version: 66.11
glider: 192
mission: 2
dive: 682
start: 1 23 114 2 58 33
data:
$ID,192
$MISSION,2
$DIVE,682
$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,-15508.205
$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
$GPS1,230114,025125,6408.141,-5346.189,37,2.3,57,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-64.0
$GPS2,230114,025745,6408.190,-5346.221,32,1.7,33,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6420.000,-5300.000
$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,134.3,43048,-15.5,-8.250,-18.49,2720
$D_GRID,304
$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,-146.0,104,2588,1112,1075,0.0,0.0,0,109,0.00,0.00,-86.62,0.000,16386,0.000,0.000,101,2589,2823,2872,2774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.89,-146.0,102,2589,2872,2776,3.9,-3.3,9,144,10.27,1.60,-11.40,0.000,19204,0.412,0.155,2206,3425,3339,3497,3182,0,0,0,0,0,0,13.89,14.26,14.72
$GC,378,-0.84,-146.0,2206,3425,3500,3181,58.3,-19.5,34,385,0.15,1.50,0.00,0.000,3078,0.274,0.075,2238,2572,3340,3500,3181,0,0,0,0,0,0,13.85,14.19,28.83
$GC,687,-0.80,-146.0,2238,2572,3500,3180,110.7,-15.4,61,691,0.00,1.62,0.00,0.000,260,0.000,0.122,2234,3432,3340,3500,3180,0,0,0,0,0,0,28.83,13.95,28.83
$GC,836,-0.76,-146.0,2234,3432,3500,3179,132.7,-17.4,65,841,0.12,1.50,0.00,0.000,3078,0.274,0.076,2258,2576,3339,3500,3179,0,0,0,0,0,0,13.80,14.09,28.83
$GC,1154,-0.73,-146.0,2258,2576,3500,3179,180.6,-13.7,76,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2576,3339,3500,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1453,-0.71,-146.0,2259,2576,3500,3179,221.8,-13.1,86,1457,0.00,1.60,0.00,0.000,260,0.000,0.124,2254,3422,3339,3500,3179,0,0,0,0,0,0,28.83,13.82,28.83
$GC,1553,-0.69,-146.0,2254,3422,3500,3178,234.1,-12.8,89,1557,0.15,1.50,0.00,0.000,3078,0.256,0.076,2287,2568,3339,3500,3179,0,0,0,0,0,0,13.71,14.02,28.83
$GC,1884,-0.68,-146.0,2287,2568,3500,3179,271.7,-11.4,100,1888,0.00,1.50,0.00,0.000,516,0.000,0.087,2287,1746,3339,3500,3178,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1920,-0.67,-146.0,2287,1746,3500,3178,275.3,-10.9,101,1924,0.00,1.55,0.00,0.000,1030,0.000,0.109,2283,2584,3339,3500,3179,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,2189,end dive,NO_VERTICAL_VELOCITY
$STATE,2190,begin apogee
$GC,2204,-0.22,0.0,2283,2482,3501,3178,278.8,0.0,110,2364,0.50,0.00,146.48,2.122,10246,0.167,0.000,2430,2482,2740,2851,2630,0,0,0,0,0,0,13.76,28.83,12.84
$STATE,2365,end apogee,CONTROL_FINISHED_OK
$STATE,2365,begin climb
$GC,2371,0.89,146.0,2430,2481,2853,2631,278.9,0.0,115,2539,1.20,1.65,154.07,2.045,10756,0.152,0.094,2796,1640,2145,2244,2046,0,0,0,0,0,0,13.81,13.47,12.49
$GC,2652,0.87,146.0,2796,1640,2244,2039,262.1,9.4,125,2656,0.00,1.55,0.00,0.000,1030,0.000,0.109,2796,2486,2141,2244,2039,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2988,0.84,146.0,2796,2486,2244,2036,230.5,9.6,136,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2486,2140,2243,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,0.81,146.0,2796,2486,2244,2035,200.4,10.4,146,3292,0.00,1.55,0.00,0.000,260,0.000,0.122,2796,3328,2140,2244,2036,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3378,0.78,146.0,2796,3328,2244,2035,192.8,11.1,148,3385,0.17,1.50,0.00,0.000,5126,0.246,0.081,2762,2477,2139,2244,2035,0,0,0,0,0,0,14.03,14.26,28.83
