version: 66.11
glider: 192
mission: 2
dive: 720
start: 1 26 114 18 40 34
data:
$ID,192
$MISSION,2
$DIVE,720
$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,-15587.456
$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,18
$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
$GPS1,260114,183324,6405.954,-5341.068,42,1.0,42,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-68.4
$GPS2,260114,183946,6406.042,-5341.070,5,1.0,5,-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,171.2,17164,-15.5,-8.250,-18.49,2720
$D_GRID,328
$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,-146.0,141,2585,1103,1087,0.0,0.0,0,110,0.00,0.00,-87.30,0.000,16386,0.000,0.000,141,2585,2864,2912,2817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,141,2585,2912,2818,3.5,-2.3,9,144,10.30,1.55,-10.98,0.000,18948,0.425,0.119,2214,1733,3338,3492,3185,0,0,0,0,0,0,13.87,14.28,14.67
$GC,277,-0.84,-146.0,1376,1732,3490,3181,35.2,-18.3,24,284,0.00,1.55,0.00,0.000,1030,0.000,0.110,2209,2583,3340,3497,3183,0,0,0,0,0,0,28.83,14.06,28.83
$GC,586,-0.78,-146.0,2209,2583,3498,3182,94.2,-17.2,55,593,0.17,0.00,0.00,0.000,2054,0.288,0.000,2251,2583,3339,3498,3181,0,0,0,0,0,0,13.62,28.83,28.83
$GC,897,-0.75,-146.0,2251,2583,3498,3181,139.2,-14.2,68,900,0.00,1.60,0.00,0.000,260,0.000,0.122,2247,3432,3339,3497,3181,0,0,0,0,0,0,28.83,13.74,28.83
$GC,1031,-0.72,-146.0,2247,3432,3498,3181,156.7,-13.9,72,1036,0.12,1.52,0.00,0.000,3078,0.272,0.076,2272,2571,3339,3498,3181,0,0,0,0,0,0,13.64,13.96,28.83
$GC,1363,-0.70,-146.0,2272,2571,3498,3181,197.1,-11.9,83,1367,0.00,1.52,0.00,0.000,516,0.000,0.088,2272,1737,3339,3498,3180,0,0,0,0,0,0,28.83,13.73,28.83
$GC,1423,-0.68,-146.0,2272,1737,3498,3180,201.7,-12.2,84,1430,0.00,1.58,0.00,0.000,1030,0.000,0.109,2268,2588,3338,3497,3180,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1730,-0.66,-146.0,2268,2588,3498,3180,242.2,-11.6,95,1733,0.00,1.60,0.00,0.000,260,0.000,0.122,2261,3435,3339,3497,3181,0,0,0,0,0,0,28.83,13.69,28.83
$GC,1818,-0.64,-146.0,2261,3435,3497,3180,250.0,-11.3,97,1827,0.17,1.52,0.00,0.000,3078,0.247,0.076,2300,2577,3339,3498,3180,0,0,0,0,0,0,13.57,13.90,28.83
$GC,2126,-0.72,-146.0,2301,2576,3499,3180,273.9,-1.1,108,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2576,3339,3499,3179,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2269,end dive,NO_VERTICAL_VELOCITY
$STATE,2269,begin apogee
$GC,2282,-0.22,0.0,2301,2479,3498,3180,273.9,0.0,113,2444,0.43,0.00,148.52,2.179,10246,0.138,0.000,2434,2479,2741,2852,2630,0,0,0,0,0,0,13.76,28.83,12.76
$STATE,2445,end apogee,CONTROL_FINISHED_OK
$STATE,2445,begin climb
$GC,2451,0.89,146.0,2434,2479,2853,2630,274.1,0.0,118,2624,1.20,1.70,158.82,2.039,10756,0.140,0.094,2800,1636,2144,2243,2046,0,0,0,0,0,0,13.61,13.08,12.17
$GC,2690,0.91,180.3,2800,1636,2243,2041,264.2,7.0,126,2734,0.00,1.67,38.78,2.007,9222,0.000,0.106,2800,2482,2006,2109,1904,0,0,0,0,0,0,28.83,13.43,12.33
