version: 66.11
glider: 192
mission: 1
dive: 23
start: 6 28 112 13 40 15
data:
$ID,192
$MISSION,1
$DIVE,23
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,119
$D_ABORT,1090
$D_NO_BLEED,44
$D_BOOST,130
$T_BOOST,0
$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,57
$T_MISSION,65
$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,200
$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,-291.03403
$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,15
$ROLL_AD_RATE,300
$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,5
$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,0
$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
$GPS1,280612,133435,4744.157,-12224.947,58,1.1,58,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.2
$GPS2,280612,133905,4744.140,-12224.956,4,1.1,4,16.6
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.004,-0.257
$KALMAN_X,-569.0,296.1,254.2,-242.7,23.4
$KALMAN_Y,-1876.3,206.6,946.4,3593.9,365.7
$MHEAD_RNG_PITCHd_Wd,162.5,2673,-9.8,-6.959
$D_GRID,186
$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,14,-0.62,-195.5,0.0,0.0,0,62,0.00,0.00,-45.85,0.000,2,0.000,0.000,144,2394,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.62,-195.5,3.2,-7.0,8,106,10.95,2.58,-20.48,0.000,4,0.427,0.151,2490,966,2715,0,0,0,0,0,0,14.46,14.57,14.83
$GC,222,-0.62,-195.5,23.6,-11.9,38,229,0.00,2.58,0.00,0.000,6,0.000,0.150,2489,2386,2715,0,0,0,0,0,0,28.83,14.62,28.83
$GC,291,-0.62,-195.5,32.1,-12.9,51,297,0.00,2.50,0.00,0.000,4,0.000,0.130,2490,967,2716,0,0,0,0,0,0,28.83,14.65,28.83
$GC,329,-0.62,-195.5,37.3,-13.5,58,335,0.00,2.58,0.00,0.000,6,0.000,0.155,2490,2379,2716,0,0,0,0,0,0,28.83,14.64,28.83
$GC,397,-0.62,-195.5,45.7,-12.4,71,403,0.00,2.58,0.00,0.000,4,0.000,0.164,2490,3798,2716,0,0,0,0,0,0,28.83,14.65,28.83
$GC,446,-0.62,-195.5,51.2,-10.6,80,453,0.00,2.42,0.00,0.000,6,0.000,0.099,2490,2376,2717,0,0,0,0,0,0,28.83,14.70,28.83
$GC,574,-0.62,-195.5,64.6,-10.1,105,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2376,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,703,-0.62,-195.5,77.0,-9.4,130,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2375,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-0.62,-195.5,89.4,-9.4,155,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2375,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-0.62,-195.5,101.6,-10.0,180,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2375,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-0.62,-195.5,114.7,-10.6,205,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2375,2716,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1127,begin apogee
$GC,1131,-0.19,0.0,119.0,-9.8,213,1256,0.45,0.00,118.20,0.597,6,0.209,0.000,2627,2273,1919,0,0,0,0,0,0,14.72,28.83,14.21
$STATE,1257,end apogee,CONTROL_FINISHED_OK
$STATE,1257,begin climb
$GC,1259,0.62,195.5,123.5,0.0,235,1384,0.82,0.00,120.35,0.613,6,0.154,0.000,2892,2273,1120,0,0,0,0,0,0,14.42,28.83,14.02
$GC,1505,0.62,195.5,106.8,9.5,281,1512,0.00,2.67,1.45,0.220,4,0.000,0.142,2892,3701,1120,0,0,0,0,0,0,28.83,14.41,14.38
$GC,1524,0.62,195.5,104.8,10.6,284,1531,0.00,2.45,0.00,0.000,6,0.000,0.099,2901,2279,1125,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1652,0.62,195.5,91.2,9.8,309,1659,0.00,2.53,0.00,0.000,4,0.000,0.135,2910,860,1128,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1676,0.62,195.5,88.8,10.3,313,1682,0.00,2.60,0.00,0.000,6,0.000,0.146,2910,2289,1128,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1805,0.62,195.5,75.4,10.3,338,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2288,1128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1932,0.62,195.5,63.2,9.6,363,1939,0.00,2.55,0.00,0.000,4,0.000,0.155,2911,3700,1128,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1971,0.62,195.5,59.6,10.1,370,1978,0.00,2.42,0.00,0.000,6,0.000,0.103,2920,2276,1128,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2101,0.62,195.5,47.4,9.3,395,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2276,1128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2228,0.62,195.5,36.4,9.1,420,2235,0.00,2.60,0.00,0.000,4,0.000,0.155,2920,3699,1128,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2266,0.62,195.5,32.5,10.3,427,2274,0.12,2.42,0.00,0.000,6,0.269,0.104,2901,2271,1128,0,0,0,0,0,0,14.66,14.71,28.83
$GC,2335,0.62,195.5,27.2,7.3,440,2342,0.00,2.47,0.00,0.000,4,0.000,0.142,2909,870,1128,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2394,0.62,195.5,22.6,8.1,451,2400,0.00,2.58,0.00,0.000,6,0.000,0.155,2909,2288,1128,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2461,0.62,195.5,17.4,7.2,464,2468,0.00,2.53,0.00,0.000,4,0.000,0.141,2914,867,1128,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2504,0.62,195.5,14.1,7.5,472,2511,0.00,2.58,0.00,0.000,6,0.000,0.155,2915,2288,1128,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2573,0.62,195.5,8.9,7.2,485,2579,0.00,2.55,0.00,0.000,4,0.000,0.165,2915,3693,1128,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2616,0.62,195.5,5.7,7.5,493,2623,0.00,2.42,0.00,0.000,6,0.000,0.111,2925,2274,1128,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2684,0.91,430.9,4.1,1.2,506,2727,0.17,0.00,39.00,0.171,2,0.133,0.000,2998,2274,806,0,0,0,0,0,0,14.76,28.83,28.83
$STATE,2727,end climb,SURFACE_DEPTH_REACHED
$STATE,2728,begin surface coast
$FINISH,0.0,1.017263
$STATE,2801,end surface coast,CONTROL_FINISHED_OK
$STATE,2801,begin surface
$SM_CCo,2815,35.58,0.170,0,0,529,340.23
$SM_GC,1.53,8.20,0.22,35.58,0.093,0.174,0.170,142,2387,529,-7.94,-0.37,340.23,0,0,0,0,0,0,14.74,14.71,14.66
$RAFOS_CLK,89
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12226.80,280612,121248
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.81
$INTERNAL_PRESSURE,8.89876
$TCM_TEMP,17.50
$XPDR_PINGS,4
$24V_AH,14.0,2.361
$10V_AH,14.1,1.545
$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,20.725,51.000,279.000,35.575,0.000,17.985,32.868,142.649,1.000,0.000,5.027,1178.226,543.541,420.052,961.087,45.061,33.208,885.910,0.000,763.646,0.000,0.542,0.000
$DEVICE_MAMPS,426.870,173.655,612.765,169.830,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.743,0.000,245.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321880
$DATA_FILE_SIZE,23496,527
$CAP_FILE_SIZE,59511,0
$CFSIZE,259252224,256389120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1485.8
$GPS,280612,142841,4743.756,-12224.937,13,1.8,13,16.6