version: 66.11
glider: 192
mission: 1
dive: 11
start: 6 28 112 1 40 43
data:
$ID,192
$MISSION,1
$DIVE,11
$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,-269.05176
$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,13
$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,100
$ALTIM_PING_DELTA,5
$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
$GPS1,280612,013506,4744.065,-12223.464,42,1.0,42,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.3
$GPS2,280612,013933,4744.047,-12223.463,4,1.1,4,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,0.171
$KALMAN_X,-961.7,-81.7,-17.4,2660.2,-158.4
$KALMAN_Y,-1537.3,-277.0,381.1,4136.3,-234.4
$MHEAD_RNG_PITCHd_Wd,355.7,288,-27.0,-10.000
$D_GRID,156
$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,-1.12,-64.3,0.0,0.0,0,79,0.00,0.00,-60.55,0.000,6,0.000,0.000,138,2380,2182,0,0,0,0,0,0,28.83,28.83,14.86
$GC,81,-1.16,-98.1,2.9,-6.5,11,101,10.27,2.55,-2.75,0.000,4,0.431,0.143,2330,958,2316,0,0,0,0,0,0,14.45,14.60,14.83
$GC,257,-1.16,-98.1,42.4,-20.7,45,264,0.00,2.55,0.00,0.000,6,0.000,0.145,2321,2380,2316,0,0,0,0,0,0,28.83,14.64,28.83
$GC,387,-1.16,-98.1,65.9,-17.2,70,394,0.00,2.55,0.00,0.000,4,0.000,0.154,2311,3800,2316,0,0,0,0,0,0,28.83,14.66,28.83
$GC,500,-1.16,-98.1,89.7,-20.2,92,507,0.00,2.40,0.00,0.000,6,0.000,0.099,2310,2377,2316,0,0,0,0,0,0,28.83,14.72,28.83
$GC,629,-1.16,-98.1,114.4,-19.4,117,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2377,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,760,-1.16,-98.1,139.1,-17.8,142,767,0.00,2.42,0.00,0.000,4,0.000,0.127,2310,968,2317,0,0,0,0,0,0,28.83,14.73,28.83
$GC,802,-1.16,-98.1,147.1,-17.9,150,810,0.15,2.55,0.00,0.000,6,0.333,0.149,2331,2389,2317,0,0,0,0,0,0,14.65,14.73,28.83
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,820,begin apogee
$GC,824,-0.19,0.0,150.4,-17.6,153,920,1.10,0.00,84.35,1.499,6,0.276,0.000,2635,2269,1918,0,0,0,0,1,0,14.65,28.83,13.66
$STATE,921,end apogee,CONTROL_FINISHED_OK
$STATE,921,begin climb
$GC,922,1.16,98.1,155.2,0.0,170,1030,1.38,0.00,92.88,1.522,6,0.148,0.000,3074,2269,1520,0,0,0,0,1,0,14.19,28.83,13.45
$GC,1151,1.16,98.1,132.2,15.2,213,1159,0.00,2.62,1.48,0.207,4,0.000,0.140,3085,863,1517,0,0,0,0,0,0,28.83,14.35,14.32
$GC,1210,1.16,98.1,123.4,14.8,224,1217,0.00,2.62,0.00,0.000,6,0.000,0.151,3085,2285,1525,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1340,1.16,98.1,104.4,14.8,249,1348,0.00,2.58,1.33,0.209,4,0.000,0.140,3096,868,1516,0,0,0,0,0,0,28.83,14.52,14.50
$GC,1354,1.16,98.1,102.1,14.9,251,1361,0.00,2.60,0.00,0.000,6,0.000,0.155,3096,2281,1520,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1482,1.16,98.1,84.1,13.1,276,1489,0.00,0.00,1.20,0.213,6,0.000,0.000,3096,2281,1518,0,0,0,0,0,0,28.83,28.83,14.57
$GC,1610,1.16,98.1,68.5,11.5,301,1618,0.00,2.53,1.08,0.221,4,0.000,0.140,3107,869,1517,0,0,0,0,0,0,28.83,14.64,14.62
$GC,1649,1.16,98.1,64.4,10.0,308,1656,0.00,2.58,0.00,0.000,6,0.000,0.156,3107,2281,1523,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1779,1.16,98.5,50.4,10.0,333,1787,0.00,2.58,1.38,0.213,4,0.000,0.162,3107,3698,1517,0,0,0,0,0,0,28.83,14.66,14.64
$GC,1974,1.17,103.9,30.1,9.4,371,1987,0.15,2.42,4.05,0.245,6,0.323,0.113,3085,2282,1495,0,0,0,0,0,0,14.64,14.73,14.64
$GC,2049,1.19,120.4,24.0,8.3,385,2068,0.00,2.55,9.60,0.231,4,0.000,0.142,3095,869,1428,0,0,0,0,0,0,28.83,14.69,14.66
$GC,2089,1.19,121.7,20.3,9.9,392,2097,0.00,2.55,1.70,0.231,6,0.000,0.153,3095,2281,1419,0,0,0,0,0,0,28.83,14.69,14.66
$GC,2159,1.19,125.5,13.7,9.6,405,2167,0.00,2.65,2.97,0.207,4,0.000,0.166,3095,3697,1405,0,0,0,0,0,0,28.83,14.69,14.68
$GC,2183,1.19,125.5,11.2,11.0,409,2190,0.00,2.42,0.00,0.000,6,0.000,0.115,3106,2282,1412,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2252,1.19,125.5,3.6,12.9,422,2259,0.00,2.62,1.33,0.213,4,0.000,0.171,3106,3696,1405,0,0,0,0,0,0,28.83,14.70,14.69
$STATE,2264,end climb,SURFACE_DEPTH_REACHED
$STATE,2264,begin surface coast
$FINISH,3.1,1.019623
$STATE,2291,end surface coast,CONTROL_FINISHED_OK
$STATE,2291,begin surface
$SM_CCo,2293,110.75,0.169,0,0,497,347.59
$SM_GC,1.45,8.55,2.35,0.00,0.094,0.114,0.000,143,2370,501,-7.97,0.25,347.84,0,0,0,0,0,0,14.69,14.67,28.83
$RAFOS_CLK,75
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4716.56,-12241.24,280612,000049
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.32
$INTERNAL_PRESSURE,8.90853
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,120.8,42.2
$24V_AH,13.4,1.267
$10V_AH,13.7,1.144
$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,21.600,50.925,203.325,110.750,0.000,25.495,29.480,139.979,2.500,0.000,5.031,990.884,529.924,422.518,829.349,36.195,33.221,803.922,0.000,625.751,0.000,11.820,0.000
$DEVICE_MAMPS,430.695,170.595,1521.585,169.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.441,0.000,193.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321916
$DATA_FILE_SIZE,20132,429
$CAP_FILE_SIZE,53689,0
$CFSIZE,259252224,256839680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1485.9
$GPS,280612,022333,4744.105,-12223.430,16,1.3,18,16.6