version: 66.11
glider: 192
mission: 1
dive: 2
start: 6 27 112 17 26 28
data:
$ID,192
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,330
$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,-243.87476
$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,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$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,90
$ALTIM_PING_DELTA,0
$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
$GPS1,270612,172008,4742.461,-12224.771,1,1.2,1,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.6
$GPS2,270612,172521,4742.424,-12224.753,3,1.2,3,16.6
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.001,0.235
$KALMAN_X,-0.7,-0.7,-0.7,-6.5,-2.1
$KALMAN_Y,-126.5,-126.5,-126.5,84.8,-406.3
$MHEAD_RNG_PITCHd_Wd,343.1,2733,-19.7,-10.000
$D_GRID,151
$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,-0.90,-117.3,0.0,0.0,0,84,0.00,0.00,-63.78,0.000,6,0.000,0.000,137,2386,2395,0,0,0,0,0,0,28.83,28.83,15.02
$GC,86,-0.90,-117.3,3.1,-6.4,12,105,10.23,2.45,0.00,0.000,4,0.413,0.113,2410,967,2396,0,0,0,0,0,0,14.59,14.74,28.83
$GC,141,-0.90,-117.3,18.1,-13.9,22,148,0.00,2.50,0.00,0.000,6,0.000,0.138,2403,2384,2396,0,0,0,0,0,0,28.83,14.74,28.83
$GC,209,-0.90,-117.3,28.1,-15.7,35,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2385,2397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,276,-0.90,-117.3,39.3,-17.0,48,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2385,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,343,-0.90,-117.3,50.5,-17.1,61,350,0.00,2.42,0.00,0.000,4,0.000,0.120,2404,968,2397,0,0,0,0,0,0,28.83,14.78,28.83
$GC,361,-0.90,-117.3,53.9,-18.8,64,368,0.00,2.53,0.00,0.000,6,0.000,0.144,2394,2383,2397,0,0,0,0,0,0,28.83,14.77,28.83
$GC,490,-0.90,-117.3,76.0,-14.9,89,496,0.00,2.50,0.00,0.000,4,0.000,0.154,2383,3793,2396,0,0,0,0,0,0,28.83,14.78,28.83
$GC,558,-0.90,-117.3,86.9,-16.6,102,565,0.15,2.35,0.00,0.000,6,0.293,0.093,2416,2372,2396,0,0,0,0,0,0,14.71,14.83,28.83
$GC,689,-0.90,-117.3,105.3,-13.5,127,696,0.00,2.55,0.00,0.000,4,0.000,0.158,2408,3792,2397,0,0,0,0,0,0,28.83,14.78,28.83
$GC,707,-0.90,-117.3,107.9,-14.2,130,714,0.00,2.35,0.00,0.000,6,0.000,0.095,2408,2375,2396,0,0,0,0,0,0,28.83,14.83,28.83
$GC,837,-0.90,-117.3,124.5,-12.1,155,844,0.00,2.55,0.00,0.000,4,0.000,0.158,2397,3793,2396,0,0,0,0,0,0,28.83,14.79,28.83
$GC,885,-0.90,-117.3,130.9,-13.6,164,892,0.00,2.35,0.00,0.000,6,0.000,0.096,2397,2380,2396,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1013,-0.90,-117.3,147.5,-12.8,189,1020,0.00,2.55,0.00,0.000,4,0.000,0.157,2386,3802,2396,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,1035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1035,begin apogee
$GC,1041,-0.19,0.0,150.6,-13.4,193,1154,0.88,0.00,104.45,0.883,6,0.254,0.000,2636,2276,1910,0,0,0,0,0,0,14.72,28.83,14.11
$STATE,1155,end apogee,CONTROL_FINISHED_OK
$STATE,1155,begin climb
$GC,1157,0.90,117.3,155.2,0.0,213,1276,1.10,2.62,104.45,0.845,4,0.145,0.151,2996,3695,1437,0,0,0,0,1,0,14.44,14.29,13.91
