version: 66.11
glider: 193
mission: 1
dive: 21
start: 6 28 112 12 12 27
data:
$ID,193
$MISSION,1
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,89
$T_MISSION,95
$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,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,-380.98672
$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,13
$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,11
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,300
$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,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,-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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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
$GPS1,280612,120652,4744.208,-12223.736,23,1.4,41,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.2
$GPS2,280612,121114,4744.211,-12223.730,4,1.3,4,16.6
$SPEED_LIMITS,0.063,0.265
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.047,-0.261
$KALMAN_X,-5129.1,-192.2,363.2,6436.1,-138.0
$KALMAN_Y,-404.7,429.7,-180.8,1568.3,579.4
$MHEAD_RNG_PITCHd_Wd,173.6,3099,-10.8,-7.491
$D_GRID,200
$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,-1.07,-195.5,0.0,0.0,0,85,0.00,0.00,-68.05,0.000,2,0.000,0.000,139,2098,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.07,-195.5,3.8,-8.5,12,117,11.62,2.78,-9.80,0.000,4,0.427,0.201,2615,3506,2764,0,0,0,0,0,0,14.54,14.62,14.89
$GC,139,-1.07,-195.5,14.7,-10.8,21,146,0.00,2.60,0.00,0.000,6,0.000,0.132,2615,2082,2764,0,0,0,0,0,0,28.83,14.65,28.83
$GC,207,-1.07,-195.5,21.7,-9.6,34,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2082,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,274,-1.07,-195.5,28.4,-9.9,47,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2082,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,341,-1.07,-195.5,35.2,-10.3,60,348,0.00,2.65,0.00,0.000,4,0.000,0.178,2615,673,2764,0,0,0,0,0,0,28.83,14.69,28.83
$GC,461,-1.07,-195.5,47.4,-10.4,83,468,0.00,2.70,0.00,0.000,6,0.000,0.180,2609,2089,2765,0,0,0,0,0,0,28.83,14.73,28.83
$GC,589,-1.07,-195.5,60.2,-9.2,108,596,0.00,2.72,0.00,0.000,4,0.000,0.187,2598,3505,2765,0,0,0,0,0,0,28.83,14.74,28.83
$GC,649,-1.07,-195.5,65.6,-9.1,119,656,0.12,2.58,0.00,0.000,6,0.252,0.132,2628,2083,2764,0,0,0,0,0,0,14.75,14.77,28.83
$GC,778,-1.07,-195.5,76.7,-8.3,144,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2083,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,907,-1.07,-195.5,86.9,-7.8,169,913,0.00,2.62,0.00,0.000,4,0.000,0.179,2629,678,2764,0,0,0,0,0,0,28.83,14.78,28.83
$GC,979,-1.07,-195.5,93.3,-8.4,183,986,0.00,2.67,0.00,0.000,6,0.000,0.178,2623,2090,2764,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1108,-1.07,-195.5,104.4,-8.1,208,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2090,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1239,-1.07,-195.5,114.3,-7.2,233,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2090,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1366,-1.07,-195.5,124.1,-7.7,258,1373,0.00,2.62,0.00,0.000,4,0.000,0.171,2623,678,2765,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1399,-1.07,-195.5,126.8,-8.4,264,1406,0.00,2.67,0.00,0.000,6,0.000,0.174,2616,2102,2765,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1529,-1.07,-195.5,137.3,-7.9,289,1536,0.00,2.67,0.00,0.000,4,0.000,0.183,2606,3507,2765,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1567,-1.07,-195.5,140.5,-7.5,296,1574,0.00,2.55,0.00,0.000,6,0.000,0.130,2605,2088,2765,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1696,-1.07,-195.5,151.2,-8.5,321,1702,0.10,0.00,0.00,0.000,6,0.266,0.000,2628,2088,2764,0,0,0,0,0,0,14.82,28.83,28.83
$GC,1824,-1.07,-195.5,160.5,-6.9,346,1831,0.00,2.62,0.00,0.000,4,0.000,0.180,2629,679,2764,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,1867,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1867,begin apogee
$GC,1873,-0.38,0.0,163.8,-7.6,354,2071,0.50,0.00,182.95,1.698,6,0.208,0.000,2775,2008,1968,0,0,0,0,1,0,14.82,28.83,13.43
