version: 66.11
glider: 193
mission: 1
dive: 23
start: 6 28 112 14 57 12
data:
$ID,193
$MISSION,1
$DIVE,23
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,119
$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,57
$T_MISSION,65
$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,325
$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,-383.5054
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,9
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,280612,144435,4743.337,-12223.703,23,1.1,23,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.3
$GPS2,280612,145601,4743.291,-12223.722,4,1.2,4,16.6
$SPEED_LIMITS,0.058,0.257
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.075,-0.246
$KALMAN_X,-5632.7,82.8,556.4,6472.5,-301.8
$KALMAN_Y,-67.2,1213.7,-225.4,-1201.1,378.2
$MHEAD_RNG_PITCHd_Wd,180.5,1732,-9.8,-6.959
$D_GRID,162
$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,-0.99,-195.5,0.0,0.0,0,85,0.00,0.00,-67.85,0.000,2,0.000,0.000,142,2092,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.99,-195.5,3.3,-6.8,12,118,11.50,2.70,-11.60,0.000,4,0.419,0.190,2632,3508,2762,0,0,0,0,0,0,14.57,14.64,14.91
$GC,260,-0.97,-195.5,23.6,-8.8,45,266,0.00,2.58,0.00,0.000,6,0.000,0.127,2632,2085,2761,0,0,0,0,0,0,28.83,14.71,28.83
$GC,328,-0.94,-195.5,28.9,-9.0,58,335,0.10,0.00,0.00,0.000,6,0.265,0.000,2654,2085,2763,0,0,0,0,0,0,14.71,28.83,28.83
$GC,397,-0.92,-195.5,34.0,-7.5,71,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2085,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,464,-0.90,-195.5,38.8,-7.2,84,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2085,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,531,-0.90,-195.5,43.4,-7.3,97,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2085,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,659,-0.90,-195.5,52.8,-7.5,122,665,0.00,2.62,0.00,0.000,4,0.000,0.173,2654,671,2762,0,0,0,0,0,0,28.83,14.77,28.83
$GC,687,-0.89,-195.5,55.0,-7.7,127,694,0.00,2.67,0.00,0.000,6,0.000,0.174,2650,2090,2763,0,0,0,0,0,0,28.83,14.78,28.83
$GC,816,-0.89,-195.5,64.6,-7.9,152,822,0.00,2.70,0.00,0.000,4,0.000,0.182,2639,3509,2762,0,0,0,0,0,0,28.83,14.79,28.83
$GC,859,-0.88,-195.5,67.9,-8.0,160,866,0.12,2.55,0.00,0.000,6,0.234,0.127,2671,2088,2762,0,0,0,0,0,0,14.79,14.81,28.83
$GC,990,-0.88,-195.5,76.5,-6.0,185,997,0.00,2.62,0.00,0.000,4,0.000,0.177,2671,678,2762,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1033,-0.88,-195.5,79.6,-7.0,193,1040,0.00,2.67,0.00,0.000,6,0.000,0.175,2666,2096,2762,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1163,-0.88,-195.5,87.7,-5.9,218,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2096,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.88,-195.5,96.3,-6.6,243,1298,0.00,2.67,0.00,0.000,4,0.000,0.171,2666,673,2762,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1359,-0.88,-195.5,101.3,-7.0,256,1366,0.00,2.67,0.00,0.000,6,0.000,0.176,2660,2092,2762,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1489,-0.88,-195.5,110.9,-8.0,281,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2092,2762,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1609,begin apogee
$GC,1613,-0.38,0.0,119.2,-6.7,305,1727,0.38,0.00,107.80,0.556,6,0.197,0.000,2776,2001,1966,0,0,0,0,0,0,14.84,28.83,14.38
$STATE,1728,end apogee,CONTROL_FINISHED_OK
$STATE,1728,begin climb
$GC,1729,0.99,195.5,122.3,0.0,325,1849,0.93,2.88,111.00,0.561,4,0.153,0.175,3076,3418,1169,0,0,0,0,0,0,14.57,14.35,14.20
