version: 66.11
glider: 192
mission: 2
dive: 686
start: 1 23 114 9 33 27
data:
$ID,192
$MISSION,2
$DIVE,686
$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,-15529.564
$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
$GPS1,230114,092659,6409.141,-5344.806,40,1.0,40,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-66.5
$GPS2,230114,093239,6409.161,-5344.876,4,1.8,4,-29.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_3
$TGT_LATLONG,6420.000,-5300.000
$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,135.7,41217,-15.5,-8.250,-18.49,2720
$D_GRID,267
$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,-146.0,112,2592,1111,1077,0.0,0.0,0,110,0.00,0.00,-87.07,0.000,16386,0.000,0.000,109,2591,2811,2862,2761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,109,2591,2862,2761,3.3,-2.6,9,145,10.35,1.58,-12.32,0.000,18948,0.420,0.124,2212,1730,3339,3496,3183,0,0,0,0,0,0,13.83,14.28,14.71
$GC,378,-0.84,-146.0,1376,1728,3492,3180,54.5,-18.4,34,386,0.12,1.58,0.00,0.000,3078,0.291,0.112,2232,2581,3341,3500,3182,0,0,0,0,0,0,13.85,14.04,28.83
$GC,689,-0.80,-146.0,2232,2581,3500,3181,104.6,-15.8,63,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2581,3340,3499,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,989,-0.76,-146.0,2232,2581,3499,3180,151.3,-15.2,73,993,0.12,1.50,0.00,0.000,2564,0.301,0.085,2264,1734,3340,3500,3180,0,0,0,0,0,0,13.85,13.97,28.83
$GC,1034,-0.73,-146.0,2264,1734,3500,3180,156.4,-14.8,74,1037,0.00,1.58,0.00,0.000,1030,0.000,0.116,2260,2578,3340,3500,3180,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1359,-0.71,-146.0,2260,2578,3500,3180,201.9,-13.8,85,1363,0.00,1.52,0.00,0.000,516,0.000,0.089,2260,1736,3339,3500,3179,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1413,-0.68,-146.0,2260,1736,3500,3179,206.7,-13.7,86,1418,0.10,1.60,0.00,0.000,3078,0.230,0.113,2282,2576,3339,3499,3179,0,0,0,0,0,0,13.63,13.82,28.83
$GC,1730,-0.67,-146.0,2281,2576,3500,3180,245.2,-11.0,97,1734,0.00,1.60,0.00,0.000,260,0.000,0.125,2277,3436,3339,3499,3179,0,0,0,0,0,0,28.83,13.79,28.83
$GC,1819,-0.66,-146.0,2277,3437,3500,3179,252.8,-11.3,99,1826,0.00,1.52,0.00,0.000,1030,0.000,0.080,2277,2574,3340,3500,3180,0,0,0,0,0,0,28.83,14.00,28.83
$STATE,1939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1939,begin apogee
$GC,1954,-0.22,0.0,2277,2474,3500,3179,270.1,-11.4,104,2114,0.57,0.00,149.18,2.132,10246,0.216,0.000,2433,2473,2741,2854,2629,0,0,0,0,0,0,13.58,28.83,12.80
$STATE,2115,end apogee,CONTROL_FINISHED_OK
$STATE,2115,begin climb
$GC,2121,0.89,146.0,2433,2473,2854,2629,278.2,0.0,109,2295,1.23,1.77,157.80,2.050,11012,0.168,0.126,2791,3326,2145,2245,2045,0,0,0,0,0,0,13.71,13.30,12.33
$GC,2336,0.96,212.4,2791,3326,2242,2043,270.4,5.7,116,2415,0.00,1.55,73.28,1.974,9222,0.000,0.084,2798,2481,1875,1977,1773,0,0,0,0,0,0,28.83,13.66,12.38
$GC,2733,0.94,212.4,2798,2481,1976,1764,227.6,10.4,130,2736,0.00,1.62,0.00,0.000,260,0.000,0.129,2797,3330,1869,1975,1764,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2761,0.93,212.4,2798,3330,1975,1764,227.6,10.4,130,2769,0.00,1.50,0.00,0.000,1030,0.000,0.086,2804,2475,1869,1975,1764,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3068,0.91,212.4,2805,2475,1975,1763,191.9,10.3,141,3072,0.00,1.60,0.00,0.000,260,0.000,0.129,2805,3336,1869,1975,1763,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3098,0.89,212.4,2804,3336,1975,1763,191.9,10.3,141,3105,0.00,1.50,0.00,0.000,1030,0.000,0.086,2811,2480,1869,1975,1763,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3404,0.87,212.4,2811,2480,1975,1762,158.0,10.1,152,3407,0.00,1.50,0.00,0.000,516,0.000,0.098,2817,1628,1868,1975,1762,0,0,0,0,0,0,28.83,14.14,28.83
