version: 66.11
glider: 192
mission: 2
dive: 725
start: 1 27 114 3 19 46
data:
$ID,192
$MISSION,2
$DIVE,725
$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,-15594.093
$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,19
$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
$GPS1,270114,031259,6407.274,-5337.564,40,1.3,40,-29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-67.9
$GPS2,270114,031858,6407.311,-5337.629,5,1.0,5,-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,181.4,14898,-15.5,-8.250,-18.49,2720
$D_GRID,286
$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,-146.0,124,2596,1109,1075,0.0,0.0,0,100,0.00,0.00,-77.45,0.000,16386,0.000,0.000,121,2597,2634,2686,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.89,-146.0,121,2597,2686,2584,3.1,-2.2,8,143,10.25,1.55,-20.27,0.000,19204,0.415,0.121,2213,1731,3338,3500,3177,0,0,0,0,0,0,13.89,14.27,14.68
$GC,376,-0.84,-146.0,1376,1730,3495,3174,47.9,-17.4,34,383,0.12,1.58,0.00,0.000,3078,0.285,0.111,2233,2580,3340,3503,3177,0,0,0,0,0,0,13.81,14.01,28.83
$GC,707,-0.80,-146.0,2233,2580,3503,3176,105.9,-17.0,65,710,0.00,1.52,0.00,0.000,516,0.000,0.087,2233,1731,3339,3503,3176,0,0,0,0,0,0,28.83,13.88,28.83
$GC,772,-0.76,-146.0,2233,1730,3503,3176,117.1,-17.0,67,777,0.15,1.58,0.00,0.000,3078,0.260,0.112,2261,2579,3339,3503,3176,0,0,0,0,0,0,13.69,13.89,28.83
$GC,1109,-0.73,-146.0,2261,2579,3503,3175,166.6,-14.5,78,1113,0.00,1.62,0.00,0.000,260,0.000,0.122,2257,3423,3339,3503,3175,0,0,0,0,0,0,28.83,13.69,28.83
$GC,1163,-0.71,-146.0,2257,3423,3502,3175,172.0,-14.7,79,1167,0.00,1.55,0.00,0.000,1030,0.000,0.077,2257,2571,3339,3503,3175,0,0,0,0,0,0,28.83,13.90,28.83
$GC,1480,-0.68,-146.0,2257,2571,3503,3175,216.4,-12.8,90,1485,0.12,1.67,0.00,0.000,2308,0.275,0.122,2283,3437,3339,3503,3175,0,0,0,0,0,0,13.83,13.68,28.83
$GC,1550,-0.66,-146.0,2283,3437,3503,3174,224.2,-12.3,92,1553,0.00,1.55,0.00,0.000,1030,0.000,0.080,2283,2569,3338,3503,3174,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1880,-0.65,-146.0,2283,2569,3503,3175,259.8,-11.0,103,1884,0.00,1.50,0.00,0.000,516,0.000,0.088,2283,1728,3339,3503,3175,0,0,0,0,0,0,28.83,13.74,28.83
$GC,1947,-0.64,-146.0,2283,1728,3503,3174,267.0,-11.0,105,1951,0.00,1.62,0.00,0.000,1030,0.000,0.112,2277,2577,3338,3502,3174,0,0,0,0,0,0,28.83,13.72,28.83
$STATE,2127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2127,begin apogee
$GC,2141,-0.22,0.0,2278,2476,3503,3174,289.2,-11.9,111,2301,0.52,0.00,147.70,2.138,10246,0.141,0.000,2436,2475,2741,2855,2628,0,0,0,0,0,0,13.74,28.83,12.76
$STATE,2302,end apogee,CONTROL_FINISHED_OK
$STATE,2302,begin climb
$GC,2309,0.89,146.0,2436,2475,2855,2628,290.0,0.0,116,2483,1.17,1.70,158.45,2.043,10756,0.136,0.096,2796,1634,2145,2244,2046,0,0,0,0,0,0,13.62,13.05,12.12
$GC,2494,1.01,249.5,2796,1634,2244,2044,284.0,4.3,122,2626,0.12,1.67,119.35,1.980,11270,0.145,0.109,2840,2481,1724,1813,1635,0,0,0,0,0,0,13.16,13.12,11.74
$GC,2955,0.98,249.5,2841,2481,1810,1627,222.8,13.4,138,2960,0.00,1.55,0.00,0.000,516,0.000,0.098,2847,1639,1718,1810,1627,0,0,0,0,0,0,28.83,14.07,28.83
