version: 66.11
glider: 192
mission: 2
dive: 719
start: 1 26 114 16 52 33
data:
$ID,192
$MISSION,2
$DIVE,719
$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,-15586.111
$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,21
$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
$GPS1,260114,164406,6405.102,-5342.138,37,0.9,37,-29.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-69.9
$GPS2,260114,165200,6405.227,-5342.142,5,0.9,5,-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,166.0,17927,-15.5,-8.250,-18.49,2720
$D_GRID,364
$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,-146.0,143,2583,1103,1087,0.0,0.0,0,110,0.00,0.00,-87.18,0.000,16386,0.000,0.000,143,2584,2851,2898,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.89,-146.0,143,2584,2898,2806,3.6,-2.3,9,145,10.18,1.60,-11.05,0.000,18692,0.420,0.155,2214,3426,3339,3494,3185,0,0,0,0,0,0,13.85,14.21,14.69
$GC,218,-0.84,-146.0,2214,3426,3499,3183,24.7,-19.5,18,221,0.00,1.50,0.00,0.000,1030,0.000,0.076,2214,2554,3340,3498,3183,0,0,0,0,0,0,28.83,14.21,28.83
$GC,534,-0.78,-146.0,2214,2554,3498,3182,83.6,-17.1,49,539,0.15,1.48,0.00,0.000,2564,0.285,0.084,2252,1744,3340,3499,3182,0,0,0,0,0,0,13.78,13.94,28.83
$GC,621,-0.75,-146.0,2251,1744,3499,3182,95.5,-13.0,57,624,0.00,1.52,0.00,0.000,1030,0.000,0.111,2247,2579,3340,3499,3182,0,0,0,0,0,0,28.83,13.93,28.83
$GC,937,-0.72,-146.0,2247,2579,3499,3181,139.6,-14.9,70,941,0.12,1.62,0.00,0.000,2308,0.292,0.120,2272,3421,3340,3499,3181,0,0,0,0,0,0,13.78,13.71,28.83
$GC,1089,-0.69,-146.0,2273,3421,3498,3181,156.7,-13.4,74,1097,0.00,1.50,0.00,0.000,1030,0.000,0.080,2272,2573,3340,3499,3181,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1397,-0.68,-146.0,2273,2572,3499,3181,200.9,-12.9,85,1401,0.00,1.62,0.00,0.000,260,0.000,0.123,2266,3429,3340,3499,3181,0,0,0,0,0,0,28.83,13.71,28.83
$GC,1433,-0.66,-146.0,2266,3429,3499,3181,205.5,-12.8,86,1436,0.00,1.50,0.00,0.000,1030,0.000,0.078,2266,2579,3340,3499,3181,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1768,-0.64,-146.0,2266,2580,3500,3180,246.9,-12.4,97,1772,0.12,1.67,0.00,0.000,2308,0.275,0.122,2293,3446,3339,3498,3181,0,0,0,0,0,0,13.85,13.67,28.83
$GC,1818,-0.63,-146.0,2293,3446,3499,3180,251.2,-12.3,98,1822,0.00,1.60,0.00,0.000,1030,0.000,0.079,2293,2575,3339,3499,3180,0,0,0,0,0,0,28.83,13.86,28.83
$GC,2140,-0.69,-146.0,2293,2575,3498,3180,272.4,-0.0,109,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2575,3340,3500,3180,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2254,end dive,NO_VERTICAL_VELOCITY
$STATE,2254,begin apogee
$GC,2268,-0.22,0.0,2293,2477,3499,3180,272.3,0.0,113,2428,0.47,0.00,148.85,2.196,10246,0.168,0.000,2432,2477,2741,2853,2630,0,0,0,0,0,0,13.64,28.83,12.74
$STATE,2429,end apogee,CONTROL_FINISHED_OK
$STATE,2429,begin climb
$GC,2435,0.89,146.0,2432,2477,2853,2630,272.4,0.0,118,2613,1.20,1.80,160.82,2.131,10500,0.143,0.121,2791,3325,2145,2245,2046,0,0,0,0,0,0,13.60,13.00,12.05
$GC,2783,0.86,146.0,2791,3324,2241,2042,249.2,9.9,130,2787,0.00,1.52,0.00,0.000,1030,0.000,0.083,2797,2476,2141,2241,2042,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3114,0.84,146.0,2797,2477,2241,2040,219.1,8.9,141,3117,0.00,1.50,0.00,0.000,516,0.000,0.098,2804,1641,2140,2241,2039,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3149,0.81,146.0,2804,1641,2241,2038,215.8,8.9,142,3153,0.12,1.50,0.00,0.000,5126,0.251,0.112,2776,2481,2139,2241,2038,0,0,0,0,0,0,14.12,14.24,28.83
