version: 66.11
glider: 192
mission: 2
dive: 684
start: 1 23 114 6 23 27
data:
$ID,192
$MISSION,2
$DIVE,684
$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,-15526.965
$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
$GPS1,230114,061652,6408.463,-5345.347,25,1.0,42,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-66.8
$GPS2,230114,062248,6408.463,-5345.388,5,1.0,5,-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,134.4,42215,-15.5,-8.250,-18.49,2720
$D_GRID,268
$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,-146.0,113,2593,1120,1073,0.0,0.0,0,110,0.00,0.00,-87.28,0.000,16386,0.000,0.000,109,2593,2829,2875,2783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,109,2593,2875,2783,3.7,-3.0,9,145,10.30,1.55,-11.43,0.000,18948,0.416,0.120,2215,1723,3340,3494,3186,0,0,0,0,0,0,13.90,14.34,14.72
$GC,318,-0.84,-146.0,1376,1722,3491,3181,41.2,-16.8,28,325,0.00,1.58,0.00,0.000,1030,0.000,0.109,2209,2584,3341,3499,3183,0,0,0,0,0,0,28.83,14.12,28.83
$GC,633,-0.79,-146.0,2209,2584,3499,3181,95.8,-18.3,59,637,0.15,1.60,0.00,0.000,2308,0.292,0.117,2242,3424,3340,3499,3181,0,0,0,0,0,0,13.86,13.95,28.83
$GC,692,-0.74,-146.0,2242,3425,3499,3181,103.7,-18.3,61,700,0.00,1.50,0.00,0.000,1030,0.000,0.076,2242,2567,3340,3499,3181,0,0,0,0,0,0,28.83,14.14,28.83
$GC,999,-0.71,-146.0,2242,2567,3499,3181,156.3,-15.8,72,1001,0.15,0.00,0.00,0.000,2054,0.271,0.000,2275,2566,3340,3499,3181,0,0,0,0,0,0,13.97,28.83,28.83
$GC,1301,-0.69,-146.0,2275,2567,3499,3181,195.0,-12.4,82,1304,0.00,1.50,0.00,0.000,516,0.000,0.086,2276,1725,3339,3499,3180,0,0,0,0,0,0,28.83,13.96,28.83
$GC,1344,-0.68,-146.0,2276,1725,3499,3180,199.5,-12.3,83,1348,0.00,1.58,0.00,0.000,1030,0.000,0.108,2271,2580,3339,3499,3180,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1671,-0.66,-146.0,2270,2579,3499,3180,239.2,-12.0,94,1675,0.00,1.62,0.00,0.000,260,0.000,0.121,2265,3424,3339,3499,3180,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1767,-0.64,-146.0,2265,3425,3499,3180,251.3,-12.5,97,1771,0.15,1.50,0.00,0.000,3078,0.246,0.076,2298,2570,3339,3499,3180,0,0,0,0,0,0,13.76,14.04,28.83
$STATE,1947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1947,begin apogee
$GC,1961,-0.22,0.0,2298,2484,3499,3180,270.7,-10.0,103,2121,0.47,0.00,148.00,2.186,10246,0.209,0.000,2430,2482,2741,2853,2630,0,0,0,0,0,0,13.69,28.83,12.80
$STATE,2122,end apogee,CONTROL_FINISHED_OK
$STATE,2122,begin climb
$GC,2128,0.89,146.0,2430,2482,2853,2629,277.7,0.0,108,2303,1.20,1.67,157.57,2.093,10756,0.157,0.095,2793,1639,2145,2244,2046,0,0,0,0,0,0,13.75,13.33,12.31
$GC,2328,0.94,196.2,2793,1638,2244,2042,269.5,6.4,115,2390,0.00,1.62,56.05,1.991,9222,0.000,0.108,2793,2488,1940,2043,1838,0,0,0,0,0,0,28.83,13.54,12.36
