version: 66.11
glider: 193
mission: 1
dive: 9
start: 6 27 112 23 19 36
data:
$ID,193
$MISSION,1
$DIVE,9
$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,65
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-357.20715
$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
$GPS1,270612,231322,4743.395,-12224.761,33,0.9,50,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.9
$GPS2,270612,231828,4743.341,-12224.776,4,0.9,4,16.6
$SPEED_LIMITS,0.287,0.293
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.018,0.293
$KALMAN_X,19.5,19.5,19.5,109.5,52.8
$KALMAN_Y,-178.9,-178.9,-178.9,355.8,-484.6
$MHEAD_RNG_PITCHd_Wd,339.9,1036,-9.5,-7.692
$D_GRID,176
$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,-0.98,-244.4,0.0,0.0,0,63,0.00,0.00,-46.72,0.000,2,0.000,0.000,138,3425,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.98,-244.4,3.2,-5.8,8,107,11.60,0.00,-26.83,0.000,6,0.423,0.000,2637,3425,2963,0,0,0,0,0,0,14.52,28.83,14.92
$GC,168,-0.98,-244.4,14.5,-9.8,27,174,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3424,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,235,-0.98,-244.4,20.3,-8.6,40,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,302,-0.98,-244.4,26.3,-9.3,53,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,370,-0.98,-244.4,32.6,-9.4,66,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,437,-0.98,-244.4,39.1,-10.4,79,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,504,-0.98,-244.4,45.1,-9.3,92,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3426,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,631,-0.98,-244.4,55.9,-8.2,117,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,758,-0.98,-244.4,66.9,-9.9,142,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,886,-0.98,-244.4,77.0,-9.9,167,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-0.98,-244.4,85.4,-4.9,192,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1146,-0.98,-244.4,94.6,-6.6,217,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.98,-244.4,104.5,-7.4,242,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1414,-0.98,-244.4,114.9,-7.7,267,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1548,-0.98,-244.4,125.2,-7.7,292,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1681,-0.98,-244.4,135.1,-6.7,317,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1813,-0.98,-244.4,145.3,-8.3,342,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,3425,2965,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1875,begin apogee
$GC,1878,-0.36,0.0,150.2,-7.5,353,2102,0.45,0.00,214.60,0.896,6,0.188,0.000,2780,3425,1958,0,0,0,0,0,0,14.83,28.83,13.93
$STATE,2103,end apogee,CONTROL_FINISHED_OK
$STATE,2103,begin climb
$GC,2104,0.98,244.4,160.3,0.0,393,2334,0.93,0.00,220.15,0.856,6,0.149,0.000,3073,3425,960,0,0,0,0,0,0,14.26,28.83,13.88
$GC,2457,0.98,244.4,129.7,10.7,458,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2584,0.98,244.4,115.0,11.2,483,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3424,948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,0.98,244.4,101.2,10.7,508,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2840,0.98,244.4,87.7,11.1,533,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,0.98,244.4,75.3,10.5,558,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3095,0.98,244.4,62.2,9.7,583,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3426,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3223,0.98,244.4,50.0,9.6,608,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3351,0.98,244.4,38.0,9.1,633,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,0.98,244.4,31.4,9.3,646,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,3425,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3484,0.98,244.4,25.4,9.0,659,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,0.98,244.4,19.5,8.9,672,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,1.01,267.1,13.8,7.2,685,3632,0.00,0.00,8.93,0.204,6,0.000,0.000,3073,3425,876,0,0,0,0,0,0,28.83,28.83,14.79
$GC,3694,1.01,267.1,7.4,8.2,699,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,3425,885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3761,1.15,380.4,3.0,5.3,712,3769,0.12,0.00,5.30,0.168,2,0.154,0.000,3131,3425,845,0,0,0,0,0,0,14.86,28.83,28.83
$STATE,3770,end climb,SURFACE_DEPTH_REACHED
$STATE,3770,begin surface coast
$FINISH,0.6,1.017658
$STATE,3831,end surface coast,CONTROL_FINISHED_OK
$STATE,3831,begin surface
$SM_CCo,3846,38.80,0.167,0,0,537,350.04
$SM_GC,2.38,8.55,0.00,38.80,0.093,0.000,0.167,140,3425,537,-12.42,0.14,350.04,0,0,0,0,0,0,14.88,28.83,14.78
$RAFOS_CLK,108
$RAFOS,0,1340840342,23.666660,23.650555,145,97,56,53,53,52,323,650,168,158,116,91
$RAFOS,0,1340839197,23.333330,23.332500,62,58,55,51,50,49,212,196,170,119,134,155
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,270612,222226
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.18
$INTERNAL_PRESSURE,8.95765
$TCM_TEMP,17.60
$XPDR_PINGS,2
$24V_AH,13.9,0.982
$10V_AH,13.9,0.432
$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,21.650,0.000,448.975,38.800,0.000,23.774,37.568,164.836,37.750,0.000,5.088,1578.221,644.731,561.679,1371.979,51.573,30.073,1188.105,0.000,1045.088,900.000,235.856,0.000
$DEVICE_MAMPS,423.045,0.000,895.815,166.770,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.017,314.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321940
$DATA_FILE_SIZE,33506,725
$CAP_FILE_SIZE,82430,0
$CFSIZE,259252224,256606208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1484.4
$GPS,280612,002459,4743.340,-12224.771,6,1.1,6,16.6