version: 66.11
glider: 193
mission: 1
dive: 11
start: 6 28 112 1 48 48
data:
$ID,193
$MISSION,1
$DIVE,11
$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,120
$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,165
$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,-359.71439
$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,5
$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,100
$ALTIM_PING_DELTA,5
$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
$GPS1,280612,014135,4743.161,-12225.007,37,1.0,37,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.9
$GPS2,280612,014718,4743.134,-12225.075,5,1.2,5,16.6
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,4732.703,-12220.935
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.147,-0.354
$KALMAN_X,-148.5,-53.3,26.2,-20.1,-45.9
$KALMAN_Y,-1416.9,-1070.2,-599.0,2516.4,-417.2
$MHEAD_RNG_PITCHd_Wd,140.9,20000,-10.1,-10.000
$D_GRID,178
$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,-0.87,-117.3,0.0,0.0,0,80,0.00,0.00,-62.80,0.000,2,0.000,0.000,137,3426,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.87,-117.3,3.0,-6.1,11,108,11.82,2.62,-7.30,0.000,4,0.428,0.148,2664,2004,2445,0,0,1,0,0,0,14.53,14.66,14.90
$GC,335,-0.87,-117.3,22.0,-5.7,60,341,0.00,2.70,0.00,0.000,6,0.000,0.172,2656,3418,2446,0,0,0,0,0,0,28.83,14.71,28.83
$GC,403,-0.87,-117.3,26.8,-7.6,73,410,0.00,2.55,0.00,0.000,4,0.000,0.128,2656,2002,2446,0,0,0,0,0,0,28.83,14.74,28.83
$GC,637,-0.87,-117.3,43.2,-6.2,119,644,0.10,2.72,0.00,0.000,6,0.288,0.179,2669,3421,2446,0,0,0,0,0,0,14.75,14.76,28.83
$GC,768,-0.87,-117.3,49.8,-5.8,144,775,0.00,2.58,0.00,0.000,4,0.000,0.129,2669,1997,2447,0,0,0,0,0,0,28.83,14.80,28.83
$GC,797,-0.87,-117.3,51.7,-6.3,149,804,0.00,2.72,0.00,0.000,6,0.000,0.182,2662,3419,2446,0,0,0,0,0,0,28.83,14.78,28.83
$GC,927,-0.87,-117.3,59.4,-5.4,174,933,0.00,0.80,0.00,0.000,4,0.000,0.189,2658,3833,2447,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1160,-0.87,-117.3,73.6,-7.0,220,1166,0.00,0.75,0.00,0.000,6,0.000,0.109,2658,3419,2447,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1288,-0.87,-117.3,80.9,-5.9,245,1295,0.00,0.85,0.00,0.000,4,0.000,0.187,2657,3838,2447,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1322,-0.87,-117.3,82.9,-6.1,251,1328,0.00,0.75,0.00,0.000,6,0.000,0.112,2657,3426,2447,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1452,-0.87,-117.3,90.4,-5.5,276,1458,0.00,2.53,0.00,0.000,4,0.000,0.133,2657,2012,2446,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1685,-0.87,-117.3,101.8,-4.9,322,1692,0.10,2.72,0.00,0.000,6,0.285,0.185,2670,3418,2446,0,0,0,0,0,0,14.83,14.83,28.83
$GC,1814,-0.87,-117.3,108.1,-5.5,347,1821,0.00,2.53,0.00,0.000,4,0.000,0.131,2670,2007,2446,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2049,-0.87,-117.3,119.1,-4.8,393,2056,0.00,2.72,0.00,0.000,6,0.000,0.185,2663,3424,2446,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,2106,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2106,begin apogee
$GC,2109,-0.36,0.0,122.0,-5.0,404,2195,0.38,0.00,75.12,1.592,6,0.210,0.000,2777,3424,1967,0,0,0,0,1,0,14.83,28.83,13.78
$STATE,2196,end apogee,CONTROL_FINISHED_OK
$STATE,2196,begin climb
$GC,2197,0.87,117.3,123.6,0.0,419,2289,0.85,0.90,78.93,1.588,4,0.156,0.189,3046,3844,1488,0,0,1,0,1,0,14.33,14.03,13.54
$GC,2386,0.99,221.7,111.7,8.0,454,2466,0.08,0.80,69.95,1.507,6,0.102,0.113,3093,3425,1062,0,0,0,0,1,0,14.43,14.40,13.58
$GC,2588,0.99,221.7,91.2,11.1,492,2595,0.00,2.62,0.00,0.000,4,0.000,0.138,3102,2007,1071,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2821,1.01,236.7,67.9,9.7,538,2852,0.10,2.75,15.95,0.806,6,0.272,0.179,3080,3421,1001,0,0,1,0,1,0,14.59,14.59,14.16
$GC,2973,1.05,263.8,53.0,9.5,567,3009,0.00,2.60,23.08,0.933,4,0.000,0.134,3090,2009,892,0,0,0,0,1,0,28.83,14.53,14.13
$GC,3236,1.17,363.4,30.5,8.1,618,3311,0.10,2.72,60.30,1.001,6,0.164,0.178,3137,3420,499,0,0,0,0,1,0,14.73,14.66,14.06
$GC,3371,1.17,363.4,15.0,11.2,643,3379,0.10,0.80,0.90,0.203,4,0.257,0.178,3115,3841,499,0,0,0,0,0,0,14.45,14.47,14.47
$GC,3426,1.19,379.0,9.4,9.7,653,3433,0.00,0.80,0.65,0.223,6,0.000,0.116,3115,3418,498,0,0,0,0,0,0,28.83,14.56,14.54
$STATE,3493,end climb,SURFACE_DEPTH_REACHED
$STATE,3493,begin surface coast
$FINISH,0.6,1.018562
$STATE,3525,end surface coast,CONTROL_FINISHED_OK
$STATE,3525,begin surface
$SM_CCo,3600,0.00,0.000,0,0,505,358.38
$SM_GC,1.52,8.55,0.00,0.00,0.084,0.000,0.000,139,3418,505,-12.42,-0.06,358.38,0,0,0,0,0,0,14.68,28.83,28.83
$RAFOS_CLK,102
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,280612,000014
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.41
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.70
$XPDR_PINGS,8
$24V_AH,13.5,1.261
$10V_AH,13.8,0.514
$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,22.175,43.550,324.875,0.000,0.000,23.225,30.893,197.453,3.250,0.000,5.883,1503.640,772.828,418.681,1229.468,60.603,32.224,969.548,0.000,969.344,0.000,8.866,0.000
$DEVICE_MAMPS,428.400,188.955,1591.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.503,301.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322024
$DATA_FILE_SIZE,30188,672
$CAP_FILE_SIZE,66994,1
$CFSIZE,259252224,256532480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,6,1,0
$SOUNDSPEED,1484.1
$GPS,280612,024931,4742.937,-12225.311,3,1.1,3,16.6