version: 66.11
glider: 193
mission: 1
dive: 6
start: 6 27 112 20 3 14
data:
$ID,193
$MISSION,1
$DIVE,6
$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,-342.37479
$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
$GPS1,270612,195715,4742.787,-12224.855,1,1.2,1,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.8
$GPS2,270612,200203,4742.777,-12224.832,6,1.1,6,16.6
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.013,0.260
$KALMAN_X,-100.9,-32.7,-18.8,19.1,-22.1
$KALMAN_Y,-552.2,-623.7,-434.5,1368.2,64.2
$MHEAD_RNG_PITCHd_Wd,346.2,2080,-17.5,-10.000
$D_GRID,180
$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,-1.43,-146.6,0.0,0.0,0,85,0.00,0.00,-68.35,0.000,2,0.000,0.000,137,2093,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.43,-146.6,3.3,-7.6,12,113,11.07,2.78,-4.03,0.000,4,0.416,0.205,2545,3504,2565,0,0,1,0,0,0,14.57,14.65,14.95
$GC,144,-1.43,-146.6,14.7,-13.2,22,151,0.00,2.60,0.00,0.000,6,0.000,0.135,2544,2083,2566,0,0,0,0,0,0,28.83,14.70,28.83
$GC,212,-1.43,-146.6,22.4,-10.5,35,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2082,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,280,-1.43,-146.6,30.6,-13.3,48,286,0.00,2.65,0.00,0.000,4,0.000,0.184,2545,679,2566,0,0,0,0,0,0,28.83,14.71,28.83
$GC,413,-1.43,-146.6,49.0,-12.4,74,420,0.10,2.70,0.00,0.000,6,0.301,0.182,2556,2092,2567,0,0,0,0,0,0,14.72,14.76,28.83
$GC,543,-1.43,-146.6,64.4,-12.4,99,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2092,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,670,-1.43,-146.6,78.0,-10.8,124,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2091,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-1.43,-146.6,91.5,-11.0,149,807,0.00,2.65,0.00,0.000,4,0.000,0.174,2556,677,2567,0,0,0,0,0,0,28.83,14.81,28.83
$GC,876,-1.43,-146.6,100.4,-11.6,163,885,0.00,2.67,0.00,0.000,6,0.000,0.181,2547,2090,2566,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1013,-1.43,-146.6,113.4,-9.1,188,1021,0.00,2.70,0.00,0.000,4,0.000,0.192,2537,3503,2566,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1084,-1.43,-146.6,120.8,-10.4,201,1093,0.10,2.55,0.00,0.000,6,0.282,0.135,2558,2088,2567,0,0,0,0,0,0,14.79,14.83,28.83
$GC,1218,-1.43,-146.6,133.8,-9.4,226,1226,0.00,2.65,0.00,0.000,4,0.000,0.182,2559,672,2566,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1248,-1.43,-146.6,136.9,-10.0,231,1256,0.00,2.70,0.00,0.000,6,0.000,0.184,2550,2091,2567,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1375,-0.36,0.0,150.0,-11.3,254,1511,0.80,0.00,130.43,0.905,6,0.218,0.000,2791,1994,1963,0,0,0,0,0,0,14.80,28.83,14.06
$STATE,1512,end apogee,CONTROL_FINISHED_OK
$STATE,1512,begin climb
$GC,1514,1.43,146.6,155.5,0.0,278,1650,1.20,0.00,130.98,0.849,6,0.138,0.000,3182,1993,1367,0,0,0,0,0,0,14.38,28.83,13.95
$GC,1770,1.43,146.6,132.7,12.5,326,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1993,1350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,1.43,146.6,116.7,12.5,351,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1993,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,1.43,146.6,98.5,16.2,376,2032,0.00,2.72,0.00,0.000,4,0.000,0.175,3182,3417,1348,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2053,1.43,146.6,93.6,18.2,381,2060,0.00,2.60,0.00,0.000,6,0.000,0.139,3192,2003,1347,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2182,1.43,146.6,75.0,12.6,406,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2003,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2310,1.43,146.6,58.7,10.1,431,2316,0.00,2.65,0.00,0.000,4,0.000,0.177,3203,586,1347,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2343,1.45,161.0,55.6,9.3,437,2362,0.00,2.65,12.43,0.811,6,0.000,0.166,3203,2000,1305,0,0,0,0,0,0,28.83,14.75,14.42
$GC,2484,1.45,161.0,39.5,11.9,464,2491,0.00,2.67,0.00,0.000,4,0.000,0.174,3213,584,1296,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2556,1.45,161.0,30.4,12.9,478,2564,0.12,2.65,0.00,0.000,6,0.289,0.167,3186,2001,1294,0,0,0,0,0,0,14.71,14.75,28.83
$GC,2625,1.45,161.0,22.1,12.6,491,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2001,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2693,1.45,161.0,12.9,12.2,504,2699,0.00,2.70,0.00,0.000,4,0.000,0.185,3186,3415,1295,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2725,1.45,161.0,8.8,12.2,510,2733,0.00,2.58,0.00,0.000,6,0.000,0.140,3195,1998,1295,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,2787,end climb,SURFACE_DEPTH_REACHED
$STATE,2787,begin surface coast
$FINISH,1.1,1.018093
$STATE,2824,end surface coast,CONTROL_FINISHED_OK
$STATE,2824,begin surface
$SM_CCo,2839,89.72,0.164,0,0,536,350.04
$SM_GC,1.57,8.95,0.20,89.72,0.114,0.199,0.164,139,2091,536,-12.48,-0.37,350.04,0,0,1,0,0,0,14.85,14.78,14.73
$RAFOS_CLK,77
$RAFOS,0,1340829544,20.666660,20.651112,62,60,57,53,52,52,171,193,135,216,162,146
$RAFOS,0,1340828342,20.333330,20.317223,63,58,57,56,50,46,217,200,161,234,171,116
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12250.84,270612,191947
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.43
$INTERNAL_PRESSURE,8.95765
$TCM_TEMP,17.70
$XPDR_PINGS,1
$24V_AH,13.9,0.693
$10V_AH,14.0,0.310
$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,22.350,48.275,273.825,89.725,0.000,23.795,28.735,155.309,27.250,0.000,6.989,1214.737,469.143,469.507,1048.202,42.733,33.216,934.584,0.000,766.829,600.000,171.007,0.000
$DEVICE_MAMPS,416.160,205.020,904.995,164.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.853,229.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321988
$DATA_FILE_SIZE,23442,529
$CAP_FILE_SIZE,69552,0
$CFSIZE,259252224,256757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$SOUNDSPEED,1484.2
$GPS,270612,205322,4743.205,-12224.890,37,1.2,37,16.6