version: 66.11
glider: 192
mission: 1
dive: 17
start: 6 28 112 6 49 53
data:
$ID,192
$MISSION,1
$DIVE,17
$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,-283.49057
$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,15
$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
$GPS1,280612,064355,4743.311,-12224.264,42,0.9,42,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.8
$GPS2,280612,064843,4743.269,-12224.274,4,0.9,4,16.6
$SPEED_LIMITS,0.130,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.020,0.234
$KALMAN_X,-1394.1,86.0,100.8,1797.6,-165.2
$KALMAN_Y,-3927.2,127.1,-285.1,5344.9,-664.0
$MHEAD_RNG_PITCHd_Wd,338.6,1340,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-57.10,0.000,2,0.000,0.000,139,2377,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.68,-146.6,3.9,-10.0,10,102,10.85,2.65,-8.68,0.000,4,0.425,0.174,2471,3793,2516,0,0,0,0,0,0,14.47,14.57,14.82
$GC,193,-0.68,-146.6,22.4,-14.0,32,200,0.00,2.40,0.00,0.000,6,0.000,0.099,2471,2378,2517,0,0,0,0,0,0,28.83,14.64,28.83
$GC,262,-0.68,-146.6,32.2,-14.0,45,268,0.00,2.47,0.00,0.000,4,0.000,0.132,2471,966,2517,0,0,0,0,0,0,28.83,14.64,28.83
$GC,300,-0.68,-146.6,37.3,-12.7,52,307,0.00,2.58,0.00,0.000,6,0.000,0.155,2467,2379,2516,0,0,0,0,0,0,28.83,14.63,28.83
$GC,368,-0.68,-146.6,46.1,-12.4,65,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2379,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,496,-0.68,-146.6,61.2,-11.2,90,503,0.00,2.58,0.00,0.000,4,0.000,0.163,2466,3793,2516,0,0,0,0,0,0,28.83,14.67,28.83
$GC,539,-0.68,-146.6,66.6,-11.7,98,546,0.00,2.40,0.00,0.000,6,0.000,0.101,2466,2378,2517,0,0,0,0,0,0,28.83,14.71,28.83
$GC,669,-0.68,-146.6,81.6,-11.6,123,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2378,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-0.68,-146.6,96.8,-11.4,148,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2378,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,923,-0.68,-146.6,111.0,-12.2,173,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2378,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1055,-0.68,-146.6,126.0,-11.8,198,1062,0.00,2.58,0.00,0.000,4,0.000,0.161,2467,3793,2517,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1097,-0.68,-146.6,130.8,-11.4,206,1104,0.00,2.38,0.00,0.000,6,0.000,0.101,2465,2380,2516,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1225,-0.68,-146.6,146.2,-11.8,231,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2380,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1353,-0.68,-146.6,160.9,-11.8,256,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2377,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.68,-146.6,175.3,-10.6,281,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2380,2516,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1491,begin apogee
$GC,1495,-0.19,0.0,176.6,-11.1,283,1642,0.55,0.00,134.52,1.526,6,0.220,0.000,2629,2278,1918,0,0,0,0,1,0,14.73,28.83,13.50
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1644,0.68,146.6,182.2,0.0,309,1796,0.90,0.00,140.32,1.589,6,0.151,0.000,2913,2278,1320,0,0,0,0,1,0,14.03,28.83,13.39
