version: 66.11
glider: 193
mission: 1
dive: 4
start: 6 27 112 18 37 4
data:
$ID,193
$MISSION,1
$DIVE,4
$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,340
$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,-339.86475
$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,10
$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
$GPS1,270612,182749,4742.216,-12224.806,13,1.8,13,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-17.4
$GPS2,270612,183558,4742.274,-12224.812,46,1.3,46,16.6
$SPEED_LIMITS,0.084,0.205
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.014,0.204
$KALMAN_X,-67.0,-14.2,-12.3,-16.1,-15.2
$KALMAN_Y,-588.0,-464.9,-453.0,319.7,-228.9
$MHEAD_RNG_PITCHd_Wd,347.3,3011,-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,-87.9,0.0,0.0,0,99,0.00,0.00,-81.20,0.000,6,0.000,0.000,140,2089,2325,0,0,0,0,0,0,28.83,28.83,15.02
$GC,101,-1.64,-88.0,0.2,0.3,16,118,7.55,2.75,0.00,0.000,4,0.195,0.183,2492,674,2325,0,0,0,0,0,0,14.72,14.71,28.83
$GC,126,-1.64,-88.0,0.3,-0.3,20,133,0.00,2.83,0.00,0.000,6,0.000,0.211,2492,2089,2325,0,0,0,0,0,0,28.83,14.70,28.83
$GC,194,-1.64,-88.0,0.8,-2.9,33,200,0.00,2.75,0.00,0.000,4,0.000,0.194,2491,677,2326,0,0,0,0,0,0,28.83,14.72,28.83
$GC,426,-1.64,-88.0,28.0,-12.6,79,434,0.00,2.75,0.00,0.000,6,0.000,0.200,2482,2091,2326,0,0,0,0,0,0,28.83,14.78,28.83
$GC,495,-1.64,-88.0,36.8,-13.0,92,502,0.00,2.72,0.00,0.000,4,0.000,0.194,2482,676,2326,0,0,0,0,0,0,28.83,14.78,28.83
$GC,593,-1.64,-88.0,48.8,-12.0,111,601,0.10,2.75,0.00,0.000,6,0.321,0.201,2492,2090,2326,0,0,0,0,0,0,14.76,14.80,28.83
$STATE,646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,646,begin apogee
$GC,650,-0.33,0.0,55.5,-12.0,121,735,0.98,0.00,76.50,0.793,6,0.247,0.000,2773,2010,1959,0,0,0,0,0,0,14.77,28.83,14.28
$STATE,736,end apogee,CONTROL_FINISHED_OK
$STATE,736,begin climb
$GC,737,1.64,88.0,58.8,0.0,136,823,1.33,2.83,76.70,0.757,4,0.148,0.202,3216,598,1599,0,0,0,0,0,0,14.57,14.36,14.14
$GC,869,1.64,88.0,49.0,10.7,160,876,0.00,2.78,0.00,0.000,6,0.000,0.186,3217,2012,1593,0,0,0,0,0,0,28.83,14.47,28.83
$GC,997,1.64,88.0,34.8,10.5,185,1004,0.00,2.75,0.00,0.000,4,0.000,0.188,3217,3428,1592,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1050,1.64,88.0,29.1,10.1,195,1057,0.00,2.62,0.00,0.000,6,0.000,0.145,3227,2010,1592,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1119,1.65,97.3,22.9,9.3,208,1127,0.00,2.75,2.45,0.203,4,0.000,0.181,3238,593,1570,0,0,0,0,0,0,28.83,14.68,14.64
$GC,1204,1.66,105.4,14.7,9.4,224,1217,0.12,2.70,5.57,0.216,6,0.301,0.174,3212,2014,1536,0,0,0,0,0,0,14.68,14.71,14.71
$GC,1279,1.70,139.3,8.5,7.4,238,1302,0.00,0.00,17.85,0.181,6,0.000,0.000,3211,2015,1395,0,0,0,0,0,0,28.83,28.83,14.71
$STATE,1348,end climb,SURFACE_DEPTH_REACHED
$STATE,1348,begin surface coast
$FINISH,0.8,1.018407
$STATE,1384,end surface coast,CONTROL_FINISHED_OK
$STATE,1384,begin surface
$SM_CCo,1400,96.03,0.162,0,0,577,340.23
$SM_GC,1.72,9.10,0.17,96.03,0.121,0.215,0.162,138,2098,577,-12.40,-0.17,340.23,0,0,0,0,0,0,14.81,14.74,14.70
$RAFOS_CLK,27
$RAFOS,0,1340822347,18.666660,18.651945,57,56,53,53,52,52,151,126,205,1422,219,181
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12223.37,270612,181854
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.93
$INTERNAL_PRESSURE,9.00648
$TCM_TEMP,18.10
$XPDR_PINGS,3
$24V_AH,14.1,0.519
$10V_AH,14.2,0.246
$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,19.175,33.325,179.075,96.025,0.000,52.152,118.173,116.291,0.750,0.000,47.301,580.270,304.198,360.556,746.278,23.407,32.223,616.575,0.000,383.327,600.000,1.008,0.000
$DEVICE_MAMPS,320.535,214.965,793.305,162.180,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,171.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322012
$DATA_FILE_SIZE,10175,258
$CAP_FILE_SIZE,36128,0
$CFSIZE,259252224,256876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1482.3
$GPS,270612,190243,4742.473,-12224.770,1,1.2,2,16.6