2741,2853,2630,0,0,0,0,0,0,13.59,28.83,12.80
$STATE,2040,end apogee,CONTROL_FINISHED_OK
$STATE,2040,begin climb
$GC,2046,0.89,146.0,2429,2484,2853,2630,277.0,0.0,102,2221,1.20,1.67,158.15,2.035,10756,0.148,0.095,2794,1637,2145,2245,2045,0,0,0,0,0,0,13.70,13.24,12.24
$GC,2428,0.88,146.0,2794,1637,2244,2036,253.3,8.5,115,2432,0.00,1.55,0.00,0.000,1030,0.000,0.108,2794,2486,2140,2244,2036,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2755,0.85,146.0,2793,2486,2245,2034,223.6,9.2,126,2758,0.00,1.50,0.00,0.000,516,0.000,0.097,2800,1627,2139,2245,2034,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2813,0.82,146.0,2800,1627,2245,2034,220.2,9.3,127,2821,0.00,1.55,0.00,0.000,1030,0.000,0.109,2800,2481,2139,2245,2034,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3121,0.79,146.0,2800,2482,2245,2033,187.3,9.3,138,3125,0.12,1.50,0.00,0.000,4612,0.258,0.093,2772,1628,2139,2245,2033,0,0,0,0,0,0,14.07,14.19,28.83
$GC,3226,0.83,180.3,2772,1628,2245,2033,180.8,7.0,141,3266,0.00,1.55,35.03,1.981,9222,0.000,0.109,2772,2482,2006,2113,1899,0,0,0,0,0,0,28.83,14.16,13.26
$GC,3579,0.83,180.3,2772,2482,2113,1897,150.6,8.8,152,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2482,2004,2113,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3872,0.82,180.3,2772,2482,2113,1896,124.0,8.6,162,3876,0.00,1.55,0.00,0.000,260,0.000,0.123,2772,3325,2004,2113,1896,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4022,0.81,180.3,2771,3325,2112,1895,113.2,8.7,166,4026,0.00,1.50,0.00,0.000,1030,0.000,0.084,2778,2475,2004,2113,1896,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4337,0.81,180.3,2778,2476,2112,1896,89.0,8.9,185,4341,0.00,1.50,0.00,0.000,516,0.000,0.097,2784,1638,2003,2112,1895,0,0,0,0,0,0,28.83,14.08,28.83
$GC,4433,0.83,192.1,2784,1638,2112,1895,81.2,7.8,194,4445,0.00,1.55,7.07,0.413,9222,0.000,0.109,2784,2484,1956,2064,1849,0,0,0,0,0,0,28.83,14.09,13.81
$GC,4757,0.89,233.6,2784,2484,2064,1848,57.7,6.7,226,4786,0.00,1.52,24.27,0.330,8452,0.000,0.120,2784,3325,1787,1889,1686,0,0,0,0,0,0,28.83,14.23,13.92
$GC,4882,0.89,233.6,2784,3326,1884,1685,48.2,9.1,237,4888,0.00,1.50,0.00,0.000,1030,0.000,0.084,2790,2475,1785,1884,1686,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5190,0.90,233.6,1792,2473,1843,1682,21.9,8.8,268,5194,0.00,1.50,0.00,0.000,516,0.000,0.097,2796,1633,1782,1880,1685,0,0,0,0,0,0,28.83,14.04,28.83
$FREEZE,8.57,-0.053,-1.835,0,1,0
$FREEZE,8.57,-0.053,-1.835,0,1,0
$FREEZE,7.79,-0.059,-1.835,0,1,0
$FREEZE,7.79,-0.059,-1.835,0,1,0
$GC,5369,0.91,237.4,2796,1633,1880,1683,7.8,8.1,284,5376,0.00,1.55,0.00,0.000,1030,0.000,0.109,2796,2479,1781,1880,1683,0,0,0,0,0,0,28.83,14.03,28.83
$FREEZE,6.74,-0.063,-1.834,0,1,0
$FREEZE,6.14,-0.052,-1.833,0,1,0
$FREEZE,5.40,-0.053,-1.833,0,1,0
$FREEZE,4.36,-0.052,-1.832,0,1,0
$FREEZE,3.48,-0.049,-1.831,0,1,0
$FREEZE,2.67,-0.052,-1.831,0,1,0
$STATE,5432,end climb,SURFACE_DEPTH_REACHED
$STATE,5432,begin surface coast
$FREEZE,1.86,-0.059,-1.830,0,1,0
$FREEZE,1.44,-0.058,-1.830,0,1,0
$FREEZE,0.87,-0.037,-1.828,0,1,0
$FINISH,0.9,1.026768
$STATE,5470,end surface coast,CONTROL_FINISHED_OK
$STATE,5470,begin surface
$SM_CCo,5499,90.72,0.155,0,0,1108,400.08
$SM_GC,1.94,8.15,0.20,90.72,0.097,0.151,0.155,143,2584,1108,-7.35,-0.54,400.08,0,0,0,0,0,0,14.15,14.18,14.16
$RAFOS_CLK,240
$RAFOS,6,1390553348,8.833333,8.818889,63,61,60,54,53,51,180,157,198,235,143,209
$RAFOS,5,1390552861,8.700000,8.683611,63,63,54,52,52,50,154,193,207,142,221,173
$RAFOS,4,1390552399,8.566667,8.555278,73,68,57,56,51,50,214,170,182,133,114,229
$RAFOS,3,1390551904,8.433333,8.417778,67,64,58,57,57,55,215,120,157,190,145,202
$RAFOS,2,1390551428,8.300000,8.285556,61,59,57,56,54,49,203,179,114,221,158,238
$RAFOS,1,1390550949,8.166667,8.152500,71,61,60,60,55,54,196,209,148,179,122,158
$RAFOS,0,1390550463,8.033334,8.017500,65,63,58,57,55,50,186,197,174,144,132,223
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5346.36,240114,060614
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.27
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.40
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,12.2,285.293
$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,20.900,34.275,373.450,90.725,0.000,0.000,0.000,221.200,7.000,0.000,5.789,908.578,3213.210,473.010,997.332,399.316,0.000,1204.947,0.000,808.990,2520.000,2.624,0.000
$DEVICE_MAMPS,423.810,150.705,2140.470,155.295,0.000,0.000,0.000,126.225,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227316
$DATA_FILE_SIZE,13510,294
$CAP_FILE_SIZE,64403,0
$CFSIZE,259252224,199745536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.7
$CURRENT,0.218,312.3,1
$GPS,240114,093335,6410.569,-5347.045,34,1.0,34,-29.8