version: 66.11
glider: 192
mission: 1
dive: 18
start: 6 28 112 8 1 5
data:
$ID,192
$MISSION,1
$DIVE,18
$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,-284.75034
$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
$GPS1,280612,075453,4743.695,-12224.433,39,0.9,39,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.9
$GPS2,280612,075955,4743.693,-12224.434,4,0.9,4,16.6
$SPEED_LIMITS,0.130,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.049,0.167
$KALMAN_X,-1507.2,111.9,83.1,1701.1,-222.6
$KALMAN_Y,-4094.2,99.6,-419.5,6452.3,-412.5
$MHEAD_RNG_PITCHd_Wd,327.2,596,-19.5,-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,-0.84,-74.1,0.0,0.0,0,74,0.00,0.00,-57.38,0.000,2,0.000,0.000,143,2369,2100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.84,-74.1,3.8,-9.5,10,96,10.73,2.65,-2.47,0.000,4,0.434,0.168,2410,3797,2222,0,0,0,0,0,0,14.47,14.59,14.81
$GC,322,-0.84,-74.1,48.0,-14.6,58,329,0.00,2.40,0.00,0.000,6,0.000,0.099,2409,2376,2223,0,0,0,0,0,0,28.83,14.69,28.83
$GC,451,-0.84,-74.1,65.0,-13.3,83,457,0.00,2.47,0.00,0.000,4,0.000,0.129,2409,963,2223,0,0,0,0,0,0,28.83,14.70,28.83
$GC,509,-0.84,-74.1,72.8,-13.5,94,516,0.00,2.55,0.00,0.000,6,0.000,0.151,2401,2379,2223,0,0,0,0,0,0,28.83,14.70,28.83
$GC,637,-0.84,-74.1,90.0,-13.6,119,644,0.00,2.55,0.00,0.000,4,0.000,0.158,2390,3802,2222,0,0,0,0,0,0,28.83,14.71,28.83
$GC,669,-0.84,-74.1,94.5,-14.1,125,677,0.15,2.42,0.00,0.000,6,0.301,0.099,2422,2374,2223,0,0,0,0,0,0,14.66,14.75,28.83
$GC,799,-0.84,-74.1,110.8,-11.8,150,806,0.00,2.45,0.00,0.000,4,0.000,0.130,2423,960,2223,0,0,0,0,0,0,28.83,14.74,28.83
$GC,847,-0.84,-74.1,116.9,-12.2,159,854,0.00,2.58,0.00,0.000,6,0.000,0.154,2417,2388,2223,0,0,0,0,0,0,28.83,14.73,28.83
$GC,978,-0.84,-74.1,132.6,-12.3,184,985,0.00,2.55,0.00,0.000,4,0.000,0.161,2406,3802,2223,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1121,-0.84,-74.1,151.5,-12.8,212,1127,0.00,2.42,0.00,0.000,6,0.000,0.101,2406,2371,2223,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1250,-0.84,-74.1,168.3,-12.9,237,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2371,2223,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1312,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1312,begin apogee
$GC,1315,-0.19,0.0,176.2,-12.8,249,1395,0.77,0.00,71.65,0.893,6,0.253,0.000,2627,2272,1911,0,0,0,0,0,0,14.72,28.83,14.18
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1396,begin climb
$GC,1397,0.84,74.1,179.9,0.0,263,1472,1.05,0.00,70.03,0.848,6,0.156,0.000,2964,2272,1612,0,0,0,0,0,0,14.45,28.83,13.97
$GC,1593,0.84,74.1,167.4,8.9,300,1600,0.00,2.62,0.00,0.000,4,0.000,0.153,2964,3697,1600,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1641,0.84,74.1,162.5,10.4,309,1648,0.00,2.47,0.00,0.000,6,0.000,0.110,2975,2274,1600,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1770,0.84,74.1,150.1,9.2,334,1777,0.00,2.62,0.00,0.000,4,0.000,0.164,2975,3695,1599,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1820,0.84,74.1,145.2,10.2,343,1826,0.00,2.45,0.00,0.000,6,0.000,0.111,2985,2277,1599,