version: 66.11
glider: 192
mission: 2
dive: 723
start: 1 26 114 23 40 51
data:
$ID,192
$MISSION,2
$DIVE,723
$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,-15591.399
$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,16
$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
$GPS1,260114,233435,6406.823,-5338.751,31,1.4,31,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-67.3
$GPS2,260114,234003,6406.860,-5338.792,5,1.4,5,-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,177.5,15596,-15.5,-8.250,-18.49,2720
$D_GRID,287
$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,-146.0,142,2585,1132,1071,0.0,0.0,0,110,0.00,0.00,-87.45,0.000,16386,0.000,0.000,141,2586,2850,2897,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,141,2586,2898,2805,3.3,-2.0,9,144,10.30,1.55,-11.43,0.000,18948,0.425,0.122,2211,1725,3338,3490,3186,0,0,0,0,0,0,13.88,14.27,14.67
$GC,324,-0.84,-146.0,2211,1725,3495,3186,42.9,-17.9,29,329,0.12,1.55,0.00,0.000,3078,0.293,0.110,2231,2583,3340,3496,3185,0,0,0,0,0,0,13.85,14.05,28.83
$GC,641,-0.80,-146.0,2231,2582,3496,3184,97.7,-17.1,60,645,0.00,1.60,0.00,0.000,260,0.000,0.121,2226,3429,3339,3496,3183,0,0,0,0,0,0,28.83,13.87,28.83
$GC,685,-0.76,-146.0,2227,3429,3496,3183,103.9,-17.4,62,689,0.12,1.52,0.00,0.000,3078,0.247,0.076,2259,2575,3339,3496,3183,0,0,0,0,0,0,13.68,14.04,28.83
$GC,1011,-0.73,-146.0,2259,2575,3496,3182,154.7,-14.9,73,1015,0.00,1.62,0.00,0.000,260,0.000,0.125,2254,3435,3339,3496,3182,0,0,0,0,0,0,28.83,13.81,28.83
$GC,1066,-0.70,-146.0,2255,3435,3495,3182,160.0,-14.8,74,1070,0.12,1.52,0.00,0.000,3078,0.271,0.078,2280,2573,3339,3496,3182,0,0,0,0,0,0,13.71,14.02,28.83
$GC,1382,-0.69,-146.0,2280,2573,3496,3182,204.7,-12.7,85,1386,0.00,1.50,0.00,0.000,516,0.000,0.088,2280,1745,3339,3496,3182,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1462,-0.68,-146.0,2280,1745,3496,3181,213.0,-12.5,87,1466,0.00,1.55,0.00,0.000,1030,0.000,0.113,2276,2584,3338,3496,3181,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1783,-0.66,-146.0,2276,2584,3496,3181,257.0,-12.8,98,1786,0.00,1.55,0.00,0.000,260,0.000,0.118,2269,3428,3338,3496,3181,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1852,-0.65,-146.0,1408,3427,3488,3178,265.2,-12.2,100,1856,0.08,1.52,0.00,0.000,3078,0.225,0.077,2290,2584,3338,3496,3181,0,0,0,0,0,0,13.64,13.92,28.83
$GC,2190,-0.72,-146.0,2290,2584,3497,3181,285.7,0.0,111,2194,0.00,1.65,0.00,0.000,260,0.000,0.128,2290,3422,3339,3497,3181,0,0,0,0,0,0,28.83,13.66,28.83
$STATE,2310,end dive,NO_VERTICAL_VELOCITY
$STATE,2316,begin apogee
$GC,2331,-0.22,0.0,2290,2476,3497,3181,285.7,0.0,115,2490,0.47,0.00,148.60,2.152,10246,0.170,0.000,2431,2476,2741,2853,2630,0,0,0,0,0,0,13.73,28.83,12.76
$STATE,2491,end apogee,CONTROL_FINISHED_OK
$STATE,2491,begin climb
$GC,2498,0.89,146.0,2431,2476,2853,2630,285.9,0.0,120,2675,1.17,1.65,159.85,2.052,10756,0.137,0.093,2795,1634,2145,2243,2048,0,0,0,0,0,0,13.64,13.07,12.13
$GC,2705,0.93,192.0,2795,1634,2243,2043,276.2,6.5,126,2768,0.00,1.67,53.12,2.028,9222,0.000,0.109,2795,2484,1959,2060,1858,0,0,0,0,0,0,28.83,13.24,12.05
$GC,3077,0.91,192.0,2795,2485,2060,1850,236.9,8.9,139,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2484,1955,2060,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3372,0.89,192.0,2796,2485,2060,1848,209.0,9.4,149,3375,0.00,1.52,0.00,0.000,516,0.000,0.096,2802,1636,1954,2060,1848,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3438,0.88,192.0,2802,1637,2060,1847,202.9,9.5,151,3442,0.00,1.55,0.00,0.000,1030,0.000,0.111,2802,2482,1953,2059,1847,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3774,0.86,192.0,2802,2482,2060,1847,171.0,9.5,162,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2482,1953,2060,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,0.85,192.0,2802,2482,2060,1847,142.4,9.9,172,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2482,1953,2060,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4375,0.84,192.0,2802,2482,2060,1847,114.5,9.2,182,4379,0.00,1.58,0.00,0.000,260,0.000,0.125,2802,3332,1953,2060,1846,0,0,0,0,0,0,28.83,13.97,28.83
