version: 66.11
glider: 192
mission: 2
dive: 706
start: 1 24 114 16 57 25
data:
$ID,192
$MISSION,2
$DIVE,706
$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,-15555.3
$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,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
$GPS1,240114,165022,6410.111,-5349.560,43,1.2,43,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-62.2
$GPS2,240114,165637,6410.124,-5349.603,5,1.2,5,-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,208.5,20561,-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,14,begin dive
$GC,20,-0.89,-146.0,114,2589,1109,1076,0.0,0.0,0,110,0.00,0.00,-86.70,0.000,16386,0.000,0.000,112,2589,2814,2865,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,112,2589,2865,2765,3.6,-3.7,9,144,10.43,1.62,-12.32,0.000,18692,0.421,0.152,2206,3439,3339,3497,3182,0,0,0,0,0,0,13.88,14.21,14.69
$GC,379,-0.84,-146.0,1376,3437,3494,3179,58.7,-19.5,34,387,0.15,1.52,0.00,0.000,3078,0.276,0.077,2237,2572,3340,3500,3181,0,0,0,0,0,0,13.80,14.14,28.83
$GC,709,-0.80,-146.0,2237,2572,3501,3181,109.0,-14.3,63,713,0.00,1.65,0.00,0.000,260,0.000,0.123,2233,3420,3340,3500,3180,0,0,0,0,0,0,28.83,13.81,28.83
$GC,778,-0.76,-146.0,2233,3421,3501,3180,118.9,-14.7,65,782,0.12,1.50,0.00,0.000,3078,0.273,0.078,2258,2572,3340,3501,3180,0,0,0,0,0,0,13.74,14.04,28.83
$GC,1110,-0.74,-146.0,2258,2572,3501,3180,164.2,-13.3,76,1114,0.00,1.52,0.00,0.000,516,0.000,0.087,2258,1745,3339,3500,3179,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1170,-0.71,-146.0,2258,1745,3500,3179,169.0,-13.1,77,1178,0.00,1.55,0.00,0.000,1030,0.000,0.109,2254,2581,3340,3501,3179,0,0,0,0,0,0,28.83,13.85,28.83
$GC,1476,-0.69,-146.0,2254,2580,3500,3179,214.0,-14.2,88,1478,0.12,0.00,0.00,0.000,2054,0.291,0.000,2280,2581,3339,3501,3177,0,0,0,0,0,0,13.96,28.83,28.83
$GC,1777,-0.68,-146.0,2280,2581,3501,3179,248.1,-10.8,98,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2580,3339,3500,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,-0.67,-146.0,2280,2580,3501,3179,283.5,-11.7,108,2079,0.00,1.50,0.00,0.000,516,0.000,0.087,2280,1742,3340,3501,3179,0,0,0,0,0,0,28.83,13.82,28.83
$GC,2120,-0.67,-146.0,2280,1742,3501,3179,287.5,-11.6,109,2124,0.00,1.55,0.00,0.000,1030,0.000,0.109,2276,2581,3340,3501,3179,0,0,0,0,0,0,28.83,13.80,28.83
$GC,2446,-0.65,-146.0,2276,2580,3502,3179,327.4,-13.1,120,2449,0.00,1.65,0.00,0.000,260,0.000,0.121,2270,3429,3341,3503,3179,0,0,0,0,0,0,28.83,13.66,28.83
$GC,2489,-0.64,-146.0,2270,3427,3502,3179,331.1,-11.5,121,2494,0.10,1.55,0.00,0.000,3078,0.221,0.075,2297,2578,3340,3502,3179,0,0,0,0,0,0,13.59,13.92,28.83
$GC,2817,-0.64,-146.0,2297,2578,3504,3179,359.9,-8.0,132,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2578,3341,3504,3179,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2959,begin apogee
$GC,2973,-0.22,0.0,2297,2478,3505,3179,374.5,-10.0,137,3135,0.47,0.00,150.52,2.174,10246,0.197,0.000,2430,2478,2741,2851,2631,0,0,0,0,0,0,13.59,28.83,12.76
$STATE,3136,end apogee,CONTROL_FINISHED_OK
$STATE,3136,begin climb
$GC,3142,0.89,146.0,2430,2478,2852,2631,380.0,0.0,142,3317,1.20,1.70,161.00,2.101,10756,0.147,0.093,2794,1640,2144,2243,2046,0,0,0,0,0,0,13.65,13.17,12.18
$GC,3433,0.87,146.0,2795,1641,2243,2040,361.8,11.2,152,3437,0.00,1.62,0.00,0.000,1030,0.000,0.111,2794,2481,2141,2243,2040,0,0,0,0,0,0,28.83,13.83,28.83
$GC,3754,0.84,146.0,2794,2481,2243,2037,319.7,10.5,163,3757,0.00,1.55,0.00,0.000,260,0.000,0.126,2794,3332,2140,2243,2037,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3777,0.81,146.0,2794,3332,2243,2037,319.7,10.5,163,3781,0.00,1.52,0.00,0.000,1030,0.000,0.085,2801,2481,2140,2244,2037,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4094,0.78,146.0,2801,2481,2243,2036,284.5,9.8,174,4096,0.15,0.00,0.00,0.000,4102,0.250,0.000,2766,2481,2139,2243,2036,0,0,0,0,0,0,14.12,28.83,28.83
