version: 66.11
glider: 192
mission: 2
dive: 721
start: 1 26 114 20 24 57
data:
$ID,192
$MISSION,2
$DIVE,721
$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,-15588.799
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,260114,201805,6406.415,-5339.918,39,1.0,39,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-68.2
$GPS2,260114,202409,6406.496,-5339.955,5,1.0,5,-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,174.4,16388,-15.5,-8.250,-18.49,2720
$D_GRID,305
$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,-146.0,141,2595,1106,1085,0.0,0.0,0,110,0.00,0.00,-86.90,0.000,16386,0.000,0.000,141,2595,2861,2907,2815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,141,2595,2907,2816,3.5,-2.5,9,144,10.20,1.58,-11.18,0.000,18948,0.422,0.122,2212,1736,3339,3493,3185,0,0,0,0,0,0,13.86,14.26,14.66
$GC,230,-0.84,-146.0,1344,1734,3490,3181,24.8,-18.0,19,237,0.12,1.52,0.00,0.000,3078,0.292,0.106,2232,2578,3340,3498,3183,0,0,0,0,0,0,13.89,14.09,28.83
$GC,540,-0.80,-146.0,2233,2578,3499,3182,80.4,-17.3,50,543,0.00,1.50,0.00,0.000,516,0.000,0.086,2233,1718,3340,3498,3182,0,0,0,0,0,0,28.83,13.96,28.83
$GC,575,-0.76,-146.0,2233,1718,3498,3182,86.2,-16.5,53,579,0.15,1.58,0.00,0.000,3078,0.261,0.106,2260,2583,3340,3499,3182,0,0,0,0,0,0,13.76,13.96,28.83
$GC,918,-0.73,-146.0,2260,2582,3498,3181,134.1,-13.5,70,921,0.00,1.58,0.00,0.000,260,0.000,0.119,2256,3433,3340,3499,3181,0,0,0,0,0,0,28.83,13.80,28.83
$GC,1016,-0.70,-146.0,2256,3433,3498,3181,148.4,-13.9,73,1020,0.00,1.50,0.00,0.000,1030,0.000,0.078,2256,2578,3339,3498,3181,0,0,0,0,0,0,28.83,13.95,28.83
$GC,1348,-0.68,-146.0,2256,2577,3498,3180,195.9,-13.8,84,1352,0.12,1.65,0.00,0.000,2308,0.278,0.121,2283,3419,3339,3498,3180,0,0,0,0,0,0,13.82,13.68,28.83
$GC,1468,-0.66,-146.0,2283,3419,3499,3180,207.7,-12.2,87,1472,0.00,1.50,0.00,0.000,1030,0.000,0.080,2282,2575,3339,3498,3180,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1784,-0.65,-146.0,2283,2575,3499,3180,242.9,-9.6,98,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2575,3339,3498,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2085,-0.63,-146.0,2283,2576,3499,3180,275.8,-11.3,108,2088,0.00,1.62,0.00,0.000,260,0.000,0.120,2277,3430,3339,3498,3181,0,0,0,0,0,0,28.83,13.69,28.83
$GC,2120,-0.62,-146.0,2277,3430,3499,3180,280.5,-11.7,109,2124,0.12,1.50,0.00,0.000,3078,0.247,0.078,2303,2579,3339,3499,3180,0,0,0,0,0,0,13.65,13.91,28.83
$STATE,2390,end dive,NO_VERTICAL_VELOCITY
$STATE,2390,begin apogee
$GC,2405,-0.22,0.0,2303,2484,3499,3180,283.3,0.0,118,2564,0.43,0.00,148.38,2.148,10246,0.147,0.000,2436,2484,2741,2853,2630,0,0,0,0,0,0,13.73,28.83,12.76
$STATE,2565,end apogee,CONTROL_FINISHED_OK
$STATE,2565,begin climb
$GC,2571,0.89,146.0,2435,2484,2853,2630,283.4,0.0,123,2744,1.17,0.00,159.80,2.080,10502,0.145,0.000,2789,2484,2145,2244,2047,0,0,0,0,0,0,13.61,28.83,12.09
$GC,3027,0.88,152.3,2789,2484,2243,2038,250.3,8.0,139,3039,0.00,1.62,6.90,1.749,8452,0.000,0.121,2789,3328,2120,2224,2017,0,0,0,0,0,0,28.83,14.19,13.25
$GC,3096,0.87,159.9,2789,3328,2224,2017,245.4,8.0,141,3113,0.00,1.55,9.60,1.815,9222,0.000,0.083,2795,2471,2089,2192,1986,0,0,0,0,0,0,28.83,14.27,13.28
$GC,3418,0.86,167.1,2796,2471,2192,1984,217.4,8.0,152,3431,0.00,1.58,9.05,1.812,8452,0.000,0.120,2796,3332,2059,2163,1955,0,0,0,0,0,0,28.83,14.30,13.40
$GC,3462,0.85,175.4,2795,3332,2163,1955,215.3,7.9,153,3477,0.00,1.50,10.30,1.822,9222,0.000,0.083,2802,2468,2024,2130,1919,0,0,0,0,0,0,28.83,14.35,13.35
