version: 66.11
glider: 192
mission: 2
dive: 718
start: 1 26 114 15 7 16
data:
$ID,192
$MISSION,2
$DIVE,718
$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,-15576.519
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,260114,150005,6404.278,-5343.129,30,2.0,30,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-69.6
$GPS2,260114,150628,6404.384,-5343.071,4,2.2,25,-29.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_4
$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,161.2,18710,-15.5,-8.250,-18.49,2720
$D_GRID,452
$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,-146.0,141,2594,1109,1081,0.0,0.0,0,110,0.00,0.00,-87.32,0.000,16386,0.000,0.000,141,2594,2861,2907,2815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,141,2594,2907,2816,3.6,-2.3,9,144,10.10,1.52,-10.73,0.000,18948,0.415,0.120,2212,1734,3339,3491,3187,0,0,0,0,0,0,13.88,14.28,14.68
$GC,264,-0.84,-146.0,2212,1733,3497,3185,36.0,-20.3,23,269,0.12,1.52,0.00,0.000,3078,0.294,0.109,2232,2581,3341,3497,3185,0,0,0,0,0,0,13.85,14.06,28.83
$GC,582,-0.79,-146.0,2232,2581,3497,3182,97.5,-18.4,54,585,0.00,1.55,0.00,0.000,260,0.000,0.121,2228,3425,3340,3498,3182,0,0,0,0,0,0,28.83,13.87,28.83
$GC,635,-0.75,-146.0,2228,3425,3498,3182,104.0,-18.1,56,640,0.17,1.50,0.00,0.000,3078,0.268,0.075,2266,2557,3340,3498,3182,0,0,0,0,0,0,13.66,14.03,28.83
$GC,952,-0.72,-146.0,2266,2557,3498,3181,153.6,-14.0,67,955,0.00,1.70,0.00,0.000,260,0.000,0.125,2262,3429,3339,3498,3181,0,0,0,0,0,0,28.83,13.68,28.83
$GC,1026,-0.70,-146.0,2260,3429,3498,3181,163.2,-14.1,69,1030,0.00,1.50,0.00,0.000,1030,0.000,0.076,2261,2574,3339,3498,3181,0,0,0,0,0,0,28.83,13.94,28.83
$GC,1352,-0.67,-146.0,2261,2573,3498,3180,209.9,-13.4,80,1356,0.12,1.70,0.00,0.000,2308,0.277,0.119,2288,3443,3339,3498,3180,0,0,0,0,0,0,13.86,13.67,28.83
$GC,1432,-0.66,-146.0,2288,3444,3498,3180,217.8,-12.4,82,1436,0.00,1.55,0.00,0.000,1030,0.000,0.078,2288,2575,3339,3498,3180,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1752,-0.66,-146.0,2288,2575,3498,3180,257.8,-11.9,93,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2575,3338,3498,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,-0.72,-146.0,2288,2575,3499,3180,271.0,-0.2,103,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2575,3339,3498,3180,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2106,end dive,NO_VERTICAL_VELOCITY
$STATE,2106,begin apogee
$GC,2121,-0.22,0.0,2288,2479,3499,3180,270.9,0.0,105,2281,0.50,0.00,148.38,2.191,10246,0.168,0.000,2433,2479,2741,2853,2629,0,0,0,0,0,0,13.62,28.83,12.78
$STATE,2282,end apogee,CONTROL_FINISHED_OK
$STATE,2282,begin climb
$GC,2289,0.89,146.0,2433,2479,2853,2630,271.1,0.0,110,2461,1.20,1.70,158.88,2.118,10756,0.151,0.095,2794,1639,2145,2244,2046,0,0,0,0,0,0,13.62,13.14,12.19
$GC,2695,0.87,146.0,1824,1638,2199,2032,244.6,9.1,124,2698,0.00,1.58,0.00,0.000,1030,0.000,0.111,2793,2478,2140,2243,2037,0,0,0,0,0,0,28.83,14.16,28.83
$GC,3025,0.85,146.0,2794,2479,2243,2035,214.4,9.0,135,3029,0.00,1.55,0.00,0.000,260,0.000,0.125,2793,3330,2140,2244,2036,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3159,0.82,146.0,2794,3330,2243,2035,202.4,9.6,139,3163,0.00,1.52,0.00,0.000,1030,0.000,0.083,2800,2479,2139,2243,2035,0,0,0,0,0,0,28.83,14.27,28.83
