version: 66.11
glider: 192
mission: 2
dive: 707
start: 1 24 114 19 9 44
data:
$ID,192
$MISSION,2
$DIVE,707
$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,-15556.645
$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,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
$GPS1,240114,190235,6409.604,-5350.970,34,1.0,34,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-63.6
$GPS2,240114,190900,6409.592,-5350.985,4,1.0,4,-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,189.3,19214,-15.5,-8.250,-18.49,2720
$D_GRID,487
$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,-146.0,121,2596,1111,1075,0.0,0.0,0,110,0.00,0.00,-87.07,0.000,16386,0.000,0.000,118,2597,2811,2858,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,118,2597,2858,2766,3.2,-2.3,9,146,10.32,1.52,-12.85,0.000,18948,0.420,0.123,2212,1732,3338,3496,3181,0,0,0,0,0,0,13.88,14.28,14.71
$GC,382,-0.84,-146.0,2212,1732,3499,3181,52.9,-19.0,35,386,0.12,1.55,0.00,0.000,3078,0.291,0.112,2233,2579,3340,3499,3181,0,0,0,0,0,0,13.85,14.04,28.83
$GC,699,-0.80,-146.0,2233,2580,3499,3179,104.7,-15.7,64,702,0.00,1.58,0.00,0.000,260,0.000,0.122,2228,3428,3338,3499,3178,0,0,0,0,0,0,28.83,13.90,28.83
$GC,757,-0.76,-146.0,2228,3427,3499,3178,110.1,-15.5,65,764,0.15,1.50,0.00,0.000,3078,0.270,0.077,2260,2565,3339,3499,3179,0,0,0,0,0,0,13.74,14.06,28.83
$GC,1065,-0.74,-146.0,2260,2565,3499,3178,156.2,-13.6,76,1069,0.00,1.50,0.00,0.000,516,0.000,0.089,2260,1737,3338,3498,3178,0,0,0,0,0,0,28.83,13.87,28.83
$GC,1125,-0.72,-146.0,2260,1737,3497,3177,161.8,-14.1,77,1132,0.00,1.58,0.00,0.000,1030,0.000,0.112,2256,2585,3338,3499,3178,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1431,-0.69,-146.0,2256,2585,3499,3177,210.0,-14.3,88,1434,0.00,1.58,0.00,0.000,260,0.000,0.125,2249,3430,3338,3499,3177,0,0,0,0,0,0,28.83,13.77,28.83
$GC,1480,-0.67,-146.0,2250,3430,3499,3177,215.2,-14.3,89,1484,0.17,1.50,0.00,0.000,3078,0.249,0.078,2289,2572,3338,3499,3177,0,0,0,0,0,0,13.66,13.99,28.83
$GC,1801,-0.66,-146.0,2289,2572,3499,3177,255.4,-11.6,100,1805,0.00,1.50,0.00,0.000,516,0.000,0.087,2289,1745,3338,3499,3177,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1851,-0.66,-146.0,2289,1746,3499,3178,259.5,-11.5,101,1855,0.00,1.58,0.00,0.000,1030,0.000,0.112,2284,2577,3338,3499,3177,0,0,0,0,0,0,28.83,13.77,28.83
$GC,2171,-0.65,-146.0,2285,2577,3499,3177,293.9,-9.7,112,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2577,3338,3499,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.65,-146.0,2285,2577,3500,3178,321.1,-8.9,122,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2577,3338,3499,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2773,-0.65,-146.0,2285,2577,3501,3177,350.8,-10.4,132,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2577,3339,3501,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3071,-0.65,-146.0,2285,2577,3502,3178,379.8,-9.5,142,3074,0.00,1.50,0.00,0.000,516,0.000,0.083,2285,1726,3339,3502,3177,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3119,-0.65,-146.0,2285,1725,3502,3178,383.1,-9.5,143,3123,0.00,1.60,0.00,0.000,1030,0.000,0.108,2279,2591,3340,3502,3178,0,0,0,0,0,0,28.83,13.80,28.83
