version: 66.11
glider: 192
mission: 2
dive: 700
start: 1 24 114 6 17 45
data:
$ID,192
$MISSION,2
$DIVE,700
$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,-15547.494
$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
$GPS1,240114,061130,6411.043,-5344.816,43,0.8,43,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-62.4
$GPS2,240114,061658,6411.066,-5344.853,3,1.9,3,-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,195.8,23901,-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,-146.0,124,2594,1113,1076,0.0,0.0,0,110,0.00,0.00,-87.40,0.000,16386,0.000,0.000,119,2595,2772,2818,2726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,119,2595,2818,2727,3.0,-2.2,9,147,10.38,1.52,-13.90,0.000,18948,0.422,0.121,2211,1735,3339,3497,3182,0,0,0,0,0,0,13.87,14.28,14.72
$GC,383,-0.84,-146.0,2211,1735,3499,3181,53.6,-17.6,35,387,0.12,1.55,0.00,0.000,3078,0.291,0.111,2231,2577,3340,3499,3181,0,0,0,0,0,0,13.89,14.09,28.83
$GC,699,-0.80,-146.0,2231,2578,3499,3180,111.4,-18.0,62,703,0.00,1.60,0.00,0.000,260,0.000,0.119,2227,3438,3340,3500,3180,0,0,0,0,0,0,28.83,13.97,28.83
$GC,758,-0.76,-146.0,2226,3438,3500,3180,117.6,-17.7,63,765,0.15,1.52,0.00,0.000,3078,0.272,0.077,2258,2574,3339,3499,3180,0,0,0,0,0,0,13.78,14.13,28.83
$GC,1066,-0.73,-146.0,2258,2574,3499,3179,162.1,-12.4,74,1070,0.00,1.62,0.00,0.000,260,0.000,0.127,2254,3429,3339,3499,3179,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1190,-0.70,-146.0,2254,3429,3499,3178,174.3,-12.4,77,1198,0.00,1.52,0.00,0.000,1030,0.000,0.076,2254,2571,3339,3500,3178,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1492,-0.67,-146.0,2254,2571,3499,3178,214.1,-12.3,88,1497,0.12,1.52,0.00,0.000,2564,0.278,0.083,2286,1738,3338,3499,3178,0,0,0,0,0,0,13.88,13.90,28.83
$GC,1553,-0.65,-146.0,2285,1737,3499,3178,218.4,-12.2,89,1561,0.00,1.58,0.00,0.000,1030,0.000,0.111,2281,2590,3338,3499,3178,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1859,-0.64,-146.0,2281,2590,3498,3178,253.9,-11.1,100,1862,0.00,1.50,0.00,0.000,516,0.000,0.086,2281,1735,3338,3499,3178,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1913,-0.63,-146.0,2281,1735,3500,3178,258.1,-11.3,101,1918,0.12,1.58,0.00,0.000,3078,0.251,0.112,2302,2582,3339,3500,3178,0,0,0,0,0,0,13.76,13.89,28.83
$STATE,1983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1983,begin apogee
$GC,1997,-0.22,0.0,2302,2477,3500,3178,267.9,-10.7,104,2158,0.47,0.00,147.98,2.118,10246,0.211,0.000,2433,2477,2741,2852,2630,0,0,0,0,0,0,13.69,28.83,12.83
$STATE,2159,end apogee,CONTROL_FINISHED_OK
$STATE,2159,begin climb
$GC,2165,0.89,146.0,2432,2477,2853,2630,274.9,0.0,109,2328,1.20,0.00,158.18,2.064,11014,0.165,0.000,2784,2477,2145,2246,2045,0,0,0,0,0,0,13.71,28.83,12.26
$GC,2620,0.87,146.0,2784,2477,2245,2036,244.3,8.6,125,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2477,2140,2245,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,0.86,146.0,2784,2477,2244,2034,216.9,9.4,135,2925,0.00,1.50,0.00,0.000,516,0.000,0.096,2789,1638,2139,2244,2034,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3000,0.84,146.0,2790,1638,2245,2033,210.4,9.4,137,3004,0.00,1.55,0.00,0.000,1030,0.000,0.109,2790,2488,2138,2244,2033,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3322,0.82,146.2,2789,2488,2245,2033,181.2,8.2,148,3325,0.00,1.55,0.00,0.000,260,0.000,0.122,2789,3329,2138,2244,2033,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3381,0.80,148.3,2789,3330,2244,2033,178.0,8.2,149,3387,0.00,1.50,0.00,0.000,1030,0.000,0.083,2796,2479,2138,2244,2033,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3688,0.77,148.3,2796,2479,2244,2033,148.1,8.8,160,3692,0.12,1.62,0.00,0.000,4356,0.260,0.116,2763,3326,2138,2244,2033,0,0,0,0,0,0,14.05,14.02,28.83
