version: 66.11
glider: 192
mission: 2
dive: 696
start: 1 24 114 0 15 26
data:
$ID,192
$MISSION,2
$DIVE,696
$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,-15542.29
$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,21
$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
$GPS1,240114,000906,6411.514,-5342.246,27,1.1,27,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.1
$GPS2,240114,001437,6411.565,-5342.310,20,1.2,20,-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,178.1,21770,-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,20,-0.89,-146.0,125,2595,1110,1081,0.0,0.0,0,110,0.00,0.00,-87.18,0.000,16386,0.000,0.000,122,2596,2766,2815,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,122,2596,2815,2718,3.0,-2.1,9,151,10.43,1.50,-14.90,0.000,19204,0.423,0.152,2208,3417,3336,3497,3176,0,0,0,0,0,0,13.89,14.16,14.69
$GC,385,-0.83,-146.0,2208,3417,3499,3176,54.4,-19.1,35,392,0.12,1.50,0.00,0.000,3078,0.280,0.079,2233,2568,3337,3499,3176,0,0,0,0,0,0,13.85,14.14,28.83
$GC,695,-0.79,-146.0,2234,2568,3499,3175,105.8,-15.6,64,698,0.00,1.62,0.00,0.000,260,0.000,0.122,2229,3429,3337,3499,3175,0,0,0,0,0,0,28.83,13.93,28.83
$GC,785,-0.74,-146.0,2229,3429,3499,3174,116.0,-15.5,66,792,0.17,1.52,0.00,0.000,3078,0.262,0.077,2267,2571,3336,3499,3174,0,0,0,0,0,0,13.71,14.07,28.83
$GC,1092,-0.72,-146.0,2267,2571,3498,3173,160.9,-13.1,77,1096,0.00,1.52,0.00,0.000,516,0.000,0.089,2267,1743,3336,3499,3173,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1158,-0.70,-146.0,2268,1743,3499,3173,169.5,-12.9,79,1162,0.00,1.55,0.00,0.000,1030,0.000,0.111,2264,2581,3336,3499,3173,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1495,-0.68,-146.0,2264,2581,3499,3173,210.5,-12.0,90,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2581,3336,3499,3173,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1548,begin apogee
$GC,1562,-0.22,0.0,2264,2474,3499,3173,217.8,-12.1,92,1721,0.62,0.00,146.93,2.141,10246,0.220,0.000,2430,2473,2741,2854,2629,0,0,0,0,0,0,13.56,28.83,12.78
$STATE,1722,end apogee,CONTROL_FINISHED_OK
$STATE,1722,begin climb
$GC,1729,0.89,146.0,2430,2473,2854,2629,224.8,0.0,97,1899,1.23,0.00,157.52,2.060,10758,0.163,0.000,2790,2473,2145,2246,2044,0,0,0,0,0,0,13.69,28.83,12.24
$GC,2183,0.87,146.0,2790,2473,2246,2036,191.9,9.1,113,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2473,2141,2247,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,0.86,146.0,2790,2473,2246,2033,165.0,8.8,123,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2473,2140,2246,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2784,0.84,147.5,2790,2473,2246,2033,140.1,8.2,133,2787,0.00,1.50,0.00,0.000,516,0.000,0.096,2796,1619,2139,2246,2033,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2864,0.83,151.3,2796,1618,2246,2033,134.9,8.1,135,2876,0.00,1.58,5.45,1.567,9222,0.000,0.110,2796,2482,2124,2231,2018,0,0,0,0,0,0,28.83,14.17,13.43
$GC,3180,0.82,156.8,2796,2482,2231,2018,107.6,8.0,146,3188,0.00,1.52,3.75,0.508,8708,0.000,0.096,2802,1642,2100,2207,1993,0,0,0,0,0,0,28.83,14.22,13.78