$GC,1861,0.95,195.5,115.0,8.8,348,1868,0.00,2.65,0.00,0.000,6,0.000,0.135,3086,2004,1170,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1990,0.90,195.5,103.3,8.1,373,1998,0.12,2.70,0.00,0.000,4,0.265,0.176,3059,586,1167,0,0,0,0,0,0,14.51,14.52,28.83
$GC,2020,0.87,195.5,100.9,8.2,378,2027,0.00,2.70,0.00,0.000,6,0.000,0.167,3059,2001,1166,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2150,0.85,195.5,90.7,7.7,403,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2001,1166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2278,0.82,195.5,80.6,8.1,428,2285,0.00,2.70,0.00,0.000,4,0.000,0.174,3069,581,1165,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2332,0.79,195.5,75.9,8.8,438,2339,0.15,2.70,0.00,0.000,6,0.239,0.169,3031,2010,1165,0,0,0,0,0,0,14.68,14.69,28.83
$GC,2463,0.82,217.3,66.8,6.4,463,2481,0.00,2.72,11.18,0.376,4,0.000,0.176,3038,577,1080,0,0,0,0,0,0,28.83,14.69,14.59
$GC,2503,0.82,217.3,63.9,7.3,470,2510,0.00,2.70,0.00,0.000,6,0.000,0.169,3038,2007,1080,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2633,0.91,294.7,56.1,5.1,495,2679,0.00,0.00,42.08,0.338,6,0.000,0.000,3038,2007,764,0,0,0,0,0,0,28.83,28.83,14.58
$GC,2801,0.94,311.4,45.8,6.6,527,2814,0.10,0.00,8.73,0.314,6,0.179,0.000,3083,2007,695,0,0,0,0,0,0,14.76,28.83,14.62
$GC,2936,0.93,311.4,34.8,8.8,553,2943,0.00,2.70,0.00,0.000,4,0.000,0.176,3090,582,696,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2975,0.92,311.4,31.6,9.0,560,2983,0.12,2.67,0.00,0.000,6,0.236,0.169,3058,2003,695,0,0,0,0,0,0,14.73,14.73,28.83
$GC,3044,0.92,311.4,26.2,7.4,573,3051,0.00,2.70,0.00,0.000,4,0.000,0.181,3057,3419,694,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3067,0.92,311.4,24.3,8.4,577,3074,0.00,2.60,0.00,0.000,6,0.000,0.136,3061,1991,694,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3136,0.92,311.4,19.0,8.0,590,3143,0.00,2.65,0.00,0.000,4,0.000,0.181,3070,584,694,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3183,0.92,311.4,15.0,8.0,599,3190,0.00,2.67,0.00,0.000,6,0.000,0.169,3070,2007,694,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3252,0.92,311.4,9.6,7.2,612,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2007,694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,0.97,350.1,5.3,6.0,625,3350,0.00,2.75,20.00,0.180,4,0.000,0.177,3070,588,537,0,0,0,0,0,0,28.83,14.73,14.76
$STATE,3360,end climb,SURFACE_DEPTH_REACHED
$STATE,3360,begin surface coast
$FINISH,1.9,1.020144
$STATE,3381,end surface coast,CONTROL_FINISHED_OK
$STATE,3381,begin surface
$SM_CCo,3459,0.00,0.000,0,0,535,351.02
$SM_GC,1.58,8.48,2.90,0.00,0.099,0.169,0.000,139,2095,535,-12.44,-0.23,351.02,0,0,0,0,0,0,14.81,14.76,28.83
$RAFOS_CLK,101
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12225.08,280612,141408
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.44
$INTERNAL_PRESSURE,8.92835
$TCM_TEMP,17.60
$XPDR_PINGS,5
$24V_AH,14.2,2.951
$10V_AH,14.3,0.943
$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,22.000,70.075,300.775,0.000,0.000,74.191,96.957,274.920,1.250,0.000,5.841,1426.103,841.389,438.756,1402.697,55.273,33.211,989.240,0.000,918.163,0.000,0.542,0.000
$DEVICE_MAMPS,419.220,189.720,560.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.947,289.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322004
$DATA_FILE_SIZE,26776,636
$CAP_FILE_SIZE,77765,0
$CFSIZE,259252224,256057344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.7
$GPS,280612,155540,4742.769,-12223.924,11,1.2,11,16.6