version: 66.11
glider: 192
mission: 2
dive: 702
start: 1 24 114 9 42 26
data:
$ID,192
$MISSION,2
$DIVE,702
$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,-15550.094
$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
$GPS1,240114,093335,6410.569,-5347.045,34,1.0,34,-29.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.7
$GPS2,240114,094144,6410.587,-5347.125,6,1.6,6,-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,192.9,22221,-15.5,-8.250,-18.49,2720
$D_GRID,312
$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,-146.0,116,2590,1107,1076,0.0,0.0,0,110,0.00,0.00,-87.10,0.000,16386,0.000,0.000,114,2590,2781,2829,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.89,-146.0,114,2590,2829,2733,3.4,-3.1,9,148,10.52,1.60,-12.90,0.000,18692,0.425,0.154,2209,3424,3339,3498,3181,0,0,0,0,0,0,13.85,14.20,14.71
$GC,384,-0.84,-146.0,2209,3424,3500,3181,58.0,-20.2,35,389,0.12,1.50,0.00,0.000,3078,0.288,0.077,2233,2567,3340,3500,3181,0,0,0,0,0,0,13.83,14.15,28.83
$GC,721,-0.80,-146.0,2233,2568,3500,3180,117.0,-17.8,62,725,0.00,1.62,0.00,0.000,260,0.000,0.122,2228,3428,3340,3500,3180,0,0,0,0,0,0,28.83,13.91,28.83
$GC,841,-0.76,-146.0,2228,3428,3500,3178,132.8,-16.7,65,849,0.15,1.52,0.00,0.000,3078,0.272,0.079,2259,2574,3339,3500,3178,0,0,0,0,0,0,13.71,14.06,28.83
$GC,1147,-0.73,-146.0,2259,2575,3500,3178,181.1,-13.5,76,1150,0.00,1.62,0.00,0.000,260,0.000,0.124,2255,3424,3339,3500,3178,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1242,-0.71,-146.0,2254,3425,3501,3178,193.7,-13.2,79,1246,0.00,1.50,0.00,0.000,1030,0.000,0.078,2255,2580,3339,3500,3178,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1579,-0.69,-146.0,2254,2579,3501,3178,235.3,-12.2,90,1581,0.12,0.00,0.00,0.000,2054,0.278,0.000,2281,2580,3339,3501,3178,0,0,0,0,0,0,14.00,28.83,28.83
$GC,1878,-0.68,-146.0,2281,2579,3501,3178,268.4,-11.0,100,1881,0.00,1.50,0.00,0.000,516,0.000,0.090,2281,1741,3338,3499,3178,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1914,-0.67,-146.0,2281,1741,3501,3178,272.4,-11.0,101,1918,0.00,1.55,0.00,0.000,1030,0.000,0.106,2277,2585,3339,3500,3178,0,0,0,0,0,0,28.83,13.86,28.83
$STATE,2184,end dive,NO_VERTICAL_VELOCITY
$STATE,2184,begin apogee
$GC,2198,-0.22,0.0,2278,2481,3503,3178,275.4,0.0,110,2359,0.52,0.00,149.32,2.095,10246,0.144,0.000,2438,2481,2741,2853,2629,0,0,0,0,0,0,13.81,28.83,12.82
$STATE,2360,end apogee,CONTROL_FINISHED_OK
$STATE,2360,begin climb
$GC,2366,0.89,146.0,2438,2481,2853,2629,275.5,0.0,115,2536,1.15,1.70,156.35,1.999,10756,0.133,0.096,2796,1638,2145,2244,2046,0,0,0,0,0,0,13.74,13.31,12.34
$GC,2714,0.87,146.0,2796,1638,2244,2037,251.3,10.5,127,2718,0.00,1.58,0.00,0.000,1030,0.000,0.108,2796,2480,2140,2244,2037,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3040,0.85,146.0,2796,2480,2244,2035,217.0,10.6,138,3044,0.00,1.48,0.00,0.000,516,0.000,0.099,2802,1630,2139,2244,2034,0,0,0,0,0,0,28.83,14.25,28.83
