version: 66.11
glider: 193
mission: 1
dive: 10
start: 6 28 112 0 34 48
data:
$ID,193
$MISSION,1
$DIVE,10
$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,-358.45993
$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
$GPS1,280612,002459,4743.340,-12224.771,6,1.1,6,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.2
$GPS2,280612,003339,4743.168,-12224.804,9,1.5,9,16.6
$SPEED_LIMITS,0.287,0.293
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.007,0.293
$KALMAN_X,33.9,33.4,30.6,38.1,29.2
$KALMAN_Y,-700.0,-672.6,-551.7,1425.3,-648.3
$MHEAD_RNG_PITCHd_Wd,342.0,1356,-9.5,-7.692
$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,15,-0.98,-244.4,0.0,0.0,0,81,0.00,0.00,-63.55,0.000,2,0.000,0.000,140,3426,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.98,-244.4,4.0,-10.3,11,113,11.60,0.00,-15.95,0.000,6,0.422,0.000,2640,3427,2964,0,0,0,0,0,0,14.54,28.83,14.91
$GC,174,-0.98,-244.4,15.5,-9.8,28,180,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,242,-0.98,-244.4,21.8,-8.1,41,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,309,-0.98,-244.4,27.4,-7.6,54,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3427,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,376,-0.98,-244.4,33.0,-7.9,67,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,444,-0.98,-244.4,39.1,-9.1,80,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,511,-0.98,-244.4,45.6,-9.7,93,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,638,-0.98,-244.4,57.0,-9.2,118,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3427,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,765,-0.98,-244.4,67.7,-7.9,143,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,893,-0.98,-244.4,76.4,-6.1,168,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1022,-0.98,-244.4,85.0,-7.0,193,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,3426,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1153,-0.98,-244.4,94.1,-7.1,218,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1286,-0.98,-244.4,103.7,-7.2,243,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1421,-0.98,-244.4,113.5,-7.2,268,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1555,-0.98,-244.4,123.9,-8.0,293,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-0.98,-244.4,133.8,-7.2,318,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3427,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.98,-244.4,144.2,-7.6,343,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,3426,2963,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1905,begin apogee
$GC,1908,-0.36,0.0,150.4,-7.4,358,2135,0.45,0.00,220.12,0.886,6,0.191,0.000,2782,3426,1961,0,0,0,0,0,0,14.82,28.83,13.95
$STATE,2136,end apogee,CONTROL_FINISHED_OK
$STATE,2136,begin climb
$GC,2137,0.98,244.4,158.9,0.0,398,2364,0.93,0.00,219.07,0.820,6,0.148,0.000,3075,3426,963,0,0,0,0,0,0,14.23,28.83,13.90
$GC,2486,0.98,244.4,129.8,10.1,462,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,3426,947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2614,0.98,244.4,115.9,10.8,487,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,3426,946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2741,0.98,244.4,102.3,10.6,512,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,3426,946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,0.98,244.4,89.0,11.0,537,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,3426,945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,0.98,244.4,76.0,9.6,562,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,3426,945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3124,0.98,244.4,64.5,9.1,587,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,3426,945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,0.98,244.4,52.4,9.6,612,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,3426,945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3380,1.01,272.5,41.2,7.1,637,3409,0.00,0.00,18.92,0.815,6,0.000,0.000,3075,3426,855,0,0,0,0,1,0,28.83,28.83,14.34
$GC,3471,1.01,272.5,33.7,8.0,654,3477,0.00,0.00,1.48,0.203,6,0.000,0.000,3075,3426,853,0,0,0,0,0,0,28.83,28.83,14.72
$GC,3539,1.01,272.5,27.7,9.2,667,3545,0.00,0.00,1.35,0.207,6,0.000,0.000,3075,3426,854,0,0,0,0,0,0,28.83,28.83,14.73
$GC,3607,1.01,272.5,21.6,10.0,680,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,3426,864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3674,1.05,298.2,15.9,7.1,693,3692,0.00,0.00,14.93,0.217,6,0.000,0.000,3075,3426,749,0,0,0,0,0,0,28.83,28.83,14.72
$GC,3754,1.05,298.2,9.8,7.8,708,3760,0.00,0.00,1.62,0.201,6,0.000,0.000,3075,3426,749,0,0,0,0,0,0,28.83,28.83,14.76
$GC,3822,1.05,298.6,4.6,7.7,721,3829,0.00,0.00,1.55,0.205,6,0.000,0.000,3075,3426,747,0,0,0,0,0,0,28.83,28.83,14.76
$STATE,3849,end climb,SURFACE_DEPTH_REACHED
$STATE,3849,begin surface coast
$FINISH,1.0,1.017672
$STATE,3896,end surface coast,CONTROL_FINISHED_OK
$STATE,3896,begin surface
$SM_CCo,3910,27.25,0.169,0,0,537,350.04
$SM_GC,1.72,8.38,0.00,27.25,0.089,0.000,0.169,137,3426,537,-12.42,0.17,350.04,0,0,0,0,0,0,14.85,28.83,14.76
$RAFOS_CLK,113
$RAFOS,0,1340842744,0.333330,0.317778,63,55,54,50,49,48,214,163,186,130,140,110
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12225.08,280612,000012
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.18
$INTERNAL_PRESSURE,8.94789
$TCM_TEMP,17.60
$XPDR_PINGS,6
$24V_AH,13.9,1.119
$10V_AH,13.9,0.477
$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,21.350,0.000,479.050,27.250,0.000,50.093,60.268,254.741,39.500,0.000,10.010,1603.843,696.483,578.797,1535.951,55.974,31.306,1214.372,0.000,1058.563,0.000,240.590,0.000
$DEVICE_MAMPS,421.515,0.000,885.870,169.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.417,316.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321960
$DATA_FILE_SIZE,33488,735
$CAP_FILE_SIZE,87220,0
$CFSIZE,259252224,256557056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$SOUNDSPEED,1484.3
$GPS,280612,014135,4743.161,-12225.007,37,1.0,37,16.6