version: 66.11
glider: 192
mission: 1
dive: 4
start: 6 27 112 19 23 37
data:
$ID,192
$MISSION,1
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,44
$D_BOOST,30
$T_BOOST,1
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,340
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-260.07312
$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,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2380
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1917
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.718231
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,-1
$DEVICE3,20
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062881736
$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
$GPS1,270612,191705,4742.779,-12224.911,39,0.8,39,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.6
$GPS2,270612,192228,4742.747,-12224.900,4,0.8,4,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.024,0.234
$KALMAN_X,-79.8,-67.6,-27.7,-14.2,-44.5
$KALMAN_Y,-402.2,-439.6,-355.3,1487.6,-216.6
$MHEAD_RNG_PITCHd_Wd,349.3,2140,-19.7,-10.000
$D_GRID,185
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,15,-0.90,-117.3,0.0,0.0,0,81,0.00,0.00,-63.00,0.000,2,0.000,0.000,138,2385,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.90,-117.3,3.7,-6.4,8,102,10.45,2.58,-2.10,0.000,4,0.422,0.162,2403,3794,2397,0,0,0,0,0,0,14.50,14.64,14.88
$GC,114,-0.90,-117.3,13.6,-27.5,12,123,0.00,2.40,0.00,0.000,6,0.000,0.096,2402,2372,2398,0,0,0,0,0,0,28.83,14.67,28.83
$GC,187,-0.90,-117.3,26.4,-16.9,25,196,0.00,2.45,0.00,0.000,4,0.000,0.129,2402,965,2397,0,0,0,0,0,0,28.83,14.67,28.83
$GC,259,-0.90,-117.3,39.8,-15.9,38,267,0.00,2.55,0.00,0.000,6,0.000,0.150,2392,2380,2397,0,0,0,0,0,0,28.83,14.67,28.83
$GC,331,-0.90,-117.3,51.6,-16.6,51,339,0.00,2.55,0.00,0.000,4,0.000,0.160,2383,3792,2398,0,0,0,0,0,0,28.83,14.69,28.83
$GC,372,-0.90,-117.3,59.3,-19.1,58,381,0.15,2.38,0.00,0.000,6,0.294,0.099,2416,2380,2398,0,0,0,0,0,0,14.64,14.73,28.83
$GC,506,-0.90,-117.3,78.7,-13.1,83,515,0.00,2.45,0.00,0.000,4,0.000,0.130,2416,960,2398,0,0,0,0,0,0,28.83,14.74,28.83
$GC,578,-0.90,-117.3,88.7,-13.1,96,586,0.00,2.58,0.00,0.000,6,0.000,0.153,2408,2385,2397,0,0,0,0,0,0,28.83,14.73,28.83
$GC,733,-0.90,-117.3,109.3,-13.2,121,742,0.00,2.55,0.00,0.000,4,0.000,0.162,2397,3796,2398,0,0,0,0,0,0,28.83,14.74,28.83
$GC,800,-0.90,-117.3,119.3,-14.3,131,810,0.00,2.38,0.00,0.000,6,0.000,0.099,2397,2378,2398,0,0,0,0,0,0,28.83,14.79,28.83
$GC,964,-0.90,-117.3,142.6,-13.4,156,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2379,2398,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1017,begin apogee
$GC,1020,-0.19,0.0,150.8,-15.1,165,1138,0.85,0.00,109.60,0.840,6,0.249,0.000,2641,2279,1911,0,0,0,0,0,0,14.71,28.83,14.08
$STATE,1139,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1140,0.90,117.3,155.8,0.0,180,1259,1.10,0.00,110.38,0.848,6,0.145,0.000,2996,2278,1429,0,0,0,0,0,0,14.38,28.83,13.92
$GC,1384,0.90,117.3,134.1,12.4,219,1393,0.00,2.60,0.00,0.000,4,0.000,0.151,2996,3695,1420,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1420,0.90,117.3,129.1,14.1,225,1429,0.00,2.47,0.00,0.000,6,0.000,0.112,3006,2275,1418,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1553,0.90,117.3,111.8,12.2,250,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2275,1419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,0.90,117.3,96.2,12.2,275,1693,0.00,2.60,0.00,0.000,4,0.000,0.162,3006,3694,1418,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1716,0.90,117.3,91.8,15.3,280,1724,0.00,2.45,0.00,0.000,6,0.000,0.115,3017,2274,1418,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1849,0.90,117.3,72.6,13.9,305,1858,0.00,2.50,0.00,0.000,4,0.000,0.144,3028,861,1418,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1921,0.90,117.3,62.3,13.5,318,1930,0.00,2.58,0.00,0.000,6,0.000,0.155,3028,2281,1417,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2057,0.90,117.3,47.3,10.6,343,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2281,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2190,0.94,151.3,33.7,8.1,368,2223,0.00,2.60,22.30,0.770,4,0.000,0.145,3039,868,1302,0,0,0,0,1,0,28.83,14.66,14.28
$GC,2339,0.94,151.3,17.8,12.2,394,2348,0.00,2.58,2.67,0.187,6,0.000,0.155,3039,2284,1301,0,0,0,0,0,0,28.83,14.68,14.65
$GC,2413,0.94,151.3,10.1,10.5,407,2421,0.00,0.00,2.30,0.190,6,0.000,0.000,3039,2284,1301,0,0,0,0,0,0,28.83,28.83,14.67
$GC,2486,1.03,220.3,3.9,6.0,420,2519,0.00,0.00,31.05,0.168,2,0.000,0.000,3039,2284,1053,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2520,end climb,SURFACE_DEPTH_REACHED
$STATE,2520,begin surface coast
$FINISH,1.5,1.019177
$STATE,2620,end surface coast,CONTROL_FINISHED_OK
$STATE,2620,begin surface
$SM_CCo,2635,65.93,0.162,0,0,527,340.23
$SM_GC,1.80,8.65,0.20,65.93,0.127,0.187,0.162,142,2388,527,-7.98,-0.31,340.23,0,0,0,0,0,0,14.73,14.71,14.65
$RAFOS_CLK,83
$RAFOS,0,1340827143,20.000000,19.984167,65,56,53,53,52,51,218,174,193,140,153,208
$RAFOS,0,1340825948,19.666660,19.652222,66,65,64,58,56,52,219,585,144,382,186,165
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,270612,181815
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.58
$INTERNAL_PRESSURE,8.93782
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,144.0,54.5
$24V_AH,13.9,0.608
$10V_AH,14.0,0.922
$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,21.200,45.600,278.300,65.925,0.000,24.998,28.684,155.124,15.250,0.000,5.132,1486.911,31.098,487.264,920.739,92.385,32.219,889.620,0.000,684.900,600.000,97.599,0.000
$DEVICE_MAMPS,421.515,186.660,847.620,162.180,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.496,0.000,287.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321936
$DATA_FILE_SIZE,20184,443
$CAP_FILE_SIZE,367418,0
$CFSIZE,259252224,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1485.9
$GPS,270612,201000,4743.048,-12224.961,38,1.2,38,16.6