version: 66.11
glider: 192
mission: 2
dive: 724
start: 1 27 114 1 27 8
data:
$ID,192
$MISSION,2
$DIVE,724
$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,-15592.746
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,270114,011954,6407.005,-5338.285,43,0.8,43,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-67.0
$GPS2,270114,012620,6407.035,-5338.387,5,0.8,6,-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,178.9,15353,-15.5,-8.250,-18.49,2720
$D_GRID,287
$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,-146.0,142,2595,1119,1072,0.0,0.0,0,110,0.00,0.00,-87.43,0.000,16386,0.000,0.000,142,2596,2845,2891,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,142,2596,2892,2800,3.3,-2.1,9,145,10.38,1.55,-11.77,0.000,18948,0.428,0.122,2212,1730,3338,3491,3185,0,0,0,0,0,0,13.88,14.27,14.67
$GC,213,-0.84,-146.0,2213,1730,3496,3184,21.6,-19.8,17,221,0.12,1.55,0.00,0.000,3078,0.293,0.116,2232,2573,3340,3497,3183,0,0,0,0,0,0,13.90,14.09,28.83
$GC,524,-0.79,-146.0,2232,2573,3497,3182,77.8,-17.2,48,528,0.00,1.62,0.00,0.000,260,0.000,0.120,2229,3428,3339,3497,3182,0,0,0,0,0,0,28.83,13.87,28.83
$GC,570,-0.74,-146.0,2228,3428,3497,3181,86.2,-17.7,52,575,0.12,1.52,0.00,0.000,3078,0.248,0.076,2260,2577,3339,3497,3181,0,0,0,0,0,0,13.67,14.04,28.83
$GC,907,-0.72,-146.0,2260,2577,3498,3181,137.2,-14.9,69,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2577,3339,3497,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1208,-0.69,-146.0,2260,2577,3497,3178,179.9,-14.1,79,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2577,3338,3497,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1507,-0.67,-146.0,2260,2577,3498,3180,220.4,-13.1,89,1509,0.12,0.00,0.00,0.000,2054,0.281,0.000,2289,2577,3338,3497,3180,0,0,0,0,0,0,13.95,28.83,28.83
$GC,1807,-0.66,-146.0,2289,2577,3498,3180,254.2,-10.8,99,1810,0.00,1.50,0.00,0.000,516,0.000,0.087,2289,1737,3338,3497,3180,0,0,0,0,0,0,28.83,13.76,28.83
$GC,1951,-0.66,-146.0,2289,1737,3498,3180,267.6,-10.6,103,1955,0.00,1.62,0.00,0.000,1030,0.000,0.112,2285,2575,3338,3497,3180,0,0,0,0,0,0,28.83,13.72,28.83
$GC,2273,-0.74,-146.0,2285,2576,3498,3180,286.8,0.0,114,2277,0.00,1.62,0.00,0.000,260,0.000,0.125,2284,3434,3339,3498,3180,0,0,0,0,0,0,28.83,13.69,28.83
$STATE,2363,end dive,NO_VERTICAL_VELOCITY
$STATE,2363,begin apogee
$GC,2379,-0.22,0.0,2285,2475,3498,3180,286.9,0.0,117,2539,0.50,0.00,148.25,2.131,10246,0.143,0.000,2437,2474,2741,2853,2629,0,0,0,0,0,0,13.76,28.83,12.80
$STATE,2540,end apogee,CONTROL_FINISHED_OK
$STATE,2540,begin climb
$GC,2546,0.89,146.0,2437,2474,2853,2630,287.2,0.0,122,2712,1.17,0.00,159.60,2.064,10758,0.137,0.000,2791,2474,2145,2244,2047,0,0,0,0,0,0,13.63,28.83,12.12
$GC,3000,0.87,146.0,2791,2474,2244,2037,254.1,8.3,138,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2474,2140,2244,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,0.86,148.8,2791,2474,2244,2035,229.2,8.1,148,3304,0.00,1.50,0.00,0.000,516,0.000,0.097,2797,1620,2139,2244,2035,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3463,0.84,148.8,2797,1620,2244,2033,216.3,8.3,153,3467,0.00,1.58,0.00,0.000,1030,0.000,0.110,2797,2489,2138,2244,2033,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3796,0.85,172.3,2797,2489,2244,2034,189.3,7.4,164,3827,0.00,1.52,26.88,1.991,8452,0.000,0.122,2798,3334,2038,2145,1932,0,0,0,0,0,0,28.83,14.20,13.31
