version: 66.11
glider: 192
mission: 2
dive: 688
start: 1 23 114 12 49 3
data:
$ID,192
$MISSION,2
$DIVE,688
$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,-15532.167
$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,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
$GPS1,230114,124206,6410.313,-5343.871,34,1.1,34,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-66.8
$GPS2,230114,124815,6410.369,-5343.967,4,1.1,5,-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,138.0,39523,-15.5,-8.250,-18.49,2720
$D_GRID,242
$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,-146.0,123,2589,1106,1082,0.0,0.0,0,110,0.00,0.00,-87.22,0.000,16386,0.000,0.000,120,2590,2820,2870,2771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,119,2590,2870,2772,3.3,-2.9,9,146,10.27,1.58,-12.38,0.000,19204,0.417,0.122,2212,1727,3340,3498,3182,0,0,0,0,0,0,13.83,14.30,14.70
$GC,382,-0.84,-146.0,2212,1726,3500,3181,55.6,-19.6,35,386,0.00,1.58,0.00,0.000,1030,0.000,0.116,2207,2582,3340,3500,3181,0,0,0,0,0,0,28.83,14.04,28.83
$GC,724,-0.79,-146.0,2208,2582,3500,3180,115.8,-16.9,62,728,0.17,1.58,0.00,0.000,2308,0.289,0.122,2245,3427,3340,3500,3180,0,0,0,0,0,0,13.74,13.90,28.83
$GC,813,-0.74,-146.0,2245,3427,3500,3179,127.0,-16.0,64,820,0.00,1.50,0.00,0.000,1030,0.000,0.080,2245,2574,3339,3500,3179,0,0,0,0,0,0,28.83,14.05,28.83
$GC,1122,-0.71,-146.0,2246,2574,3500,3178,173.5,-14.3,75,1124,0.15,0.00,0.00,0.000,2054,0.267,0.000,2279,2573,3339,3499,3179,0,0,0,0,0,0,13.88,28.83,28.83
$GC,1420,-0.70,-146.0,2279,2574,3500,3179,210.9,-12.2,85,1424,0.00,1.50,0.00,0.000,516,0.000,0.092,2279,1734,3339,3500,3178,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1444,-0.68,-146.0,2279,1734,3500,3178,210.9,-12.2,85,1447,0.00,1.60,0.00,0.000,1030,0.000,0.117,2275,2587,3339,3500,3179,0,0,0,0,0,0,28.83,13.85,28.83
$STATE,1662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1662,begin apogee
$GC,1677,-0.22,0.0,2275,2482,3500,3178,242.4,-13.0,93,1837,0.57,0.00,147.48,2.111,10246,0.214,0.000,2429,2482,2741,2854,2628,0,0,0,0,0,0,13.59,28.83,12.83
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1845,0.89,146.0,2430,2481,2854,2628,251.6,0.0,98,2018,1.23,1.70,156.62,2.064,10756,0.163,0.099,2795,1630,2144,2245,2044,0,0,0,0,0,0,13.74,13.31,12.32
$GC,2096,0.90,166.6,2795,1630,2244,2039,241.2,7.5,107,2124,0.00,1.60,23.25,1.991,9222,0.000,0.114,2795,2483,2060,2164,1956,0,0,0,0,0,0,28.83,13.81,12.69
$GC,2462,0.88,166.6,2795,2483,2163,1950,209.6,8.9,119,2465,0.00,1.55,0.00,0.000,260,0.000,0.130,2795,3329,2056,2163,1950,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2490,0.86,166.6,2795,3329,2162,1950,209.6,8.9,119,2498,0.00,1.50,0.00,0.000,1030,0.000,0.088,2802,2472,2056,2162,1950,0,0,0,0,0,0,28.83,14.33,28.83
$GC,2798,0.84,166.6,2802,2472,2162,1950,176.5,9.8,130,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2472,2056,2162,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3099,0.82,166.6,2802,2472,2162,1949,146.8,9.9,140,3102,0.00,1.62,0.00,0.000,260,0.000,0.128,2802,3329,2055,2162,1949,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3164,0.79,166.6,2802,3329,2162,1950,139.9,9.9,142,3168,0.17,1.50,0.00,0.000,5126,0.247,0.086,2768,2481,2055,2162,1949,0,0,0,0,0,0,13.95,14.19,28.83
