version: 66.11
glider: 192
mission: 2
dive: 726
start: 1 27 114 4 52 29
data:
$ID,192
$MISSION,2
$DIVE,726
$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,-15595.441
$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,15
$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
$GPS1,270114,044536,6407.440,-5336.574,38,0.9,38,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-68.1
$GPS2,270114,045141,6407.478,-5336.616,5,0.8,5,-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,183.5,14211,-15.5,-8.250,-18.49,2720
$D_GRID,280
$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,-146.0,120,2588,1114,1073,0.0,0.0,0,110,0.00,0.00,-87.20,0.000,16386,0.000,0.000,117,2590,2809,2853,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.89,-146.0,117,2590,2854,2765,3.3,-2.2,9,145,10.32,1.58,-12.73,0.000,18948,0.420,0.121,2213,1729,3339,3496,3183,0,0,0,0,0,0,13.90,14.26,14.67
$GC,336,-0.84,-146.0,2212,1728,3499,3182,47.2,-20.4,30,340,0.12,1.58,0.00,0.000,3078,0.292,0.109,2232,2587,3340,3499,3182,0,0,0,0,0,0,13.83,14.04,28.83
$GC,663,-0.80,-146.0,2232,2588,3499,3182,105.0,-16.5,60,667,0.00,1.55,0.00,0.000,516,0.000,0.086,2233,1729,3340,3499,3182,0,0,0,0,0,0,28.83,13.91,28.83
$GC,712,-0.76,-146.0,2233,1728,3499,3181,110.7,-16.3,61,717,0.10,1.62,0.00,0.000,3078,0.237,0.112,2255,2581,3340,3499,3182,0,0,0,0,0,0,13.66,13.87,28.83
$GC,1035,-0.73,-146.0,2256,2581,3499,3181,161.2,-14.8,72,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2581,3340,3499,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1334,-0.70,-146.0,2256,2581,3499,3180,203.5,-14.1,82,1338,0.00,1.60,0.00,0.000,260,0.000,0.125,2251,3426,3340,3500,3180,0,0,0,0,0,0,28.83,13.73,28.83
$GC,1443,-0.67,-146.0,2251,3426,3499,3180,217.6,-14.6,85,1447,0.17,1.50,0.00,0.000,3078,0.247,0.078,2290,2572,3339,3499,3180,0,0,0,0,0,0,13.61,13.94,28.83
$GC,1765,-0.67,-146.0,2290,2574,3499,3180,258.2,-11.6,96,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2574,3339,3499,3180,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1968,begin apogee
$GC,1981,-0.22,0.0,2290,2485,3499,3180,281.5,-11.2,103,2140,0.52,0.00,147.55,2.096,10246,0.207,0.000,2434,2485,2741,2853,2629,0,0,0,0,0,0,13.54,28.83,12.79
$STATE,2141,end apogee,CONTROL_FINISHED_OK
$STATE,2141,begin climb
$GC,2148,0.89,146.0,2434,2485,2853,2630,289.2,0.0,108,2312,1.20,0.00,158.73,2.025,11014,0.151,0.000,2789,2485,2144,2244,2045,0,0,0,0,0,0,13.60,28.83,12.12
$GC,2600,0.87,146.0,2789,2485,2244,2036,259.5,8.6,124,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2485,2140,2244,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,0.85,146.0,2789,2484,2244,2034,234.4,8.5,134,2904,0.00,1.58,0.00,0.000,260,0.000,0.122,2789,3330,2139,2244,2034,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3141,0.83,146.0,2789,3331,2244,2034,213.5,9.3,141,3144,0.00,1.55,0.00,0.000,1030,0.000,0.083,2795,2479,2139,2244,2034,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3457,0.85,173.8,2796,2479,2244,2034,188.0,7.2,152,3490,0.00,1.58,28.58,1.987,8452,0.000,0.120,2796,3327,2032,2137,1927,0,0,0,0,0,0,28.83,14.19,13.32