$GC,3486,0.82,156.6,2776,2481,2241,2038,189.0,7.9,153,3503,0.00,1.60,11.02,1.894,8452,0.000,0.126,2776,3326,2102,2207,1998,0,0,0,0,0,0,28.83,14.26,13.40
$GC,3616,0.80,156.6,1792,3325,2160,1993,178.7,8.5,157,3620,0.00,1.52,0.00,0.000,1030,0.000,0.084,2781,2476,2102,2206,1998,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3942,0.80,165.8,2781,2476,2206,1998,152.0,7.9,168,3959,0.00,1.60,11.10,1.853,8452,0.000,0.125,2781,3323,2064,2169,1960,0,0,0,0,0,0,28.83,14.23,13.41
$GC,4108,0.78,165.8,2781,3323,2169,1960,138.5,9.0,173,4111,0.00,1.50,0.00,0.000,1030,0.000,0.083,2788,2464,2064,2169,1960,0,0,0,0,0,0,28.83,14.31,28.83
$GC,4429,0.77,165.8,2787,2463,2169,1959,110.4,8.4,184,4431,0.12,0.00,0.00,0.000,4102,0.252,0.000,2760,2463,2063,2169,1958,0,0,0,0,0,0,14.10,28.83,28.83
$GC,4728,0.80,190.1,2760,2463,2169,1959,87.8,7.3,204,4748,0.00,1.65,14.52,0.431,8452,0.000,0.125,2760,3325,1965,2071,1860,0,0,0,0,0,0,28.83,14.17,13.88
$GC,4936,0.82,198.9,2760,3324,2069,1858,70.8,7.9,224,4946,0.00,1.50,5.00,0.381,9222,0.000,0.083,2764,2472,1929,2035,1824,0,0,0,0,0,0,28.83,14.17,13.86
$GC,5248,0.87,223.6,2764,2472,2035,1822,47.8,7.3,255,5264,0.00,0.00,14.10,0.305,8710,0.000,0.000,2764,2472,1828,1932,1724,0,0,0,0,0,0,28.83,28.83,13.94
$GC,5569,0.93,252.7,2764,2472,1928,1723,24.4,7.1,287,5590,0.12,1.52,15.98,0.226,10756,0.148,0.099,2823,1642,1708,1805,1612,0,0,0,0,0,0,14.31,14.15,14.01
$GC,5707,0.93,252.7,2823,1642,1802,1610,11.9,9.1,300,5710,0.00,1.52,0.00,0.000,1030,0.000,0.113,2823,2479,1706,1802,1610,0,0,0,0,0,0,28.83,14.05,28.83
$FREEZE,8.38,0.340,-1.839,0,1,0
$FREEZE,7.36,0.356,-1.838,0,1,0
$FREEZE,6.46,0.223,-1.838,0,1,0
$FREEZE,5.60,0.077,-1.838,0,1,0
$FREEZE,4.67,0.100,-1.834,0,1,0
$FREEZE,3.65,0.028,-1.835,0,1,0
$FREEZE,2.75,0.024,-1.834,0,1,0
$STATE,5799,end climb,SURFACE_DEPTH_REACHED
$STATE,5799,begin surface coast
$FREEZE,1.80,0.050,-1.832,0,1,0
$FREEZE,1.25,-0.083,-1.527,0,1,0
$FREEZE,1.26,-0.133,-0.854,0,1,0
$FINISH,1.3,1.012600
$STATE,5835,end surface coast,CONTROL_FINISHED_OK
$STATE,5835,begin surface
$SM_CCo,5866,79.00,0.155,0,0,1109,400.08
$SM_GC,2.22,8.20,0.20,79.00,0.095,0.149,0.155,142,2584,1109,-7.35,-0.51,400.08,0,0,0,0,0,0,14.16,14.15,14.16
$RAFOS_CLK,282
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6337.14,-5347.15,260114,161650
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.55
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.40
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,18.4
$24V_AH,12.1,290.928
$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,20.825,34.750,381.400,79.000,0.000,0.000,0.000,252.550,8.750,0.000,8.965,931.725,3594.675,451.609,1035.552,410.192,0.000,1229.665,0.000,822.987,0.000,2.624,0.000
$DEVICE_MAMPS,419.985,155.295,2196.315,155.295,0.000,0.000,0.000,126.225,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227292
$DATA_FILE_SIZE,13491,312
$CAP_FILE_SIZE,67030,0
$CFSIZE,259252224,198881280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.5
$CURRENT,0.357,359.2,1
$GPS,260114,183324,6405.954,-5341.068,42,1.0,42,-29.7