version: 66.11
glider: 192
mission: 1
dive: 20
start: 6 28 112 10 21 21
data:
$ID,192
$MISSION,1
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,80
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-287.26447
$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,2699
$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,13
$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
$GPS1,280612,101505,4744.301,-12224.549,30,1.2,30,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.3
$GPS2,280612,102011,4744.323,-12224.532,4,1.2,4,16.6
$SPEED_LIMITS,0.130,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,-0.209
$KALMAN_X,-291.4,-185.4,-174.3,914.8,461.7
$KALMAN_Y,-2518.5,-374.2,-366.6,6460.7,883.7
$MHEAD_RNG_PITCHd_Wd,190.5,852,-13.1,-7.500
$D_GRID,180
$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,-0.68,-146.6,0.0,0.0,0,80,0.00,0.00,-63.05,0.000,2,0.000,0.000,144,2383,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.68,-146.6,4.1,-10.8,11,107,10.88,2.55,-5.12,0.000,4,0.426,0.151,2469,970,2516,0,0,0,0,0,0,14.42,14.56,14.80
$GC,333,-0.68,-146.6,45.9,-14.0,60,340,0.00,2.55,0.00,0.000,6,0.000,0.149,2467,2380,2516,0,0,0,0,0,0,28.83,14.63,28.83
$GC,463,-0.68,-146.6,63.0,-12.6,85,470,0.00,2.58,0.00,0.000,4,0.000,0.163,2467,3799,2516,0,0,0,0,0,0,28.83,14.65,28.83
$GC,482,-0.68,-146.6,65.3,-12.5,88,489,0.00,2.42,0.00,0.000,6,0.000,0.103,2466,2370,2516,0,0,0,0,0,0,28.83,14.69,28.83
$GC,611,-0.68,-146.6,80.7,-12.0,113,617,0.00,2.45,0.00,0.000,4,0.000,0.132,2466,968,2516,0,0,0,0,0,0,28.83,14.69,28.83
$GC,654,-0.68,-146.6,86.0,-12.1,121,661,0.00,2.58,0.00,0.000,6,0.000,0.158,2466,2381,2516,0,0,0,0,0,0,28.83,14.69,28.83
$GC,783,-0.68,-146.6,101.3,-11.6,146,789,0.00,2.58,0.00,0.000,4,0.000,0.166,2466,3795,2517,0,0,0,0,0,0,28.83,14.69,28.83
$GC,816,-0.68,-146.6,105.0,-11.3,152,823,0.00,2.40,0.00,0.000,6,0.000,0.102,2466,2376,2517,0,0,0,0,0,0,28.83,14.73,28.83
$GC,949,-0.68,-146.6,120.6,-11.6,177,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2375,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1076,-0.68,-146.6,138.4,-13.7,202,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2375,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1203,-0.68,-146.6,154.9,-13.5,227,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2375,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1332,-0.68,-146.6,171.0,-12.0,252,1339,0.00,2.58,0.00,0.000,4,0.000,0.163,2466,3795,2516,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1360,-0.68,-146.6,174.6,-11.4,257,1367,0.00,2.40,0.00,0.000,6,0.000,0.103,2466,2372,2517,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,1382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1382,begin apogee
$GC,1385,-0.19,0.0,177.4,-11.9,261,1532,0.55,0.00,132.68,1.608,6,0.219,0.000,2629,2276,1920,0,0,0,0,1,0,14.71,28.83,13.46
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1534,0.68,146.6,183.5,0.0,287,1687,0.90,0.00,140.70,1.609,6,0.148,0.000,2912,2276,1321,0,0,0,0,1,0,14.02,28.83,13.38
$GC,1811,0.68,146.6,166.5,8.4,338,1818,0.00,2.55,0.00,0.000,4,0.000,0.138,2922,869,1328,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1829,0.68,146.6,164.8,8.5,341,1836,0.00,2.62,0.00,0.000,6,0.000,0.148,2922,2284,1327,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1957,0.68,146.6,152.8,8.9,366,1964,0.00,2.60,0.00,0.000,4,0.000,0.161,2922,3695,1326,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2000,0.68,146.6,148.1,11.6,374,2007,0.00,2.47,0.00,0.000,6,0.000,0.114,2932,2282,1326,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2129,0.68,146.6,134.1,9.3,399,2136,0.00,2.62,0.00,0.000,4,0.000,0.169,2932,3695,1326,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2182,0.68,146.6,128.1,11.2,409,2189,0.00,2.45,0.00,0.000,6,0.000,0.115,2941,2281,1326,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2310,0.68,146.6,113.5,11.9,434,2317,0.00,2.50,0.00,0.000,4,0.000,0.144,2951,867,1326,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2354,0.68,146.6,108.6,11.7,442,2361,0.12,2.60,0.00,0.000,6,0.264,0.155,2923,2285,1325,0,0,0,0,0,0,14.61,14.63,28.83
