version: 66.11
glider: 192
mission: 1
dive: 21
start: 6 28 112 11 33 5
data:
$ID,192
$MISSION,1
$DIVE,21
$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,-288.51996
$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
$GPS1,280612,112407,4744.299,-12224.631,35,1.0,35,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.4
$GPS2,280612,113155,4744.288,-12224.610,3,0.9,3,16.6
$SPEED_LIMITS,0.130,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,-0.207
$KALMAN_X,-91.6,-87.8,-54.7,404.0,542.5
$KALMAN_Y,-2227.1,-239.6,156.4,5454.1,1009.8
$MHEAD_RNG_PITCHd_Wd,191.8,757,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-51.92,0.000,2,0.000,0.000,141,2375,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.68,-146.6,3.3,-6.8,9,102,10.73,2.60,-11.90,0.000,4,0.420,0.177,2470,3793,2516,0,0,0,0,0,0,14.46,14.58,14.83
$GC,328,-0.68,-146.6,42.7,-15.0,59,335,0.00,2.42,0.00,0.000,6,0.000,0.098,2470,2369,2517,0,0,0,0,0,0,28.83,14.69,28.83
$GC,457,-0.68,-146.6,58.6,-12.1,84,463,0.00,2.45,0.00,0.000,4,0.000,0.129,2470,962,2517,0,0,0,0,0,0,28.83,14.69,28.83
$GC,475,-0.68,-146.6,60.7,-12.1,87,481,0.00,2.58,0.00,0.000,6,0.000,0.152,2467,2384,2517,0,0,0,0,0,0,28.83,14.69,28.83
$GC,604,-0.68,-146.6,75.9,-11.8,112,611,0.00,2.55,0.00,0.000,4,0.000,0.160,2458,3796,2517,0,0,0,0,0,0,28.83,14.70,28.83
$GC,642,-0.68,-146.6,80.9,-12.3,119,649,0.00,2.40,0.00,0.000,6,0.000,0.098,2457,2379,2517,0,0,0,0,0,0,28.83,14.74,28.83
$GC,770,-0.68,-146.6,96.0,-11.7,144,777,0.00,2.58,0.00,0.000,4,0.000,0.163,2448,3793,2517,0,0,0,0,0,0,28.83,14.72,28.83
$GC,798,-0.68,-146.6,99.4,-11.9,149,807,0.12,2.38,0.00,0.000,6,0.270,0.099,2476,2379,2517,0,0,0,0,0,0,14.70,14.76,28.83
$GC,928,-0.68,-146.6,113.2,-10.7,174,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2379,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.68,-146.6,126.5,-10.5,199,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2378,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1186,-0.68,-146.6,140.0,-10.8,224,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2379,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1315,-0.68,-146.6,153.9,-11.0,249,1321,0.00,2.58,0.00,0.000,4,0.000,0.160,2474,3792,2517,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1407,-0.68,-146.6,164.2,-10.8,267,1414,0.00,2.38,0.00,0.000,6,0.000,0.099,2474,2375,2517,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1535,-0.68,-146.6,178.6,-10.6,292,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2375,2517,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1552,begin apogee
$GC,1556,-0.19,0.0,180.4,-10.3,295,1697,0.52,0.00,136.40,0.867,6,0.217,0.000,2629,2275,1914,0,0,0,0,0,0,14.75,28.83,14.00
$STATE,1699,end apogee,CONTROL_FINISHED_OK
$STATE,1699,begin climb
$GC,1700,0.68,146.6,186.3,0.0,320,1848,0.88,2.65,139.30,0.852,4,0.154,0.134,2919,871,1311,0,0,0,0,0,0,14.28,14.09,13.83
$GC,1900,0.68,146.6,174.9,8.1,356,1907,0.00,2.65,0.00,0.000,6,0.000,0.146,2919,2288,1302,0,0,0,0,0,0,28.83,14.26,28.83