$GC,3440,-0.64,-146.0,2279,2591,3504,3178,415.6,-10.4,154,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2591,3340,3503,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3739,-0.63,-146.0,2279,2591,3505,3178,446.4,-10.4,164,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2591,3341,3505,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4039,-0.62,-146.0,2280,2591,3506,3178,478.0,-10.5,174,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2590,3342,3506,3178,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4153,begin apogee
$GC,4168,-0.22,0.0,2280,2484,3506,3178,488.8,-8.8,178,4334,0.57,0.00,155.45,2.314,10246,0.213,0.000,2432,2483,2741,2853,2630,0,0,0,0,0,0,13.52,28.83,12.65
$STATE,4335,end apogee,CONTROL_FINISHED_OK
$STATE,4335,begin climb
$GC,4342,0.89,146.0,2432,2483,2852,2631,494.9,0.0,183,4514,1.23,0.00,167.90,2.217,10246,0.151,0.000,2789,2483,2145,2243,2048,0,0,0,0,0,0,13.60,28.83,12.00
$GC,4820,0.87,146.0,2790,2483,2243,2039,451.0,11.0,199,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2483,2140,2242,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5114,0.84,146.0,2790,2483,2242,2038,418.5,10.9,209,5118,0.00,1.50,0.00,0.000,516,0.000,0.091,2796,1629,2140,2242,2038,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5154,0.81,146.0,2796,1628,2242,2036,414.8,10.7,210,5157,0.00,1.55,0.00,0.000,1030,0.000,0.108,2796,2486,2139,2242,2036,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5484,0.78,146.0,2796,2487,2242,2036,378.1,11.1,221,5486,0.15,0.00,0.00,0.000,4102,0.249,0.000,2762,2486,2139,2242,2036,0,0,0,0,0,0,14.13,28.83,28.83
$GC,5786,0.77,146.0,2762,2487,2240,2035,350.4,9.3,231,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2486,2138,2242,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6084,0.76,146.0,2762,2487,2242,2035,324.4,8.7,241,6087,0.00,1.52,0.00,0.000,516,0.000,0.092,2766,1635,2138,2242,2035,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6143,0.75,146.0,2766,1635,2242,2034,321.4,8.5,242,6151,0.00,1.55,0.00,0.000,1030,0.000,0.105,2765,2486,2138,2242,2034,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6451,0.74,146.0,2765,2486,2242,2034,292.2,9.0,253,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2486,2137,2241,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6751,0.72,146.0,2766,2486,2242,2034,265.9,8.8,263,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2486,2138,2242,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7051,0.74,162.5,2766,2486,2242,2034,241.4,7.6,273,7076,0.00,1.55,16.92,2.027,8708,0.000,0.093,2772,1645,2079,2184,1974,0,0,0,0,0,0,28.83,14.19,13.35
$GC,7143,0.75,181.0,2772,1645,2184,1973,236.4,7.6,275,7169,0.00,1.52,20.62,2.002,9222,0.000,0.108,2772,2486,2004,2110,1898,0,0,0,0,0,0,28.83,14.28,13.28
$GC,7474,0.74,181.0,2772,2486,2110,1896,203.9,8.9,287,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2486,2002,2110,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7773,0.74,181.0,2772,2486,2110,1894,174.3,9.9,297,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2487,2002,2110,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,0.73,181.0,2772,2486,2110,1893,146.8,9.1,307,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2486,2001,2110,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8373,0.77,210.7,2772,2486,2111,1893,123.9,7.1,317,8402,0.00,1.52,24.85,1.907,8452,0.000,0.117,2771,3328,1884,1993,1775,0,0,0,0,0,0,28.83,14.21,13.35
