version: 66.11
glider: 192
mission: 2
dive: 698
start: 1 24 114 3 6 32
data:
$ID,192
$MISSION,2
$DIVE,698
$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,-15544.987
$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,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
$GPS1,240114,025936,6411.672,-5342.904,41,0.8,41,-29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.1
$GPS2,240114,030544,6411.719,-5342.942,4,0.9,4,-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,197.3,25745,-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,-146.0,114,2586,1107,1081,0.0,0.0,0,120,0.00,0.00,-97.22,0.000,16386,0.000,0.000,114,2586,3012,3079,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.89,-146.0,115,2587,3080,2945,4.3,-4.7,10,149,10.62,1.58,-6.47,0.000,18692,0.430,0.143,2205,3425,3339,3481,3197,0,0,0,0,0,0,13.85,14.19,14.71
$GC,385,-0.83,-146.0,2205,3425,3494,3187,63.2,-20.0,35,389,0.15,1.50,0.00,0.000,3078,0.285,0.077,2235,2564,3340,3494,3186,0,0,0,0,0,0,13.80,14.15,28.83
$GC,708,-0.79,-146.0,2235,2565,3495,3185,115.7,-16.1,60,711,0.00,1.62,0.00,0.000,260,0.000,0.122,2231,3427,3340,3495,3185,0,0,0,0,0,0,28.83,13.90,28.83
$GC,743,-0.75,-146.0,2231,3428,3494,3185,122.2,-16.0,61,747,0.15,1.50,0.00,0.000,3078,0.271,0.076,2262,2577,3340,3495,3185,0,0,0,0,0,0,13.74,14.08,28.83
$GC,1080,-0.73,-146.0,2262,2577,3495,3184,165.9,-12.5,72,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2577,3339,3495,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-0.70,-146.0,2262,2577,3496,3184,203.3,-12.6,82,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2577,3339,3495,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.68,-146.0,2262,2577,3495,3184,241.1,-13.3,92,1683,0.00,1.65,0.00,0.000,260,0.000,0.123,2258,3432,3339,3495,3184,0,0,0,0,0,0,28.83,13.78,28.83
$STATE,1708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1725,-0.22,0.0,2258,2484,3496,3184,245.5,-13.2,93,1887,0.65,0.00,148.93,2.176,10246,0.221,0.000,2431,2484,2742,2853,2631,0,0,0,0,0,0,13.58,28.83,12.75
$STATE,1888,end apogee,CONTROL_FINISHED_OK
$STATE,1888,begin climb
$GC,1894,0.89,146.0,2431,2484,2853,2630,254.0,0.0,98,2061,1.23,0.00,160.73,2.120,10758,0.157,0.000,2790,2484,2145,2246,2044,0,0,0,0,0,0,13.65,28.83,12.12
$GC,2349,0.87,146.0,2790,2484,2246,2036,224.8,8.5,114,2353,0.00,1.58,0.00,0.000,260,0.000,0.125,2791,3332,2141,2246,2036,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2419,0.84,146.0,2791,3332,2244,2036,218.1,9.5,116,2423,0.00,1.52,0.00,0.000,1030,0.000,0.083,2796,2486,2140,2244,2036,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2750,0.82,146.0,2797,2486,2244,2034,185.5,9.7,127,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2486,2139,2244,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3050,0.79,146.0,2796,2486,2244,2034,157.3,9.8,137,3054,0.12,1.58,0.00,0.000,4612,0.263,0.092,2769,1634,2139,2244,2034,0,0,0,0,0,0,14.09,14.14,28.83
