version: 66.11
glider: 192
mission: 1
dive: 16
start: 6 28 112 5 45 51
data:
$ID,192
$MISSION,1
$DIVE,16
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$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,70
$T_MISSION,75
$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,-282.23203
$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,10
$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,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
$GPS1,280612,054004,4743.210,-12223.839,40,1.0,43,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.7
$GPS2,280612,054450,4743.167,-12223.844,4,0.9,4,16.6
$SPEED_LIMITS,0.132,0.215
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,0.193
$KALMAN_X,-1078.7,1.3,23.5,2180.3,25.4
$KALMAN_Y,-3186.8,-33.3,-230.3,4523.6,-399.9
$MHEAD_RNG_PITCHd_Wd,317.8,1805,-15.2,-7.619
$D_GRID,166
$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,-0.73,-117.3,0.0,0.0,0,74,0.00,0.00,-57.47,0.000,2,0.000,0.000,142,2379,2093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.73,-117.3,3.3,-7.3,10,101,10.90,0.00,-6.75,0.000,6,0.429,0.000,2466,2379,2396,0,0,0,0,0,0,14.46,28.83,14.83
$GC,162,-0.73,-117.3,16.8,-12.8,26,169,0.00,2.60,0.00,0.000,4,0.000,0.158,2460,3792,2396,0,0,0,0,0,0,28.83,14.60,28.83
$GC,220,-0.73,-117.3,24.7,-13.0,37,227,0.00,2.40,0.00,0.000,6,0.000,0.101,2460,2378,2396,0,0,0,0,0,0,28.83,14.65,28.83
$GC,289,-0.73,-117.3,33.7,-13.1,50,295,0.00,2.47,0.00,0.000,4,0.000,0.133,2460,967,2396,0,0,0,0,0,0,28.83,14.66,28.83
$GC,336,-0.73,-117.3,40.1,-12.5,59,343,0.00,2.60,0.00,0.000,6,0.000,0.155,2453,2389,2396,0,0,0,0,0,0,28.83,14.65,28.83
$GC,464,-0.73,-117.3,55.4,-12.2,84,471,0.00,2.55,0.00,0.000,4,0.000,0.164,2449,3792,2396,0,0,0,0,0,0,28.83,14.67,28.83
$GC,554,-0.73,-117.3,66.2,-12.7,101,560,0.00,2.40,0.00,0.000,6,0.000,0.102,2449,2372,2396,0,0,0,0,0,0,28.83,14.73,28.83
$GC,682,-0.73,-117.3,82.2,-12.9,126,688,0.00,2.45,0.00,0.000,4,0.000,0.133,2449,968,2396,0,0,0,0,0,0,28.83,14.72,28.83
$GC,750,-0.73,-117.3,90.3,-11.9,139,757,0.12,2.58,0.00,0.000,6,0.288,0.158,2468,2387,2397,0,0,0,0,0,0,14.69,14.71,28.83
$GC,879,-0.73,-117.3,104.5,-10.7,164,887,0.00,2.58,0.00,0.000,4,0.000,0.165,2460,3793,2397,0,0,0,0,0,0,28.83,14.73,28.83
$GC,912,-0.73,-117.3,108.4,-11.3,170,919,0.00,2.38,0.00,0.000,6,0.000,0.102,2459,2379,2397,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1046,-0.73,-117.3,123.0,-11.6,195,1053,0.00,2.58,0.00,0.000,4,0.000,0.166,2451,3792,2396,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1084,-0.73,-117.3,127.6,-12.6,202,1091,0.00,2.38,0.00,0.000,6,0.000,0.102,2451,2379,2397,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1213,-0.73,-117.3,142.8,-11.6,227,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2379,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-0.73,-117.3,156.8,-10.1,252,1347,0.00,2.58,0.00,0.000,4,0.000,0.165,2446,3793,2396,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,1371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1377,-0.19,0.0,160.6,-11.4,258,1491,0.68,0.00,108.95,0.860,6,0.237,0.000,2641,2275,1914,0,0,0,0,0,0,14.71,28.83,14.07
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1493,0.73,117.3,164.9,0.0,278,1613,0.93,0.00,110.38,0.822,6,0.151,0.000,2939,2274,1428,0,0,0,0,0,0,14.37,28.83,13.84
