version: 66.11
glider: 193
mission: 1
dive: 22
start: 6 28 112 13 34 55
data:
$ID,193
$MISSION,1
$DIVE,22
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,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,-382.24844
$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,11
$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
$GPS1,280612,132128,4744.207,-12224.039,13,1.3,13,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.2
$GPS2,280612,133346,4744.033,-12223.933,12,1.2,12,16.6
$SPEED_LIMITS,0.063,0.265
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,-0.259
$KALMAN_X,-5580.5,-24.4,645.3,6179.3,-456.0
$KALMAN_Y,540.1,773.3,-387.1,152.4,1034.3
$MHEAD_RNG_PITCHd_Wd,151.0,2695,-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,15,-1.07,-195.5,0.0,0.0,0,80,0.00,0.00,-63.17,0.000,2,0.000,0.000,138,2098,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.07,-195.5,3.3,-6.5,11,114,11.50,2.78,-13.32,0.000,4,0.422,0.194,2615,3509,2763,0,0,0,0,0,0,14.55,14.64,14.89
$GC,339,-1.07,-195.5,30.9,-8.6,61,346,0.00,2.58,0.00,0.000,6,0.000,0.126,2615,2083,2765,0,0,0,0,0,0,28.83,14.73,28.83
$GC,408,-1.07,-195.5,36.9,-9.1,74,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2083,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-1.07,-195.5,43.4,-9.8,87,482,0.00,2.65,0.00,0.000,4,0.000,0.177,2615,666,2765,0,0,0,0,0,0,28.83,14.73,28.83
$GC,513,-1.07,-195.5,47.3,-10.5,94,520,0.00,2.70,0.00,0.000,6,0.000,0.177,2608,2089,2765,0,0,0,0,0,0,28.83,14.75,28.83
$GC,643,-1.07,-195.5,59.4,-9.9,119,649,0.00,2.70,0.00,0.000,4,0.000,0.183,2598,3506,2765,0,0,0,0,0,0,28.83,14.77,28.83
$GC,691,-1.07,-195.5,64.4,-10.8,128,698,0.12,2.58,0.00,0.000,6,0.243,0.130,2629,2088,2765,0,0,0,0,0,0,14.77,14.78,28.83
$GC,820,-1.07,-195.5,74.5,-7.2,153,827,0.00,2.65,0.00,0.000,4,0.000,0.180,2629,672,2764,0,0,0,0,0,0,28.83,14.78,28.83
$GC,874,-1.07,-195.5,78.5,-7.4,163,881,0.00,2.70,0.00,0.000,6,0.000,0.177,2623,2090,2765,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1002,-1.07,-195.5,88.3,-8.0,188,1009,0.00,2.65,0.00,0.000,4,0.000,0.174,2623,671,2765,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1045,-1.07,-195.5,92.0,-8.8,196,1052,0.00,2.67,0.00,0.000,6,0.000,0.175,2615,2090,2765,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1174,-1.07,-195.5,103.0,-9.0,221,1180,0.00,2.65,0.00,0.000,4,0.000,0.174,2615,670,2765,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1214,-1.07,-195.5,106.7,-9.4,228,1221,0.00,2.70,0.00,0.000,6,0.000,0.179,2608,2096,2765,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1344,-1.07,-195.5,118.1,-8.7,253,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2096,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1473,-1.07,-195.5,129.2,-8.6,278,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2096,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-1.07,-195.5,139.2,-7.1,303,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2096,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,-1.07,-195.5,148.5,-7.4,328,1735,0.00,2.65,0.00,0.000,4,0.000,0.171,2608,674,2764,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1771,-1.07,-195.5,151.9,-7.8,336,1779,0.10,2.67,0.00,0.000,6,0.282,0.174,2624,2099,2764,0,0,0,0,0,0,14.83,14.84,28.83
$GC,1902,-1.07,-195.5,161.4,-8.7,361,1909,0.00,2.65,0.00,0.000,4,0.000,0.174,2624,678,2764,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1940,-1.07,-195.5,164.8,-8.8,368,1947,0.00,2.70,0.00,0.000,6,0.000,0.178,2618,2099,2763,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,1963,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1963,begin apogee
$GC,1966,-0.38,0.0,166.5,-6.8,372,2153,0.50,0.00,178.27,1.781,6,0.207,0.000,2771,1995,1967,0,0,0,0,0,0,14.82,28.83,13.45
$STATE,2154,end apogee,CONTROL_FINISHED_OK
$STATE,2154,begin climb
$GC,2155,1.07,195.5,171.7,0.0,405,2348,1.02,0.00,186.43,1.746,6,0.151,0.000,3090,1995,1168,0,0,0,0,0,0,14.02,28.83,13.43