$GC,2483,0.68,146.6,95.5,10.0,467,2490,0.00,2.55,0.00,0.000,4,0.000,0.145,2931,860,1325,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2501,0.68,146.6,93.7,10.0,470,2508,0.00,2.60,0.00,0.000,6,0.000,0.158,2931,2286,1325,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2631,0.68,146.6,82.1,9.2,495,2638,0.00,2.58,0.00,0.000,4,0.000,0.166,2930,3698,1325,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2654,0.68,146.6,79.4,10.8,499,2661,0.00,2.45,0.00,0.000,6,0.000,0.112,2941,2270,1325,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2782,0.68,146.6,66.3,9.1,524,2789,0.00,2.50,0.00,0.000,4,0.000,0.145,2952,860,1325,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2821,0.68,146.6,62.6,10.1,531,2828,0.12,2.60,0.00,0.000,6,0.262,0.159,2922,2288,1325,0,0,0,0,0,0,14.68,14.71,28.83
$GC,2952,0.69,149.2,51.7,7.4,556,2960,0.00,2.62,2.22,0.427,4,0.000,0.167,2922,3694,1310,0,0,0,0,0,0,28.83,14.70,14.26
$GC,3031,0.69,149.2,44.4,9.4,571,3038,0.00,2.42,0.00,0.000,6,0.000,0.112,2931,2276,1316,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3160,0.72,175.3,34.7,6.6,596,3196,0.00,2.58,29.67,0.766,4,0.000,0.143,2941,868,1197,0,0,0,0,0,0,28.83,14.62,14.39
$GC,3247,0.72,175.3,28.0,8.2,612,3254,0.00,2.60,0.00,0.000,6,0.000,0.161,2941,2283,1194,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3316,0.72,175.3,21.7,9.8,625,3322,0.00,2.62,0.00,0.000,4,0.000,0.172,2940,3697,1194,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3388,0.72,175.3,14.4,10.4,639,3395,0.00,2.45,0.00,0.000,6,0.000,0.113,2951,2270,1193,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3457,0.72,175.3,9.1,8.8,652,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2270,1193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,0.85,279.8,4.9,3.9,665,3583,0.00,2.70,52.10,0.173,4,0.000,0.168,2951,3694,776,0,0,0,0,0,0,28.83,14.63,14.64
$STATE,3593,end climb,SURFACE_DEPTH_REACHED
$STATE,3594,begin surface coast
$FINISH,1.4,1.018862
$STATE,3639,end surface coast,CONTROL_FINISHED_OK
$STATE,3640,begin surface
$SM_CCo,3656,31.33,0.164,0,0,527,340.23
$SM_GC,1.68,8.25,2.33,31.33,0.109,0.110,0.164,141,2375,527,-7.94,0.40,340.23,0,0,0,0,0,0,14.70,14.69,14.64
$RAFOS_CLK,122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12222.38,280612,090915
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.92
$INTERNAL_PRESSURE,8.89876
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,120.6,69.3
$24V_AH,13.4,2.151
$10V_AH,13.6,1.443
$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,20.825,81.275,357.375,31.325,0.000,26.178,28.573,169.258,3.250,0.000,5.053,1513.010,709.769,516.002,1222.672,57.103,33.206,1109.625,0.000,989.134,0.000,12.141,0.000
$DEVICE_MAMPS,426.105,172.125,1608.795,164.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.700,0.000,299.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321856
$DATA_FILE_SIZE,30102,686
$CAP_FILE_SIZE,75114,0
$CFSIZE,259252224,256479232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1486.1
$GPS,280612,112407,4744.299,-12224.631,35,1.0,35,16.6