version: 66.11
glider: 193
mission: 1
dive: 19
start: 6 28 112 10 30 13
data:
$ID,193
$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,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,-378.47348
$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,10
$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
$GPS1,280612,102421,4743.624,-12224.695,3,1.4,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.8
$GPS2,280612,102903,4743.639,-12224.692,4,1.3,5,16.6
$SPEED_LIMITS,0.101,0.314
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.245,0.197
$KALMAN_X,-4290.4,-397.5,-296.0,5261.9,296.8
$KALMAN_Y,-966.2,-53.7,225.7,1139.2,142.3
$MHEAD_RNG_PITCHd_Wd,34.7,1813,-17.6,-12.000
$D_GRID,174
$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,-195.5,0.0,0.0,0,80,0.00,0.00,-62.92,0.000,2,0.000,0.000,140,2093,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.50,-195.5,3.8,-8.3,11,113,11.07,2.67,-12.43,0.000,4,0.423,0.187,2530,672,2762,0,0,0,0,0,0,14.56,14.64,14.90
$GC,179,-1.50,-195.5,22.4,-14.2,29,186,0.00,2.72,0.00,0.000,6,0.000,0.181,2522,2091,2762,0,0,0,0,0,0,28.83,14.66,28.83
$GC,248,-1.50,-195.5,32.2,-13.5,42,254,0.00,2.75,0.00,0.000,4,0.000,0.189,2511,3508,2763,0,0,0,0,0,0,28.83,14.69,28.83
$GC,286,-1.50,-195.5,37.3,-13.4,49,293,0.10,2.60,0.00,0.000,6,0.291,0.136,2532,2087,2763,0,0,0,0,0,0,14.67,14.71,28.83
$GC,355,-1.50,-195.5,47.0,-13.8,62,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2087,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,482,-1.50,-195.5,63.5,-12.4,87,488,0.00,2.62,0.00,0.000,4,0.000,0.174,2532,678,2762,0,0,0,0,0,0,28.83,14.73,28.83
$GC,564,-1.50,-195.5,74.9,-13.5,103,571,0.00,2.67,0.00,0.000,6,0.000,0.177,2523,2090,2763,0,0,0,0,0,0,28.83,14.75,28.83
$GC,694,-1.50,-195.5,90.0,-12.0,128,701,0.00,2.70,0.00,0.000,4,0.000,0.187,2513,3506,2763,0,0,0,0,0,0,28.83,14.77,28.83
$GC,758,-1.50,-195.5,97.4,-11.8,140,764,0.00,2.58,0.00,0.000,6,0.000,0.135,2513,2087,2763,0,0,0,0,0,0,28.83,14.79,28.83
$GC,888,-1.50,-195.5,112.5,-11.7,165,895,0.00,2.60,0.00,0.000,4,0.000,0.173,2513,677,2763,0,0,0,0,0,0,28.83,14.79,28.83
$GC,942,-1.50,-195.5,119.7,-12.9,175,950,0.12,2.67,0.00,0.000,6,0.284,0.178,2531,2090,2763,0,0,0,0,0,0,14.76,14.79,28.83
$GC,1073,-1.50,-195.5,134.4,-11.3,200,1080,0.00,2.70,0.00,0.000,4,0.000,0.190,2522,3506,2763,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1106,-1.50,-195.5,138.6,-12.4,206,1113,0.00,2.58,0.00,0.000,6,0.000,0.136,2521,2085,2763,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1236,-1.50,-195.5,153.9,-12.5,231,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2085,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1364,-1.50,-195.5,169.2,-12.0,256,1370,0.00,2.60,0.00,0.000,4,0.000,0.172,2522,678,2762,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,1401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1401,begin apogee
$GC,1407,-0.36,0.0,174.1,-13.2,263,1599,0.90,0.00,179.15,1.825,6,0.233,0.000,2778,2001,1968,0,0,0,0,1,0,14.79,28.83,13.40
$STATE,1600,end apogee,CONTROL_FINISHED_OK
$STATE,1600,begin climb
$GC,1601,1.50,195.5,179.9,0.0,297,1805,1.30,2.88,188.05,1.764,4,0.147,0.174,3182,3418,1170,0,0,0,0,1,0,14.00,13.93,13.41
$GC,1821,1.50,195.5,159.4,14.3,336,1828,0.00,2.72,0.00,0.000,6,0.000,0.138,3192,2005,1172,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1951,1.50,195.5,140.7,14.9,361,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2006,1172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,1.50,195.5,121.1,14.5,386,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2005,1171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2206,1.50,195.5,101.6,14.8,411,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2006,1171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2333,1.50,195.5,83.0,13.7,436,2340,0.00,2.65,0.00,0.000,4,0.000,0.169,3203,585,1172,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2356,1.50,195.5,79.6,14.3,440,2363,0.00,2.65,0.00,0.000,6,0.000,0.158,3203,2002,1170,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2486,1.50,195.5,63.1,13.1,465,2493,0.00,2.70,0.00,0.000,4,0.000,0.176,3203,3422,1170,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2514,1.50,195.5,58.7,16.3,470,2522,0.12,2.62,0.00,0.000,6,0.302,0.141,3187,1994,1170,0,0,0,0,0,0,14.66,14.70,28.83
$GC,2645,1.50,195.5,42.2,13.1,495,2652,0.00,2.62,0.00,0.000,4,0.000,0.174,3195,587,1170,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2688,1.50,195.5,36.0,14.3,503,2695,0.00,2.65,0.00,0.000,6,0.000,0.168,3196,2001,1170,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2756,1.50,195.5,26.6,13.3,516,2763,0.00,2.70,0.00,0.000,4,0.000,0.184,3195,3417,1170,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2815,1.50,195.5,18.9,13.9,527,2821,0.00,2.60,0.00,0.000,6,0.000,0.142,3205,2000,1170,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2882,1.50,195.5,10.1,12.2,540,2889,0.00,2.62,0.00,0.000,4,0.000,0.175,3215,587,1170,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,2969,end climb,SURFACE_DEPTH_REACHED
$STATE,2970,begin surface coast
$FINISH,1.4,1.019601
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2996,begin surface
$SM_CCo,3014,78.32,0.168,0,0,538,350.04
$SM_GC,1.81,9.15,2.85,78.32,0.125,0.164,0.168,142,2090,538,-12.42,-0.40,350.04,0,0,1,0,0,0,14.83,14.77,14.71
$RAFOS_CLK,84
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12236.62,280612,090928
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.56
$INTERNAL_PRESSURE,8.94789
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,115.0,74.1
$24V_AH,13.4,2.397
$10V_AH,13.7,0.794
$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,22.775,69.300,367.200,78.325,0.000,26.534,29.371,149.231,1.500,0.000,5.834,1215.720,557.223,554.786,1032.453,44.163,33.233,1059.967,0.000,813.578,0.000,10.345,0.000
$DEVICE_MAMPS,423.045,189.720,1824.525,167.535,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.817,238.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322044
$DATA_FILE_SIZE,23458,562
$CAP_FILE_SIZE,63124,0
$CFSIZE,259252224,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,1,0
$SOUNDSPEED,1484.5
$GPS,280612,112230,4744.153,-12224.088,3,1.1,3,16.6