version: 66.11
glider: 192
mission: 2
dive: 704
start: 1 24 114 13 13 16
data:
$ID,192
$MISSION,2
$DIVE,704
$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,-15552.697
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,240114,130605,6410.502,-5348.461,28,1.7,28,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-65.5
$GPS2,240114,131227,6410.535,-5348.599,4,1.7,4,-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,192.9,21595,-15.5,-8.250,-18.49,2720
$D_GRID,372
$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,19,-0.89,-146.0,118,2592,1110,1076,0.0,0.0,0,105,0.00,0.00,-82.57,0.000,16386,0.000,0.000,116,2593,2703,2753,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.89,-146.0,116,2593,2754,2655,3.1,-2.2,9,147,10.38,1.55,-17.35,0.000,18948,0.422,0.125,2213,1732,3339,3501,3178,0,0,0,0,0,0,13.86,14.27,14.67
$GC,378,-0.84,-146.0,2213,1731,3504,3178,49.1,-17.7,35,382,0.00,1.58,0.00,0.000,1030,0.000,0.116,2208,2586,3341,3504,3178,0,0,0,0,0,0,28.83,14.00,28.83
$GC,710,-0.79,-146.0,2208,2587,3504,3176,105.1,-17.3,65,714,0.15,1.55,0.00,0.000,2564,0.291,0.086,2245,1732,3340,3504,3176,0,0,0,0,0,0,13.76,13.93,28.83
$GC,794,-0.75,-146.0,2245,1732,3504,3176,116.1,-15.8,67,798,0.00,1.58,0.00,0.000,1030,0.000,0.116,2241,2582,3340,3504,3176,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1111,-0.71,-146.0,2241,2582,3504,3175,166.5,-14.8,78,1113,0.15,0.00,0.00,0.000,2054,0.283,0.000,2273,2582,3339,3504,3175,0,0,0,0,0,0,13.83,28.83,28.83
$GC,1410,-0.70,-146.0,2273,2582,3504,3175,205.8,-13.0,88,1413,0.00,1.60,0.00,0.000,260,0.000,0.126,2268,3428,3339,3504,3174,0,0,0,0,0,0,28.83,13.75,28.83
$GC,1453,-0.68,-146.0,2269,3428,3504,3174,210.4,-12.9,89,1457,0.00,1.52,0.00,0.000,1030,0.000,0.080,2268,2565,3339,3504,3175,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1780,-0.67,-146.0,2269,2566,3504,3175,250.8,-11.9,100,1784,0.00,1.52,0.00,0.000,516,0.000,0.090,2268,1740,3339,3504,3174,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1824,-0.65,-146.0,2269,1740,3504,3175,255.0,-11.8,101,1828,0.12,1.60,0.00,0.000,3078,0.210,0.113,2297,2576,3339,3503,3175,0,0,0,0,0,0,13.57,13.74,28.83
$GC,2152,-0.70,-146.0,2297,2576,3506,3175,279.7,-1.7,112,2155,0.00,1.60,0.00,0.000,260,0.000,0.129,2297,3424,3340,3506,3175,0,0,0,0,0,0,28.83,13.70,28.83
$STATE,2306,end dive,NO_VERTICAL_VELOCITY
$STATE,2306,begin apogee
$GC,2322,-0.22,0.0,2297,2477,3506,3175,279.8,0.0,117,2481,0.45,0.00,147.50,2.082,10246,0.154,0.000,2433,2477,2741,2854,2628,0,0,0,0,0,0,13.78,28.83,12.87
$STATE,2482,end apogee,CONTROL_FINISHED_OK
$STATE,2482,begin climb
$GC,2488,0.89,146.0,2433,2476,2854,2628,280.0,0.0,122,2658,1.17,1.67,155.38,1.984,11012,0.142,0.120,2788,3325,2145,2245,2046,0,0,0,0,0,0,13.73,13.33,12.40
$GC,2768,0.86,146.0,2788,3325,2241,2043,262.4,10.3,132,2772,0.00,1.52,0.00,0.000,1030,0.000,0.083,2794,2472,2142,2241,2043,0,0,0,0,0,0,28.83,14.01,28.83
$GC,3094,0.84,146.0,2794,2472,2241,2040,229.3,10.0,143,3097,0.00,1.50,0.00,0.000,516,0.000,0.098,2800,1640,2140,2241,2040,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3163,0.82,146.0,1808,1638,2196,2034,222.6,10.1,145,3166,0.00,1.52,0.00,0.000,1030,0.000,0.112,2800,2488,2139,2241,2038,0,0,0,0,0,0,28.83,14.24,28.83