$STATE,2071,end apogee,CONTROL_FINISHED_OK
$STATE,2072,begin climb
$GC,2073,1.07,195.5,168.4,0.0,389,2277,1.02,2.90,187.68,1.704,4,0.152,0.177,3104,585,1171,0,0,0,0,1,0,14.02,13.92,13.42
$GC,2303,1.07,195.5,152.6,10.3,430,2310,0.00,2.80,0.00,0.000,6,0.000,0.164,3104,2002,1171,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2433,1.07,195.5,139.6,10.0,455,2440,0.00,2.75,0.00,0.000,4,0.000,0.174,3105,3417,1169,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2481,1.07,195.5,134.1,11.0,464,2488,0.00,2.65,0.00,0.000,6,0.000,0.135,3114,1994,1169,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2610,1.07,195.5,120.2,10.8,489,2617,0.00,2.70,0.00,0.000,4,0.000,0.181,3124,585,1168,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2660,1.07,195.5,115.0,10.8,498,2667,0.15,2.70,0.00,0.000,6,0.256,0.169,3089,2001,1168,0,0,0,0,0,0,14.57,14.59,28.83
$GC,2789,1.07,195.5,102.0,9.5,523,2796,0.00,2.72,0.00,0.000,4,0.000,0.177,3088,3416,1168,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2827,1.07,195.5,98.3,9.8,530,2834,0.00,2.60,0.00,0.000,6,0.000,0.136,3096,2001,1168,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2957,1.07,195.5,86.5,8.9,555,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2001,1167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,1.07,195.5,74.4,9.2,580,3091,0.00,2.67,0.00,0.000,4,0.000,0.181,3106,585,1167,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3134,1.07,195.5,69.4,10.0,589,3141,0.00,2.67,0.00,0.000,6,0.000,0.168,3106,2008,1167,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3262,1.07,195.5,57.1,8.5,614,3269,0.00,2.67,0.00,0.000,4,0.000,0.178,3106,3416,1167,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3290,1.07,195.5,54.3,10.0,619,3298,0.10,2.58,0.00,0.000,6,0.295,0.137,3094,2001,1167,0,0,0,0,0,0,14.73,14.76,28.83
$GC,3420,1.07,195.5,43.4,8.5,644,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2001,1167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3547,1.07,195.5,32.5,9.2,669,3554,0.00,2.65,0.00,0.000,4,0.000,0.180,3104,588,1167,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3631,1.07,195.5,24.7,9.0,685,3638,0.00,2.65,0.00,0.000,6,0.000,0.168,3104,2004,1167,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3699,1.07,195.5,18.9,8.2,698,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2003,1167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,1.07,195.5,13.4,7.6,711,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2004,1166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3834,1.15,258.3,9.0,5.8,724,3875,0.00,2.70,32.28,0.189,4,0.000,0.178,3103,3415,910,0,0,0,0,0,0,28.83,14.76,14.77
$GC,3901,1.23,324.4,4.8,5.8,736,3943,0.00,2.58,34.05,0.175,6,0.000,0.136,3111,1997,641,0,0,0,0,0,0,28.83,14.78,14.74
$STATE,3958,end climb,SURFACE_DEPTH_REACHED
$STATE,3958,begin surface coast
$FINISH,0.6,1.008012
$STATE,4060,end surface coast,CONTROL_FINISHED_OK
$STATE,4060,begin surface
$SM_CCo,4074,12.48,0.174,0,0,538,350.04
$SM_GC,2.38,8.50,0.22,12.48,0.090,0.192,0.174,138,2097,538,-12.44,-0.20,350.04,0,0,0,0,0,0,14.83,14.77,14.75
$RAFOS_CLK,119
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12229.50,280612,111148
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.56
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.3,70.2
$24V_AH,13.4,2.666
$10V_AH,13.7,0.860
$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,22.125,80.275,436.950,12.475,0.000,23.247,28.744,132.128,0.750,0.000,5.805,1658.451,784.251,579.970,1298.213,60.774,33.229,1243.576,0.000,1101.541,0.000,7.201,0.000
$DEVICE_MAMPS,426.870,201.195,1704.420,174.420,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.612,334.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321988
$DATA_FILE_SIZE,33419,766
$CAP_FILE_SIZE,80787,0
$CFSIZE,259252224,256131072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1484.1
$GPS,280612,132128,4744.207,-12224.039,13,1.3,13,16.6