version: 66.11
glider: 193
mission: 1
dive: 3
start: 6 27 112 18 5 15
data:
$ID,193
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,90
$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,335
$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,-338.6037
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$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,90
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,270612,180100,4742.208,-12224.786,11,1.9,11,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.0
$GPS2,270612,180406,4742.184,-12224.772,14,1.9,14,16.6
$SPEED_LIMITS,0.084,0.205
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.006,0.205
$KALMAN_X,-30.4,-5.9,-5.8,-16.0,-4.8
$KALMAN_Y,-594.0,-403.7,-400.5,47.5,-419.2
$MHEAD_RNG_PITCHd_Wd,345.2,3178,-22.9,-10.000
$D_GRID,55
$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,-1.64,-88.0,0.0,0.0,0,79,0.00,0.00,-62.35,0.000,2,0.000,0.000,144,2090,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.64,-88.0,3.2,-6.5,11,101,10.43,2.80,-2.92,0.000,4,0.405,0.216,2488,677,2325,0,0,1,0,0,0,14.66,14.73,15.03
$GC,327,-1.64,-88.0,37.1,-13.9,59,334,0.00,2.75,0.00,0.000,6,0.000,0.197,2479,2094,2326,0,0,0,0,0,0,28.83,14.80,28.83
$GC,396,-1.64,-88.0,46.0,-12.1,72,402,0.00,2.72,0.00,0.000,4,0.000,0.194,2479,679,2327,0,0,0,0,0,0,28.83,14.80,28.83
$GC,434,-1.64,-88.0,50.8,-13.3,79,441,0.10,2.75,0.00,0.000,6,0.315,0.201,2489,2089,2326,0,0,0,0,0,0,14.77,14.81,28.83
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,470,-0.33,0.0,55.2,-12.8,85,550,0.98,0.00,75.82,0.789,6,0.241,0.000,2773,2010,1965,0,0,0,0,0,0,14.78,28.83,14.30
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,552,1.64,88.0,58.8,0.0,99,638,1.33,2.85,76.30,0.759,4,0.148,0.193,3206,3424,1600,0,0,0,0,0,0,14.59,14.40,14.15
$GC,655,1.66,103.7,52.7,8.8,117,674,0.00,2.65,13.77,0.764,6,0.000,0.144,3217,2010,1543,0,0,0,0,0,0,28.83,14.46,14.17
$GC,797,1.67,115.0,39.8,9.1,144,816,0.00,2.78,10.48,0.756,4,0.000,0.187,3217,3422,1489,0,0,1,0,0,0,28.83,14.57,14.31
$GC,843,1.68,122.1,35.3,9.5,152,851,0.00,2.65,2.30,0.388,6,0.000,0.148,3227,2005,1467,0,0,0,0,0,0,28.83,14.61,14.16
$GC,912,1.68,122.1,28.1,10.9,165,919,0.00,2.72,0.00,0.000,4,0.000,0.198,3238,599,1476,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1035,1.68,122.1,14.3,10.8,189,1043,0.10,2.72,0.00,0.000,6,0.301,0.188,3218,2010,1476,0,0,0,0,0,0,14.67,14.70,28.83
$GC,1104,1.70,139.1,7.4,8.7,202,1123,0.00,2.78,9.57,0.187,4,0.000,0.187,3218,3423,1398,0,0,0,0,0,0,28.83,14.72,14.73
$GC,1149,1.74,174.4,3.7,7.3,210,1163,0.00,2.60,8.48,0.171,2,0.000,0.147,3226,2011,1327,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,1164,end climb,SURFACE_DEPTH_REACHED
$STATE,1164,begin surface coast
$FINISH,0.4,1.008470
$STATE,1199,end surface coast,CONTROL_FINISHED_OK
$STATE,1200,begin surface
$SM_CCo,1214,84.95,0.163,0,0,599,335.08
$SM_GC,1.58,8.95,0.17,84.95,0.103,0.217,0.163,141,2089,599,-12.38,-0.48,335.08,0,0,1,0,0,0,14.81,14.73,14.71
$RAFOS_CLK,18
$RAFOS,0,1340821141,18.333330,18.316944,60,59,57,53,52,48,147,168,197,182,135,481
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4735.69,-12112.69,270612,171710
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.70
$INTERNAL_PRESSURE,9.01625
$TCM_TEMP,18.10
$XPDR_PINGS,6
$24V_AH,14.2,0.464
$10V_AH,14.2,0.226
$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,21.875,33.125,196.725,84.950,0.000,0.000,0.000,0.000,1.500,0.000,15.201,504.571,197.943,344.723,332.119,14.226,31.301,567.756,0.000,327.051,300.000,1.008,0.000
$DEVICE_MAMPS,405.450,217.260,788.715,162.945,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.279,122.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322052
$DATA_FILE_SIZE,10145,219
$CAP_FILE_SIZE,43088,0
$CFSIZE,259252224,256892928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0
$SOUNDSPEED,1484.7
$GPS,270612,182749,4742.216,-12224.806,13,1.8,13,16.6