$GC,2471,1.07,195.5,145.7,10.9,463,2477,0.00,2.75,0.00,0.000,4,0.000,0.181,3100,588,1168,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2493,1.07,195.5,143.2,10.5,467,2500,0.00,2.78,0.00,0.000,6,0.000,0.171,3100,2000,1167,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2623,1.07,195.5,131.0,9.7,492,2630,0.00,2.72,0.00,0.000,4,0.000,0.177,3110,589,1166,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2646,1.07,195.5,128.6,9.6,496,2653,0.00,2.70,0.00,0.000,6,0.000,0.169,3110,2000,1166,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2774,1.07,195.5,116.1,9.6,521,2781,0.00,2.72,0.00,0.000,4,0.000,0.178,3110,3422,1166,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2803,1.07,195.5,113.0,11.0,526,2810,0.12,2.62,0.00,0.000,6,0.270,0.135,3092,1994,1166,0,0,0,0,0,0,14.59,14.62,28.83
$GC,2933,1.07,195.5,100.6,9.0,551,2940,0.00,2.67,0.00,0.000,4,0.000,0.181,3101,584,1165,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2991,1.07,195.5,94.4,9.8,562,2998,0.00,2.70,0.00,0.000,6,0.000,0.169,3101,2000,1165,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3120,1.07,195.5,81.0,10.8,587,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2000,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3247,1.07,195.5,68.2,10.0,612,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2000,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,1.07,195.5,55.8,8.7,637,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2000,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,1.07,195.5,44.2,9.1,662,3510,0.00,2.65,0.00,0.000,4,0.000,0.174,3110,586,1164,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3551,1.07,195.5,39.8,8.4,671,3557,0.00,2.65,0.00,0.000,6,0.000,0.165,3110,2001,1164,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3619,1.07,195.5,34.6,8.1,684,3626,0.00,2.67,0.00,0.000,4,0.000,0.177,3111,3417,1164,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3671,1.07,195.5,29.7,9.7,694,3679,0.12,2.58,0.00,0.000,6,0.272,0.135,3091,1997,1164,0,0,0,0,0,0,14.77,14.78,28.83
$GC,3740,1.07,195.5,23.9,8.4,707,3747,0.00,2.65,0.00,0.000,4,0.000,0.179,3099,581,1163,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3819,1.07,195.5,17.6,7.5,722,3825,0.00,2.67,0.00,0.000,6,0.000,0.168,3100,2000,1165,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3886,1.13,245.6,12.9,6.2,735,3922,0.00,2.75,25.55,0.204,4,0.000,0.180,3099,3417,963,0,0,0,0,0,0,28.83,14.76,14.76
$GC,3934,1.13,245.6,9.3,7.7,743,3940,0.00,2.58,0.00,0.000,6,0.000,0.135,3109,1999,963,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4002,1.14,252.3,4.1,7.3,756,4015,0.00,2.70,3.25,0.197,4,0.000,0.179,3118,591,935,0,0,0,0,0,0,28.83,14.76,14.77
$STATE,4020,end climb,SURFACE_DEPTH_REACHED
$STATE,4020,begin surface coast
$FINISH,1.6,1.019525
$STATE,4046,end surface coast,CONTROL_FINISHED_OK
$STATE,4047,begin surface
$SM_CCo,4064,50.35,0.167,0,0,537,350.04
$SM_GC,1.51,8.68,2.88,50.35,0.107,0.168,0.167,142,2090,537,-12.42,-0.40,350.04,0,0,0,0,0,0,14.83,14.78,14.73
$RAFOS_CLK,122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,280612,131344
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.88
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,115.1,63.2
$24V_AH,13.4,2.881
$10V_AH,13.7,0.905
$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,22.175,91.350,393.500,50.350,0.000,74.046,94.151,318.364,1.750,0.000,13.148,1674.653,906.350,584.649,1643.635,62.586,33.221,1240.784,0.000,1099.481,0.000,13.240,0.000
$DEVICE_MAMPS,421.515,193.545,1780.920,166.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.017,332.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321960
$DATA_FILE_SIZE,33429,764
$CAP_FILE_SIZE,87988,0
$CFSIZE,259252224,256081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1484.1
$GPS,280612,144435,4743.337,-12223.703,23,1.1,23,16.6