$GC,3684,0.78,146.0,2762,2477,2244,2035,159.2,9.8,159,3688,0.00,1.62,0.00,0.000,260,0.000,0.122,2762,3327,2139,2244,2035,0,0,0,0,0,0,28.83,14.04,28.83
$GC,3734,0.77,146.0,2762,3328,2243,2035,155.4,9.9,160,3737,0.00,1.52,0.00,0.000,1030,0.000,0.082,2767,2484,2139,2243,2035,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4054,0.83,196.1,2767,2484,2243,2035,129.3,6.4,171,4109,0.00,0.00,51.08,1.950,8198,0.000,0.000,2767,2484,1941,2048,1835,0,0,0,0,0,0,28.83,28.83,13.20
$GC,4414,0.96,277.4,2767,2484,2047,1829,111.1,5.2,183,4472,0.15,0.00,54.55,1.831,10246,0.136,0.000,2823,2483,1610,1700,1520,0,0,0,0,0,0,14.44,28.83,13.26
$GC,4775,0.95,277.4,2823,2484,1692,1513,73.2,11.0,211,4778,0.00,1.52,0.00,0.000,516,0.000,0.094,2829,1628,1602,1692,1513,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4926,0.95,277.4,2829,1628,1692,1510,57.4,10.7,225,4929,0.00,1.55,0.00,0.000,1030,0.000,0.112,2829,2483,1601,1692,1510,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5242,0.95,277.4,2829,2483,1691,1510,22.9,11.2,256,5245,0.00,1.55,0.00,0.000,260,0.000,0.125,2829,3327,1600,1691,1510,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5269,0.94,277.4,2829,3327,1691,1510,20.1,11.1,258,5272,0.00,1.50,0.00,0.000,1030,0.000,0.084,2836,2468,1600,1691,1510,0,0,0,0,0,0,28.83,14.24,28.83
$FREEZE,8.49,-0.194,-1.833,0,1,0
$FREEZE,7.51,-0.195,-1.833,0,1,0
$FREEZE,6.56,-0.194,-1.832,0,1,0
$FREEZE,5.27,-0.191,-1.831,0,1,0
$FREEZE,4.03,-0.191,-1.830,0,1,0
$FREEZE,2.90,-0.193,-1.829,0,1,0
$STATE,5418,end climb,SURFACE_DEPTH_REACHED
$STATE,5418,begin surface coast
$FREEZE,2.07,-0.194,-1.828,0,1,0
$FREEZE,1.20,-0.201,-1.828,0,1,0
$FINISH,1.2,1.026772
$STATE,5441,end surface coast,CONTROL_FINISHED_OK
$STATE,5441,begin surface
$SM_CCo,5470,65.57,0.154,0,0,1108,400.08
$SM_GC,2.19,8.18,0.25,65.57,0.095,0.156,0.154,147,2583,1108,-7.34,-0.42,400.08,0,0,0,0,0,0,14.21,14.21,14.22
$RAFOS_CLK,240
$RAFOS,2,1390450631,4.300000,4.286389,63,62,56,55,51,51,169,116,187,196,125,208
$RAFOS,1,1390450171,4.166667,4.158611,64,64,62,53,51,49,174,223,191,156,139,1251
$RAFOS,0,1390449691,4.033333,4.025278,63,60,56,55,54,53,189,172,160,145,204,216
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5344.24,230114,010150
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.70
$XPDR_PINGS,34
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,12.5,280.682
$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,20.900,28.350,406.175,65.575,0.000,0.000,0.000,191.775,8.750,0.000,34.154,846.029,3355.575,489.391,879.323,365.678,0.000,1127.784,0.000,698.839,1440.000,2.821,0.000
$DEVICE_MAMPS,412.335,156.060,2122.110,153.765,0.000,0.000,0.000,128.520,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227728
$DATA_FILE_SIZE,10202,275
$CAP_FILE_SIZE,58003,0
$CFSIZE,259252224,200392704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1461.7
$CURRENT,0.157,311.2,1
$GPS,230114,043236,6408.203,-5345.765,42,1.0,42,-29.8