version: 66.11
glider: 192
mission: 2
dive: 705
start: 1 24 114 15 8 10
data:
$ID,192
$MISSION,2
$DIVE,705
$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,-15553.953
$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,17
$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
$GPS1,240114,145505,6410.425,-5348.646,40,0.9,40,-29.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-63.0
$GPS2,240114,150727,6410.531,-5348.779,27,1.0,27,-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,206.4,21527,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,106,2590,1112,1072,0.0,0.0,0,110,0.00,0.00,-86.70,0.000,16386,0.000,0.000,104,2590,2749,2802,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,104,2590,2802,2699,3.1,-2.2,9,151,10.48,1.52,-15.05,0.000,19204,0.423,0.151,2207,3423,3338,3498,3179,0,0,0,0,0,0,13.86,14.15,14.69
$GC,385,-0.84,-146.0,2207,3423,3501,3179,56.0,-19.0,35,392,0.12,1.50,0.00,0.000,3078,0.288,0.076,2232,2565,3340,3501,3179,0,0,0,0,0,0,13.81,14.13,28.83
$GC,715,-0.80,-146.0,2233,2565,3501,3177,109.3,-15.7,64,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2564,3339,3501,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1015,-0.76,-146.0,2233,2564,3501,3176,153.0,-14.8,74,1019,0.12,1.48,0.00,0.000,2564,0.298,0.086,2265,1737,3338,3501,3176,0,0,0,0,0,0,13.87,13.92,28.83
$GC,1094,-0.73,-146.0,2265,1737,3501,3175,161.5,-13.8,76,1098,0.00,1.58,0.00,0.000,1030,0.000,0.112,2261,2585,3338,3501,3175,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1417,-0.71,-146.0,2260,2585,3501,3175,202.2,-12.4,87,1420,0.00,1.58,0.00,0.000,260,0.000,0.125,2254,3426,3338,3501,3175,0,0,0,0,0,0,28.83,13.74,28.83
$GC,1515,-0.68,-146.0,2253,3425,3501,3175,214.9,-12.9,90,1519,0.15,1.50,0.00,0.000,3078,0.257,0.077,2286,2575,3338,3501,3175,0,0,0,0,0,0,13.64,13.97,28.83
$GC,1847,-0.68,-146.0,2286,2575,3501,3175,250.9,-10.2,101,1851,0.00,1.55,0.00,0.000,516,0.000,0.090,2287,1738,3338,3501,3175,0,0,0,0,0,0,28.83,13.78,28.83
$GC,1907,-0.68,-146.0,2287,1738,3501,3175,254.8,-10.1,102,1914,0.00,1.60,0.00,0.000,1030,0.000,0.111,2283,2587,3338,3501,3175,0,0,0,0,0,0,28.83,13.81,28.83
$GC,2214,-0.73,-146.0,2283,2586,3505,3174,282.1,-5.3,113,2218,0.00,1.60,0.00,0.000,260,0.000,0.129,2283,3425,3340,3506,3175,0,0,0,0,0,0,28.83,13.69,28.83
$STATE,2398,end dive,NO_VERTICAL_VELOCITY
$STATE,2398,begin apogee
$GC,2414,-0.22,0.0,2283,2478,3505,3175,282.1,0.0,119,2574,0.50,0.00,148.45,2.150,10246,0.142,0.000,2437,2477,2741,2854,2628,0,0,0,0,0,0,13.80,28.83,12.81
$STATE,2575,end apogee,CONTROL_FINISHED_OK
$STATE,2575,begin climb
$GC,2581,0.89,146.0,2437,2477,2854,2629,282.2,0.0,124,2753,1.17,1.70,156.82,2.012,10756,0.141,0.096,2796,1637,2145,2245,2045,0,0,0,0,0,0,13.69,13.26,12.30
$GC,2829,0.87,149.1,2796,1636,2244,2039,269.6,8.1,133,2833,0.00,1.60,0.00,0.000,1030,0.000,0.111,2796,2480,2141,2244,2039,0,0,0,0,0,0,28.83,13.72,28.83
$GC,3160,0.84,149.1,2796,2481,2244,2034,237.3,10.0,144,3163,0.00,1.50,0.00,0.000,516,0.000,0.097,2802,1642,2139,2244,2035,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3234,0.82,149.1,2803,1642,2244,2033,231.0,9.9,146,3238,0.00,1.55,0.00,0.000,1030,0.000,0.112,2803,2476,2139,2244,2034,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3561,0.79,149.1,2803,2476,2244,2033,195.3,10.4,157,3565,0.12,1.52,0.00,0.000,4612,0.264,0.092,2773,1628,2138,2244,2033,0,0,0,0,0,0,14.09,14.21,28.83