$GC,3088,0.78,146.0,2769,1634,2244,2033,153.9,9.6,138,3091,0.00,1.55,0.00,0.000,1030,0.000,0.108,2769,2485,2138,2244,2032,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3423,0.77,146.0,2769,2485,2244,2033,123.6,9.1,149,3427,0.00,1.50,0.00,0.000,516,0.000,0.095,2775,1633,2138,2244,2033,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3452,0.76,146.0,2775,1633,2244,2033,123.6,9.1,149,3458,0.00,1.55,0.00,0.000,1030,0.000,0.108,2775,2480,2138,2244,2033,0,0,0,0,0,0,28.83,14.11,28.83
$GC,3762,0.80,182.5,2775,2481,2244,2033,98.1,6.9,160,3786,0.00,0.00,21.70,0.464,8198,0.000,0.000,2774,2480,1996,2103,1890,0,0,0,0,0,0,28.83,28.83,13.83
$GC,4089,0.82,194.1,2775,2481,2102,1884,73.2,7.8,193,4104,0.00,1.48,6.60,0.385,8708,0.000,0.092,2781,1632,1948,2055,1841,0,0,0,0,0,0,28.83,14.13,13.81
$GC,4132,0.85,214.0,2781,1632,2055,1840,70.0,7.5,197,4150,0.00,1.55,11.82,0.373,9222,0.000,0.107,2781,2481,1868,1975,1761,0,0,0,0,0,0,28.83,14.16,13.88
$GC,4452,0.87,231.2,2781,2481,1975,1756,45.8,7.6,229,4469,0.00,1.55,9.68,0.295,8452,0.000,0.121,2781,3325,1797,1901,1693,0,0,0,0,0,0,28.83,14.16,13.86
$GC,4549,0.87,231.2,2780,3326,1898,1693,37.9,8.4,238,4555,0.00,1.50,0.00,0.000,1030,0.000,0.083,2787,2472,1795,1898,1693,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4860,0.91,248.1,2787,2472,1895,1693,14.1,7.6,269,4877,0.00,1.48,8.95,0.196,8708,0.000,0.093,2793,1641,1727,1824,1631,0,0,0,0,0,0,28.83,14.10,13.94
$FREEZE,8.48,-0.082,-1.835,0,1,0
$FREEZE,8.48,-0.082,-1.835,0,1,0
$FREEZE,7.74,-0.083,-1.834,0,1,0
$FREEZE,7.74,-0.083,-1.834,0,1,0
$FREEZE,6.81,-0.083,-1.833,0,1,0
$FREEZE,6.81,-0.083,-1.833,0,1,0
$GC,4939,1.01,307.8,1800,1640,1788,1627,9.2,6.0,276,4980,0.12,1.58,33.15,0.176,11270,0.148,0.112,2840,2486,1483,1573,1394,0,0,0,0,0,0,14.16,14.06,14.09
$FREEZE,4.79,-0.069,-1.832,0,1,0
$FREEZE,3.38,-0.068,-1.831,0,1,0
$FREEZE,2.28,-0.073,-1.830,0,1,0
$STATE,5013,end climb,SURFACE_DEPTH_REACHED
$STATE,5013,begin surface coast
$FREEZE,0.91,-0.090,-1.829,0,1,0
$FREEZE,0.86,-0.101,-1.811,0,1,0
$FINISH,0.9,1.026532
$STATE,5030,end surface coast,CONTROL_FINISHED_OK
$STATE,5030,begin surface
$SM_CCo,5060,49.03,0.158,0,0,1108,400.08
$SM_GC,1.98,8.18,0.20,49.03,0.091,0.148,0.158,144,2592,1108,-7.35,-0.34,400.08,0,0,0,0,0,0,14.18,14.23,14.14
$RAFOS_CLK,218
$RAFOS,2,1390537027,4.300000,4.285278,62,60,57,56,53,53,157,193,171,216,204,139
$RAFOS,1,1390536544,4.166667,4.151111,67,65,63,62,56,50,201,189,210,135,163,152
$RAFOS,0,1390536089,4.033333,4.024722,64,54,53,53,51,51,204,178,167,224,146,157
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5407.07,240114,010138
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.27
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.60
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.4,18.4
$24V_AH,12.1,284.526
$10V_AH,12.5,0.000
$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,21.225,28.200,401.550,49.025,0.000,0.000,0.000,214.100,7.500,0.000,5.815,827.788,3036.854,465.268,808.910,358.083,0.000,1113.483,0.000,641.119,1440.000,2.624,0.000
$DEVICE_MAMPS,429.930,148.410,2176.425,157.590,0.000,0.000,0.000,122.400,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227328
$DATA_FILE_SIZE,13517,285
$CAP_FILE_SIZE,57214,0
$CFSIZE,259252224,199860224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.192,308.6,1
$GPS,240114,043335,6411.401,-5343.674,48,0.8,48,-29.8