version: 66.11
glider: 192
mission: 2
dive: 703
start: 1 24 114 11 24 32
data:
$ID,192
$MISSION,2
$DIVE,703
$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,-15551.35
$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,18
$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
$GPS1,240114,111805,6410.473,-5347.921,33,0.9,33,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.4
$GPS2,240114,112344,6410.474,-5348.013,5,0.9,5,-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,191.4,21702,-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,-146.0,118,2592,1113,1076,0.0,0.0,0,110,0.00,0.00,-87.10,0.000,16386,0.000,0.000,115,2592,2776,2824,2729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,116,2592,2824,2730,3.1,-2.2,9,147,10.48,1.58,-13.65,0.000,18692,0.425,0.158,2208,3419,3339,3498,3180,0,0,0,0,0,0,13.89,14.19,14.71
$GC,383,-0.84,-146.0,2208,3419,3500,3179,57.4,-19.2,35,387,0.12,1.50,0.00,0.000,3078,0.282,0.080,2233,2567,3339,3500,3179,0,0,0,0,0,0,13.85,14.15,28.83
$GC,699,-0.80,-146.0,2233,2567,3500,3177,110.3,-15.6,62,703,0.00,1.62,0.00,0.000,260,0.000,0.124,2228,3426,3339,3500,3178,0,0,0,0,0,0,28.83,13.92,28.83
$GC,735,-0.75,-146.0,2229,3426,3500,3177,116.1,-15.8,63,739,0.15,1.50,0.00,0.000,3078,0.271,0.080,2260,2580,3338,3500,3177,0,0,0,0,0,0,13.75,14.07,28.83
$GC,1072,-0.73,-146.0,2260,2579,3500,3176,158.9,-12.7,74,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2580,3338,3500,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1371,-0.71,-146.0,2260,2579,3500,3176,197.9,-13.0,84,1374,0.00,1.60,0.00,0.000,260,0.000,0.126,2255,3423,3338,3500,3176,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1455,-0.68,-146.0,2256,3423,3500,3176,206.4,-13.0,86,1459,0.15,1.50,0.00,0.000,3078,0.256,0.080,2288,2579,3338,3500,3176,0,0,0,0,0,0,13.69,13.99,28.83
$GC,1772,-0.68,-146.0,2288,2578,3500,3176,243.8,-11.1,97,1775,0.00,1.50,0.00,0.000,516,0.000,0.090,2288,1731,3338,3500,3176,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1860,-0.68,-146.0,2288,1731,3500,3176,251.4,-11.2,99,1867,0.00,1.58,0.00,0.000,1030,0.000,0.114,2284,2577,3338,3500,3176,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2169,-0.72,-146.0,2283,2577,3501,3176,278.6,-3.3,110,2173,0.00,1.60,0.00,0.000,260,0.000,0.127,2284,3427,3338,3501,3176,0,0,0,0,0,0,28.83,13.74,28.83
$STATE,2321,end dive,NO_VERTICAL_VELOCITY
$STATE,2321,begin apogee
$GC,2336,-0.22,0.0,2284,2479,3502,3176,278.7,0.0,115,2497,0.50,0.00,147.60,2.095,10246,0.145,0.000,2436,2479,2741,2853,2630,0,0,0,0,0,0,13.83,28.83,12.85
$STATE,2498,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2504,0.89,146.0,2436,2479,2853,2630,278.9,0.0,120,2671,1.15,1.77,157.93,2.034,11012,0.134,0.122,2787,3332,2145,2244,2046,0,0,0,0,0,0,13.76,13.28,12.31
$GC,2726,0.88,158.0,2786,3332,2242,2044,265.5,7.8,128,2749,0.00,1.58,14.43,1.903,9222,0.000,0.083,2793,2478,2096,2196,1997,0,0,0,0,0,0,28.83,13.67,12.54
$GC,3059,0.86,158.0,2793,2478,2196,1990,234.9,9.3,139,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2478,2093,2196,1990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,0.84,158.0,2793,2478,2196,1989,207.6,9.0,149,3358,0.00,1.52,0.00,0.000,516,0.000,0.097,2800,1641,2093,2196,1990,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3467,0.81,158.0,2800,1641,2196,1987,199.3,8.6,152,3471,0.00,1.58,0.00,0.000,1030,0.000,0.113,2799,2485,2091,2196,1987,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3784,0.79,158.0,2799,2484,2196,1988,168.4,9.4,163,3788,0.12,1.50,0.00,0.000,4612,0.259,0.092,2772,1635,2091,2196,1987,0,0,0,0,0,0,14.04,14.13,28.83