$GC,3578,0.86,212.4,2818,1627,1975,1760,143.0,9.6,157,3582,0.12,1.58,0.00,0.000,5126,0.247,0.113,2789,2490,1868,1975,1761,0,0,0,0,0,0,13.98,14.12,28.83
$GC,3899,0.86,212.4,2790,2490,1975,1760,110.9,9.9,168,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2490,1868,1975,1761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,0.86,212.4,2789,2490,1975,1761,85.7,8.6,188,4203,0.00,1.55,0.00,0.000,516,0.000,0.097,2794,1638,1868,1975,1761,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4343,0.87,221.6,2794,1638,1975,1761,74.7,7.9,201,4354,0.00,1.55,4.72,0.391,9222,0.000,0.109,2794,2482,1836,1942,1731,0,0,0,0,0,0,28.83,14.05,13.80
$GC,4666,0.87,221.6,2794,2482,1942,1731,46.7,9.4,233,4669,0.00,1.58,0.00,0.000,260,0.000,0.128,2794,3328,1836,1942,1731,0,0,0,0,0,0,28.83,13.99,28.83
$GC,4721,0.87,221.6,2794,3328,1942,1731,41.6,9.2,238,4724,0.00,1.50,0.00,0.000,1030,0.000,0.086,2800,2481,1836,1942,1731,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5037,0.87,221.6,2801,2480,1941,1731,14.8,9.4,269,5041,0.00,1.50,0.00,0.000,516,0.000,0.097,2807,1639,1836,1942,1731,0,0,0,0,0,0,28.83,14.00,28.83
$FREEZE,8.94,0.168,-1.834,0,1,0
$FREEZE,8.94,0.168,-1.834,0,1,0
$FREEZE,8.04,0.174,-1.833,0,1,0
$FREEZE,8.04,0.174,-1.833,0,1,0
$FREEZE,7.24,0.177,-1.833,0,1,0
$FREEZE,7.24,0.177,-1.833,0,1,0
$FREEZE,6.13,0.168,-1.832,0,1,0
$FREEZE,6.13,0.168,-1.832,0,1,0
$FREEZE,5.25,0.172,-1.831,0,1,0
$FREEZE,5.25,0.172,-1.831,0,1,0
$FREEZE,4.15,0.164,-1.830,0,1,0
$GC,5157,0.87,221.6,2807,1638,1941,1730,4.1,9.0,280,5161,0.00,1.60,0.00,0.000,1030,0.000,0.112,2807,2484,1836,1941,1731,0,0,0,0,0,0,28.83,13.95,28.83
$FREEZE,2.73,0.164,-1.829,0,1,0
$STATE,5168,end climb,SURFACE_DEPTH_REACHED
$STATE,5168,begin surface coast
$FREEZE,1.96,0.164,-1.829,0,1,0
$FREEZE,1.43,0.162,-1.828,0,1,0
$FREEZE,1.18,0.118,-1.810,0,1,0
$FINISH,1.2,1.026497
$STATE,5200,end surface coast,CONTROL_FINISHED_OK
$STATE,5200,begin surface
$SM_CCo,5229,96.35,0.160,0,0,1110,400.08
$SM_GC,1.98,8.12,0.20,96.35,0.094,0.151,0.160,146,2592,1110,-7.35,-0.40,400.08,0,0,0,0,0,0,14.12,14.20,14.14
$RAFOS_CLK,232
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5344.24,230114,070751
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.66
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,12.3,281.757
$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,20.750,34.750,384.975,96.350,0.000,0.000,0.000,179.825,6.000,0.000,5.362,860.606,3087.658,486.017,868.307,381.279,0.000,1144.534,0.000,725.799,0.000,9.033,0.000
$DEVICE_MAMPS,419.985,150.705,2132.055,159.885,0.000,0.000,0.000,127.755,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227656
$DATA_FILE_SIZE,13545,284
$CAP_FILE_SIZE,60262,0
$CFSIZE,259252224,200253440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.4
$CURRENT,0.296,327.1,1
$GPS,230114,110353,6409.648,-5344.484,38,1.3,38,-29.8