$GC,2708,0.92,196.2,2793,2488,2042,1829,226.6,11.3,128,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2488,1935,2042,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3008,0.91,196.2,2793,2488,2042,1827,190.5,12.4,138,3012,0.00,1.55,0.00,0.000,260,0.000,0.122,2793,3335,1934,2042,1827,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3127,0.89,196.2,2794,3335,2041,1827,178.6,12.1,141,3135,0.00,1.50,0.00,0.000,1030,0.000,0.083,2800,2479,1934,2041,1827,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3435,0.87,196.2,2800,2480,2041,1827,145.3,9.7,152,3439,0.00,1.50,0.00,0.000,516,0.000,0.094,2807,1636,1934,2041,1827,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3501,0.86,196.2,2807,1635,2041,1827,139.0,9.5,154,3505,0.00,1.60,0.00,0.000,1030,0.000,0.110,2806,2483,1934,2041,1827,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3838,0.84,196.2,2807,2483,2041,1827,105.9,10.3,165,3841,0.00,1.50,0.00,0.000,516,0.000,0.096,2813,1626,1934,2041,1827,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3906,0.82,196.2,2813,1626,2041,1826,99.0,10.4,167,3914,0.10,1.60,0.00,0.000,5126,0.210,0.111,2783,2479,1933,2041,1826,0,0,0,0,0,0,13.88,14.03,28.83
$GC,4216,0.82,196.2,2783,2479,2041,1826,67.8,9.8,198,4220,0.00,1.50,0.00,0.000,516,0.000,0.095,2787,1634,1933,2041,1826,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4251,0.82,196.2,2787,1634,2041,1826,64.4,9.6,201,4255,0.00,1.52,0.00,0.000,1030,0.000,0.108,2787,2480,1933,2041,1826,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4568,0.83,198.4,2787,2479,2041,1826,38.9,8.2,232,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2479,1933,2041,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,0.90,250.5,2787,2480,2041,1826,17.3,6.3,263,4912,0.00,0.00,29.40,0.199,8198,0.000,0.000,2787,2479,1717,1816,1618,0,0,0,0,0,0,28.83,28.83,13.97
$FREEZE,8.18,0.006,-1.833,0,1,0
$FREEZE,7.36,0.010,-1.832,0,1,0
$FREEZE,6.30,0.011,-1.831,0,1,0
$FREEZE,5.28,0.009,-1.831,0,1,0
$FREEZE,4.55,0.010,-1.830,0,1,0
$FREEZE,3.80,0.009,-1.830,0,1,0
$FREEZE,3.27,0.010,-1.829,0,1,0
$FREEZE,2.59,0.008,-1.829,0,1,0
$STATE,5080,end climb,SURFACE_DEPTH_REACHED
$STATE,5080,begin surface coast
$FREEZE,1.50,0.006,-1.828,0,1,0
$FREEZE,1.17,0.005,-0.916,0,1,0
$FREEZE,1.05,0.030,-1.826,0,1,0
$FREEZE,1.09,0.009,-1.072,0,1,0
$FINISH,1.1,1.015840
$STATE,5117,end surface coast,CONTROL_FINISHED_OK
$STATE,5117,begin surface
$SM_CCo,5146,79.95,0.161,0,0,1107,400.08
$SM_GC,2.06,8.02,0.20,79.95,0.086,0.144,0.161,144,2582,1107,-7.35,-0.51,400.08,0,0,0,0,0,0,14.16,14.22,14.14
$RAFOS_CLK,240
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5348.21,230114,040429
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.88
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.60
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.8,20.6
$24V_AH,12.3,281.233
$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,20.550,28.350,391.025,79.950,0.000,0.000,0.000,202.225,8.250,0.000,8.755,837.852,3059.259,477.723,864.914,353.913,0.000,1141.859,0.000,693.284,0.000,2.629,0.000
$DEVICE_MAMPS,416.160,143.820,2185.605,161.415,0.000,0.000,0.000,127.755,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227700
$DATA_FILE_SIZE,13497,287
$CAP_FILE_SIZE,56678,0
$CFSIZE,259252224,200327168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.2
$CURRENT,0.257,307.8,1
$GPS,230114,075207,6408.724,-5345.093,29,1.2,29,-29.8