version: 66.11
glider: 193
mission: 1
dive: 17
start: 6 28 112 8 34 8
data:
$ID,193
$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,50
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,-375.96106
$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,9
$R_STBD_OVSHOOT,8
$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
$GPS1,280612,082759,4742.594,-12225.273,3,2.0,4,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.1
$GPS2,280612,083302,4742.386,-12225.655,6,2.3,26,16.6
$SPEED_LIMITS,0.101,0.314
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.188,0.252
$KALMAN_X,-3907.4,-553.8,-770.2,4299.9,-64.7
$KALMAN_Y,-1692.2,-416.1,697.2,-557.3,-131.4
$MHEAD_RNG_PITCHd_Wd,20.2,4301,-17.6,-12.000
$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,15,-1.50,-195.5,0.0,0.0,0,74,0.00,0.00,-57.47,0.000,2,0.000,0.000,141,2089,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.50,-195.5,3.1,-5.2,10,113,11.15,2.70,-16.25,0.000,4,0.427,0.204,2530,675,2763,0,0,1,0,0,0,14.55,14.64,14.91
$GC,224,-1.50,-195.5,29.0,-14.9,38,231,0.00,2.72,0.00,0.000,6,0.000,0.185,2522,2090,2763,0,0,0,0,0,0,28.83,14.69,28.83
$GC,292,-1.50,-195.5,38.7,-14.6,51,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2090,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,360,-1.50,-195.5,47.6,-13.0,64,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2090,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,487,-1.50,-195.5,63.0,-10.1,89,494,0.00,2.67,0.00,0.000,4,0.000,0.179,2522,673,2763,0,0,0,0,0,0,28.83,14.74,28.83
$GC,525,-1.50,-195.5,67.6,-12.8,96,532,0.00,2.72,0.00,0.000,6,0.000,0.186,2513,2091,2764,0,0,0,0,0,0,28.83,14.74,28.83
$GC,655,-1.50,-195.5,84.6,-14.1,121,661,0.00,2.70,0.00,0.000,4,0.000,0.186,2502,3506,2763,0,0,0,0,0,0,28.83,14.76,28.83
$GC,697,-1.50,-195.5,91.2,-15.7,129,705,0.12,2.58,0.00,0.000,6,0.274,0.134,2530,2087,2764,0,0,0,0,0,0,14.74,14.78,28.83
$GC,826,-1.50,-195.5,109.0,-13.2,154,833,0.00,2.65,0.00,0.000,4,0.000,0.183,2530,675,2764,0,0,0,0,0,0,28.83,14.78,28.83
$GC,879,-1.50,-195.5,115.7,-12.5,164,885,0.00,2.70,0.00,0.000,6,0.000,0.184,2522,2090,2764,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1008,-1.50,-195.5,129.9,-10.7,189,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2090,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-1.50,-195.5,144.9,-11.8,214,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2090,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1274,-1.50,-195.5,160.9,-11.4,239,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2090,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1401,-1.50,-195.5,176.9,-12.5,264,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2090,2764,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1427,begin apogee
$GC,1431,-0.36,0.0,180.3,-12.3,269,1629,0.88,0.00,183.32,1.824,6,0.226,0.000,2781,1994,1968,0,0,0,0,1,0,14.81,28.83,13.40
$STATE,1630,end apogee,CONTROL_FINISHED_OK
$STATE,1630,begin climb
$GC,1631,1.50,195.5,185.3,0.0,304,1834,1.30,0.00,187.70,1.746,6,0.142,0.000,3187,1993,1172,0,0,0,0,1,0,14.02,28.83,13.42
$GC,1957,1.50,195.5,148.1,15.8,364,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1993,1173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2084,1.50,195.5,127.5,16.4,389,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1994,1172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,1.50,195.5,105.9,15.6,414,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1993,1172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,1.50,195.5,86.7,13.7,439,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1993,1172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2466,1.50,195.5,68.6,14.2,464,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1994,1172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2593,1.50,199.4,51.7,11.8,489,2601,0.00,2.75,2.67,0.613,4,0.000,0.168,3187,3418,1154,0,0,1,0,0,0,28.83,14.71,14.27
$GC,2628,1.50,199.4,47.0,13.2,495,2635,0.00,2.62,0.00,0.000,6,0.000,0.142,3197,2002,1159,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2756,1.50,199.4,28.7,13.9,520,2763,0.00,2.65,0.00,0.000,4,0.000,0.174,3208,582,1159,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2814,1.50,199.4,20.9,13.3,531,2821,0.00,2.65,0.00,0.000,6,0.000,0.164,3208,2001,1159,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2883,1.51,206.0,12.9,11.7,544,2896,0.00,2.75,4.18,0.228,4,0.000,0.180,3208,3418,1127,0,0,0,0,0,0,28.83,14.73,14.72
$GC,2902,1.51,206.0,10.6,12.3,547,2909,0.12,2.60,0.00,0.000,6,0.293,0.140,3191,1997,1129,0,0,0,0,0,0,14.72,14.76,28.83
$GC,2971,1.69,347.6,5.0,6.1,560,3018,0.12,0.00,44.00,0.171,2,0.151,0.000,3245,1997,778,0,0,0,0,0,0,14.81,28.83,28.83
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3019,begin surface coast
$FINISH,0.5,1.006895
$STATE,3090,end surface coast,CONTROL_FINISHED_OK
$STATE,3090,begin surface
$SM_CCo,3105,30.20,0.169,0,0,536,350.04
$SM_GC,1.57,8.98,0.20,30.20,0.096,0.200,0.169,136,2091,536,-12.44,-0.42,350.04,0,0,1,0,0,0,14.80,14.73,14.72
$RAFOS_CLK,89
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12227.78,280612,070720
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.72
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,145.6,62.3
$24V_AH,13.4,2.089
$10V_AH,13.7,0.730
$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,22.675,37.875,421.875,30.200,0.000,26.160,28.108,147.219,3.500,0.000,28.244,1226.498,573.378,532.286,1084.501,44.553,33.233,1055.938,0.000,841.992,0.000,25.528,0.000
$DEVICE_MAMPS,426.870,204.255,1823.760,169.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.964,249.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321928
$DATA_FILE_SIZE,23524,582
$CAP_FILE_SIZE,61860,0
$CFSIZE,259252224,256303104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,1,0
$SOUNDSPEED,1484.1
$GPS,280612,092708,4742.940,-12225.149,3,1.8,3,16.6