$GC,3130,0.82,146.0,2803,1630,2244,2033,210.0,10.5,140,3137,0.00,1.55,0.00,0.000,1030,0.000,0.112,2802,2487,2139,2244,2034,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3436,0.79,146.0,2803,2488,2244,2034,173.5,10.8,151,3438,0.15,0.00,0.00,0.000,4102,0.249,0.000,2768,2487,2139,2244,2034,0,0,0,0,0,0,14.12,28.83,28.83
$GC,3737,0.81,170.4,2767,2488,2244,2034,149.2,7.3,161,3768,0.00,1.60,24.98,1.912,8452,0.000,0.123,2767,3326,2046,2154,1939,0,0,0,0,0,0,28.83,14.21,13.33
$GC,3846,0.81,179.0,2767,3326,2152,1939,141.8,7.9,164,3862,0.00,1.50,10.38,1.812,9222,0.000,0.085,2771,2467,2011,2117,1905,0,0,0,0,0,0,28.83,14.33,13.35
$GC,4195,0.84,197.5,2772,2467,2117,1903,113.2,7.6,176,4215,0.00,1.52,12.00,1.769,8708,0.000,0.099,2778,1641,1934,2042,1827,0,0,0,0,0,0,28.83,14.31,13.44
$GC,4252,0.88,222.4,2778,1641,2042,1827,108.5,7.3,178,4277,0.00,1.52,15.50,0.511,9222,0.000,0.112,2778,2485,1833,1939,1728,0,0,0,0,0,0,28.83,14.31,13.91
$GC,4583,0.89,231.0,2778,2485,1934,1727,82.1,7.9,203,4593,0.00,1.58,4.70,0.425,8708,0.000,0.100,2783,1638,1798,1900,1697,0,0,0,0,0,0,28.83,14.30,13.85
$GC,4696,0.91,246.0,2783,1638,1900,1696,73.8,7.7,213,4709,0.00,1.58,8.93,0.384,9222,0.000,0.110,2783,2480,1737,1836,1638,0,0,0,0,0,0,28.83,14.16,13.93
$GC,5021,0.92,246.0,2784,2480,1833,1638,46.0,8.7,245,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2480,1735,1833,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5337,0.96,262.2,2783,2480,1833,1637,20.3,7.6,276,5351,0.10,1.50,8.80,0.214,10756,0.177,0.103,2828,1638,1669,1764,1575,0,0,0,0,0,0,14.40,14.18,13.98
$FREEZE,8.43,-0.159,-1.836,0,1,0
$FREEZE,8.43,-0.159,-1.836,0,1,0
$FREEZE,7.45,-0.162,-1.835,0,1,0
$GC,5476,0.96,262.2,2829,1638,1764,1574,7.4,9.8,288,5479,0.00,1.55,0.00,0.000,1030,0.000,0.113,2829,2479,1669,1764,1574,0,0,0,0,0,0,28.83,14.07,28.83
$FREEZE,5.86,-0.161,-1.834,0,1,0
$FREEZE,4.87,-0.161,-1.833,0,1,0
$FREEZE,3.87,-0.161,-1.833,0,1,0
$FREEZE,2.74,-0.162,-1.832,0,1,0
$STATE,5515,end climb,SURFACE_DEPTH_REACHED
$STATE,5516,begin surface coast
$FREEZE,1.76,-0.164,-1.831,0,1,0
$FREEZE,0.88,-0.154,-1.794,0,1,0
$FINISH,0.9,1.026290
$STATE,5538,end surface coast,CONTROL_FINISHED_OK
$STATE,5538,begin surface
$SM_CCo,5568,74.85,0.156,0,0,1110,400.08
$SM_GC,1.97,8.12,0.20,74.85,0.087,0.152,0.156,144,2585,1110,-7.35,-0.48,400.08,0,0,0,0,0,0,14.17,14.20,14.19
$RAFOS_CLK,243
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5348.21,240114,090922
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.88
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,12.3,285.541
$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,20.975,31.475,390.950,74.850,0.000,0.000,0.000,266.075,7.750,0.000,7.683,888.778,3388.371,465.061,1011.197,388.812,0.000,1239.738,0.000,784.875,0.000,2.813,0.000
$DEVICE_MAMPS,424.575,153.765,2095.335,156.060,0.000,0.000,0.000,122.400,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227272
$DATA_FILE_SIZE,13499,294
$CAP_FILE_SIZE,63570,0
$CFSIZE,259252224,199704576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.6
$CURRENT,0.214,326.4,1
$GPS,240114,111805,6410.473,-5347.921,33,0.9,33,-29.8