$GC,8423,0.82,245.1,2772,3327,1993,1776,122.1,6.9,318,8455,0.00,1.50,24.05,1.860,9222,0.000,0.081,2778,2462,1741,1838,1645,0,0,0,0,0,0,28.83,14.30,13.26
$GC,8764,0.82,245.1,2778,2462,1831,1642,91.6,8.7,336,8767,0.00,1.48,0.00,0.000,516,0.000,0.094,2784,1643,1737,1832,1642,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8783,0.82,245.1,2784,1643,1831,1641,90.0,8.6,337,8790,0.00,1.50,0.00,0.000,1030,0.000,0.109,2784,2480,1735,1830,1640,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9091,0.83,251.7,2784,2480,1830,1638,63.8,8.0,368,9098,0.00,0.00,3.03,0.367,8198,0.000,0.000,2784,2480,1715,1809,1621,0,0,0,0,0,0,28.83,28.83,13.85
$GC,9403,0.84,251.7,2784,2480,1809,1620,36.5,8.9,399,9407,0.00,1.52,0.00,0.000,516,0.000,0.096,2789,1641,1714,1809,1620,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9574,0.88,271.7,2789,1641,1809,1619,23.3,7.5,415,9591,0.00,1.55,11.38,0.224,9222,0.000,0.109,2790,2486,1631,1724,1538,0,0,0,0,0,0,28.83,14.09,14.04
$FREEZE,8.49,-0.175,-1.841,0,1,0
$FREEZE,7.73,-0.176,-1.841,0,1,0
$FREEZE,7.08,-0.167,-1.840,0,1,0
$FREEZE,6.33,-0.173,-1.840,0,1,0
$FREEZE,5.54,-0.175,-1.839,0,1,0
$FREEZE,4.55,-0.174,-1.838,0,1,0
$FREEZE,3.66,-0.179,-1.838,0,1,0
$FREEZE,2.62,-0.184,-1.837,0,1,0
$STATE,9819,end climb,SURFACE_DEPTH_REACHED
$STATE,9819,begin surface coast
$FREEZE,1.67,-0.187,-1.836,0,1,0
$FREEZE,1.01,-0.209,-1.242,0,1,0
$FREEZE,0.93,-0.132,-1.814,0,1,0
$FINISH,0.9,1.026580
$STATE,9851,end surface coast,CONTROL_FINISHED_OK
$STATE,9851,begin surface
$SM_CCo,9882,69.28,0.155,0,0,1108,400.08
$SM_GC,2.03,8.05,0.20,69.28,0.090,0.153,0.155,143,2591,1108,-7.35,-0.34,400.08,0,0,0,0,0,0,14.21,14.21,14.21
$RAFOS_CLK,449
$RAFOS,6,1390596541,20.833334,20.816944,58,57,57,55,54,52,208,131,222,189,174,164
$RAFOS,5,1390596091,20.700001,20.691944,73,61,59,57,51,50,217,160,196,111,180,128
$RAFOS,4,1390595602,20.566668,20.556110,66,56,56,54,53,50,212,194,165,178,1273,136
$RAFOS,3,1390595122,20.433332,20.422777,68,63,58,57,56,47,222,196,178,124,154,166
$RAFOS,2,1390594647,20.299999,20.290833,69,65,59,59,56,55,214,157,196,187,226,167
$RAFOS,1,1390594167,20.166666,20.157499,60,57,54,53,50,50,203,194,114,214,169,132
$RAFOS,0,1390593662,20.033333,20.017221,61,54,52,51,51,50,213,165,193,151,122,225
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5338.40,240114,161617
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.48
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.70
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,12.0,286.823
$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,20.775,37.150,424.200,69.275,0.000,0.000,0.000,226.125,13.250,0.000,5.763,1281.811,6958.959,540.317,1092.786,481.009,0.000,1326.687,0.000,903.340,2520.000,9.894,0.000
$DEVICE_MAMPS,419.985,153.000,2314.125,154.530,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20173,443
$CAP_FILE_SIZE,83212,0
$CFSIZE,259252224,199479296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.2
$CURRENT,0.214,320.0,1
$GPS,240114,215728,6409.200,-5351.581,45,1.0,45,-29.8