$GC,1293,0.90,117.3,145.3,11.4,237,1300,0.00,2.47,0.00,0.000,6,0.000,0.113,3005,2283,1442,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1422,0.90,117.3,129.7,12.4,262,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2283,1446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1549,0.90,117.3,112.5,13.2,287,1556,0.00,2.58,0.00,0.000,4,0.000,0.161,3004,3693,1446,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1621,0.90,117.3,102.6,14.7,301,1628,0.00,2.42,0.00,0.000,6,0.000,0.116,3017,2280,1446,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1749,0.90,117.3,85.0,13.7,326,1756,0.00,2.58,0.00,0.000,4,0.000,0.168,3017,3694,1445,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1782,0.90,117.3,80.2,14.6,332,1789,0.00,2.45,0.00,0.000,6,0.000,0.117,3028,2273,1445,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1910,0.90,117.3,64.7,10.2,357,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2273,1445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,0.90,117.3,51.9,11.3,382,2045,0.00,2.47,0.00,0.000,4,0.000,0.142,3038,861,1445,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2216,0.93,138.5,34.1,8.8,417,2246,0.00,2.58,18.23,0.731,6,0.000,0.157,3039,2288,1351,0,0,0,0,1,0,28.83,14.77,14.33
$GC,2308,0.95,153.9,26.2,9.1,434,2326,0.00,2.60,9.73,0.233,4,0.000,0.166,3039,3687,1292,0,0,0,0,0,0,28.83,14.70,14.66
$GC,2332,0.95,153.9,23.5,10.9,438,2340,0.15,2.42,0.00,0.000,6,0.293,0.115,3015,2277,1297,0,0,0,0,0,0,14.66,14.73,28.83
$GC,2401,0.95,153.9,15.9,10.2,451,2409,0.00,2.55,2.00,0.198,4,0.000,0.142,3024,866,1290,0,0,0,0,0,0,28.83,14.73,14.70
$GC,2420,0.95,153.9,13.6,11.7,454,2427,0.00,2.58,0.00,0.000,6,0.000,0.158,3024,2285,1298,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2489,0.95,157.3,6.1,9.8,467,2502,0.00,2.55,3.78,0.182,4,0.000,0.140,3035,874,1276,0,0,0,0,0,0,28.83,14.73,14.73
$STATE,2532,end climb,SURFACE_DEPTH_REACHED
$STATE,2532,begin surface coast
$FINISH,2.0,1.018281
$STATE,2548,end surface coast,CONTROL_FINISHED_OK
$STATE,2548,begin surface
$SM_CCo,2565,86.68,0.165,0,0,569,330.17
$SM_GC,1.86,8.52,2.80,86.68,0.119,0.158,0.165,140,2379,569,-7.98,-0.51,330.17,0,0,0,0,0,0,14.77,14.73,14.67
$RAFOS_CLK,76
$RAFOS,0,1340819944,18.000000,17.984444,62,60,59,57,55,55,198,227,170,211,186,154
$RAFOS,0,1340818742,17.666660,17.650555,67,59,57,54,53,53,204,182,158,191,121,216
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12223.37,270612,171745
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.88
$INTERNAL_PRESSURE,8.94759
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,62.2
$24V_AH,13.9,0.394
$10V_AH,13.9,0.851
$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,21.025,65.375,242.625,86.675,0.000,0.000,0.000,0.000,0.500,0.000,5.035,1066.914,485.422,460.691,696.727,25.241,30.073,889.725,0.000,693.560,600.000,5.598,0.000
$DEVICE_MAMPS,413.100,168.300,882.810,165.240,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322192
$DATA_FILE_SIZE,20124,478
$CAP_FILE_SIZE,72046,0
$CFSIZE,259252224,257421312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1485.6
$GPS,270612,181200,4742.607,-12224.935,39,0.9,39,16.6