version: 66.11
glider: 192
mission: 1
dive: 9
start: 6 28 112 0 0 30
data:
$ID,192
$MISSION,1
$DIVE,9
$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,-266.53955
$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,14
$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
$GPS1,270612,235448,4744.095,-12223.790,26,1.5,26,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.4
$GPS2,270612,235920,4744.129,-12223.796,5,1.5,5,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,-0.012
$KALMAN_X,-547.6,-136.8,-24.4,1895.4,-37.2
$KALMAN_Y,-527.8,-550.2,160.7,3767.8,159.6
$MHEAD_RNG_PITCHd_Wd,77.4,391,-27.2,-10.000
$D_GRID,169
$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,-1.13,-63.1,0.0,0.0,0,69,0.00,0.00,-52.00,0.000,2,0.000,0.000,138,2385,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.14,-77.7,3.6,-8.4,9,96,10.07,2.58,-5.95,0.000,4,0.419,0.168,2324,3792,2235,0,0,0,0,0,0,14.47,14.59,14.85
$GC,322,-1.14,-77.7,52.6,-19.3,58,329,0.00,2.38,0.00,0.000,6,0.000,0.097,2325,2376,2236,0,0,0,0,0,0,28.83,14.70,28.83
$GC,451,-1.14,-77.7,74.7,-16.3,83,457,0.00,2.55,0.00,0.000,4,0.000,0.155,2314,3792,2236,0,0,0,0,0,0,28.83,14.69,28.83
$GC,689,-1.14,-77.7,114.7,-17.5,129,696,0.00,2.38,0.00,0.000,6,0.000,0.096,2314,2373,2236,0,0,0,0,0,0,28.83,14.76,28.83
$GC,822,-1.14,-77.7,138.2,-16.9,154,830,0.00,2.58,0.00,0.000,4,0.000,0.157,2303,3796,2236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,874,-1.14,-77.7,148.1,-20.3,163,882,0.15,2.38,0.00,0.000,6,0.334,0.099,2335,2380,2236,0,0,0,0,0,0,14.65,14.76,28.83
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,889,begin apogee
$GC,893,-0.19,0.0,151.2,-19.2,165,972,1.10,0.00,66.65,1.446,6,0.277,0.000,2638,2279,1920,0,0,0,0,1,0,14.65,28.83,13.76
$STATE,973,end apogee,CONTROL_FINISHED_OK
$STATE,973,begin climb
$GC,974,1.14,77.7,157.1,0.0,179,1059,1.33,0.00,73.25,1.496,6,0.139,0.000,3068,2279,1603,0,0,0,0,1,0,14.30,28.83,13.51
$GC,1181,1.14,77.7,142.6,11.3,218,1189,0.00,2.70,1.55,0.202,4,0.000,0.153,3068,3695,1601,0,0,0,0,0,0,28.83,14.36,14.34
$GC,1195,1.14,77.7,141.1,10.5,220,1202,0.00,2.50,0.00,0.000,6,0.000,0.111,3078,2282,1606,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1323,1.14,77.7,125.3,12.2,245,1330,0.00,0.00,1.48,0.203,6,0.000,0.000,3078,2282,1601,0,0,0,0,0,0,28.83,28.83,14.48
$GC,1451,1.14,77.7,108.8,12.5,270,1458,0.00,2.53,1.38,0.204,4,0.000,0.138,3090,861,1600,0,0,0,0,0,0,28.83,14.58,14.56
$GC,1464,1.14,77.7,107.2,11.4,272,1471,0.00,2.60,0.00,0.000,6,0.000,0.151,3090,2282,1604,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1593,1.14,77.7,92.4,11.5,297,1600,0.00,2.55,1.15,0.213,4,0.000,0.143,3101,861,1602,0,0,0,0,0,0,28.83,14.63,14.62
$GC,1627,1.14,77.7,88.6,11.3,303,1633,0.00,2.60,0.00,0.000,6,0.000,0.156,3101,2286,1609,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1756,1.16,88.7,75.7,8.8,328,1781,0.00,2.58,15.82,0.813,4,0.000,0.162,3101,3694,1547,0,0,0,0,0,0,28.83,14.60,14.35
$GC,1873,1.19,115.1,64.9,7.2,350,1908,0.00,2.45,25.95,0.774,6,0.000,0.114,3112,2273,1440,0,0,0,0,0,0,28.83,14.66,14.28
$GC,2029,1.19,115.1,46.2,14.4,380,2036,0.00,2.50,0.00,0.000,4,0.000,0.145,3123,868,1435,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2257,1.19,115.1,17.7,10.4,425,2265,0.12,2.55,0.00,0.000,6,0.303,0.148,3097,2284,1433,0,0,0,0,0,0,14.62,14.67,28.83
$GC,2326,1.22,143.2,12.9,7.0,438,2345,0.00,2.62,12.57,0.194,4,0.000,0.162,3097,3695,1335,0,0,0,0,0,0,28.83,14.66,14.65
$GC,2387,1.25,168.0,8.1,7.4,449,2406,0.00,2.42,13.65,0.182,6,0.000,0.115,3106,2280,1230,0,0,0,0,0,0,28.83,14.71,14.66
$STATE,2447,end climb,SURFACE_DEPTH_REACHED
$STATE,2447,begin surface coast
$FINISH,1.1,1.019006
$STATE,2473,end surface coast,CONTROL_FINISHED_OK
$STATE,2473,begin surface
$SM_CCo,2488,87.90,0.165,0,0,529,340.23
$SM_GC,1.84,8.95,0.22,87.90,0.136,0.180,0.165,143,2390,529,-7.98,-0.20,340.23,0,0,0,0,0,0,14.71,14.69,14.62
$RAFOS_CLK,79
$RAFOS,0,1340842744,0.333330,0.317778,61,55,54,54,54,53,227,194,150,213,178,167
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12100.57,270612,232337
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.12
$INTERNAL_PRESSURE,8.90853
$TCM_TEMP,17.50
$XPDR_PINGS,2
$24V_AH,13.5,1.109
$10V_AH,13.7,1.089
$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,21.725,45.825,213.450,87.900,0.000,25.998,30.021,139.087,16.750,0.000,6.011,1087.345,441.116,394.866,916.045,39.124,33.236,794.682,0.000,676.772,300.000,102.804,0.000
$DEVICE_MAMPS,419.220,179.775,1496.340,165.240,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.274,0.000,205.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321956
$DATA_FILE_SIZE,20133,465
$CAP_FILE_SIZE,58773,0
$CFSIZE,259252224,256905216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1486.1
$GPS,280612,004435,4743.987,-12223.594,27,1.0,27,16.6