version: 66.11
glider: 192
mission: 2
dive: 697
start: 1 24 114 1 39 32
data:
$ID,192
$MISSION,2
$DIVE,697
$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,-15543.638
$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,14
$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
$GPS1,240114,013253,6411.640,-5342.564,41,1.2,41,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-68.5
$GPS2,240114,013843,6411.692,-5342.586,4,1.2,4,-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,182.0,22087,-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,-146.0,123,2591,1110,1077,0.0,0.0,0,110,0.00,0.00,-87.25,0.000,16386,0.000,0.000,120,2591,2765,2811,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,120,2591,2815,2719,3.1,-2.4,9,147,10.45,1.60,-14.27,0.000,18692,0.424,0.155,2208,3423,3339,3498,3180,0,0,0,0,0,0,13.85,14.16,14.70
$GC,382,-0.83,-146.0,2209,3423,3501,3179,57.8,-19.7,35,387,0.12,1.50,0.00,0.000,3078,0.282,0.078,2233,2571,3340,3501,3179,0,0,0,0,0,0,13.84,14.14,28.83
$GC,709,-0.79,-146.0,2233,2570,3501,3178,110.3,-14.9,63,713,0.00,1.62,0.00,0.000,260,0.000,0.125,2228,3431,3339,3501,3178,0,0,0,0,0,0,28.83,13.90,28.83
$GC,798,-0.75,-146.0,2229,3431,3501,3177,120.5,-15.1,65,806,0.15,1.52,0.00,0.000,3078,0.272,0.077,2260,2575,3339,3501,3177,0,0,0,0,0,0,13.72,14.07,28.83
$GC,1106,-0.73,-146.0,2260,2575,3501,3176,165.5,-13.2,76,1110,0.00,1.50,0.00,0.000,516,0.000,0.088,2260,1731,3338,3501,3176,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1141,-0.70,-146.0,2260,1731,3501,3176,170.1,-13.0,77,1145,0.00,1.58,0.00,0.000,1030,0.000,0.113,2256,2580,3338,3501,3176,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1477,-0.68,-146.0,2256,2580,3501,3176,215.2,-13.4,88,1479,0.15,0.00,0.00,0.000,2054,0.273,0.000,2289,2581,3338,3501,3176,0,0,0,0,0,0,13.91,28.83,28.83
$STATE,1500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1500,begin apogee
$GC,1515,-0.22,0.0,2290,2474,3501,3176,219.2,-13.4,89,1675,0.52,0.00,147.23,2.111,10246,0.210,0.000,2433,2474,2741,2854,2628,0,0,0,0,0,0,13.63,28.83,12.78
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1683,0.89,146.0,2433,2474,2854,2628,226.8,0.0,94,1847,1.20,0.00,158.20,2.062,10758,0.158,0.000,2788,2474,2145,2247,2044,0,0,0,0,0,0,13.70,28.83,12.24
$GC,2138,0.89,152.6,2789,2474,2247,2034,197.1,8.0,110,2150,0.00,1.62,7.28,1.695,8452,0.000,0.125,2788,3327,2118,2224,2013,0,0,0,0,0,0,28.83,14.24,13.30
$GC,2201,0.86,152.6,2788,3328,2224,2013,191.8,8.3,112,2205,0.00,1.52,0.00,0.000,1030,0.000,0.086,2794,2478,2118,2224,2013,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2532,0.84,152.6,2794,2478,2224,2011,161.9,8.7,123,2535,0.00,1.50,0.00,0.000,516,0.000,0.096,2800,1628,2117,2224,2011,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2611,0.82,152.6,2801,1629,2224,2010,156.3,8.6,125,2615,0.00,1.60,0.00,0.000,1030,0.000,0.112,2801,2486,2117,2224,2010,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2932,0.80,152.6,2801,2486,2224,2010,127.9,8.5,136,2936,0.12,1.55,0.00,0.000,4356,0.256,0.121,2768,3327,2117,2224,2010,0,0,0,0,0,0,14.08,14.09,28.83
