version: 66.11
glider: 193
mission: 1
dive: 8
start: 6 27 112 22 17 34
data:
$ID,193
$MISSION,1
$DIVE,8
$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,70
$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,-355.94818
$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,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,3420
$C_ROLL_CLIMB,3420
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,13
$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
$GPS1,270612,221349,4743.317,-12224.838,2,1.3,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.5
$GPS2,270612,221628,4743.448,-12224.913,15,1.5,15,16.6
$SPEED_LIMITS,0.084,0.181
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.030,0.178
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,353.0,849,-26.1,-10.000
$D_GRID,177
$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,-1.95,-68.4,0.0,0.0,0,74,0.00,0.00,-57.45,0.000,2,0.000,0.000,143,3425,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.95,-68.4,3.2,-6.9,10,97,10.62,0.00,-3.78,0.000,6,0.428,0.000,2432,3425,2244,0,0,0,0,0,0,14.60,28.83,14.97
$GC,158,-1.95,-68.4,13.8,-8.2,25,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,226,-1.95,-68.4,19.5,-9.2,38,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,293,-1.95,-68.4,24.7,-6.4,51,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,3425,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,360,-1.95,-68.4,30.4,-9.4,64,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,428,-1.95,-68.4,37.4,-10.3,77,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,495,-1.95,-68.4,43.3,-9.0,90,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,622,-1.95,-68.4,56.2,-10.1,115,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,750,-1.95,-68.4,70.0,-12.1,140,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,877,-1.95,-68.4,82.5,-8.7,165,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1008,-1.95,-68.4,94.8,-9.3,190,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-1.95,-68.4,107.6,-10.0,215,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-1.95,-68.4,120.3,-9.1,240,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1410,-1.95,-68.4,134.0,-10.1,265,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3425,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-1.95,-68.4,148.0,-11.4,290,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,3426,2245,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1561,begin apogee
$GC,1564,-0.36,0.0,150.0,-10.2,293,1638,1.23,0.00,64.85,1.437,6,0.272,0.000,2774,3425,1966,0,0,0,0,1,0,14.77,28.83,13.87
$STATE,1639,end apogee,CONTROL_FINISHED_OK
$STATE,1639,begin climb
$GC,1641,1.95,68.4,152.6,0.0,306,1719,1.58,0.00,66.18,1.497,6,0.146,0.000,3289,3425,1689,0,0,0,0,1,0,14.43,28.83,13.64
$GC,1841,1.95,68.4,131.1,13.4,344,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1968,1.95,68.4,114.7,13.2,369,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,1.95,68.4,97.7,12.8,394,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,1.95,68.4,80.5,13.5,419,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,1.95,68.4,64.1,11.5,444,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2478,1.95,68.4,50.4,11.2,469,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2605,1.96,79.8,37.3,8.9,494,2623,0.00,0.00,13.18,0.815,6,0.000,0.000,3289,3425,1634,0,0,0,0,0,0,28.83,28.83,14.47
$GC,2684,1.96,79.8,28.7,11.2,509,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,1.96,79.8,20.2,12.5,522,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,1.99,100.2,13.4,8.0,535,2832,0.00,0.00,8.90,0.210,6,0.000,0.000,3289,3425,1555,0,0,0,0,0,0,28.83,28.83,14.75
$GC,2893,1.99,100.2,6.9,10.5,549,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,3425,1560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,2.13,214.6,6.0,-1.2,562,3023,0.12,0.00,56.00,0.174,6,0.152,0.000,3342,3425,1089,0,0,0,0,0,0,14.83,28.83,14.73
$STATE,3084,end climb,SURFACE_DEPTH_REACHED
$STATE,3084,begin surface coast
$FINISH,2.3,1.018024
$STATE,3185,end surface coast,CONTROL_FINISHED_OK
$STATE,3185,begin surface
$SM_CCo,3201,65.28,0.164,0,0,538,350.04
$SM_GC,1.40,9.73,0.00,65.28,0.142,0.000,0.164,138,3425,538,-12.45,0.14,350.04,0,0,0,0,0,0,14.82,28.83,14.73
$RAFOS_CLK,90
$RAFOS,0,1340837942,23.000000,22.983889,64,58,56,55,52,52,216,186,199,174,143,1449
$RAFOS,0,1340836743,22.666660,22.650833,64,61,61,57,57,56,209,190,155,132,220,113
$RAFOS,0,1340835541,22.333330,22.316944,59,58,57,57,56,53,223,187,207,125,146,158
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,270612,222244
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.73
$INTERNAL_PRESSURE,8.97718
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,13.6,0.855
$10V_AH,13.9,0.389
$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,23.275,0.000,209.100,65.275,0.000,0.000,0.000,0.000,28.250,0.000,16.186,1381.339,584.518,397.092,953.680,33.178,29.128,897.580,0.000,872.714,900.000,178.091,0.000
$DEVICE_MAMPS,427.635,0.000,1497.105,163.710,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.768,283.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321984
$DATA_FILE_SIZE,26747,605
$CAP_FILE_SIZE,84267,0
$CFSIZE,259252224,256655360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$SOUNDSPEED,1484.8
$GPS,270612,231322,4743.395,-12224.761,33,0.9,50,16.6