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1948,0.84,74.1,132.8,10.0,368,1955,0.00,2.50,0.00,0.000,4,0.000,0.142,2996,869,1598,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1991,0.84,74.1,128.6,9.5,376,1998,0.00,2.58,0.00,0.000,6,0.000,0.155,2996,2281,1598,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2120,0.84,74.1,115.7,10.4,401,2126,0.00,2.58,0.00,0.000,4,0.000,0.162,2996,3698,1598,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2272,0.84,74.1,99.5,10.5,431,2280,0.15,2.42,0.00,0.000,6,0.298,0.109,2974,2279,1597,0,0,0,0,0,0,14.64,14.71,28.83
$GC,2401,0.84,74.1,89.1,7.5,456,2408,0.00,2.50,0.00,0.000,4,0.000,0.144,2982,866,1598,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2434,0.84,74.1,86.2,8.7,462,2441,0.00,2.60,0.00,0.000,6,0.000,0.155,2983,2288,1597,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2564,0.84,74.1,75.8,7.6,487,2571,0.00,2.55,0.00,0.000,4,0.000,0.162,2983,3698,1597,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2704,0.84,74.1,65.1,7.6,514,2711,0.00,2.42,0.00,0.000,6,0.000,0.109,2993,2272,1597,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2832,0.84,74.1,55.9,8.0,539,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2272,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2961,0.84,74.1,46.2,7.6,564,2968,0.00,2.47,0.00,0.000,4,0.000,0.142,3004,862,1597,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3194,0.87,100.2,31.7,5.7,610,3224,0.00,2.55,18.73,0.767,6,0.000,0.152,3004,2284,1507,0,0,0,0,1,0,28.83,14.77,14.33
$GC,3286,0.90,122.9,26.1,6.0,627,3304,0.00,0.00,13.32,0.235,6,0.000,0.000,3004,2284,1415,0,0,0,0,0,0,28.83,28.83,14.64
$GC,3365,0.90,122.9,20.3,8.7,642,3373,0.00,2.60,1.48,0.208,4,0.000,0.142,3015,864,1416,0,0,0,0,0,0,28.83,14.69,14.67
$GC,3595,0.98,188.1,7.5,3.0,687,3636,0.00,2.55,34.28,0.183,6,0.000,0.152,3014,2280,1149,0,0,0,0,0,0,28.83,14.73,14.67
$STATE,3681,end climb,SURFACE_DEPTH_REACHED
$STATE,3681,begin surface coast
$FINISH,1.0,1.019528
$STATE,3718,end surface coast,CONTROL_FINISHED_OK
$STATE,3718,begin surface
$SM_CCo,3733,78.38,0.165,0,0,527,340.23
$SM_GC,1.71,8.57,0.20,78.38,0.125,0.185,0.165,137,2385,527,-7.96,-0.42,340.23,0,0,0,0,0,0,14.73,14.71,14.64
$RAFOS_CLK,130
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12222.38,280612,060608
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.24
$INTERNAL_PRESSURE,8.88899
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,120.5,68.6
$24V_AH,14.0,1.927
$10V_AH,14.0,1.367
$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,21.425,65.925,209.475,78.375,0.000,24.497,30.112,165.196,2.250,0.000,5.102,1627.116,787.884,415.220,1255.746,51.228,33.205,981.949,0.000,1022.698,0.000,11.893,0.000
$DEVICE_MAMPS,433.755,185.130,892.755,165.240,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.454,0.000,316.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321864
$DATA_FILE_SIZE,30083,710
$CAP_FILE_SIZE,71792,0
$CFSIZE,259252224,256565248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1486.0
$GPS,280612,090559,4744.205,-12224.426,40,1.6,40,16.6