version: 66.11
glider: 192
mission: 2
dive: 685
start: 1 23 114 7 58 58
data:
$ID,192
$MISSION,2
$DIVE,685
$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,-15528.219
$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,22
$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
$GPS1,230114,075207,6408.724,-5345.093,29,1.2,29,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.3
$GPS2,230114,075810,6408.747,-5345.211,5,1.2,5,-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,134.9,41829,-15.5,-8.250,-18.49,2720
$D_GRID,267
$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,-146.0,116,2590,1108,1078,0.0,0.0,0,110,0.00,0.00,-87.22,0.000,16386,0.000,0.000,113,2591,2836,2883,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,112,2591,2884,2789,3.6,-3.1,9,146,10.35,1.48,-11.48,0.000,18948,0.418,0.116,2215,1733,3338,3494,3182,0,0,0,0,0,0,13.88,14.29,14.69
$GC,351,-0.85,-146.0,1376,1731,3491,3178,50.3,-17.8,31,357,0.00,1.55,0.00,0.000,1030,0.000,0.110,2210,2582,3339,3498,3181,0,0,0,0,0,0,28.83,14.06,28.83
$GC,659,-0.79,-146.0,2210,2582,3498,3179,105.3,-16.3,60,661,0.17,0.00,0.00,0.000,2054,0.284,0.000,2249,2582,3339,3499,3179,0,0,0,0,0,0,13.84,28.83,28.83
$GC,960,-0.76,-146.0,2249,2582,3499,3178,147.5,-14.3,70,963,0.00,1.55,0.00,0.000,516,0.000,0.086,2249,1726,3338,3499,3178,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1041,-0.73,-146.0,2249,1727,3499,3178,156.7,-14.1,72,1044,0.00,1.58,0.00,0.000,1030,0.000,0.111,2245,2577,3338,3499,3177,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1361,-0.71,-146.0,2245,2578,3498,3177,205.6,-14.6,83,1363,0.15,0.00,0.00,0.000,2054,0.277,0.000,2277,2578,3338,3499,3178,0,0,0,0,0,0,13.90,28.83,28.83
$GC,1661,-0.69,-146.0,2278,2577,3499,3178,241.4,-11.7,93,1665,0.00,1.60,0.00,0.000,260,0.000,0.120,2273,3438,3338,3498,3178,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1730,-0.68,-146.0,1408,3436,3490,3174,249.2,-11.6,95,1734,0.00,1.58,0.00,0.000,1030,0.000,0.077,2273,2572,3338,3499,3177,0,0,0,0,0,0,28.83,13.97,28.83
$STATE,1874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1874,begin apogee
$GC,1888,-0.22,0.0,2272,2482,3499,3178,267.6,-11.9,100,2049,0.57,0.00,147.07,2.121,10246,0.213,0.000,2428,2481,2741,2853,2629,0,0,0,0,0,0,13.62,28.83,12.83
$STATE,2050,end apogee,CONTROL_FINISHED_OK
$STATE,2050,begin climb
$GC,2056,0.89,146.0,2428,2481,2853,2629,275.7,0.0,105,2223,1.20,1.75,157.18,2.046,11012,0.158,0.124,2785,3328,2144,2244,2044,0,0,0,0,0,0,13.78,13.37,12.41
$GC,2264,0.97,219.6,2786,3328,2242,2043,268.7,5.5,112,2353,0.00,1.55,80.88,1.982,9222,0.000,0.081,2792,2482,1845,1946,1744,0,0,0,0,0,0,28.83,13.71,12.41
$GC,2665,0.96,219.6,2792,2481,1945,1735,224.6,10.6,126,2669,0.00,1.50,0.00,0.000,516,0.000,0.096,2798,1627,1840,1945,1736,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2705,0.95,219.6,2798,1627,1945,1734,221.0,10.6,127,2708,0.00,1.55,0.00,0.000,1030,0.000,0.112,2798,2490,1839,1945,1734,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3039,0.94,219.6,2797,2490,1945,1733,185.2,10.7,138,3043,0.00,1.55,0.00,0.000,260,0.000,0.125,2798,3333,1839,1945,1734,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3099,0.92,219.6,2798,3333,1944,1733,180.9,10.9,139,3105,0.00,1.50,0.00,0.000,1030,0.000,0.083,2804,2479,1838,1944,1733,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3406,0.91,219.6,2805,2479,1944,1733,148.2,9.3,150,3409,0.00,1.52,0.00,0.000,516,0.000,0.096,2811,1628,1838,1944,1733,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