version: 66.11
glider: 192
mission: 2
dive: 722
start: 1 26 114 22 15 52
data:
$ID,192
$MISSION,2
$DIVE,722
$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,-15590.146
$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,24
$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
$GPS1,260114,220901,6406.626,-5339.130,43,1.9,43,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-67.3
$GPS2,260114,221504,6406.687,-5339.121,5,0.9,5,-29.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_4
$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,176.1,15789,-15.5,-8.250,-18.49,2720
$D_GRID,302
$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,-146.0,138,2585,1106,1085,0.0,0.0,0,110,0.00,0.00,-87.30,0.000,16386,0.000,0.000,138,2585,2863,2910,2817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,138,2585,2910,2818,3.6,-2.5,9,144,10.27,1.58,-10.95,0.000,18948,0.424,0.120,2210,1730,3339,3493,3186,0,0,0,0,0,0,13.88,14.29,14.69
$GC,295,-0.84,-146.0,2210,1730,3498,3184,38.5,-17.8,26,300,0.10,1.60,0.00,0.000,3078,0.258,0.111,2230,2577,3341,3498,3184,0,0,0,0,0,0,13.80,14.01,28.83
$GC,612,-0.80,-146.0,2230,2576,3498,3182,90.9,-15.4,57,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2577,3340,3498,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,922,-0.76,-146.0,2230,2577,3497,3181,137.5,-15.1,72,927,0.12,1.65,0.00,0.000,2308,0.297,0.118,2258,3441,3339,3498,3181,0,0,0,0,0,0,13.81,13.75,28.83
$GC,990,-0.72,-146.0,2258,3441,3498,3181,146.8,-14.6,74,994,0.00,1.55,0.00,0.000,1030,0.000,0.078,2258,2569,3339,3498,3181,0,0,0,0,0,0,28.83,13.98,28.83
$GC,1326,-0.70,-146.0,2258,2569,3498,3181,194.1,-13.6,85,1329,0.00,1.70,0.00,0.000,260,0.000,0.122,2252,3432,3339,3498,3181,0,0,0,0,0,0,28.83,13.67,28.83
$GC,1399,-0.68,-146.0,2252,3432,3498,3181,202.7,-13.2,87,1404,0.15,1.52,0.00,0.000,3078,0.260,0.076,2282,2571,3339,3498,3181,0,0,0,0,0,0,13.59,13.95,28.83
$GC,1727,-0.67,-146.0,2284,2571,3498,3181,238.8,-10.4,98,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2571,3339,3498,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,-0.66,-146.0,2284,2571,3498,3181,270.0,-10.5,108,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2571,3339,3498,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,-0.74,-146.0,2284,2571,3499,3181,286.2,-0.0,118,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2571,3340,3499,3181,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2409,end dive,NO_VERTICAL_VELOCITY
$STATE,2409,begin apogee
$GC,2423,-0.22,0.0,2284,2485,3499,3181,286.3,0.0,121,2583,0.50,0.00,149.48,2.163,10246,0.161,0.000,2434,2485,2741,2853,2630,0,0,0,0,0,0,13.65,28.83,12.74
$STATE,2584,end apogee,CONTROL_FINISHED_OK
$STATE,2585,begin climb
$GC,2592,0.89,146.0,2434,2485,2852,2630,286.4,0.0,126,2765,1.20,1.67,160.38,2.079,10756,0.154,0.092,2794,1635,2146,2245,2048,0,0,0,0,0,0,13.58,13.04,12.09
$GC,2777,1.20,349.4,2794,1635,2245,2046,285.1,0.6,133,3026,0.32,1.67,239.30,2.004,11270,0.096,0.106,2906,2481,1316,1393,1239,0,0,0,0,0,0,13.16,13.09,11.59
$GC,3355,1.15,349.4,2906,2481,1388,1232,175.7,20.3,152,3359,0.00,1.55,0.00,0.000,260,0.000,0.119,2907,3327,1310,1388,1232,0,0,0,0,0,0,28.83,13.94,28.83
$GC,3452,1.10,349.4,2907,3328,1386,1232,154.7,20.2,155,3456,0.15,1.52,0.00,0.000,5126,0.239,0.084,2873,2481,1309,1387,1231,0,0,0,0,0,0,13.90,14.16,28.83
$GC,3788,1.08,349.4,2873,2481,1386,1231,104.4,14.4,166,3791,0.00,1.52,0.00,0.000,516,0.000,0.096,2878,1629,1308,1386,1231,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3864,1.07,349.4,2878,1629,1386,1230,93.7,13.9,171,3868,0.00,1.60,0.00,0.000,1030,0.000,0.111,2878,2480,1308,1386,1230,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4180,1.05,349.4,2878,2480,1386,1230,48.2,13.8,202,4187,0.12,0.00,0.00,0.000,4102,0.265,0.000,2845,2480,1308,1386,1230,0,0,0,0,0,0,14.02,28.83,28.83
$GC,4490,1.05,349.4,2845,2480,1386,1229,10.1,11.8,233,4494,0.00,1.55,0.00,0.000,516,0.000,0.098,2850,1641,1307,1386,1229,0,0,0,0,0,0,28.83,14.04,28.83
$FREEZE,8.07,0.362,-1.841,0,1,0
$FREEZE,8.07,0.362,-1.841,0,1,0
$FREEZE,6.74,0.336,-1.839,0,1,0
$FREEZE,6.74,0.336,-1.839,0,1,0
$FREEZE,5.38,0.327,-1.837,0,1,0
$FREEZE,5.38,0.327,-1.837,0,1,0
$FREEZE,4.13,0.291,-1.837,0,1,0
$FREEZE,4.13,0.291,-1.837,0,1,0
$FREEZE,2.85,0.287,-1.836,0,1,0
$STATE,4541,end climb,SURFACE_DEPTH_REACHED
$STATE,4541,begin surface coast
$FREEZE,2.85,0.287,-1.836,0,1,0
$FREEZE,1.84,0.288,-1.835,0,1,0
$FREEZE,1.84,0.288,-1.835,0,1,0
$FREEZE,1.32,0.256,-1.835,0,1,0
$FINISH,1.3,1.026854
$STATE,4566,end surface coast,CONTROL_FINISHED_OK
$STATE,4567,begin surface
$SM_CCo,4599,27.67,0.154,0,0,1108,400.08
$SM_GC,2.13,8.18,1.77,27.67,0.089,0.109,0.154,142,2582,1108,-7.35,-0.59,400.08,0,0,0,0,0,0,14.24,14.10,14.12
$RAFOS_CLK,194
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5341.32,260114,202051
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.94
$INTERNAL_PRESSURE,8.7425
$TCM_TEMP,13.80
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,11.6,291.800
$10V_AH,11.9,0.000
$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,21.125,22.625,549.150,27.675,0.000,0.000,0.000,202.200,4.500,0.000,6.596,703.638,2656.259,508.968,797.140,341.696,0.000,1176.741,0.000,635.454,0.000,2.820,0.000
$DEVICE_MAMPS,423.810,130.815,2163.420,153.765,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,166.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227316
$DATA_FILE_SIZE,10186,240
$CAP_FILE_SIZE,51245,0
$CFSIZE,259252224,198782976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.2
$CURRENT,0.230,350.9,1
$GPS,260114,233435,6406.823,-5338.751,31,1.4,31,-29.7