$GC,3228,0.80,156.8,2801,1642,2207,1993,105.0,8.3,147,3233,0.15,1.52,0.00,0.000,5126,0.227,0.112,2767,2482,2099,2206,1993,0,0,0,0,0,0,14.07,14.19,28.83
$GC,3545,0.87,207.0,2767,2482,2207,1993,82.2,6.4,174,3581,0.00,1.62,29.70,0.416,8452,0.000,0.125,2767,3330,1896,2004,1788,0,0,0,0,0,0,28.83,14.26,13.90
$GC,3609,0.94,251.1,2767,3330,2003,1787,78.4,6.6,180,3645,0.12,1.50,26.20,0.406,11270,0.146,0.084,2819,2470,1716,1811,1622,0,0,0,0,0,0,14.33,14.30,13.88
$GC,3948,0.94,251.1,2819,2470,1802,1618,46.2,8.5,214,3952,0.00,1.67,0.00,0.000,260,0.000,0.128,2819,3328,1709,1802,1617,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4007,0.93,251.1,1832,3326,1767,1614,40.8,9.2,219,4014,0.00,1.52,0.00,0.000,1030,0.000,0.085,2825,2474,1709,1801,1617,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4316,0.92,251.1,2825,2473,1801,1616,11.3,10.1,250,4320,0.00,1.55,0.00,0.000,516,0.000,0.098,2832,1637,1708,1801,1616,0,0,0,0,0,0,28.83,14.00,28.83
$FREEZE,8.61,-0.007,-1.834,0,1,0
$FREEZE,8.61,-0.007,-1.834,0,1,0
$FREEZE,7.47,-0.010,-1.834,0,1,0
$FREEZE,7.47,-0.010,-1.834,0,1,0
$FREEZE,6.47,-0.010,-1.833,0,1,0
$FREEZE,6.47,-0.010,-1.833,0,1,0
$FREEZE,5.77,0.007,-1.832,0,1,0
$FREEZE,5.77,0.007,-1.832,0,1,0
$FREEZE,4.64,-0.010,-1.831,0,1,0
$FREEZE,4.64,-0.010,-1.831,0,1,0
$FREEZE,3.43,-0.009,-1.831,0,1,0
$FREEZE,3.43,-0.009,-1.831,0,1,0
$FREEZE,2.27,-0.007,-1.829,0,1,0
$STATE,4406,end climb,SURFACE_DEPTH_REACHED
$STATE,4406,begin surface coast
$FREEZE,2.27,-0.007,-1.829,0,1,0
$FREEZE,0.85,-0.014,-1.828,0,1,0
$FREEZE,0.85,-0.014,-1.828,0,1,0
$FREEZE,0.99,-0.013,-1.827,0,1,0
$FINISH,1.0,1.026753
$STATE,4429,end surface coast,CONTROL_FINISHED_OK
$STATE,4429,begin surface
$SM_CCo,4460,79.93,0.164,0,0,1109,400.08
$SM_GC,1.89,8.20,1.83,79.93,0.095,0.119,0.164,145,2585,1109,-7.35,-0.37,400.08,0,0,0,0,0,0,14.13,13.99,14.13
$RAFOS_CLK,197
$RAFOS,6,1390524553,0.833333,0.820278,57,56,55,55,54,52,157,185,131,205,114,144
$RAFOS,5,1390524073,0.700000,0.686944,65,62,60,53,48,44,201,159,141,173,215,123
$RAFOS,4,1390523609,0.566667,0.558056,63,61,58,57,56,55,171,208,227,139,113,184
$RAFOS,3,1390523103,0.433333,0.417500,60,57,57,52,51,51,219,185,166,120,147,105
$RAFOS,2,1390522623,0.300000,0.284167,74,63,62,56,53,52,190,204,154,177,139,215
$RAFOS,0,1390521667,0.033333,0.018611,69,66,57,55,51,51,200,164,151,117,181,211
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5346.36,230114,222246
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.82
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.50
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,12.2,284.071
$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,21.050,25.250,369.550,79.925,0.000,0.000,0.000,161.800,6.000,0.000,21.334,779.872,2558.187,452.288,780.417,320.776,0.000,1042.479,0.000,626.936,1800.000,2.820,0.000
$DEVICE_MAMPS,423.045,152.235,2141.235,163.710,0.000,0.000,0.000,127.755,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227536
$DATA_FILE_SIZE,10223,260
$CAP_FILE_SIZE,53234,0
$CFSIZE,259252224,199938048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.0
$CURRENT,0.252,331.6,1
$GPS,240114,013253,6411.640,-5342.564,41,1.2,41,-29.8