version: 66.11
glider: 192
mission: 1
dive: 22
start: 6 28 112 12 45 57
data:
$ID,192
$MISSION,1
$DIVE,22
$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,-289.77753
$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,14
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$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,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
$GPS1,280612,123934,4744.313,-12224.983,38,1.3,41,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.0
$GPS2,280612,124447,4744.313,-12224.976,4,1.3,4,16.6
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.041,-0.254
$KALMAN_X,-612.8,242.9,192.8,-104.0,155.3
$KALMAN_Y,-1934.8,-16.3,681.2,4461.0,636.5
$MHEAD_RNG_PITCHd_Wd,172.5,2996,-9.8,-6.959
$D_GRID,188
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.62,-195.5,0.0,0.0,0,62,0.00,0.00,-46.00,0.000,2,0.000,0.000,143,2387,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.62,-195.5,3.1,-6.2,8,107,10.80,2.55,-20.80,0.000,4,0.420,0.148,2492,967,2717,0,0,0,0,0,0,14.47,14.57,14.83
$GC,333,-0.62,-195.5,37.7,-13.1,60,340,0.00,2.55,0.00,0.000,6,0.000,0.149,2492,2378,2717,0,0,0,0,0,0,28.83,14.65,28.83
$GC,401,-0.62,-195.5,46.4,-12.5,73,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2378,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,530,-0.62,-195.5,61.2,-12.2,98,537,0.00,2.47,0.00,0.000,4,0.000,0.130,2492,964,2717,0,0,0,0,0,0,28.83,14.70,28.83
$GC,562,-0.62,-195.5,65.3,-11.7,104,569,0.00,2.58,0.00,0.000,6,0.000,0.155,2492,2384,2718,0,0,0,0,0,0,28.83,14.69,28.83
$GC,691,-0.62,-195.5,79.2,-9.3,129,697,0.00,2.58,0.00,0.000,4,0.000,0.165,2492,3801,2718,0,0,0,0,0,0,28.83,14.70,28.83
$GC,729,-0.62,-195.5,82.8,-9.2,136,735,0.00,2.40,0.00,0.000,6,0.000,0.101,2492,2377,2718,0,0,0,0,0,0,28.83,14.74,28.83
$GC,858,-0.62,-195.5,95.1,-9.4,161,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2377,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,985,-0.62,-195.5,107.6,-9.9,186,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2377,2718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1102,begin apogee
$GC,1106,-0.19,0.0,119.2,-9.3,209,1225,0.45,0.00,114.28,0.600,6,0.206,0.000,2628,2277,1917,0,0,0,0,0,0,14.71,28.83,14.24
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1226,begin climb
$GC,1227,0.62,195.5,123.4,0.0,230,1358,0.80,2.60,118.53,0.619,4,0.152,0.132,2899,876,1124,0,0,0,0,0,0,14.42,14.22,14.02
$GC,1380,0.62,195.5,114.6,9.7,257,1388,0.00,2.60,1.38,0.240,6,0.000,0.143,2899,2284,1119,0,0,0,0,0,0,28.83,14.28,14.25
$GC,1511,0.62,195.5,102.4,9.3,282,1519,0.00,2.67,1.50,0.214,4,0.000,0.157,2900,3698,1121,0,0,0,0,0,0,28.83,14.44,14.42
$GC,1562,0.62,195.5,97.0,11.5,291,1570,0.00,2.45,1.40,0.216,6,0.000,0.110,2909,2286,1118,0,0,0,0,0,0,28.83,14.50,14.47
$GC,1693,0.62,195.5,83.9,9.2,316,1701,0.00,2.55,1.15,0.226,4,0.000,0.142,2919,864,1120,0,0,0,0,0,0,28.83,14.55,14.54
$GC,1732,0.62,195.5,79.9,9.5,323,1739,0.00,2.60,0.00,0.000,6,0.000,0.155,2918,2283,1127,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1862,0.62,195.5,67.2,10.0,348,1869,0.00,2.60,1.35,0.218,4,0.000,0.163,2918,3702,1120,0,0,0,0,0,0,28.83,14.60,14.59
$GC,1881,0.62,195.5,65.0,10.5,351,1888,0.00,2.45,0.00,0.000,6,0.000,0.111,2928,2280,1125,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2009,0.62,195.5,52.4,9.7,376,2017,0.00,2.60,1.38,0.216,4,0.000,0.165,2928,3694,1120,0,0,0,0,0,0,28.83,14.63,14.63
$GC,2028,0.62,195.5,50.4,9.9,379,2036,0.15,2.45,0.00,0.000,6,0.246,0.113,2901,2278,1127,0,0,0,0,0,0,14.63,14.66,28.83
$GC,2158,0.62,195.5,40.1,7.9,404,2165,0.00,2.53,1.33,0.220,4,0.000,0.145,2909,867,1119,0,0,0,0,0,0,28.83,14.66,14.66
$GC,2201,0.62,195.5,36.7,8.0,412,2208,0.00,2.58,0.00,0.000,6,0.000,0.155,2909,2284,1126,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2269,0.62,195.5,31.4,7.2,425,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2284,1129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2337,0.62,195.5,26.4,8.9,438,2343,0.00,0.00,1.27,0.224,6,0.000,0.000,2909,2284,1119,0,0,0,0,0,0,28.83,28.83,14.68
$GC,2404,0.62,195.5,20.7,8.6,451,2411,0.00,2.55,0.00,0.000,4,0.000,0.146,2915,858,1128,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2458,0.62,195.5,16.4,7.5,461,2465,0.00,2.60,1.27,0.226,6,0.000,0.159,2915,2285,1117,0,0,0,0,0,0,28.83,14.70,14.70
$GC,2527,0.62,195.5,10.3,9.1,474,2534,0.00,2.58,0.00,0.000,4,0.000,0.168,2915,3697,1128,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2589,0.62,195.5,5.0,8.5,486,2596,0.00,2.42,0.00,0.000,6,0.000,0.112,2925,2281,1128,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,2636,end climb,SURFACE_DEPTH_REACHED
$STATE,2637,begin surface coast
$FINISH,2.1,1.018919
$STATE,2727,end surface coast,CONTROL_FINISHED_OK
$STATE,2727,begin surface
$SM_CCo,2742,74.32,0.167,0,0,529,340.23
$SM_GC,1.04,8.07,0.22,74.32,0.104,0.175,0.167,144,2394,529,-7.94,-0.17,340.23,0,0,0,0,0,0,14.76,14.73,14.66
$RAFOS_CLK,89
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12218.96,280612,111102
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.41
$INTERNAL_PRESSURE,8.88899
$TCM_TEMP,17.50
$XPDR_PINGS,4
$24V_AH,14.0,2.303
$10V_AH,14.1,1.514
$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,20.275,56.350,244.825,74.325,0.000,22.755,28.117,180.093,1.000,0.000,5.023,1168.119,533.973,427.971,974.674,48.695,33.207,875.280,0.000,744.227,0.000,0.542,0.000
$DEVICE_MAMPS,419.985,175.185,618.885,166.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.415,0.000,239.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23482,513
$CAP_FILE_SIZE,60016,0
$CFSIZE,259252224,256417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1485.9
$GPS,280612,133435,4744.157,-12224.947,58,1.1,58,16.6