version: 66.11
glider: 192
mission: 2
dive: 695
start: 1 23 114 22 50 52
data:
$ID,192
$MISSION,2
$DIVE,695
$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,-15541.033
$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,19
$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
$GPS1,230114,224404,6411.344,-5342.174,52,0.9,52,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.9
$GPS2,230114,225003,6411.354,-5342.302,4,0.9,4,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6405.000,-5320.000
$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,167.7,21549,-15.5,-8.250,-18.49,2720
$D_GRID,216
$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,-146.0,120,2589,1113,1075,0.0,0.0,0,119,0.00,0.00,-96.55,0.000,16386,0.000,0.000,117,2590,3000,3063,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.89,-146.0,117,2590,3065,2936,4.1,-4.2,10,153,10.48,1.48,-6.80,0.000,18948,0.425,0.112,2212,1729,3338,3484,3192,0,0,0,0,0,0,13.86,14.23,14.70
$GC,383,-0.84,-146.0,2213,1729,3490,3187,58.8,-16.9,35,387,0.12,1.55,0.00,0.000,3078,0.288,0.110,2233,2581,3338,3490,3187,0,0,0,0,0,0,13.84,14.04,28.83
$GC,721,-0.80,-146.0,2233,2581,3492,3184,110.8,-15.4,64,724,0.00,1.58,0.00,0.000,260,0.000,0.122,2229,3432,3338,3492,3184,0,0,0,0,0,0,28.83,13.90,28.83
$GC,744,-0.76,-146.0,2229,3431,3492,3183,110.8,-15.4,64,749,0.15,1.50,0.00,0.000,3078,0.267,0.077,2260,2570,3337,3492,3183,0,0,0,0,0,0,13.75,14.09,28.83
$GC,1062,-0.74,-146.0,2260,2571,3493,3182,159.3,-13.9,75,1065,0.00,1.50,0.00,0.000,516,0.000,0.088,2260,1716,3337,3493,3182,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1165,-0.72,-146.0,2261,1716,3492,3182,171.2,-12.6,78,1168,0.00,1.60,0.00,0.000,1030,0.000,0.111,2256,2585,3337,3493,3182,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1490,-0.69,-146.0,2256,2585,3492,3182,213.6,-13.0,89,1492,0.12,0.00,0.00,0.000,2054,0.289,0.000,2282,2585,3337,3492,3182,0,0,0,0,0,0,13.98,28.83,28.83
$STATE,1514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1514,begin apogee
$GC,1528,-0.22,0.0,2283,2480,3493,3182,217.1,-12.8,90,1687,0.55,0.00,146.05,2.108,10246,0.215,0.000,2432,2480,2741,2852,2630,0,0,0,0,0,0,13.62,28.83,12.81
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1694,0.89,146.0,2432,2480,2852,2631,224.7,0.0,95,1855,1.20,0.00,156.48,2.033,10246,0.162,0.000,2785,2480,2145,2246,2044,0,0,0,0,0,0,13.71,28.83,12.32
$GC,2156,0.87,146.0,2785,2480,2245,2035,194.1,9.0,111,2160,0.00,1.52,0.00,0.000,516,0.000,0.097,2791,1640,2140,2245,2035,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2288,0.86,146.0,2791,1639,2245,2033,182.4,8.9,115,2291,0.00,1.52,0.00,0.000,1030,0.000,0.112,2791,2486,2139,2245,2033,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2624,0.84,146.0,2791,2486,2245,2031,153.5,8.4,126,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2486,2139,2245,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,0.83,154.0,2791,2486,2245,2033,128.9,7.9,136,2936,0.00,1.55,7.57,1.760,8708,0.000,0.096,2797,1642,2114,2221,2007,0,0,0,0,0,0,28.83,14.29,13.39
$GC,3050,0.84,169.4,2797,1642,2220,2006,119.7,7.7,140,3070,0.00,1.55,10.10,1.780,9222,0.000,0.111,2797,2476,2051,2158,1944,0,0,0,0,0,0,28.83,14.23,13.37
$GC,3380,0.87,202.4,2797,2476,2158,1943,95.7,7.0,155,3406,0.00,1.60,19.95,0.461,8452,0.000,0.125,2797,3326,1915,2023,1808,0,0,0,0,0,0,28.83,14.32,13.90
$GC,3502,0.87,209.6,2797,3326,2020,1807,86.2,8.0,166,3512,0.00,1.50,4.45,0.433,9222,0.000,0.084,2804,2469,1885,1991,1779,0,0,0,0,0,0,28.83,14.29,13.84
$GC,3825,0.89,227.9,2804,2469,1991,1775,58.4,7.6,198,3842,0.00,1.48,10.25,0.339,8708,0.000,0.094,2810,1635,1811,1915,1708,0,0,0,0,0,0,28.83,14.26,13.86
$GC,3912,0.93,249.9,2810,1635,1914,1707,52.3,7.4,206,3929,0.00,1.55,12.50,0.318,9222,0.000,0.109,2810,2482,1721,1819,1623,0,0,0,0,0,0,28.83,14.16,13.93
$GC,4242,0.93,249.9,2810,2482,1815,1622,22.6,9.4,239,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2482,1718,1814,1622,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.15,0.137,-1.835,0,1,0
$FREEZE,7.42,0.139,-1.835,0,1,0
$FREEZE,6.25,0.139,-1.834,0,1,0
$FREEZE,5.39,0.137,-1.833,0,1,0
$FREEZE,4.45,0.137,-1.833,0,1,0
$FREEZE,3.50,0.137,-1.832,0,1,0
$FREEZE,2.53,0.135,-1.831,0,1,0
$STATE,4462,end climb,SURFACE_DEPTH_REACHED
$STATE,4462,begin surface coast
$FREEZE,1.66,0.131,-1.831,0,1,0
$FREEZE,0.91,0.118,-0.337,0,1,0
$FREEZE,0.92,0.005,-1.803,0,1,0
$FINISH,0.9,1.026417
$STATE,4489,end surface coast,CONTROL_FINISHED_OK
$STATE,4489,begin surface
$SM_CCo,4520,80.95,0.164,0,0,1109,400.08
$SM_GC,1.85,8.23,0.20,80.95,0.100,0.143,0.164,143,2590,1109,-7.35,-0.42,400.08,0,0,0,0,0,0,14.12,14.20,14.14
$RAFOS_CLK,200
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5357.27,230114,212100
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.40
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,12.3,283.846
$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,20.850,21.875,367.350,80.950,0.000,0.000,0.000,206.200,5.000,0.000,5.700,770.902,2597.857,482.659,791.815,338.234,0.000,1090.336,0.000,622.517,360.000,2.821,0.000
$DEVICE_MAMPS,424.575,143.055,2108.340,163.710,0.000,0.000,0.000,122.400,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,183.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227564
$DATA_FILE_SIZE,10155,264
$CAP_FILE_SIZE,51292,0
$CFSIZE,259252224,199970816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.1
$CURRENT,0.262,326.8,1
$GPS,240114,000906,6411.514,-5342.246,27,1.1,27,-29.8