$GC,2030,0.68,146.6,162.7,9.0,381,2037,0.00,2.58,0.00,0.000,4,0.000,0.154,2919,3694,1299,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2082,0.68,146.6,157.0,10.6,391,2089,0.00,2.45,0.00,0.000,6,0.000,0.110,2929,2283,1299,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2211,0.68,146.6,144.0,10.1,416,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2283,1298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,0.68,146.6,131.2,10.3,441,2346,0.00,2.60,0.00,0.000,4,0.000,0.164,2928,3695,1298,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2363,0.68,146.6,128.8,11.0,445,2370,0.00,2.45,0.00,0.000,6,0.000,0.112,2938,2274,1298,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2491,0.68,146.6,114.7,11.4,470,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2273,1297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,0.68,146.6,100.5,11.2,495,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2273,1297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2747,0.68,146.6,86.0,10.3,520,2754,0.00,2.60,0.00,0.000,4,0.000,0.163,2938,3696,1298,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2800,0.68,146.6,80.2,10.5,530,2807,0.00,2.42,0.00,0.000,6,0.000,0.110,2948,2280,1297,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2929,0.68,146.6,67.3,10.0,555,2936,0.00,2.50,0.00,0.000,4,0.000,0.145,2959,868,1297,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2947,0.68,146.6,65.3,10.9,558,2954,0.15,2.58,0.00,0.000,6,0.252,0.157,2922,2287,1296,0,0,0,0,0,0,14.69,14.71,28.83
$GC,3078,0.68,146.6,53.1,9.2,583,3084,0.00,2.55,0.00,0.000,4,0.000,0.167,2922,3694,1295,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3116,0.68,146.6,49.4,9.4,590,3123,0.00,2.42,0.00,0.000,6,0.000,0.112,2930,2275,1296,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3244,0.68,146.6,38.1,7.8,615,3251,0.00,2.50,0.00,0.000,4,0.000,0.143,2940,867,1296,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3302,0.68,147.1,33.9,7.5,626,3309,0.00,2.58,0.00,0.000,6,0.000,0.161,2940,2280,1296,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3371,0.68,147.1,28.4,7.8,639,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,1296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,0.68,147.1,23.0,8.5,652,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,1296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,0.68,147.1,16.8,8.9,665,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,1296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3573,0.72,178.9,11.8,6.4,678,3597,0.00,2.62,15.40,0.190,4,0.000,0.164,2940,3697,1189,0,0,0,0,0,0,28.83,14.72,14.72
$GC,3639,0.72,178.9,6.2,10.8,690,3646,0.00,2.45,1.50,0.208,6,0.000,0.112,2950,2275,1185,0,0,0,0,0,0,28.83,14.76,14.73
$STATE,3707,end climb,SURFACE_DEPTH_REACHED
$STATE,3707,begin surface coast
$FINISH,2.5,1.019188
$STATE,3808,end surface coast,CONTROL_FINISHED_OK
$STATE,3808,begin surface
$SM_CCo,3822,83.47,0.167,0,0,527,340.23
$SM_GC,1.61,8.20,0.22,83.47,0.112,0.178,0.167,143,2387,527,-7.94,-0.31,340.23,0,0,0,0,0,0,14.78,14.76,14.67
$RAFOS_CLK,128
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,280612,111120
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.85
$INTERNAL_PRESSURE,8.89876
$TCM_TEMP,17.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,135.5,68.2
$24V_AH,13.8,2.242
$10V_AH,13.9,1.484
$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,20.600,65.900,292.600,83.475,0.000,50.107,104.944,170.831,3.500,0.000,5.100,1622.123,830.139,507.535,1383.171,58.506,33.206,1110.169,0.000,1040.503,0.000,16.598,0.000
$DEVICE_MAMPS,419.985,178.245,866.745,166.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.276,0.000,316.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321884
$DATA_FILE_SIZE,30096,723
$CAP_FILE_SIZE,76968,0
$CFSIZE,259252224,256438272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1486.1
$GPS,280612,123934,4744.313,-12224.983,38,1.3,41,16.6