$GC,3055,0.96,249.5,1864,1638,1775,1622,210.1,12.9,141,3058,0.00,1.52,0.00,0.000,1030,0.000,0.112,2847,2484,1717,1810,1625,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3386,0.93,249.5,2847,2484,1810,1625,165.0,13.5,152,3390,0.12,1.55,0.00,0.000,4356,0.269,0.123,2814,3332,1717,1810,1625,0,0,0,0,0,0,14.10,14.15,28.83
$GC,3488,0.92,249.5,2814,3332,1808,1625,151.9,13.5,155,3491,0.00,1.55,0.00,0.000,1030,0.000,0.085,2819,2475,1717,1809,1625,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3826,0.91,249.5,2819,2475,1807,1624,111.8,10.8,166,3829,0.00,1.50,0.00,0.000,516,0.000,0.099,2825,1628,1716,1808,1625,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3891,0.90,249.5,2825,1628,1808,1624,104.6,10.6,168,3895,0.00,1.55,0.00,0.000,1030,0.000,0.112,2825,2481,1716,1809,1624,0,0,0,0,0,0,28.83,14.10,28.83
$GC,4208,0.89,249.5,2825,2482,1809,1624,71.7,10.3,195,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2481,1716,1809,1624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4517,0.88,249.5,1824,2480,1772,1621,38.4,11.0,226,4521,0.12,1.55,0.00,0.000,4612,0.261,0.095,2796,1628,1716,1808,1624,0,0,0,0,0,0,13.97,14.07,28.83
$GC,4660,0.88,249.5,2797,1628,1808,1623,25.4,8.6,239,4664,0.00,1.58,0.00,0.000,1030,0.000,0.114,2797,2483,1716,1809,1623,0,0,0,0,0,0,28.83,14.04,28.83
$FREEZE,8.32,0.309,-1.841,0,1,0
$FREEZE,7.38,0.316,-1.840,0,1,0
$FREEZE,6.23,0.308,-1.839,0,1,0
$FREEZE,5.27,0.311,-1.838,0,1,0
$FREEZE,4.25,0.312,-1.838,0,1,0
$FREEZE,3.37,0.318,-1.837,0,1,0
$FREEZE,2.18,0.316,-1.836,0,1,0
$STATE,4900,end climb,SURFACE_DEPTH_REACHED
$STATE,4900,begin surface coast
$FREEZE,1.49,0.311,-1.836,0,1,0
$FREEZE,1.09,-0.470,-1.099,0,1,0
$FREEZE,1.15,0.008,-1.853,0,1,0
$FINISH,1.1,1.027122
$STATE,4933,end surface coast,CONTROL_FINISHED_OK
$STATE,4933,begin surface
$SM_CCo,4963,82.70,0.154,0,0,1107,400.08
$SM_GC,2.05,8.18,0.20,82.70,0.096,0.158,0.154,145,2583,1107,-7.35,-0.45,400.08,0,0,0,0,0,0,14.14,14.12,14.14
$RAFOS_CLK,216
$RAFOS,4,1390797186,4.566667,4.551667,59,57,55,52,48,48,166,144,219,189,175,569
$RAFOS,3,1390796706,4.433333,4.418334,60,59,58,58,56,53,214,192,131,228,148,201
$RAFOS,2,1390796221,4.300000,4.283611,69,63,55,53,51,49,166,204,215,191,146,131
$RAFOS,1,1390795745,4.166667,4.151389,62,62,58,57,51,51,155,194,113,208,135,179
$RAFOS,0,1390795261,4.033333,4.016944,65,62,57,56,53,53,206,171,131,197,180,218
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6346.88,-5619.97,270114,010153
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.53
$INTERNAL_PRESSURE,8.72297
$TCM_TEMP,13.40
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,11.7,292.603
$10V_AH,12.0,0.000
$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,20.900,31.875,425.500,82.700,0.000,0.000,0.000,198.075,6.500,0.000,6.557,825.201,2850.234,483.799,899.300,365.155,0.000,1174.230,0.000,735.552,2160.000,2.625,0.000
$DEVICE_MAMPS,415.395,158.355,2138.175,153.765,0.000,0.000,0.000,129.285,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,227268
$DATA_FILE_SIZE,10220,266
$CAP_FILE_SIZE,59382,0
$CFSIZE,259252224,198664192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.2
$CURRENT,0.268,  8.0,1
$GPS,270114,044536,6407.440,-5336.574,38,0.9,38,-29.7