version: 66.11
glider: 192
mission: 2
dive: 699
start: 1 24 114 4 40 35
data:
$ID,192
$MISSION,2
$DIVE,699
$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,-15546.239
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,240114,043335,6411.401,-5343.674,48,0.8,48,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-69.0
$GPS2,240114,043953,6411.440,-5343.700,4,1.0,5,-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,196.8,24981,-15.5,-8.250,-18.49,2720
$D_GRID,259
$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,-146.0,119,2598,1110,1077,0.0,0.0,0,121,0.00,0.00,-98.30,0.000,16386,0.000,0.000,118,2598,3025,3090,2960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.89,-146.0,118,2599,3092,2960,3.8,-3.4,10,155,10.45,1.50,-6.30,0.000,18692,0.424,0.145,2207,3417,3339,3484,3194,0,0,0,0,0,0,13.84,14.18,14.68
$GC,387,-0.83,-146.0,2207,3417,3493,3187,59.4,-17.9,35,394,0.15,1.50,0.00,0.000,3078,0.282,0.078,2238,2564,3340,3493,3187,0,0,0,0,0,0,13.81,14.15,28.83
$GC,707,-0.79,-146.0,2238,2565,3493,3185,109.8,-15.2,63,710,0.00,1.67,0.00,0.000,260,0.000,0.122,2234,3419,3339,3493,3185,0,0,0,0,0,0,28.83,13.86,28.83
$GC,791,-0.76,-146.0,2234,3419,3493,3184,119.4,-14.9,65,795,0.12,1.50,0.00,0.000,3078,0.278,0.078,2259,2570,3338,3493,3184,0,0,0,0,0,0,13.76,14.06,28.83
$GC,1107,-0.73,-146.0,2259,2571,3493,3184,164.0,-12.7,76,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2571,3338,3493,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1408,-0.71,-146.0,2259,2571,3493,3184,203.3,-13.0,86,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2571,3338,3493,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-0.68,-146.0,2259,2571,3493,3184,241.3,-12.7,96,1710,0.12,0.00,0.00,0.000,2054,0.280,0.000,2287,2570,3339,3494,3184,0,0,0,0,0,0,13.93,28.83,28.83
$STATE,1881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1882,begin apogee
$GC,1895,-0.22,0.0,2288,2484,3493,3184,261.1,-10.8,102,2056,0.52,0.00,149.10,2.161,10246,0.210,0.000,2431,2483,2741,2852,2630,0,0,0,0,0,0,13.59,28.83,12.76
$STATE,2057,end apogee,CONTROL_FINISHED_OK
$STATE,2057,begin climb
$GC,2064,0.89,146.0,2431,2484,2852,2630,269.0,0.0,107,2236,1.23,1.70,158.20,2.066,10756,0.158,0.094,2797,1637,2145,2245,2045,0,0,0,0,0,0,13.66,13.17,12.21
$GC,2381,0.87,146.0,2797,1637,2244,2037,250.4,9.5,118,2384,0.00,1.55,0.00,0.000,1030,0.000,0.109,2797,2479,2140,2244,2037,0,0,0,0,0,0,28.83,13.97,28.83
$GC,2716,0.85,146.0,2797,2479,2244,2035,219.1,8.8,129,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2479,2139,2244,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3018,0.82,146.0,2797,2479,2244,2034,194.7,8.3,139,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2478,2139,2244,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3316,0.79,146.0,2797,2479,2244,2034,168.8,8.7,149,3320,0.12,1.50,0.00,0.000,4612,0.261,0.090,2769,1630,2139,2244,2034,0,0,0,0,0,0,14.07,14.16,28.83
$GC,3383,0.82,171.4,2769,1630,2244,2033,164.5,7.3,151,3415,0.00,1.60,25.95,1.971,9222,0.000,0.109,2769,2480,2042,2149,1935,0,0,0,0,0,0,28.83,14.10,13.30