$GC,3805,0.81,175.4,2802,2468,2130,1919,182.2,10.0,165,3809,0.00,1.62,0.00,0.000,260,0.000,0.124,2802,3323,2024,2130,1919,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3910,0.79,175.4,2802,3323,2130,1919,170.8,11.1,168,3914,0.15,1.52,0.00,0.000,5126,0.218,0.083,2766,2482,2024,2130,1919,0,0,0,0,0,0,13.99,14.21,28.83
$GC,4236,0.83,205.4,2766,2481,2130,1919,145.6,7.1,179,4274,0.00,1.55,32.17,1.969,8708,0.000,0.096,2770,1632,1903,2010,1796,0,0,0,0,0,0,28.83,14.19,13.30
$GC,4420,0.85,219.1,2771,1632,2010,1792,131.8,7.7,185,4444,0.00,1.52,15.45,1.876,9222,0.000,0.109,2770,2488,1847,1953,1741,0,0,0,0,0,0,28.83,14.26,13.35
$GC,4748,0.85,219.1,2771,2488,1953,1738,103.6,9.1,196,4752,0.00,1.52,0.00,0.000,260,0.000,0.123,2771,3333,1845,1953,1738,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4796,0.85,219.1,2771,3333,1952,1738,98.8,9.9,198,4803,0.00,1.50,0.00,0.000,1030,0.000,0.083,2777,2475,1845,1952,1738,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5106,0.86,219.1,2777,2475,1952,1737,70.9,8.3,229,5110,0.00,1.52,0.00,0.000,516,0.000,0.096,2783,1641,1844,1952,1737,0,0,0,0,0,0,28.83,14.08,28.83
$GC,5176,0.88,226.3,2783,1641,1952,1736,65.7,8.0,235,5184,0.00,1.52,3.88,0.366,9222,0.000,0.109,2782,2480,1818,1924,1713,0,0,0,0,0,0,28.83,14.12,13.85
$GC,5486,0.91,240.1,2783,2480,1923,1713,41.7,7.7,266,5501,0.00,0.00,8.07,0.286,8198,0.000,0.000,2782,2480,1761,1861,1661,0,0,0,0,0,0,28.83,28.83,13.93
$GC,5808,0.94,255.8,2782,2480,1859,1661,17.2,7.7,298,5823,0.00,0.00,8.57,0.211,8198,0.000,0.000,2782,2480,1697,1794,1600,0,0,0,0,0,0,28.83,28.83,13.93
$FREEZE,8.33,0.382,-1.841,0,1,0
$FREEZE,7.99,0.361,-1.841,0,1,0
$FREEZE,7.20,0.364,-1.840,0,1,0
$FREEZE,6.46,0.368,-1.839,0,1,0
$FREEZE,5.60,0.356,-1.839,0,1,0
$FREEZE,4.77,0.379,-1.838,0,1,0
$FREEZE,4.02,0.371,-1.838,0,1,0
$FREEZE,3.33,0.353,-1.837,0,1,0
$FREEZE,2.39,0.350,-1.836,0,1,0
$STATE,5998,end climb,SURFACE_DEPTH_REACHED
$STATE,5998,begin surface coast
$FREEZE,1.55,0.345,-1.835,0,1,0
$FREEZE,1.28,0.192,-1.844,0,1,0
$FREEZE,1.17,0.319,-1.835,0,1,0
$FINISH,1.2,1.026848
$STATE,6025,end surface coast,CONTROL_FINISHED_OK
$STATE,6025,begin surface
$SM_CCo,6055,78.18,0.156,0,0,1108,400.08
$SM_GC,2.23,8.05,0.20,78.18,0.087,0.146,0.156,138,2582,1108,-7.36,-0.51,400.08,0,0,0,0,0,0,14.19,14.16,14.17
$RAFOS_CLK,265
$RAFOS,6,1390769344,20.833334,20.817778,55,54,52,52,49,49,193,137,146,225,205,158
$RAFOS,5,1390768863,20.700001,20.684166,63,58,55,55,53,52,201,140,181,112,171,157
$RAFOS,4,1390768389,20.566668,20.552500,57,56,53,52,51,49,155,210,138,196,123,181
$RAFOS,3,1390767925,20.433332,20.423611,55,55,52,52,52,48,122,162,152,186,196,218
$RAFOS,1,1390766948,20.166666,20.152222,66,63,59,57,57,53,195,220,210,171,138,154
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5330.47,260114,181822
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.27
$INTERNAL_PRESSURE,8.73274
$TCM_TEMP,13.50
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,12.1,291.448
$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,20.525,34.450,412.175,78.175,0.000,0.000,0.000,203.475,9.000,0.000,6.542,951.492,3721.987,478.414,957.203,409.119,0.000,1205.147,0.000,787.782,1440.000,2.819,0.000
$DEVICE_MAMPS,422.280,146.115,2148.120,156.060,0.000,0.000,0.000,124.695,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227312
$DATA_FILE_SIZE,13502,320
$CAP_FILE_SIZE,67687,0
$CFSIZE,259252224,198803456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.8
$CURRENT,0.232,353.1,1
$GPS,260114,220901,6406.626,-5339.130,43,1.9,43,-29.7