version: 66.11
glider: 193
mission: 1
dive: 5
start: 6 27 112 19 7 56
data:
$ID,193
$MISSION,1
$DIVE,5
$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,150
$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,-341.1199
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$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,10
$R_STBD_OVSHOOT,9
$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
$GPS1,270612,190243,4742.473,-12224.770,1,1.2,2,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.0
$GPS2,270612,190645,4742.452,-12224.756,3,1.2,4,16.6
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.004,0.260
$KALMAN_X,-54.7,3.3,1.4,8.6,-29.1
$KALMAN_Y,-466.4,-500.7,-480.6,590.7,128.2
$MHEAD_RNG_PITCHd_Wd,344.2,2683,-17.5,-10.000
$D_GRID,158
$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,-1.43,-146.6,0.0,0.0,0,68,0.00,0.00,-51.80,0.000,2,0.000,0.000,138,2099,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.43,-146.6,3.1,-5.2,9,107,11.00,2.75,-15.48,0.000,4,0.413,0.198,2553,678,2564,0,0,1,0,0,0,14.58,14.67,14.97
$GC,138,-1.43,-146.6,11.7,-12.9,21,145,0.00,2.72,0.00,0.000,6,0.000,0.185,2545,2090,2565,0,0,0,0,0,0,28.83,14.69,28.83
$GC,206,-1.43,-146.6,19.3,-11.3,34,213,0.00,2.72,0.00,0.000,4,0.000,0.185,2545,678,2565,0,0,0,0,0,0,28.83,14.71,28.83
$GC,310,-1.43,-146.6,34.1,-14.4,54,317,0.10,2.75,0.00,0.000,6,0.302,0.191,2556,2098,2566,0,0,0,0,0,0,14.71,14.73,28.83
$GC,379,-1.43,-146.6,43.2,-13.0,67,385,0.00,2.72,0.00,0.000,4,0.000,0.197,2546,3504,2566,0,0,0,0,0,0,28.83,14.75,28.83
$GC,417,-1.43,-146.6,47.9,-12.6,74,423,0.00,2.62,0.00,0.000,6,0.000,0.142,2546,2083,2566,0,0,0,0,0,0,28.83,14.78,28.83
$GC,546,-1.43,-146.6,62.3,-10.0,99,553,0.00,2.65,0.00,0.000,4,0.000,0.189,2546,677,2566,0,0,0,0,0,0,28.83,14.78,28.83
$GC,664,-1.43,-146.6,76.9,-12.1,122,673,0.10,2.72,0.00,0.000,6,0.298,0.191,2558,2091,2567,0,0,0,0,0,0,14.77,14.79,28.83
$GC,796,-1.43,-146.6,91.1,-10.5,147,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2091,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-1.43,-146.6,104.2,-9.9,172,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2091,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-1.43,-146.6,117.5,-10.6,197,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2091,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1194,-1.43,-146.6,130.3,-9.2,222,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2092,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1328,-1.43,-146.6,142.6,-9.5,247,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2091,2566,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1399,begin apogee
$GC,1402,-0.36,0.0,150.0,-10.3,260,1538,0.75,0.00,130.40,0.896,6,0.214,0.000,2786,1998,1962,0,0,0,0,0,0,14.82,28.83,14.09
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1540,begin climb
$GC,1541,1.43,146.6,152.1,0.0,284,1683,1.23,2.85,130.07,0.847,4,0.139,0.173,3184,3413,1359,0,0,1,0,0,0,14.42,14.25,13.98
$GC,1729,1.43,146.6,131.5,14.9,318,1736,0.00,2.67,0.00,0.000,6,0.000,0.143,3194,1996,1355,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1858,1.43,146.6,113.1,13.8,343,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1996,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,1.43,146.6,95.3,14.5,368,1991,0.00,2.78,0.00,0.000,4,0.000,0.183,3195,3417,1350,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2027,1.43,146.6,89.4,14.1,376,2035,0.10,2.62,0.00,0.000,6,0.310,0.145,3184,2000,1350,0,0,0,0,0,0,14.62,14.68,28.83
$GC,2156,1.43,146.6,72.7,13.4,401,2163,0.00,2.67,0.00,0.000,4,0.000,0.182,3194,584,1349,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2241,1.43,146.6,61.2,12.6,417,2248,0.00,2.67,0.00,0.000,6,0.000,0.172,3193,2001,1347,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2370,1.43,146.6,46.5,11.5,442,2377,0.00,2.72,0.00,0.000,4,0.000,0.184,3193,3418,1347,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2408,1.43,146.6,41.7,12.6,449,2415,0.10,2.60,0.00,0.000,6,0.312,0.143,3184,2000,1347,0,0,0,0,0,0,14.73,14.78,28.83
$GC,2538,1.46,173.2,28.6,8.8,474,2556,0.00,2.65,11.10,0.244,4,0.000,0.181,3193,588,1259,0,0,0,0,0,0,28.83,14.77,14.72
$GC,2638,1.46,173.2,17.9,11.3,493,2645,0.00,2.67,0.00,0.000,6,0.000,0.175,3193,2004,1268,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2706,1.46,173.2,10.0,11.9,506,2712,0.00,0.00,1.45,0.200,6,0.000,0.000,3193,2004,1257,0,0,0,0,0,0,28.83,28.83,14.80
$GC,2774,1.51,216.7,3.2,8.0,519,2782,0.00,0.00,5.45,0.177,2,0.000,0.000,3193,2004,1219,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2783,end climb,SURFACE_DEPTH_REACHED
$STATE,2783,begin surface coast
$FINISH,1.1,1.017915
$STATE,2819,end surface coast,CONTROL_FINISHED_OK
$STATE,2819,begin surface
$SM_CCo,2834,81.25,0.164,0,0,538,350.04
$SM_GC,1.64,8.95,0.17,81.25,0.114,0.213,0.164,137,2092,538,-12.50,-0.45,350.04,0,0,0,0,0,0,14.87,14.82,14.76
$RAFOS_CLK,75
$RAFOS,0,1340825944,19.666660,19.651112,120,66,66,61,53,52,603,397,188,162,173,143
$RAFOS,0,1340824745,19.333330,19.318056,64,58,58,54,53,51,166,181,210,194,133,221
$RAFOS,0,1340823541,19.000000,18.983612,57,56,56,55,54,53,208,170,134,115,151,229
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12230.48,270612,181841
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.14
$INTERNAL_PRESSURE,8.96742
$TCM_TEMP,17.70
$XPDR_PINGS,1
$24V_AH,14.0,0.604
$10V_AH,14.1,0.278
$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,22.325,48.975,278.475,81.250,0.000,25.238,30.535,116.034,29.250,0.000,5.030,1211.016,464.257,461.646,1012.793,41.100,33.220,925.806,0.000,763.638,600.000,183.256,0.000
$DEVICE_MAMPS,413.100,213.435,895.815,164.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.548,233.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321996
$DATA_FILE_SIZE,23475,527
$CAP_FILE_SIZE,70340,0
$CFSIZE,259252224,256794624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$SOUNDSPEED,1484.1
$GPS,270612,195715,4742.787,-12224.855,1,1.2,1,16.6