$GC,4429,0.82,192.0,2802,3332,2060,1846,110.9,9.4,183,4433,0.15,1.50,0.00,0.000,5126,0.250,0.083,2775,2479,1953,2060,1846,0,0,0,0,0,0,13.90,14.11,28.83
$GC,4745,0.82,192.0,2775,2479,2060,1846,81.1,8.5,208,4749,0.00,1.50,0.00,0.000,516,0.000,0.095,2779,1634,1953,2060,1846,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4814,0.83,198.2,1808,1633,2019,1841,75.7,8.0,214,4822,0.00,1.55,3.00,0.402,9222,0.000,0.111,2779,2482,1933,2041,1825,0,0,0,0,0,0,28.83,14.03,13.82
$GC,5124,0.89,237.0,2779,2482,2041,1825,51.9,6.8,245,5153,0.00,1.60,22.77,0.312,8452,0.000,0.129,2779,3326,1773,1875,1671,0,0,0,0,0,0,28.83,14.14,13.94
$GC,5205,0.89,238.3,2779,3326,1872,1671,45.7,8.2,253,5208,0.00,1.52,0.00,0.000,1030,0.000,0.085,2785,2485,1772,1872,1672,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5522,0.94,269.0,2785,2485,1867,1670,22.9,7.1,284,5544,0.00,1.55,17.42,0.223,8708,0.000,0.098,2791,1639,1643,1737,1549,0,0,0,0,0,0,28.83,14.15,14.00
$GC,5636,1.04,323.3,1792,1638,1702,1544,15.9,6.2,294,5671,0.17,1.55,30.05,0.199,11270,0.127,0.116,2856,2484,1420,1511,1330,0,0,0,0,0,0,14.19,14.06,14.09
$FREEZE,8.73,0.317,-1.839,0,1,0
$FREEZE,7.32,0.306,-1.838,0,1,0
$FREEZE,5.97,0.312,-1.837,0,1,0
$FREEZE,4.82,0.275,-1.836,0,1,0
$FREEZE,3.69,0.274,-1.835,0,1,0
$FREEZE,2.48,0.282,-1.834,0,1,0
$STATE,5745,end climb,SURFACE_DEPTH_REACHED
$STATE,5745,begin surface coast
$FREEZE,1.28,0.121,-1.841,0,1,0
$FREEZE,1.05,0.224,-1.830,0,1,0
$FINISH,1.1,1.026775
$STATE,5763,end surface coast,CONTROL_FINISHED_OK
$STATE,5763,begin surface
$SM_CCo,5792,41.28,0.158,0,0,1107,400.08
$SM_GC,2.14,8.23,0.20,41.28,0.092,0.155,0.158,145,2592,1107,-7.35,-0.42,400.08,0,0,0,0,0,0,14.17,14.18,14.14
$RAFOS_CLK,257
$RAFOS,6,1390783748,0.833333,0.818889,60,59,58,56,55,54,162,201,216,112,149,125
$RAFOS,5,1390783268,0.700000,0.685556,69,68,62,56,56,53,210,186,144,199,169,114
$RAFOS,4,1390782806,0.566667,0.557222,60,58,56,55,55,51,148,115,171,190,204,225
$RAFOS,3,1390782304,0.433333,0.417778,65,54,53,53,52,49,190,217,144,178,1569,226
$RAFOS,2,1390781828,0.300000,0.285556,72,62,60,59,58,57,209,196,183,113,171,139
$RAFOS,1,1390781367,0.166667,0.157500,66,60,56,56,51,50,201,185,167,226,153,106
$RAFOS,0,1390780876,0.033333,0.021111,61,58,55,51,51,50,177,159,208,140,220,232
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5337.36,260114,222253
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.73
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.40
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,19.0
$24V_AH,12.1,292.056
$10V_AH,12.3,0.000
$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,20.950,37.850,434.825,41.275,0.000,0.000,0.000,180.450,8.750,0.000,6.421,922.990,3497.267,453.614,922.981,386.885,0.000,1148.905,0.000,768.069,2520.000,2.625,0.000
$DEVICE_MAMPS,425.340,154.530,2151.945,157.590,0.000,0.000,0.000,123.165,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227284
$DATA_FILE_SIZE,13531,307
$CAP_FILE_SIZE,65943,0
$CFSIZE,259252224,198733824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.265,350.2,1
$GPS,270114,011954,6407.005,-5338.285,43,0.8,43,-29.7