$GC,3064,0.89,180.3,2800,2482,2108,1897,226.0,10.1,139,3067,0.00,1.52,0.00,0.000,260,0.000,0.125,2799,3327,2002,2108,1897,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3204,0.86,180.3,2800,3328,2107,1897,211.6,10.8,143,3208,0.00,1.52,0.00,0.000,1030,0.000,0.083,2807,2476,2002,2107,1897,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3529,0.84,180.3,2807,2476,2107,1896,176.1,10.5,154,3533,0.00,1.58,0.00,0.000,260,0.000,0.124,2806,3328,2001,2107,1896,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3583,0.82,180.3,2807,3328,2107,1896,172.3,10.5,155,3587,0.15,1.50,0.00,0.000,5126,0.257,0.083,2778,2474,2001,2107,1896,0,0,0,0,0,0,14.00,14.23,28.83
$GC,3900,0.82,180.3,2779,2473,2107,1896,141.7,8.8,166,3903,0.00,1.50,0.00,0.000,516,0.000,0.097,2783,1625,2001,2107,1896,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4008,0.82,180.3,2782,1625,2107,1894,133.4,8.7,169,4011,0.00,1.55,0.00,0.000,1030,0.000,0.112,2782,2481,2000,2107,1894,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4329,0.86,207.8,2783,2481,2107,1895,108.1,7.2,180,4354,0.00,1.60,16.42,0.504,8452,0.000,0.125,2783,3332,1894,2002,1786,0,0,0,0,0,0,28.83,14.14,13.83
$GC,4466,0.87,215.2,2783,3332,2001,1784,98.0,8.0,185,4476,0.00,1.50,4.47,0.474,9222,0.000,0.083,2788,2470,1863,1970,1757,0,0,0,0,0,0,28.83,14.19,13.78
$GC,4789,0.87,215.2,2789,2471,1971,1755,68.2,9.2,217,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2470,1862,1970,1755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5106,0.87,215.2,2789,2471,1970,1754,42.6,8.4,248,5109,0.00,1.50,0.00,0.000,516,0.000,0.097,2795,1630,1862,1970,1754,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5201,0.91,244.9,2795,1630,1970,1753,34.9,7.1,257,5228,0.00,1.55,16.90,0.259,9222,0.000,0.108,2795,2484,1740,1840,1641,0,0,0,0,0,0,28.83,14.02,13.90
$FREEZE,8.39,0.598,-1.841,0,1,0
$GC,5532,0.94,261.6,2795,2484,1835,1640,9.1,7.6,290,5547,0.00,0.00,8.77,0.187,8198,0.000,0.000,2795,2484,1671,1767,1576,0,0,0,0,0,0,28.83,28.83,13.95
$FREEZE,6.64,0.596,-1.840,0,1,0
$FREEZE,5.83,0.598,-1.839,0,1,0
$FREEZE,4.86,0.600,-1.839,0,1,0
$FREEZE,4.02,0.594,-1.838,0,1,0
$FREEZE,3.02,0.596,-1.837,0,1,0
$FREEZE,2.08,0.584,-1.837,0,1,0
$STATE,5606,end climb,SURFACE_DEPTH_REACHED
$STATE,5606,begin surface coast
$FREEZE,1.31,0.588,-1.836,0,1,0
$FREEZE,1.19,0.515,-1.832,0,1,0
$FREEZE,1.17,0.469,-1.842,0,1,0
$FINISH,1.2,1.026932
$STATE,5642,end surface coast,CONTROL_FINISHED_OK
$STATE,5642,begin surface
$SM_CCo,5672,75.35,0.156,0,0,1108,400.08
$SM_GC,2.37,8.00,0.20,75.35,0.083,0.141,0.156,142,2595,1108,-7.35,-0.28,400.08,0,0,0,0,0,0,14.14,14.16,14.14
$RAFOS_CLK,253
$RAFOS,0,1390766467,20.033333,20.018612,63,62,62,54,54,53,218,206,193,176,118,160
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5344.24,260114,161636
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.5,18.6
$24V_AH,12.2,291.178
$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,20.550,31.525,392.700,75.350,0.000,0.000,0.000,220.950,6.250,0.000,6.558,888.288,3420.263,486.453,956.171,396.756,0.000,1204.912,0.000,772.208,720.000,2.625,0.000
$DEVICE_MAMPS,425.340,140.760,2178.720,156.060,0.000,0.000,0.000,122.400,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,208.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227264
$DATA_FILE_SIZE,13492,301
$CAP_FILE_SIZE,62575,0
$CFSIZE,259252224,198844416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.0
$CURRENT,0.300,  3.4,1
$GPS,260114,201805,6406.415,-5339.918,39,1.0,39,-29.7