version: 66.11
glider: 192
mission: 1
dive: 19
start: 6 28 112 9 12 7
data:
$ID,192
$MISSION,1
$DIVE,19
$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,-286.00708
$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,14
$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
$GPS1,280612,090559,4744.205,-12224.426,40,1.6,40,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.4
$GPS2,280612,091057,4744.228,-12224.440,4,1.6,4,16.6
$SPEED_LIMITS,0.130,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,-0.155
$KALMAN_X,-932.6,-60.5,-83.4,1452.9,83.9
$KALMAN_Y,-3624.0,-106.5,-475.2,7231.6,144.5
$MHEAD_RNG_PITCHd_Wd,198.7,754,-17.5,-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,-0.78,-90.4,0.0,0.0,0,74,0.00,0.00,-57.25,0.000,2,0.000,0.000,137,2386,2112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.78,-90.4,4.0,-9.9,10,96,10.75,2.58,-3.50,0.000,4,0.427,0.145,2439,959,2286,0,0,0,0,0,0,14.44,14.58,14.81
$GC,323,-0.78,-90.4,46.4,-13.4,58,329,0.00,2.55,0.00,0.000,6,0.000,0.145,2436,2379,2287,0,0,0,0,0,0,28.83,14.64,28.83
$GC,452,-0.78,-90.4,62.1,-11.1,83,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2379,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,579,-0.78,-90.4,78.4,-13.2,108,586,0.00,2.47,0.00,0.000,4,0.000,0.127,2435,959,2287,0,0,0,0,0,0,28.83,14.71,28.83
$GC,622,-0.78,-90.4,84.3,-13.6,116,629,0.00,2.58,0.00,0.000,6,0.000,0.151,2436,2385,2287,0,0,0,0,0,0,28.83,14.69,28.83
$GC,752,-0.78,-90.4,100.3,-12.6,141,759,0.00,2.55,0.00,0.000,4,0.000,0.161,2426,3797,2287,0,0,0,0,0,0,28.83,14.71,28.83
$GC,794,-0.78,-90.4,105.9,-13.1,149,801,0.00,2.40,0.00,0.000,6,0.000,0.099,2427,2368,2287,0,0,0,0,0,0,28.83,14.75,28.83
$GC,927,-0.78,-90.4,122.6,-12.6,174,933,0.00,2.42,0.00,0.000,4,0.000,0.129,2427,968,2288,0,0,0,0,0,0,28.83,14.74,28.83
$GC,980,-0.78,-90.4,129.9,-13.6,184,986,0.00,2.55,0.00,0.000,6,0.000,0.154,2424,2379,2288,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1108,-0.78,-90.4,146.7,-12.9,209,1115,0.00,2.55,0.00,0.000,4,0.000,0.161,2415,3793,2287,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1150,-0.78,-90.4,152.5,-14.3,217,1158,0.12,2.40,0.00,0.000,6,0.293,0.100,2441,2378,2287,0,0,0,0,0,0,14.69,14.77,28.83
$GC,1279,-0.78,-90.4,167.7,-10.9,242,1286,0.00,2.45,0.00,0.000,4,0.000,0.132,2441,967,2287,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1343,-0.78,-90.4,175.2,-11.6,254,1349,0.00,2.55,0.00,0.000,6,0.000,0.155,2436,2379,2287,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,1354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1354,begin apogee
$GC,1358,-0.19,0.0,176.7,-12.7,256,1449,0.68,0.00,87.10,0.879,6,0.239,0.000,2630,2275,1916,0,0,0,0,0,0,14.69,28.83,14.11
$STATE,1450,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1452,0.78,90.4,180.9,0.0,272,1549,0.98,2.65,85.45,0.842,4,0.155,0.140,2953,868,1539,0,0,0,0,0,0,14.38,14.17,13.90
$GC,1571,0.78,90.4,175.4,7.8,293,1578,0.00,2.67,0.00,0.000,6,0.000,0.153,2953,2286,1535,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1701,0.78,90.4,164.0,9.1,318,1708,0.00,2.60,0.00,0.000,4,0.000,0.142,2963,865,1532,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1769,0.78,90.4,157.4,9.1,331,1776,0.00,2.60,0.00,0.000,6,0.000,0.153,2964,2281,1531,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1897,0.78,90.4,145.3,9.3,356,1904,0.00,2.60,0.00,0.000,4,0.000,0.164,2964,3695,1530,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1997,0.78,90.4,134.8,10.4,375,2004,0.00,2.42,0.00,0.000,6,0.000,0.110,2974,2284,1530,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2126,0.78,90.4,122.2,10.3,400,2133,0.00,2.60,0.00,0.000,4,0.000,0.168,2974,3693,1530,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2148,0.78,90.4,119.6,11.5,404,2156,0.15,2.42,0.00,0.000,6,0.289,0.112,2951,2280,1530,0,0,0,0,0,0,14.59,14.66,28.83