$GC,3975,0.83,172.3,1808,3333,2098,1927,174.5,8.8,170,3978,0.00,1.50,0.00,0.000,1030,0.000,0.083,2804,2472,2037,2143,1931,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4306,0.83,185.6,2804,2472,2142,1930,147.7,7.7,181,4324,0.00,1.55,14.30,1.907,8708,0.000,0.099,2810,1637,1985,2092,1879,0,0,0,0,0,0,28.83,14.30,13.40
$GC,4391,0.82,194.9,2811,1637,2092,1878,143.1,7.9,182,4408,0.15,1.52,11.40,1.850,13318,0.241,0.109,2775,2482,1945,2053,1838,0,0,0,0,0,0,14.16,14.28,13.36
$GC,4730,0.84,208.6,2775,2482,2053,1838,115.6,7.7,194,4743,0.00,1.55,8.73,1.721,8452,0.000,0.125,2775,3335,1890,1999,1782,0,0,0,0,0,0,28.83,14.29,13.45
$GC,4788,0.86,220.3,2775,3335,1998,1782,111.2,7.8,195,4800,0.00,1.50,7.72,1.635,9222,0.000,0.083,2779,2474,1840,1947,1734,0,0,0,0,0,0,28.83,14.34,13.43
$GC,5105,0.86,220.3,2780,2474,1947,1732,84.9,8.5,217,5109,0.00,1.50,0.00,0.000,516,0.000,0.098,2785,1623,1839,1946,1732,0,0,0,0,0,0,28.83,14.18,28.83
$GC,5228,0.87,223.6,2786,1623,1947,1731,75.3,8.1,228,5238,0.00,1.60,1.65,0.394,9222,0.000,0.112,2786,2479,1828,1935,1722,0,0,0,0,0,0,28.83,14.12,13.80
$GC,5540,0.89,235.8,2785,2479,1934,1722,50.1,7.8,259,5551,0.00,1.62,6.55,0.321,8452,0.000,0.128,2786,3328,1778,1881,1675,0,0,0,0,0,0,28.83,14.16,13.92
$GC,5592,0.89,235.8,2786,3328,1880,1675,45.7,9.2,263,5599,0.00,1.50,0.00,0.000,1030,0.000,0.085,2792,2474,1777,1880,1675,0,0,0,0,0,0,28.83,14.19,28.83
$GC,5901,0.89,235.8,2792,2474,1878,1676,18.6,9.5,294,5904,0.00,1.50,0.00,0.000,516,0.000,0.099,2798,1631,1776,1877,1675,0,0,0,0,0,0,28.83,14.00,28.83
$GC,5981,0.90,237.7,1808,1630,1840,1672,11.7,8.2,301,5987,0.00,1.58,0.00,0.000,1030,0.000,0.114,2798,2486,1776,1877,1675,0,0,0,0,0,0,28.83,14.01,28.83
$FREEZE,8.12,0.351,-1.838,0,1,0
$FREEZE,6.98,0.319,-1.838,0,1,0
$FREEZE,5.92,0.302,-1.837,0,1,0
$FREEZE,5.09,0.299,-1.836,0,1,0
$FREEZE,4.68,0.301,-1.836,0,1,0
$FREEZE,4.45,0.301,-1.836,0,1,0
$FREEZE,3.53,0.304,-1.835,0,1,0
$FREEZE,2.51,0.304,-1.834,0,1,0
$STATE,6084,end climb,SURFACE_DEPTH_REACHED
$STATE,6084,begin surface coast
$FREEZE,1.66,0.306,-1.833,0,1,0
$FREEZE,1.22,0.285,-1.833,0,1,0
$FREEZE,1.11,0.274,-1.835,0,1,0
$FREEZE,1.19,0.320,-0.259,0,1,0
$FINISH,1.2,1.003688
$STATE,6126,end surface coast,CONTROL_FINISHED_OK
$STATE,6127,begin surface
$SM_CCo,6156,89.57,0.157,0,0,1108,400.08
$SM_GC,2.20,8.15,0.20,89.57,0.096,0.151,0.157,141,2591,1108,-7.36,-0.31,400.08,0,0,0,0,0,0,14.12,14.14,14.16
$RAFOS_CLK,272
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6342.00,-5337.36,260114,232307
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.49
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.30
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.5,18.2
$24V_AH,12.1,292.318
$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,20.725,34.500,385.075,89.575,0.000,0.000,0.000,224.575,9.000,0.000,6.585,967.712,3800.637,477.285,984.305,421.898,0.000,1213.929,0.000,796.294,0.000,2.623,0.000
$DEVICE_MAMPS,427.635,150.705,2130.525,156.825,0.000,0.000,0.000,125.460,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227276
$DATA_FILE_SIZE,13460,316
$CAP_FILE_SIZE,66519,0
$CFSIZE,259252224,198692864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.5
$CURRENT,0.266,359.6,1
$GPS,270114,031259,6407.274,-5337.564,40,1.3,40,-29.7