3552,0.90,219.6,2811,1628,1943,1732,136.6,9.1,154,3555,0.00,1.55,0.00,0.000,1030,0.000,0.111,2811,2480,1837,1943,1732,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3872,0.88,219.6,2811,2480,1943,1732,105.4,8.9,165,3876,0.00,1.50,0.00,0.000,516,0.000,0.097,2815,1627,1837,1943,1732,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3896,0.86,219.6,2817,1627,1943,1732,105.4,8.9,165,3899,0.00,1.55,0.00,0.000,1030,0.000,0.114,2817,2480,1837,1943,1732,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4217,0.85,219.6,2817,2480,1943,1732,70.9,9.7,194,4222,0.12,1.52,0.00,0.000,4612,0.263,0.093,2788,1636,1838,1944,1732,0,0,0,0,0,0,14.03,14.08,28.83
$GC,4306,0.85,219.6,1824,1634,1903,1727,62.0,9.5,202,4313,0.00,1.55,0.00,0.000,1030,0.000,0.111,2788,2480,1837,1944,1731,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4615,0.91,262.9,2788,2479,1944,1731,35.6,6.6,233,4644,0.00,1.60,23.98,0.259,8452,0.000,0.129,2788,3322,1667,1765,1569,0,0,0,0,0,0,28.83,14.13,13.97
$GC,4699,0.92,265.5,2788,3322,1763,1570,29.4,8.2,241,4705,0.00,1.50,0.00,0.000,1030,0.000,0.084,2794,2472,1666,1763,1570,0,0,0,0,0,0,28.83,14.19,28.83
$FREEZE,8.16,0.095,-1.833,0,1,0
$FREEZE,7.25,0.091,-1.832,0,1,0
$FREEZE,6.00,0.091,-1.831,0,1,0
$FREEZE,5.35,0.093,-1.830,0,1,0
$FREEZE,4.45,0.098,-1.830,0,1,0
$GC,5010,0.93,265.5,2794,2472,1759,1569,4.4,8.9,272,5013,0.00,1.50,0.00,0.000,516,0.000,0.099,2800,1633,1664,1759,1569,0,0,0,0,0,0,28.83,14.02,28.83
$FREEZE,3.03,0.096,-1.829,0,1,0
$FREEZE,3.03,0.096,-1.829,0,1,0
$FREEZE,2.19,0.093,-1.828,0,1,0
$STATE,5030,end climb,SURFACE_DEPTH_REACHED
$STATE,5030,begin surface coast
$FREEZE,2.19,0.093,-1.828,0,1,0
$FREEZE,1.49,0.080,-1.828,0,1,0
$FREEZE,1.49,0.080,-1.828,0,1,0
$FREEZE,1.20,0.031,-1.054,0,1,0
$FREEZE,1.20,0.031,-1.054,0,1,0
$FREEZE,1.07,0.087,-1.827,0,1,0
$FINISH,1.1,1.026744
$STATE,5063,end surface coast,CONTROL_FINISHED_OK
$STATE,5069,begin surface
$SM_CCo,5100,73.97,0.161,0,0,1107,400.08
$SM_GC,2.13,8.10,1.83,73.97,0.091,0.116,0.161,138,2585,1107,-7.36,-0.37,400.08,0,0,0,0,0,0,14.14,14.01,14.13
$RAFOS_CLK,223
$RAFOS,6,1390466968,8.833333,8.824445,67,63,60,59,57,55,221,164,202,119,181,148
$RAFOS,5,1390466477,8.700000,8.688056,62,60,54,54,53,49,199,218,125,139,231,172
$RAFOS,4,1390465998,8.566667,8.555000,63,58,58,55,54,54,188,114,210,173,163,141
$RAFOS,3,1390465503,8.433333,8.417500,62,56,56,53,51,51,192,174,215,143,156,230
$RAFOS,2,1390465023,8.300000,8.284166,60,59,57,56,55,54,216,120,190,157,144,202
$RAFOS,1,1390464551,8.166667,8.153055,57,53,53,52,52,49,197,214,227,188,179,155
$RAFOS,0,1390464063,8.033334,8.017500,71,69,59,59,58,50,214,152,189,230,172,136
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5348.21,230114,060630
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.88
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.50
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,12.4,281.497
$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,20.675,34.500,409.100,73.975,0.000,0.000,0.000,208.025,7.250,0.000,6.241,845.004,2985.378,493.444,867.928,364.902,0.000,1162.210,0.000,690.466,2520.000,2.820,0.000
$DEVICE_MAMPS,418.455,129.285,2121.345,161.415,0.000,0.000,0.000,123.930,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,192.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227676
$DATA_FILE_SIZE,10224,277
$CAP_FILE_SIZE,59339,0
$CFSIZE,259252224,200294400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.262,319.3,1
$GPS,230114,092659,6409.141,-5344.806,40,1.0,40,-29.8