$GC,2279,0.78,90.4,107.3,8.6,429,2286,0.00,2.53,0.00,0.000,4,0.000,0.145,2960,861,1529,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2341,0.78,90.4,101.6,9.7,441,2348,0.00,2.60,0.00,0.000,6,0.000,0.159,2960,2285,1529,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2471,0.78,90.4,89.3,10.0,466,2478,0.00,2.58,0.00,0.000,4,0.000,0.168,2960,3697,1529,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2544,0.78,90.4,81.3,11.0,480,2551,0.00,2.42,0.00,0.000,6,0.000,0.112,2971,2280,1529,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2672,0.78,90.4,69.0,9.5,505,2679,0.00,2.50,0.00,0.000,4,0.000,0.145,2981,866,1528,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2765,0.78,90.4,60.9,8.8,523,2772,0.00,2.58,0.00,0.000,6,0.000,0.157,2981,2286,1527,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2895,0.78,90.4,49.5,8.4,548,2902,0.00,2.55,0.00,0.000,4,0.000,0.167,2981,3694,1528,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3079,0.79,97.2,34.5,7.1,584,3087,0.15,2.42,0.00,0.000,6,0.280,0.111,2958,2279,1528,0,0,0,0,0,0,14.71,14.77,28.83
$GC,3148,0.86,155.6,31.1,4.2,597,3200,0.00,2.55,39.42,0.926,4,0.000,0.145,2966,861,1283,0,0,0,0,1,0,28.83,14.56,14.19
$GC,3286,0.86,155.6,20.9,9.7,623,3294,0.00,2.62,1.70,0.198,6,0.000,0.158,2966,2281,1279,0,0,0,0,0,0,28.83,14.59,14.59
$GC,3355,0.86,155.6,14.7,8.2,636,3363,0.00,2.67,1.45,0.207,4,0.000,0.166,2966,3699,1280,0,0,0,0,0,0,28.83,14.61,14.60
$GC,3389,0.86,155.6,11.6,9.9,642,3396,0.00,2.47,0.00,0.000,6,0.000,0.112,2977,2273,1288,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3458,0.95,222.5,8.1,3.8,655,3499,0.00,2.70,35.12,0.185,4,0.000,0.168,2977,3694,1008,0,0,0,0,0,0,28.83,14.59,14.59
$GC,3535,0.95,226.8,4.5,7.3,669,3543,0.00,2.45,2.97,0.196,6,0.000,0.112,2987,2272,991,0,0,0,0,0,0,28.83,14.64,14.61
$STATE,3569,end climb,SURFACE_DEPTH_REACHED
$STATE,3569,begin surface coast
$FINISH,0.6,1.019168
$STATE,3631,end surface coast,CONTROL_FINISHED_OK
$STATE,3631,begin surface
$SM_CCo,3645,59.30,0.171,0,0,527,340.23
$SM_GC,1.99,8.43,0.22,59.30,0.116,0.184,0.171,144,2382,527,-7.93,-0.42,340.23,0,0,0,0,0,0,14.68,14.65,14.59
$RAFOS_CLK,123
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,280612,070709
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.44
$INTERNAL_PRESSURE,8.89876
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,120.3,69.0
$24V_AH,13.9,2.000
$10V_AH,14.0,1.405
$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,21.250,86.700,253.225,59.300,0.000,26.210,28.308,159.614,2.500,0.000,5.085,1568.249,737.610,449.674,1217.390,54.201,33.199,1020.998,0.000,990.470,0.000,12.293,0.000
$DEVICE_MAMPS,426.870,183.600,925.650,170.595,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.295,0.000,300.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321908
$DATA_FILE_SIZE,30151,687
$CAP_FILE_SIZE,75813,0
$CFSIZE,259252224,256520192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1486.1
$GPS,280612,101505,4744.301,-12224.549,30,1.2,30,16.6