$GC,3791,0.78,168.6,2763,3326,2244,2033,141.1,7.5,163,3819,0.00,1.55,22.90,1.939,9222,0.000,0.083,2768,2479,2052,2159,1946,0,0,0,0,0,0,28.83,14.14,13.31
$GC,4148,0.79,173.0,2768,2479,2159,1943,112.6,8.1,175,4152,0.00,0.00,2.70,0.964,8198,0.000,0.000,2768,2479,2035,2142,1928,0,0,0,0,0,0,28.83,28.83,13.35
$GC,4441,0.89,237.8,2768,2479,2142,1928,91.6,5.8,193,4487,0.00,1.55,39.08,0.451,8708,0.000,0.096,2774,1635,1771,1869,1673,0,0,0,0,0,0,28.83,14.35,13.91
$GC,4588,0.90,237.8,2774,1635,1865,1669,80.6,8.6,207,4592,0.00,1.58,0.00,0.000,1030,0.000,0.108,2774,2483,1766,1864,1669,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4904,0.93,251.9,2774,2484,1860,1668,53.5,7.7,238,4918,0.12,1.60,7.45,0.321,10500,0.151,0.122,2828,3329,1713,1809,1618,0,0,0,0,0,0,14.37,14.14,13.88
$GC,4940,0.93,251.9,2827,3329,1808,1618,50.0,9.1,241,4944,0.00,1.50,0.00,0.000,1030,0.000,0.083,2834,2471,1713,1808,1619,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5256,0.92,251.9,2834,2470,1805,1617,16.9,9.5,272,5260,0.00,1.52,0.00,0.000,516,0.000,0.097,2840,1641,1711,1805,1618,0,0,0,0,0,0,28.83,14.02,28.83
$FREEZE,8.83,-0.018,-1.835,0,1,0
$FREEZE,8.83,-0.018,-1.835,0,1,0
$FREEZE,7.84,-0.019,-1.834,0,1,0
$FREEZE,7.84,-0.019,-1.834,0,1,0
$FREEZE,7.02,-0.020,-1.833,0,1,0
$FREEZE,7.02,-0.020,-1.833,0,1,0
$FREEZE,6.23,-0.023,-1.833,0,1,0
$FREEZE,6.23,-0.023,-1.833,0,1,0
$FREEZE,5.16,-0.024,-1.832,0,1,0
$FREEZE,5.16,-0.024,-1.832,0,1,0
$FREEZE,3.38,-0.018,-1.831,0,1,0
$GC,5392,0.91,251.9,2841,1641,1803,1615,3.4,9.3,284,5396,0.12,1.60,0.00,0.000,5126,0.216,0.117,2805,2480,1709,1803,1616,0,0,0,0,0,0,13.82,13.97,28.83
$FREEZE,1.58,-0.020,-1.829,0,1,0
$STATE,5403,end climb,SURFACE_DEPTH_REACHED
$STATE,5403,begin surface coast
$FREEZE,0.97,-0.308,-0.478,0,1,0
$FREEZE,0.85,-0.161,-1.432,0,1,0
$FINISH,0.9,1.021099
$STATE,5426,end surface coast,CONTROL_FINISHED_OK
$STATE,5426,begin surface
$SM_CCo,5456,80.45,0.164,0,0,1108,400.08
$SM_GC,1.93,8.10,0.20,80.45,0.093,0.147,0.164,138,2586,1108,-7.35,-0.48,400.08,0,0,0,0,0,0,14.22,14.21,14.15
$RAFOS_CLK,238
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5346.36,240114,040419
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.60
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.60
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,12.3,285.048
$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,21.050,34.550,378.275,80.450,0.000,0.000,0.000,174.600,7.750,0.000,4.835,877.172,3282.829,484.072,854.269,384.787,0.000,1124.123,0.000,714.521,0.000,2.623,0.000
$DEVICE_MAMPS,422.280,146.880,2117.520,163.710,0.000,0.000,0.000,126.225,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227308
$DATA_FILE_SIZE,13550,287
$CAP_FILE_SIZE,62453,0
$CFSIZE,259252224,199782400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.5
$CURRENT,0.217,297.9,1
$GPS,240114,075135,6410.708,-5345.907,29,0.9,29,-29.8