$GC,3494,0.79,146.0,2801,2488,2241,2038,189.1,9.4,156,3498,0.12,1.52,0.00,0.000,4612,0.260,0.093,2772,1636,2139,2241,2038,0,0,0,0,0,0,14.11,14.19,28.83
$GC,3549,0.76,146.0,2772,1636,2241,2037,186.0,9.2,157,3552,0.00,1.55,0.00,0.000,1030,0.000,0.111,2772,2488,2139,2241,2038,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3865,0.75,146.8,2772,2488,2241,2038,158.1,8.2,168,3869,0.00,1.58,0.00,0.000,260,0.000,0.125,2772,3322,2139,2241,2038,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3970,0.75,159.9,2772,3322,2241,2038,150.7,7.8,171,3990,0.00,1.52,14.70,1.916,9222,0.000,0.083,2778,2481,2087,2191,1984,0,0,0,0,0,0,28.83,14.14,13.35
$GC,4328,0.77,177.2,2779,2481,2191,1983,122.9,7.6,183,4349,0.00,1.55,12.07,1.821,8708,0.000,0.097,2785,1638,2018,2123,1913,0,0,0,0,0,0,28.83,14.28,13.45
$GC,4473,0.76,177.2,2784,1638,2123,1912,112.7,8.3,187,4480,0.00,1.52,0.00,0.000,1030,0.000,0.112,2785,2481,2017,2123,1912,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4786,0.80,209.2,2785,2481,2123,1912,88.2,7.0,208,4807,0.00,0.00,19.20,0.432,8198,0.000,0.000,2785,2481,1887,1994,1781,0,0,0,0,0,0,28.83,28.83,13.93
$GC,5111,0.84,235.6,2785,2481,1993,1776,64.2,7.3,241,5130,0.00,1.55,14.90,0.352,8708,0.000,0.098,2791,1637,1780,1881,1680,0,0,0,0,0,0,28.83,14.24,13.95
$GC,5366,0.85,240.4,2791,1636,1877,1675,44.0,8.1,266,5375,0.00,1.55,2.42,0.308,9222,0.000,0.109,2790,2483,1760,1859,1661,0,0,0,0,0,0,28.83,14.10,13.88
$GC,5678,0.91,275.5,2790,2483,1858,1661,21.2,6.9,297,5706,0.00,1.55,19.75,0.215,8708,0.000,0.099,2796,1644,1615,1707,1523,0,0,0,0,0,0,28.83,14.20,14.03
$GC,5799,0.94,283.0,2795,1644,1706,1521,13.2,8.0,308,5809,0.00,1.52,3.70,0.213,9222,0.000,0.114,2796,2480,1584,1677,1492,0,0,0,0,0,0,28.83,14.08,14.00
$FREEZE,8.55,-0.006,-1.836,0,1,0
$FREEZE,7.57,-0.007,-1.836,0,1,0
$FREEZE,6.36,-0.007,-1.835,0,1,0
$FREEZE,5.33,-0.008,-1.834,0,1,0
$FREEZE,3.94,-0.012,-1.833,0,1,0
$FREEZE,2.88,-0.009,-1.832,0,1,0
$STATE,5887,end climb,SURFACE_DEPTH_REACHED
$STATE,5887,begin surface coast
$FREEZE,1.93,-0.010,-1.831,0,1,0
$FREEZE,1.16,-0.015,-1.831,0,1,0
$FINISH,1.2,1.026803
$STATE,5913,end surface coast,CONTROL_FINISHED_OK
$STATE,5914,begin surface
$SM_CCo,5943,63.12,0.154,0,0,1107,400.08
$SM_GC,1.87,8.00,0.20,63.12,0.081,0.153,0.154,142,2582,1107,-7.35,-0.51,400.08,0,0,0,0,0,0,14.19,14.19,14.17
$RAFOS_CLK,258
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5342.38,240114,111143
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.03
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.60
$XPDR_PINGS,45
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,12.4,286.012
$10V_AH,12.6,0.000
$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,20.550,37.700,389.625,63.125,0.000,0.000,0.000,222.350,11.500,0.000,5.694,956.511,3538.335,442.265,1058.019,411.986,0.000,1220.995,0.000,872.393,0.000,2.814,0.000
$DEVICE_MAMPS,422.280,153.000,2081.565,153.765,0.000,0.000,0.000,126.990,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.311,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227296
$DATA_FILE_SIZE,13531,319
$CAP_FILE_SIZE,68229,0
$CFSIZE,259252224,199626752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.9
$CURRENT,0.174,342.8,1
$GPS,240114,145505,6410.425,-5348.646,40,0.9,40,-29.8