$GC,3654,0.82,173.8,2796,3328,2136,1925,173.9,8.4,158,3657,0.00,1.50,0.00,0.000,1030,0.000,0.084,2802,2476,2030,2136,1925,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3969,0.80,173.8,2802,2476,2136,1923,144.2,8.5,169,3974,0.12,1.55,0.00,0.000,4612,0.257,0.093,2773,1635,2029,2136,1923,0,0,0,0,0,0,14.08,14.13,28.83
$GC,4102,0.85,202.0,2773,1635,2135,1921,135.2,7.2,173,4138,0.00,1.55,29.20,1.899,9222,0.000,0.110,2773,2485,1917,2024,1811,0,0,0,0,0,0,28.83,14.14,13.34
$GC,4464,0.89,231.1,2773,2485,2023,1806,108.7,7.1,185,4485,0.00,1.58,16.62,0.510,8452,0.000,0.124,2773,3321,1797,1900,1694,0,0,0,0,0,0,28.83,14.28,13.88
$GC,4562,0.91,243.9,2773,3321,1896,1695,101.3,7.8,188,4576,0.00,1.50,7.40,0.490,9222,0.000,0.084,2779,2462,1746,1841,1651,0,0,0,0,0,0,28.83,14.28,13.86
$GC,4878,0.92,244.8,2779,2462,1838,1647,74.3,8.2,219,4882,0.00,1.52,0.00,0.000,516,0.000,0.097,2785,1635,1742,1837,1647,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4988,0.96,262.2,2785,1635,1838,1645,65.9,7.6,229,5004,0.00,1.55,10.15,0.363,9222,0.000,0.109,2786,2482,1670,1764,1576,0,0,0,0,0,0,28.83,14.09,13.90
$GC,5307,0.98,265.5,2785,2483,1763,1576,37.0,8.1,261,5318,0.12,1.50,1.38,0.294,10756,0.155,0.096,2845,1644,1658,1752,1565,0,0,0,0,0,0,14.31,14.03,13.87
$GC,5355,0.98,265.5,2844,1644,1752,1565,32.3,9.6,265,5358,0.00,1.52,0.00,0.000,1030,0.000,0.113,2845,2479,1658,1752,1565,0,0,0,0,0,0,28.83,14.06,28.83
$FREEZE,8.36,0.266,-1.841,0,1,0
$FREEZE,7.23,0.264,-1.840,0,1,0
$FREEZE,6.12,0.260,-1.839,0,1,0
$FREEZE,4.95,0.258,-1.838,0,1,0
$FREEZE,3.83,0.261,-1.837,0,1,0
$FREEZE,2.47,0.263,-1.836,0,1,0
$STATE,5626,end climb,SURFACE_DEPTH_REACHED
$STATE,5626,begin surface coast
$FREEZE,1.16,0.258,-1.835,0,1,0
$FREEZE,1.05,0.222,-1.295,0,1,0
$FINISH,1.0,1.019100
$STATE,5648,end surface coast,CONTROL_FINISHED_OK
$STATE,5648,begin surface
$SM_CCo,5678,75.10,0.155,0,0,1108,400.08
$SM_GC,2.05,8.10,0.20,75.10,0.078,0.162,0.155,145,2580,1108,-7.34,-0.54,400.08,0,0,0,0,0,0,14.14,14.10,14.16
$RAFOS_CLK,255
$RAFOS,5,1390797665,4.700000,4.684722,66,55,53,51,51,48,198,169,223,128,115,141
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6332.30,-5135.71,270114,030301
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.94
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.40
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.5,19.2
$24V_AH,12.1,292.857
$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,20.800,28.250,399.600,75.100,0.000,0.000,0.000,204.425,7.750,0.000,6.638,896.727,3438.832,461.172,954.484,385.929,0.000,1170.193,0.000,786.366,0.000,2.623,0.000
$DEVICE_MAMPS,419.985,162.180,2096.100,155.295,0.000,0.000,0.000,128.520,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227280
$DATA_FILE_SIZE,13498,294
$CAP_FILE_SIZE,61982,0
$CFSIZE,259252224,198619136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.2
$CURRENT,0.238, 23.9,1
$GPS,270114,063006,6407.532,-5335.052,38,0.9,38,-29.7