$GC,3751,0.87,212.5,2769,2480,2150,1931,139.6,6.7,163,3799,0.00,1.62,43.17,1.961,8452,0.000,0.125,2769,3326,1874,1982,1766,0,0,0,0,0,0,28.83,14.18,13.21
$GC,3947,0.94,255.5,2769,3326,1978,1765,127.7,6.6,169,3998,0.12,1.50,44.80,1.918,11270,0.147,0.083,2823,2465,1699,1793,1605,0,0,0,0,0,0,14.38,14.35,13.21
$GC,4305,0.92,255.5,2823,2465,1788,1602,91.5,10.0,187,4308,0.00,1.50,0.00,0.000,516,0.000,0.096,2829,1614,1694,1788,1600,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4364,0.91,255.5,1824,1613,1754,1597,86.1,9.7,192,4370,0.00,1.58,0.00,0.000,1030,0.000,0.109,2829,2483,1694,1788,1601,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4672,0.90,255.5,2829,2483,1787,1601,52.1,12.0,223,4675,0.00,1.55,0.00,0.000,260,0.000,0.125,2829,3325,1693,1787,1600,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4749,0.88,255.5,2829,3325,1786,1600,43.1,12.0,230,4754,0.12,1.52,0.00,0.000,5126,0.216,0.083,2799,2482,1693,1786,1600,0,0,0,0,0,0,13.98,14.21,28.83
$GC,5065,0.88,257.8,2799,2482,1786,1600,15.9,8.2,261,5069,0.00,1.52,0.00,0.000,516,0.000,0.096,2804,1632,1693,1786,1600,0,0,0,0,0,0,28.83,14.12,28.83
$FREEZE,8.16,-0.008,-1.834,0,1,0
$FREEZE,8.16,-0.008,-1.834,0,1,0
$FREEZE,7.13,-0.000,-1.833,0,1,0
$FREEZE,7.13,-0.000,-1.833,0,1,0
$FREEZE,6.04,-0.001,-1.833,0,1,0
$FREEZE,6.04,-0.001,-1.833,0,1,0
$FREEZE,4.98,-0.001,-1.832,0,1,0
$FREEZE,4.98,-0.001,-1.832,0,1,0
$FREEZE,3.96,-0.007,-1.831,0,1,0
$GC,5196,0.88,257.8,2804,1632,1785,1598,4.0,9.6,273,5200,0.00,1.58,0.00,0.000,1030,0.000,0.109,2804,2486,1691,1785,1598,0,0,0,0,0,0,28.83,14.11,28.83
$FREEZE,2.50,-0.007,-1.830,0,1,0
$STATE,5208,end climb,SURFACE_DEPTH_REACHED
$STATE,5208,begin surface coast
$FREEZE,1.83,-0.008,-1.829,0,1,0
$FREEZE,0.99,-0.008,-1.829,0,1,0
$FREEZE,0.85,-0.076,-1.807,0,1,0
$FINISH,0.8,1.026471
$STATE,5237,end surface coast,CONTROL_FINISHED_OK
$STATE,5238,begin surface
$SM_CCo,5268,78.18,0.161,0,0,1110,400.08
$SM_GC,1.88,8.07,0.20,78.18,0.093,0.156,0.161,143,2589,1110,-7.35,-0.34,400.08,0,0,0,0,0,0,14.23,14.22,14.18
$RAFOS_CLK,225
$RAFOS,6,1390538944,4.833333,4.817778,70,64,62,52,50,50,217,193,146,157,114,243
$RAFOS,5,1390538463,4.700000,4.684166,60,58,58,57,55,52,162,188,225,216,206,146
$RAFOS,3,1390537503,4.433333,4.417500,72,62,57,54,52,51,198,180,137,122,155,218
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5349.28,240114,030320
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.48
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,12.2,284.811
$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,21.050,25.250,421.225,78.175,0.000,0.000,0.000,216.525,8.500,0.000,5.726,842.522,3145.389,474.039,898.921,380.898,0.000,1178.684,0.000,728.739,720.000,2.820,0.000
$DEVICE_MAMPS,423.810,156.060,2161.125,161.415,0.000,0.000,0.000,124.695,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,192.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227296
$DATA_FILE_SIZE,10205,277
$CAP_FILE_SIZE,59259,0
$CFSIZE,259252224,199823360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.6
$CURRENT,0.202,291.8,1
$GPS,240114,061130,6411.043,-5344.816,43,0.8,43,-29.8