$GC,3813,0.76,158.0,2772,1635,2196,1987,168.4,9.4,163,3820,0.00,1.55,0.00,0.000,1030,0.000,0.111,2772,2481,2091,2196,1987,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4122,0.77,166.8,2771,2481,2196,1987,141.0,7.9,174,4138,0.00,1.58,9.62,1.821,8452,0.000,0.129,2772,3323,2061,2166,1956,0,0,0,0,0,0,28.83,14.21,13.39
$GC,4218,0.75,167.3,2772,3323,2166,1956,133.5,8.2,177,4222,0.00,1.50,0.00,0.000,1030,0.000,0.085,2778,2460,2061,2166,1956,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4554,0.79,200.5,2778,2459,2166,1956,108.9,7.0,188,4580,0.00,1.52,20.95,0.506,8708,0.000,0.098,2784,1625,1923,2030,1817,0,0,0,0,0,0,28.83,14.31,13.84
$GC,4744,0.79,200.5,1808,1624,1988,1809,93.4,8.7,198,4751,0.00,1.55,0.00,0.000,1030,0.000,0.114,2784,2481,1921,2029,1813,0,0,0,0,0,0,28.83,14.15,28.83
$GC,5053,0.79,200.5,2784,2481,2030,1812,65.4,8.8,229,5057,0.00,1.52,0.00,0.000,516,0.000,0.098,2789,1628,1921,2030,1812,0,0,0,0,0,0,28.83,14.06,28.83
$GC,5187,0.79,200.5,2790,1628,2029,1811,54.3,8.8,241,5195,0.00,1.58,0.00,0.000,1030,0.000,0.114,2790,2483,1920,2030,1811,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5497,0.80,204.4,2790,2483,2030,1811,29.7,8.1,272,5504,0.00,0.00,1.85,0.277,8198,0.000,0.000,2790,2483,1905,2014,1797,0,0,0,0,0,0,28.83,28.83,13.90
$FREEZE,8.82,-0.092,-1.836,0,1,0
$FREEZE,8.09,-0.094,-1.835,0,1,0
$FREEZE,7.52,-0.097,-1.835,0,1,0
$FREEZE,6.84,-0.098,-1.834,0,1,0
$FREEZE,6.84,-0.098,-1.834,0,1,0
$FREEZE,6.20,-0.100,-1.834,0,1,0
$FREEZE,6.20,-0.100,-1.834,0,1,0
$GC,5808,0.85,237.1,2790,2483,2014,1797,6.8,7.0,303,5830,0.00,1.60,17.52,0.171,8708,0.000,0.099,2796,1635,1772,1876,1669,0,0,0,0,0,0,28.83,14.16,14.04
$FREEZE,5.32,-0.100,-1.833,0,1,0
$FREEZE,4.09,-0.106,-1.833,0,1,0
$FREEZE,4.09,-0.106,-1.833,0,1,0
$FREEZE,3.52,-0.112,-1.832,0,1,0
$FREEZE,3.52,-0.112,-1.832,0,1,0
$FREEZE,2.99,-0.108,-1.832,0,1,0
$STATE,5863,end climb,SURFACE_DEPTH_REACHED
$STATE,5864,begin surface coast
$FREEZE,2.99,-0.108,-1.832,0,1,0
$FINISH,3.0,1.026801
$STATE,5874,end surface coast,CONTROL_FINISHED_OK
$STATE,5874,begin surface
$SM_CCo,5911,87.97,0.155,0,0,1109,400.08
$SM_GC,1.82,8.02,1.83,87.97,0.085,0.117,0.155,142,2587,1109,-7.35,-0.31,400.08,0,0,0,0,0,0,14.19,14.03,14.15
$RAFOS_CLK,260
$RAFOS,6,1390567744,12.833333,12.817778,67,62,59,58,55,55,225,167,208,188,153,559
$RAFOS,5,1390567261,12.700000,12.683611,69,61,59,57,55,53,218,201,115,171,132,147
$RAFOS,4,1390566785,12.566667,12.551389,63,62,62,58,51,50,211,188,151,134,1758,177
$RAFOS,3,1390566328,12.433333,12.424444,62,60,55,53,48,48,198,209,118,163,152,134
$RAFOS,2,1390565838,12.300000,12.288333,70,58,56,53,53,52,215,137,198,159,183,125
$RAFOS,1,1390565347,12.166667,12.151944,62,62,55,55,54,53,177,199,119,208,165,144
$RAFOS,0,1390564864,12.033333,12.017777,61,58,57,56,55,53,168,159,194,116,135,217
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5352.19,240114,090919
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.17
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,38
$ALTIM_TOP_PING,19.4,19.8
$24V_AH,12.3,285.777
$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,20.700,37.900,369.900,87.975,0.000,0.000,0.000,183.775,9.750,0.000,6.671,945.587,3572.223,494.466,947.555,398.079,0.000,1174.672,0.000,793.438,2520.000,2.626,0.000
$DEVICE_MAMPS,424.575,157.590,2095.335,155.295,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227268
$DATA_FILE_SIZE,13497,308
$CAP_FILE_SIZE,65651,0
$CFSIZE,259252224,199667712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.0
$CURRENT,0.226,338.1,1
$GPS,240114,130605,6410.502,-5348.461,28,1.7,28,-29.8