$GC,3631,0.76,149.1,1792,1627,2199,2028,189.5,9.1,159,3634,0.00,1.55,0.00,0.000,1030,0.000,0.111,2773,2481,2138,2244,2033,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3961,0.76,155.6,2773,2481,2244,2033,162.2,8.0,170,3975,0.00,1.62,9.80,1.864,8452,0.000,0.127,2774,3332,2106,2213,1999,0,0,0,0,0,0,28.83,14.26,13.40
$GC,4021,0.75,161.5,1792,3330,2168,1995,157.4,8.0,172,4035,0.00,1.50,8.18,1.766,9222,0.000,0.083,2780,2472,2081,2188,1975,0,0,0,0,0,0,28.83,14.33,13.39
$GC,4353,0.74,161.5,2780,2472,2189,1975,126.9,9.5,183,4358,0.12,1.52,0.00,0.000,4612,0.257,0.093,2751,1634,2081,2188,1974,0,0,0,0,0,0,14.11,14.19,28.83
$GC,4450,0.74,161.5,2751,1634,2188,1974,118.5,8.5,186,4454,0.00,1.55,0.00,0.000,1030,0.000,0.109,2751,2486,2081,2189,1973,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4766,0.77,184.4,2752,2486,2188,1974,95.7,7.4,199,4785,0.00,1.58,13.70,0.460,8708,0.000,0.096,2756,1635,1990,2098,1882,0,0,0,0,0,0,28.83,14.26,13.87
$GC,4913,0.81,202.1,1792,1633,2055,1875,84.8,7.6,213,4929,0.00,1.55,10.70,0.424,9222,0.000,0.111,2756,2485,1916,2025,1808,0,0,0,0,0,0,28.83,14.16,13.88
$GC,5232,0.83,207.9,2757,2485,2025,1804,59.6,8.0,245,5241,0.00,1.50,3.08,0.355,8708,0.000,0.093,2762,1638,1892,2003,1782,0,0,0,0,0,0,28.83,14.16,13.84
$GC,5300,0.88,227.5,2762,1638,2003,1782,54.6,7.5,251,5317,0.00,1.58,11.52,0.320,9222,0.000,0.112,2762,2476,1812,1918,1707,0,0,0,0,0,0,28.83,14.04,13.93
$GC,5621,0.97,274.3,2762,2476,1916,1706,32.1,6.5,283,5657,0.15,1.55,26.65,0.249,10500,0.140,0.125,2823,3327,1620,1714,1527,0,0,0,0,0,0,14.20,14.20,13.97
$GC,5685,0.95,274.3,2824,3327,1712,1527,26.5,9.7,289,5688,0.00,1.50,0.00,0.000,1030,0.000,0.084,2830,2466,1619,1712,1527,0,0,0,0,0,0,28.83,14.23,28.83
$FREEZE,7.95,-0.209,-1.838,0,1,0
$FREEZE,6.78,-0.210,-1.837,0,1,0
$FREEZE,5.69,-0.210,-1.836,0,1,0
$FREEZE,4.53,-0.210,-1.835,0,1,0
$FREEZE,3.30,-0.207,-1.834,0,1,0
$FREEZE,2.10,-0.210,-1.833,0,1,0
$STATE,5905,end climb,SURFACE_DEPTH_REACHED
$STATE,5906,begin surface coast
$FREEZE,0.97,-0.186,-1.830,0,1,0
$FREEZE,0.97,-0.474,-1.583,0,1,0
$FINISH,1.0,1.023286
$STATE,5927,end surface coast,CONTROL_FINISHED_OK
$STATE,5927,begin surface
$SM_CCo,5956,67.70,0.155,0,0,1107,400.08
$SM_GC,1.85,8.10,0.25,67.70,0.084,0.145,0.155,137,2586,1107,-7.36,-0.34,400.08,0,0,0,0,0,0,14.15,14.14,14.15
$RAFOS_CLK,265
$RAFOS,4,1390581185,16.566668,16.551390,66,57,56,52,51,50,218,158,198,177,145,118
$RAFOS,3,1390580719,16.433332,16.421944,59,57,53,50,49,49,187,204,217,129,167,95
$RAFOS,2,1390580251,16.299999,16.291945,67,65,64,56,55,55,217,175,191,205,133,144
$RAFOS,1,1390579744,16.166666,16.151112,64,61,59,55,55,53,194,168,147,122,213,181
$RAFOS,0,1390579263,16.033333,16.017500,68,59,55,53,50,49,220,200,155,239,98,177
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5345.30,240114,141402
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.80
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.0,18.1
$24V_AH,12.3,286.257
$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,21.050,40.775,388.900,67.700,0.000,0.000,0.000,436.700,10.250,0.000,28.458,951.023,3702.693,452.686,1245.041,427.649,0.000,1439.503,0.000,852.806,2160.000,2.624,0.000
$DEVICE_MAMPS,423.045,151.470,2149.650,155.295,0.000,0.000,0.000,129.285,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13506,313
$CAP_FILE_SIZE,72881,0
$CFSIZE,259252224,199581696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.0
$CURRENT,0.116,318.1,1
$GPS,240114,165022,6410.111,-5349.560,43,1.2,43,-29.8