$GC,3490,0.80,146.0,2800,2479,2244,2035,173.8,8.4,150,3492,0.15,0.00,0.00,0.000,4102,0.247,0.000,2766,2479,2139,2244,2035,0,0,0,0,0,0,14.08,28.83,28.83
$GC,3791,0.85,180.9,2766,2479,2243,2034,152.9,6.9,160,3832,0.00,1.60,35.88,2.046,8452,0.000,0.124,2765,3323,2003,2109,1898,0,0,0,0,0,0,28.83,14.16,13.26
$GC,4004,0.85,180.9,1800,3322,2065,1892,135.9,8.4,167,4008,0.00,1.52,0.00,0.000,1030,0.000,0.083,2770,2473,2002,2108,1897,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4336,0.86,190.5,2770,2472,2108,1895,109.3,7.9,178,4347,0.00,1.65,5.47,0.514,8452,0.000,0.125,2770,3331,1965,2071,1859,0,0,0,0,0,0,28.83,14.24,13.82
$GC,4518,0.88,204.8,2770,3331,2071,1858,94.9,7.7,188,4535,0.00,1.58,8.95,0.457,9222,0.000,0.083,2776,2473,1906,2012,1800,0,0,0,0,0,0,28.83,14.19,13.84
$GC,4839,0.94,244.2,2777,2473,2012,1796,72.2,6.8,220,4865,0.12,0.00,23.62,0.378,10246,0.152,0.000,2829,2473,1744,1841,1647,0,0,0,0,0,0,14.29,28.83,13.94
$GC,5170,0.93,244.2,2829,2473,1835,1645,39.7,9.6,253,5174,0.00,1.50,0.00,0.000,516,0.000,0.098,2836,1638,1740,1836,1645,0,0,0,0,0,0,28.83,14.05,28.83
$GC,5268,0.93,244.2,2836,1637,1835,1643,30.8,9.2,262,5275,0.00,1.55,0.00,0.000,1030,0.000,0.112,2835,2479,1739,1835,1643,0,0,0,0,0,0,28.83,14.05,28.83
$FREEZE,8.27,0.019,-1.835,0,1,0
$FREEZE,7.23,-0.029,-1.835,0,1,0
$FREEZE,6.49,-0.079,-1.834,0,1,0
$FREEZE,5.27,-0.134,-1.833,0,1,0
$FREEZE,4.43,-0.126,-1.832,0,1,0
$FREEZE,3.35,-0.117,-1.831,0,1,0
$FREEZE,2.36,-0.152,-1.831,0,1,0
$STATE,5562,end climb,SURFACE_DEPTH_REACHED
$STATE,5562,begin surface coast
$FREEZE,1.45,-0.162,-1.830,0,1,0
$FREEZE,1.34,-0.232,-1.092,0,1,0
$FREEZE,1.26,-0.203,-0.840,0,1,0
$FINISH,1.3,1.012399
$STATE,5593,end surface coast,CONTROL_FINISHED_OK
$STATE,5593,begin surface
$SM_CCo,5623,84.18,0.163,0,0,1109,400.08
$SM_GC,2.31,8.27,0.20,84.18,0.096,0.150,0.163,143,2583,1109,-7.35,-0.51,400.08,0,0,0,0,0,0,14.14,14.15,14.16
$RAFOS_CLK,252
$RAFOS,4,1390753990,16.566668,16.552778,67,56,56,52,50,50,209,166,139,110,185,119
$RAFOS,3,1390753507,16.433332,16.418612,62,58,58,55,51,49,190,162,208,218,131,89
$RAFOS,2,1390753044,16.299999,16.290001,61,57,55,55,52,50,190,157,199,211,171,142
$RAFOS,1,1390752559,16.166666,16.155277,60,59,59,58,58,56,153,181,199,114,214,140
$RAFOS,0,1390752079,16.033333,16.021944,67,61,60,55,54,54,163,143,202,180,126,214
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6332.30,-5459.67,260114,121205
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.23
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.30
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,12.2,290.681
$10V_AH,12.3,0.000
$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,20.775,28.675,381.175,84.175,0.000,0.000,0.000,197.025,4.750,0.000,27.102,899.231,3387.884,451.867,989.355,377.481,0.000,1160.786,0.000,808.720,1800.000,2.624,0.000
$DEVICE_MAMPS,415.395,149.940,2190.960,162.945,0.000,0.000,0.000,133.110,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13536,295
$CAP_FILE_SIZE,62430,0
$CFSIZE,259252224,198922240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.3
$CURRENT,0.379,356.2,1
$GPS,260114,164406,6405.102,-5342.138,37,0.9,37,-29.7