version: 66.11
glider: 192
mission: 1
dive: 24
start: 6 28 112 14 34 33
data:
$ID,192
$MISSION,1
$DIVE,24
$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,-292.29431
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,15
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,280612,142841,4743.756,-12224.937,13,1.8,13,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.4
$GPS2,280612,143322,4743.794,-12225.009,10,1.3,11,16.6
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,-0.251
$KALMAN_X,-688.3,344.2,243.2,-225.1,-95.3
$KALMAN_Y,-1900.1,413.3,998.9,2718.8,113.0
$MHEAD_RNG_PITCHd_Wd,150.9,2042,-9.8,-6.959
$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,14,-0.62,-195.5,0.0,0.0,0,79,0.00,0.00,-62.45,0.000,2,0.000,0.000,141,2387,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.62,-195.5,3.9,-10.6,11,112,10.98,2.60,-9.60,0.000,4,0.428,0.176,2492,3787,2716,0,0,0,0,0,0,14.46,14.57,14.83
$GC,219,-0.56,-195.5,27.7,-13.0,37,225,0.00,2.40,0.00,0.000,6,0.000,0.098,2493,2369,2718,0,0,0,0,0,0,28.83,14.66,28.83
$GC,287,-0.49,-195.5,35.8,-11.3,50,295,0.15,2.45,0.00,0.000,4,0.256,0.128,2535,969,2718,0,0,0,0,0,0,14.59,14.65,28.83
$GC,337,-0.48,-195.5,40.8,-9.4,59,344,0.00,2.55,0.00,0.000,6,0.000,0.155,2535,2368,2718,0,0,0,0,0,0,28.83,14.64,28.83
$GC,466,-0.46,-195.5,51.6,-7.1,84,472,0.00,2.60,0.00,0.000,4,0.000,0.164,2535,3796,2718,0,0,0,0,0,0,28.83,14.66,28.83
$GC,534,-0.46,-195.5,56.4,-6.8,97,541,0.00,2.40,0.00,0.000,6,0.000,0.097,2535,2377,2718,0,0,0,0,0,0,28.83,14.72,28.83
$GC,664,-0.45,-195.5,66.6,-8.3,122,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2377,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-0.45,-195.5,75.5,-4.9,147,799,0.00,2.58,0.00,0.000,4,0.000,0.161,2535,3792,2718,0,0,0,0,0,0,28.83,14.71,28.83
$GC,836,-0.45,-195.5,77.9,-5.4,155,842,0.00,2.35,0.00,0.000,6,0.000,0.099,2535,2393,2718,0,0,0,0,0,0,28.83,14.76,28.83
$GC,965,-0.44,-195.5,86.4,-7.5,180,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2393,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1092,-0.44,-195.5,97.3,-8.8,205,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2392,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1219,-0.44,-195.5,106.7,-6.9,230,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2393,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-0.44,-195.5,116.1,-7.5,255,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2393,2718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1387,begin apogee
$GC,1391,-0.19,0.0,119.4,-7.5,263,1527,0.30,0.00,126.90,0.603,4,0.197,0.000,2629,2277,1920,0,0,0,0,0,0,14.75,28.83,14.19
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1530,0.62,195.5,124.7,0.0,287,1684,0.85,2.53,145.62,0.611,4,0.163,0.130,2894,869,1120,0,0,0,0,0,0,14.41,14.41,14.00
$GC,1821,0.58,195.5,105.4,8.6,341,1828,0.00,2.60,0.00,0.000,6,0.000,0.142,2894,2283,1126,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1951,0.52,195.5,94.4,9.1,366,1958,0.00,2.55,0.00,0.000,4,0.000,0.144,2899,874,1126,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2140,0.47,195.5,79.3,7.3,403,2147,0.17,2.58,0.00,0.000,6,0.221,0.158,2853,2268,1126,0,0,0,0,0,0,14.59,14.59,28.83
$GC,2271,0.53,260.6,72.1,5.4,428,2318,0.00,2.67,36.58,0.403,4,0.000,0.164,2853,3691,858,0,0,0,0,0,0,28.83,14.54,14.43
$GC,2340,0.52,260.6,67.9,7.5,440,2347,0.00,2.45,0.00,0.000,6,0.000,0.110,2854,2280,862,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2470,0.59,317.7,61.3,5.6,465,2506,0.12,0.00,32.10,0.366,6,0.157,0.000,2908,2280,621,0,0,0,0,0,0,14.66,28.83,14.46
$GC,2628,0.56,317.7,46.1,9.6,495,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2280,629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2756,0.53,317.7,34.3,9.3,520,2763,0.12,2.50,0.00,0.000,4,0.227,0.139,2871,868,628,0,0,0,0,0,0,14.62,14.64,28.83
$GC,2775,0.53,317.7,32.9,8.2,523,2782,0.00,2.60,0.00,0.000,6,0.000,0.155,2872,2283,628,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2844,0.54,317.7,27.6,7.5,536,2850,0.00,2.62,0.00,0.000,4,0.000,0.170,2871,3700,627,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2876,0.54,317.7,24.9,8.8,542,2883,0.00,2.45,0.00,0.000,6,0.000,0.111,2872,2275,627,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2945,0.54,317.7,19.8,7.4,555,2951,0.00,2.50,0.00,0.000,4,0.000,0.142,2872,864,627,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2983,0.57,317.7,17.1,7.3,562,2990,0.00,2.60,0.00,0.000,6,0.000,0.158,2872,2282,626,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3052,0.61,335.3,12.8,6.5,575,3071,0.00,2.65,9.55,0.206,4,0.000,0.171,2871,3691,551,0,0,0,0,0,0,28.83,14.64,14.65
$GC,3102,0.61,335.3,9.0,8.3,584,3109,0.00,2.42,0.00,0.000,6,0.000,0.112,2872,2277,556,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3171,0.71,398.9,4.9,5.4,597,3185,0.15,2.58,7.10,0.179,4,0.142,0.142,2938,864,499,0,0,0,0,0,0,14.73,14.68,14.67
$STATE,3206,end climb,SURFACE_DEPTH_REACHED
$STATE,3206,begin surface coast
$FINISH,1.4,1.018778
$STATE,3227,end surface coast,CONTROL_FINISHED_OK
$STATE,3227,begin surface
$SM_CCo,3305,0.00,0.000,0,0,505,346.61
$SM_GC,1.63,8.10,2.85,0.00,0.099,0.158,0.000,141,2390,505,-7.95,-0.20,346.61,0,0,0,0,0,0,14.71,14.68,28.83
$RAFOS_CLK,107
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12229.50,280612,131343
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.83
$INTERNAL_PRESSURE,8.87923
$TCM_TEMP,17.40
$XPDR_PINGS,6
$24V_AH,14.0,2.430
$10V_AH,14.1,1.579
$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,20.950,61.275,357.850,0.000,0.000,23.146,29.389,142.911,1.500,0.000,12.646,1334.712,681.392,460.471,1085.218,49.250,33.204,992.391,0.000,877.052,0.000,0.541,0.000
$DEVICE_MAMPS,427.635,175.950,611.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.375,0.000,267.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321876
$DATA_FILE_SIZE,26743,607
$CAP_FILE_SIZE,69121,0
$CFSIZE,259252224,256339968
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1485.5
$GPS,280612,153104,4743.229,-12225.046,41,1.1,46,16.6