$GC,1920,0.68,146.6,165.0,8.1,360,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2277,1326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2047,0.68,146.6,153.6,8.2,385,2053,0.00,2.62,0.00,0.000,4,0.000,0.151,2913,3696,1326,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2075,0.68,146.6,150.8,11.4,390,2082,0.00,2.45,0.00,0.000,6,0.000,0.110,2922,2284,1326,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2205,0.68,146.6,138.0,9.7,415,2212,0.00,2.55,0.00,0.000,4,0.000,0.145,2933,864,1325,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2243,0.68,146.6,133.9,9.8,422,2250,0.00,2.60,0.00,0.000,6,0.000,0.153,2933,2281,1325,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2373,0.68,146.6,121.0,10.3,447,2379,0.00,2.58,0.00,0.000,4,0.000,0.164,2933,3694,1324,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2461,0.68,146.6,111.2,11.3,464,2468,0.00,2.42,0.00,0.000,6,0.000,0.111,2942,2282,1324,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2591,0.68,146.6,98.5,9.6,489,2597,0.00,2.53,0.00,0.000,4,0.000,0.145,2952,859,1324,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2633,0.68,146.6,94.1,10.3,497,2641,0.12,2.60,0.00,0.000,6,0.265,0.156,2923,2282,1324,0,0,0,0,0,0,14.65,14.66,28.83
$GC,2764,0.68,146.6,82.3,8.5,522,2771,0.00,2.58,0.00,0.000,4,0.000,0.168,2923,3693,1324,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2798,0.68,146.6,78.6,11.3,528,2804,0.00,2.42,0.00,0.000,6,0.000,0.112,2932,2280,1324,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2927,0.68,146.6,65.9,10.0,553,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2280,1324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,0.68,146.6,53.7,9.1,578,3061,0.00,2.60,0.00,0.000,4,0.000,0.171,2932,3693,1324,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3072,0.68,146.6,52.1,8.7,581,3079,0.00,2.45,0.00,0.000,6,0.000,0.116,2941,2273,1324,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3202,0.68,146.6,40.6,8.6,606,3209,0.00,2.50,0.00,0.000,4,0.000,0.145,2952,858,1323,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3284,0.68,146.6,33.7,8.1,622,3292,0.12,2.58,0.00,0.000,6,0.263,0.157,2922,2282,1323,0,0,0,0,0,0,14.72,14.74,28.83
$GC,3354,0.72,178.9,29.0,6.4,635,3378,0.00,2.58,17.25,0.249,4,0.000,0.165,2922,3698,1187,0,0,0,0,0,0,28.83,14.71,14.67
$GC,3405,0.72,178.9,25.2,8.7,644,3411,0.00,2.42,0.00,0.000,6,0.000,0.113,2930,2280,1192,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3473,0.72,178.9,19.5,8.3,657,3480,0.00,2.50,0.00,0.000,4,0.000,0.146,2940,859,1192,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3561,0.72,178.9,11.9,8.0,674,3567,0.00,2.60,0.00,0.000,6,0.000,0.163,2940,2284,1192,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3629,0.74,190.7,7.3,7.1,687,3642,0.00,2.58,6.38,0.190,4,0.000,0.168,2940,3698,1138,0,0,0,0,0,0,28.83,14.72,14.71
$STATE,3683,end climb,SURFACE_DEPTH_REACHED
$STATE,3683,begin surface coast
$FINISH,1.0,1.019227
$STATE,3724,end surface coast,CONTROL_FINISHED_OK
$STATE,3724,begin surface
$SM_CCo,3741,76.55,0.165,0,0,529,340.23
$SM_GC,1.57,8.20,2.33,76.55,0.111,0.110,0.165,143,2370,529,-7.94,0.25,340.23,0,0,0,0,0,0,14.77,14.77,14.67
$RAFOS_CLK,127
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12222.38,280612,050517
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.77
$INTERNAL_PRESSURE,8.88899
$TCM_TEMP,17.40
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,120.6,67.7
$24V_AH,13.4,1.865
$10V_AH,13.6,1.329
$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,20.750,70.675,298.475,76.550,0.000,23.644,29.735,152.790,3.500,0.000,5.104,1578.319,742.593,517.369,1240.100,53.848,33.212,1113.460,0.000,1014.718,0.000,14.804,0.000
$DEVICE_MAMPS,424.575,174.420,1588.905,165.240,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.032,0.000,300.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321924
$DATA_FILE_SIZE,30132,705
$CAP_FILE_SIZE,75976,0
$CFSIZE,259252224,256602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1486.0
$GPS,280612,075453,4743.695,-12224.433,39,0.9,39,16.6