$GC,2982,0.78,152.6,2768,3328,2224,2010,124.6,8.7,137,2986,0.00,1.50,0.00,0.000,1030,0.000,0.083,2772,2476,2117,2224,2010,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3294,0.77,152.6,2772,2476,2224,2010,97.2,8.3,149,3297,0.00,1.50,0.00,0.000,516,0.000,0.096,2779,1631,2117,2224,2010,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3322,0.77,152.6,2778,1631,2224,2010,94.5,8.3,151,3328,0.00,1.58,0.00,0.000,1030,0.000,0.112,2778,2489,2117,2224,2010,0,0,0,0,0,0,28.83,14.08,28.83
$GC,3632,0.78,164.1,2778,2489,2224,2010,70.6,7.8,182,3646,0.00,0.00,6.75,0.378,8198,0.000,0.000,2778,2489,2071,2178,1964,0,0,0,0,0,0,28.83,28.83,13.83
$GC,3951,0.87,222.2,2779,2489,2178,1963,48.0,6.1,214,3989,0.00,1.60,32.38,0.300,8452,0.000,0.124,2778,3325,1834,1939,1729,0,0,0,0,0,0,28.83,14.21,13.95
$GC,4082,0.89,233.6,2778,3325,1932,1729,39.0,7.8,226,4092,0.00,1.50,5.65,0.285,9222,0.000,0.084,2784,2469,1786,1885,1688,0,0,0,0,0,0,28.83,14.21,13.93
$GC,4397,0.91,241.1,2784,2469,1880,1686,15.3,8.0,257,4408,0.00,1.48,3.33,0.220,8708,0.000,0.093,2790,1632,1757,1853,1661,0,0,0,0,0,0,28.83,14.13,13.88
$GC,4470,0.92,243.9,2790,1632,1852,1661,9.8,8.1,263,4477,0.00,1.55,1.52,0.244,9222,0.000,0.111,2790,2480,1744,1839,1650,0,0,0,0,0,0,28.83,14.05,13.93
$FREEZE,7.95,-0.062,-1.834,0,1,0
$FREEZE,6.94,-0.063,-1.833,0,1,0
$FREEZE,6.16,-0.066,-1.833,0,1,0
$FREEZE,5.45,-0.068,-1.832,0,1,0
$FREEZE,4.43,-0.066,-1.831,0,1,0
$FREEZE,3.54,-0.065,-1.830,0,1,0
$FREEZE,2.74,-0.062,-1.830,0,1,0
$STATE,4544,end climb,SURFACE_DEPTH_REACHED
$STATE,4544,begin surface coast
$FREEZE,1.68,-0.064,-1.829,0,1,0
$FREEZE,0.90,-0.031,-1.826,0,1,0
$FREEZE,0.92,-0.065,-1.829,0,1,0
$FINISH,0.9,1.026777
$STATE,4582,end surface coast,CONTROL_FINISHED_OK
$STATE,4582,begin surface
$SM_CCo,4612,84.82,0.156,0,0,1108,400.08
$SM_GC,1.87,8.10,0.20,84.82,0.094,0.161,0.156,136,2579,1108,-7.36,-0.57,400.08,0,0,0,0,0,0,14.19,14.16,14.15
$RAFOS_CLK,203
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5346.36,240114,000043
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.11
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.40
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.2,18.3
$24V_AH,12.2,284.294
$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,20.825,28.225,362.325,84.825,0.000,0.000,0.000,191.525,7.000,0.000,5.691,822.440,2624.642,470.414,790.965,359.645,0.000,1086.237,0.000,642.372,0.000,2.623,0.000
$DEVICE_MAMPS,423.810,160.650,2111.400,156.060,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227524
$DATA_FILE_SIZE,10158,274
$CAP_FILE_SIZE,55706,0
$CFSIZE,259252224,199897088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.2
$CURRENT,0.220,327.1,1
$GPS,240114,025936,6411.672,-5342.904,41,0.8,41,-29.8