$GC,1734,0.73,117.3,147.9,9.9,323,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2274,1419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1861,0.73,117.3,136.1,8.9,348,1868,0.00,2.60,0.00,0.000,4,0.000,0.153,2938,3694,1418,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1905,0.73,117.3,131.6,10.8,356,1912,0.00,2.45,0.00,0.000,6,0.000,0.112,2948,2283,1418,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2033,0.73,117.3,117.5,11.0,381,2039,0.00,2.55,0.00,0.000,4,0.000,0.143,2959,866,1417,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2061,0.73,117.3,114.4,11.9,386,2068,0.00,2.60,0.00,0.000,6,0.000,0.158,2959,2281,1417,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2190,0.73,117.3,100.7,10.0,411,2197,0.00,2.60,0.00,0.000,4,0.000,0.167,2959,3698,1416,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2253,0.73,117.3,93.1,12.7,423,2260,0.00,2.45,0.00,0.000,6,0.000,0.109,2969,2274,1416,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2382,0.73,117.3,78.6,9.6,448,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2274,1416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,0.73,117.3,65.4,10.9,473,2518,0.00,2.47,0.00,0.000,4,0.000,0.140,2980,867,1416,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2563,0.73,117.3,59.6,10.6,483,2571,0.15,2.58,0.00,0.000,6,0.265,0.159,2945,2281,1415,0,0,0,0,0,0,14.66,14.69,28.83
$GC,2693,0.73,117.3,47.1,9.9,508,2699,0.00,2.58,0.00,0.000,4,0.000,0.170,2945,3692,1415,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2771,0.73,117.3,39.6,9.2,523,2777,0.00,2.42,0.00,0.000,6,0.000,0.112,2953,2281,1415,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2839,0.73,117.3,34.2,8.6,536,2846,0.00,2.50,0.00,0.000,4,0.000,0.145,2963,865,1415,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2951,0.73,117.3,25.3,7.6,558,2958,0.00,2.58,0.00,0.000,6,0.000,0.160,2963,2282,1415,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3020,0.76,138.2,20.4,6.7,571,3032,0.00,0.00,8.48,0.209,6,0.000,0.000,2962,2282,1355,0,0,0,0,0,0,28.83,28.83,14.70
$GC,3094,0.76,138.2,14.6,8.7,585,3102,0.00,2.55,2.12,0.198,4,0.000,0.142,2973,861,1353,0,0,0,0,0,0,28.83,14.73,14.71
$GC,3158,0.76,142.6,9.6,7.4,597,3171,0.00,2.58,3.83,0.199,6,0.000,0.160,2973,2280,1334,0,0,0,0,0,0,28.83,14.72,14.71
$GC,3233,0.76,142.6,3.8,8.1,611,3241,0.00,2.58,1.20,0.219,4,0.000,0.167,2973,3696,1335,0,0,0,0,0,0,28.83,14.71,14.72
$STATE,3246,end climb,SURFACE_DEPTH_REACHED
$STATE,3246,begin surface coast
$FINISH,1.3,1.018977
$STATE,3282,end surface coast,CONTROL_FINISHED_OK
$STATE,3282,begin surface
$SM_CCo,3299,100.93,0.164,0,0,528,340.23
$SM_GC,1.07,8.35,2.30,100.93,0.115,0.107,0.164,139,2378,528,-7.99,0.48,340.23,0,0,0,0,0,0,14.77,14.76,14.64
$RAFOS_CLK,121
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4713.38,-12223.63,280612,040411
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,8.88899
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,120.5,61.3
$24V_AH,13.8,1.725
$10V_AH,14.0,1.290
$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,21.125,75.525,234.950,100.925,0.000,23.898,32.335,152.533,3.250,0.000,7.524,1402.573,657.635,477.366,1122.828,46.100,33.236,1004.143,0.000,895.136,0.000,15.151,0.000
$DEVICE_MAMPS,429.165,169.830,859.860,164.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.364,0.000,273.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26828,620
$CAP_FILE_SIZE,70245,0
$CFSIZE,259252224,256651264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1485.7
$GPS,280612,064355,4743.311,-12224.264,42,0.9,42,16.6