version: 66.11
glider: 193
mission: 1
dive: 15
start: 6 28 112 6 23 17
data:
$ID,193
$MISSION,1
$DIVE,15
$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,65
$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,15
$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,350
$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,-373.4437
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,149
$PITCH_MAX,3928
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1966
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-48.373795
$PRESSURE_SLOPE,0.0001163556
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$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,0.0043053469
$SEABIRD_T_H,0.00061871461
$SEABIRD_T_I,2.1533233e-05
$SEABIRD_T_J,2.1546668e-06
$SEABIRD_C_G,-9.8788214
$SEABIRD_C_H,1.1391871
$SEABIRD_C_I,-0.0018439521
$SEABIRD_C_J,0.00022276744
$GPS1,280612,061622,4742.146,-12226.710,6,1.3,6,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.0
$GPS2,280612,062143,4742.090,-12226.677,8,1.0,8,16.6
$SPEED_LIMITS,0.287,0.297
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.297,0.009
$KALMAN_X,-3357.9,-501.9,-539.7,2213.8,-855.0
$KALMAN_Y,-1245.1,-798.8,473.2,-935.6,266.1
$MHEAD_RNG_PITCHd_Wd,71.7,5562,-9.3,-7.692
$D_GRID,185
$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,-0.81,-117.3,0.0,0.0,0,79,0.00,0.00,-62.40,0.000,2,0.000,0.000,141,2085,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.81,-117.3,3.9,-9.5,11,106,11.62,2.67,-5.95,0.000,4,0.415,0.198,2679,677,2446,0,0,0,0,0,0,14.54,14.62,14.89
$GC,248,-0.81,-117.3,19.0,-6.9,43,255,0.00,2.70,0.00,0.000,6,0.000,0.173,2676,2090,2447,0,0,0,0,0,0,28.83,14.68,28.83
$GC,316,-0.81,-117.3,23.4,-6.2,56,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2090,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,384,-0.81,-117.3,27.3,-5.1,69,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2090,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,451,-0.81,-117.3,30.7,-5.5,82,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2090,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,519,-0.81,-117.3,35.1,-7.1,95,526,0.00,2.72,0.00,0.000,4,0.000,0.190,2665,3507,2447,0,0,0,0,0,0,28.83,14.73,28.83
$GC,578,-0.81,-117.3,39.0,-6.4,106,584,0.00,2.58,0.00,0.000,6,0.000,0.135,2665,2093,2447,0,0,0,0,0,0,28.83,14.76,28.83
$GC,646,-0.81,-117.3,43.2,-7.0,119,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2093,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,774,-0.81,-117.3,51.7,-6.2,144,781,0.00,2.65,0.00,0.000,4,0.000,0.176,2665,671,2447,0,0,0,0,0,0,28.83,14.76,28.83
$GC,827,-0.81,-117.3,55.3,-6.9,154,835,0.12,2.67,0.00,0.000,6,0.262,0.174,2688,2090,2447,0,0,0,0,0,0,14.77,14.78,28.83
$GC,957,-0.81,-117.3,62.4,-5.5,179,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2090,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-0.81,-117.3,70.1,-5.2,204,1093,0.00,2.70,0.00,0.000,4,0.000,0.187,2680,3507,2447,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1195,-0.81,-117.3,76.0,-4.8,225,1201,0.00,2.55,0.00,0.000,6,0.000,0.134,2680,2089,2448,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1325,-0.81,-117.3,81.3,-4.2,250,1332,0.00,2.62,0.00,0.000,4,0.000,0.176,2679,674,2447,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1399,-0.81,-117.3,84.7,-4.6,264,1405,0.00,2.67,0.00,0.000,6,0.000,0.174,2675,2096,2447,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1529,-0.81,-117.3,91.1,-5.0,289,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2096,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1656,-0.81,-117.3,97.3,-4.3,314,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2096,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1783,-0.81,-117.3,103.1,-4.2,339,1790,0.00,2.65,0.00,0.000,4,0.000,0.169,2675,678,2448,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1842,-0.81,-117.3,106.4,-5.3,350,1848,0.00,2.65,0.00,0.000,6,0.000,0.174,2668,2090,2447,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1970,-0.81,-117.3,113.1,-5.3,375,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2090,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,-0.81,-117.3,119.4,-4.9,400,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2090,2447,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2109,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2109,begin apogee