$GC,3501,0.82,187.1,2768,2480,2162,1949,113.4,7.5,153,3518,0.00,1.58,12.52,1.869,8452,0.000,0.125,2768,3328,1978,2086,1871,0,0,0,0,0,0,28.83,14.24,13.40
$GC,3653,0.82,187.1,2768,3327,2086,1871,100.4,8.7,158,3657,0.00,1.50,0.00,0.000,1030,0.000,0.086,2772,2469,1978,2086,1871,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3969,0.88,224.2,2772,2469,2085,1870,76.5,6.8,187,3995,0.00,1.52,21.88,0.393,8708,0.000,0.100,2778,1637,1827,1931,1723,0,0,0,0,0,0,28.83,14.34,13.94
$GC,4036,0.91,242.6,2778,1637,1930,1722,72.0,7.6,193,4052,0.00,1.52,10.85,0.382,9222,0.000,0.112,2778,2480,1750,1849,1651,0,0,0,0,0,0,28.83,14.24,13.95
$GC,4354,0.95,258.7,2778,2480,1844,1650,47.1,7.6,225,4372,0.12,1.48,8.80,0.300,10756,0.149,0.098,2838,1644,1685,1780,1590,0,0,0,0,0,0,14.37,14.14,13.90
$GC,4431,0.94,258.7,2838,1644,1779,1590,40.2,9.7,232,4435,0.00,1.58,0.00,0.000,1030,0.000,0.116,2838,2482,1684,1779,1589,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4748,0.92,258.7,2839,2482,1776,1589,9.0,9.9,263,4752,0.12,1.52,0.00,0.000,4612,0.265,0.094,2810,1636,1682,1776,1589,0,0,0,0,0,0,14.04,14.07,28.83
$FREEZE,7.62,0.375,-1.836,0,1,0
$FREEZE,7.62,0.375,-1.836,0,1,0
$FREEZE,6.94,0.376,-1.835,0,1,0
$FREEZE,6.94,0.376,-1.835,0,1,0
$FREEZE,6.13,0.378,-1.834,0,1,0
$FREEZE,6.13,0.378,-1.834,0,1,0
$FREEZE,5.43,0.377,-1.834,0,1,0
$FREEZE,5.43,0.377,-1.834,0,1,0
$FREEZE,4.32,0.391,-1.833,0,1,0
$FREEZE,4.32,0.391,-1.833,0,1,0
$GC,4798,0.95,276.2,2811,1636,1775,1589,5.4,7.6,267,4817,0.00,1.55,9.43,0.172,9222,0.000,0.116,2810,2481,1612,1704,1520,0,0,0,0,0,0,28.83,14.02,14.04
$FREEZE,2.43,0.384,-1.832,0,1,0
$STATE,4823,end climb,SURFACE_DEPTH_REACHED
$STATE,4823,begin surface coast
$FREEZE,1.45,0.383,-1.831,0,1,0
$FREEZE,1.05,0.368,-1.068,0,1,0
$FREEZE,1.11,0.368,-1.818,0,1,0
$FINISH,1.1,1.026603
$STATE,4855,end surface coast,CONTROL_FINISHED_OK
$STATE,4855,begin surface
$SM_CCo,4885,66.85,0.163,0,0,1108,400.08
$SM_GC,2.08,8.12,0.20,66.85,0.093,0.165,0.163,145,2582,1108,-7.34,-0.51,400.08,0,0,0,0,0,0,14.19,14.17,14.15
$RAFOS_CLK,210
$RAFOS,6,1390481370,12.833333,12.825000,59,58,56,50,47,46,143,220,205,120,159,184
$RAFOS,4,1390480382,12.566667,12.550555,63,61,55,54,53,52,161,203,151,172,190,219
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5341.32,230114,111132
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.11
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,24
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,12.3,282.227
$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,20.950,31.450,390.825,66.850,0.000,0.000,0.000,208.575,6.250,0.000,6.361,811.708,2846.183,451.921,866.492,364.380,0.000,1129.082,0.000,693.256,360.000,2.624,0.000
$DEVICE_MAMPS,416.925,165.240,2110.635,162.945,0.000,0.000,0.000,126.225,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227680
$DATA_FILE_SIZE,10186,273
$CAP_FILE_SIZE,59177,0
$CFSIZE,259252224,200187904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.6
$CURRENT,0.235,341.1,1
$GPS,230114,141305,6410.750,-5343.104,25,1.7,25,-29.8