$GC,4393,0.76,146.0,2766,2481,2243,2036,257.9,8.6,184,4396,0.00,1.50,0.00,0.000,516,0.000,0.093,2770,1633,2139,2243,2036,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4489,0.75,146.0,2771,1633,2243,2034,249.7,8.8,187,4492,0.00,1.55,0.00,0.000,1030,0.000,0.107,2770,2486,2138,2243,2034,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4825,0.74,146.0,2770,2486,2243,2035,219.2,9.4,198,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2486,2139,2243,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5124,0.72,146.0,2771,2487,2243,2034,191.1,9.9,208,5128,0.00,1.52,0.00,0.000,516,0.000,0.093,2776,1637,2138,2243,2034,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5224,0.71,146.0,2777,1637,2243,2034,181.5,10.0,211,5228,0.15,1.55,0.00,0.000,5126,0.233,0.107,2742,2488,2138,2243,2034,0,0,0,0,0,0,13.91,14.07,28.83
$GC,5556,0.76,180.8,2742,2488,2243,2034,156.9,6.9,222,5594,0.00,0.00,35.50,1.964,8454,0.000,0.000,2742,2488,2004,2111,1897,0,0,0,0,0,0,28.83,28.83,13.26
$GC,5918,0.79,195.2,2743,2488,2111,1893,131.2,7.7,234,5936,0.00,0.00,16.00,1.910,8198,0.000,0.000,2741,2488,1945,2053,1837,0,0,0,0,0,0,28.83,28.83,13.38
$GC,6241,0.81,195.2,2742,2488,2053,1836,98.9,9.4,245,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2488,1944,2052,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6557,0.90,240.7,2742,2488,2053,1834,74.5,6.5,276,6592,0.15,1.52,27.20,0.382,10500,0.126,0.120,2804,3336,1758,1857,1659,0,0,0,0,0,0,14.36,14.31,13.94
$GC,6655,0.88,240.7,2804,3336,1853,1659,65.2,11.0,285,6659,0.00,1.52,0.00,0.000,1030,0.000,0.083,2810,2482,1755,1853,1658,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6971,0.88,240.7,2811,2482,1849,1657,32.9,9.9,316,6974,0.00,1.52,0.00,0.000,516,0.000,0.096,2817,1630,1753,1849,1657,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7009,0.88,240.7,2817,1630,1848,1656,29.6,9.5,319,7015,0.00,1.58,0.00,0.000,1030,0.000,0.111,2817,2488,1753,1849,1657,0,0,0,0,0,0,28.83,14.10,28.83
$FREEZE,8.14,-0.204,-1.841,0,1,0
$FREEZE,7.10,-0.191,-1.840,0,1,0
$FREEZE,5.83,-0.189,-1.839,0,1,0
$FREEZE,4.63,-0.193,-1.838,0,1,0
$FREEZE,3.44,-0.199,-1.837,0,1,0
$FREEZE,2.53,-0.216,-1.837,0,1,0
$STATE,7274,end climb,SURFACE_DEPTH_REACHED
$STATE,7274,begin surface coast
$FREEZE,1.79,-0.197,-1.836,0,1,0
$FREEZE,0.94,-0.214,-1.836,0,1,0
$FINISH,0.9,1.026884
$STATE,7294,end surface coast,CONTROL_FINISHED_OK
$STATE,7294,begin surface
$SM_CCo,7324,86.45,0.153,0,0,1107,400.08
$SM_GC,1.96,8.12,0.20,86.45,0.089,0.147,0.153,144,2591,1107,-7.35,-0.28,400.08,0,0,0,0,0,0,14.21,14.21,14.19
$RAFOS_CLK,328
$RAFOS,5,1390581662,16.700001,16.683889,59,58,56,53,53,50,195,161,113,178,219,130
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5352.19,240114,151535
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.25
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,14.00
$XPDR_PINGS,31
$ALTIM_TOP_PING,19.3,18.3
$24V_AH,12.2,286.519
$10V_AH,12.3,0.000
$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,21.175,34.675,390.225,86.450,0.000,0.000,0.000,213.475,8.500,0.000,5.754,1023.370,4884.868,481.569,999.005,415.765,0.000,1224.661,0.000,821.637,0.000,6.165,0.000
$DEVICE_MAMPS,420.750,152.235,2174.130,153.000,0.000,0.000,0.000,129.285,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227312
$DATA_FILE_SIZE,13568,348
$CAP_FILE_SIZE,70112,0
$CFSIZE,259252224,199540736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.3
$CURRENT,0.180,313.2,1
$GPS,240114,190235,6409.604,-5350.970,34,1.0,34,-29.8