$GC,2113,-0.36,0.0,120.1,-5.6,402,2198,0.38,0.00,74.62,1.662,6,0.206,0.000,2782,2001,1969,0,0,0,0,1,0,14.83,28.83,13.73
$STATE,2199,end apogee,CONTROL_FINISHED_OK
$STATE,2199,begin climb
$GC,2200,0.81,117.3,122.1,0.0,417,2291,0.80,0.00,79.00,1.691,6,0.151,0.000,3035,2000,1488,0,0,0,0,1,0,14.30,28.83,13.47
$GC,2413,0.89,184.8,111.2,6.3,457,2476,0.00,2.90,47.67,1.440,4,0.000,0.184,3035,3411,1215,0,0,1,0,1,0,28.83,14.14,13.67
$GC,2493,0.96,245.8,106.3,6.4,471,2551,0.10,2.70,43.78,1.340,6,0.165,0.141,3085,1997,964,0,0,0,0,1,0,14.31,14.24,13.64
$GC,2673,0.96,245.8,91.0,9.2,505,2680,0.00,2.72,0.00,0.000,4,0.000,0.176,3094,586,971,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2735,0.96,245.8,85.3,9.7,517,2743,0.10,2.70,0.00,0.000,6,0.262,0.165,3071,2000,971,0,0,0,0,0,0,14.47,14.48,28.83
$GC,2865,0.96,245.8,73.3,8.8,542,2871,0.00,2.67,0.00,0.000,4,0.000,0.171,3081,586,971,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2887,0.96,245.8,71.2,9.0,546,2894,0.00,2.70,0.00,0.000,6,0.000,0.168,3081,2005,971,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3017,0.96,245.8,60.4,8.3,571,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2005,971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,0.96,245.8,49.2,8.9,596,3151,0.00,2.67,0.00,0.000,4,0.000,0.172,3090,586,970,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3162,0.96,245.8,47.4,10.0,599,3169,0.00,2.65,0.00,0.000,6,0.000,0.164,3089,1999,970,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3290,0.96,245.8,36.3,7.9,624,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2000,970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3358,1.01,281.9,31.5,6.9,637,3403,0.00,0.00,38.65,0.799,6,0.000,0.000,3090,2000,807,0,0,0,0,0,0,28.83,28.83,14.35
$GC,3465,1.09,350.3,24.0,6.3,657,3506,0.00,0.00,34.25,0.233,6,0.000,0.000,3090,2000,536,0,0,0,0,0,0,28.83,28.83,14.54
$GC,3567,1.09,350.3,16.4,7.9,676,3574,0.00,2.67,0.00,0.000,4,0.000,0.171,3098,586,544,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3596,1.12,368.0,14.3,7.3,681,3609,0.00,2.67,5.70,0.206,6,0.000,0.164,3098,2003,500,0,0,0,0,0,0,28.83,14.63,14.61
$GC,3671,1.15,396.7,9.0,7.1,695,3678,0.00,2.70,1.12,0.216,4,0.000,0.171,3106,582,499,0,0,0,0,0,0,28.83,14.64,14.66
$GC,3710,1.16,401.1,5.9,7.6,702,3717,0.00,2.67,0.77,0.252,6,0.000,0.165,3106,2002,498,0,0,0,0,0,0,28.83,14.67,14.67
$STATE,3748,end climb,SURFACE_DEPTH_REACHED
$STATE,3748,begin surface coast
$FINISH,0.9,1.018671
$STATE,3789,end surface coast,CONTROL_FINISHED_OK
$STATE,3789,begin surface
$SM_CCo,3864,0.00,0.000,0,0,507,357.89
$SM_GC,1.29,8.55,0.17,0.00,0.091,0.208,0.000,135,2091,507,-12.45,-0.51,357.89,0,0,0,0,0,0,14.76,14.71,28.83
$RAFOS_CLK,114
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12223.37,280612,050535
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.78
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.70
$XPDR_PINGS,4
$24V_AH,13.5,1.782
$10V_AH,13.6,0.663
$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,21.675,67.125,325.575,0.000,0.000,26.528,31.803,170.521,2.250,0.000,9.827,1610.922,806.444,475.954,1286.119,51.994,33.229,1087.708,0.000,1032.196,0.000,8.866,0.000
$DEVICE_MAMPS,415.395,208.080,1690.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.156,325.921,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321936
$DATA_FILE_SIZE,30110,717
$CAP_FILE_SIZE,78815,1
$CFSIZE,259252224,256360448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,4,1,0
$SOUNDSPEED,1484.0
$GPS,280612,072859,4742.134,-12226.265,38,1.4,38,16.6