version: 66.11
glider: 193
mission: 1
dive: 12
start: 6 28 112 2 56 30
data:
$ID,193
$MISSION,1
$DIVE,12
$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,-360.97086
$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,15
$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,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
$GPS1,280612,024931,4742.937,-12225.311,3,1.1,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.3
$GPS2,280612,025459,4742.907,-12225.368,4,1.2,5,16.6
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,4732.476,-12221.228
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.176,-0.340
$KALMAN_X,-735.4,-216.8,78.2,320.8,-236.2
$KALMAN_Y,-1105.6,-962.6,-544.0,1589.8,-75.7
$MHEAD_RNG_PITCHd_Wd,136.0,20000,-10.1,-10.000
$D_GRID,189
$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,-117.3,0.0,0.0,0,86,0.00,0.00,-68.57,0.000,2,0.000,0.000,139,3418,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.87,-117.3,3.1,-5.9,12,113,11.88,0.85,-4.90,0.000,4,0.429,0.249,2661,3833,2447,0,0,1,0,0,0,14.52,14.61,14.88
$GC,245,-0.87,-117.3,19.8,-7.0,42,251,0.00,0.75,0.00,0.000,6,0.000,0.112,2661,3425,2447,0,0,0,0,0,0,28.83,14.71,28.83
$GC,313,-0.87,-117.3,25.0,-8.2,55,320,0.00,2.55,0.00,0.000,4,0.000,0.136,2661,2010,2447,0,0,0,0,0,0,28.83,14.70,28.83
$GC,546,-0.87,-117.3,40.5,-7.1,101,553,0.00,2.75,0.00,0.000,6,0.000,0.184,2652,3425,2447,0,0,0,0,0,0,28.83,14.74,28.83
$GC,676,-0.87,-117.3,49.0,-7.0,126,683,0.00,2.55,0.00,0.000,4,0.000,0.132,2652,2010,2448,0,0,0,0,0,0,28.83,14.77,28.83
$GC,910,-0.87,-117.3,63.8,-6.3,172,917,0.12,2.70,0.00,0.000,6,0.272,0.181,2672,3421,2448,0,0,0,0,0,0,14.78,14.79,28.83
$GC,1041,-0.87,-117.3,71.3,-5.1,197,1047,0.00,0.82,0.00,0.000,4,0.000,0.190,2670,3840,2448,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1224,-0.87,-117.3,81.8,-6.0,233,1231,0.00,0.77,0.00,0.000,6,0.000,0.109,2671,3414,2448,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1353,-0.87,-117.3,89.6,-6.6,258,1360,0.00,2.50,0.00,0.000,4,0.000,0.134,2670,2010,2447,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1589,-0.87,-117.3,105.0,-6.7,304,1595,0.00,2.70,0.00,0.000,6,0.000,0.182,2662,3421,2447,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1718,-0.87,-117.3,113.3,-6.0,329,1724,0.00,2.50,0.00,0.000,4,0.000,0.131,2662,2010,2447,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1952,-0.87,-117.3,127.1,-5.4,375,1958,0.00,2.70,0.00,0.000,6,0.000,0.182,2653,3420,2447,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2085,-0.87,-117.3,135.6,-6.1,400,2091,0.00,2.53,0.00,0.000,4,0.000,0.129,2653,2008,2447,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,2106,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2106,begin apogee
$GC,2113,-0.36,0.0,137.3,-7.4,404,2226,0.45,0.00,105.03,0.854,6,0.213,0.000,2780,3426,1957,0,0,0,0,0,0,14.82,28.83,14.16
$STATE,2227,end apogee,CONTROL_FINISHED_OK
$STATE,2227,begin climb
$GC,2228,0.87,117.3,140.5,0.0,424,2343,0.85,0.80,105.28,0.800,4,0.157,0.180,3052,3840,1477,0,0,0,0,0,0,14.44,14.23,13.97
$GC,2424,1.02,246.8,128.1,7.6,460,2522,0.08,0.77,83.95,1.699,6,0.101,0.116,3099,3428,962,0,0,1,0,1,0,14.47,14.42,13.46
$GC,2643,1.02,246.8,105.4,11.8,501,2651,0.00,0.82,1.40,0.203,4,0.000,0.176,3099,3841,959,0,0,0,0,0,0,28.83,14.40,14.40
$GC,2807,1.02,246.8,84.3,12.9,533,2814,0.00,0.77,0.00,0.000,6,0.000,0.116,3101,3428,968,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2935,1.02,246.8,69.1,12.0,558,2942,0.00,2.58,0.00,0.000,4,0.000,0.138,3112,2010,968,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3169,1.06,274.7,46.2,9.5,604,3205,0.10,2.72,23.30,0.976,6,0.271,0.178,3090,3422,846,0,0,0,0,1,0,14.69,14.71,14.20
$GC,3326,1.11,318.5,30.6,9.2,634,3368,0.00,0.85,32.42,0.946,4,0.000,0.186,3090,3841,666,0,0,1,0,1,0,28.83,14.51,14.16
$GC,3420,1.13,333.2,21.8,9.7,651,3433,0.00,0.77,9.18,0.226,6,0.000,0.114,3091,3428,606,0,0,0,0,0,0,28.83,14.59,14.52
$GC,3495,1.17,369.0,14.7,9.3,665,3519,0.10,2.62,14.73,0.207,4,0.168,0.135,3144,2016,500,0,0,0,0,0,0,14.66,14.57,14.57
$STATE,3605,end climb,SURFACE_DEPTH_REACHED
$STATE,3605,begin surface coast
$FINISH,0.9,1.018799
$STATE,3631,end surface coast,CONTROL_FINISHED_OK
$STATE,3631,begin surface
$SM_CCo,3708,0.00,0.000,0,0,509,357.65
$SM_GC,1.52,8.50,2.78,0.00,0.072,0.175,0.000,139,3423,509,-12.43,-0.25,357.65,0,0,1,0,0,0,14.71,14.64,28.83
$RAFOS_CLK,111
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,280612,010149
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.26
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.60
$XPDR_PINGS,6
$24V_AH,13.5,1.383
$10V_AH,13.7,0.551
$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,22.075,44.950,375.275,0.000,0.000,26.109,34.855,187.566,3.750,0.000,5.837,1530.175,788.514,452.539,1240.555,67.506,33.211,1020.492,0.000,995.919,0.000,16.487,0.000
$DEVICE_MAMPS,429.165,249.390,1699.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.776,303.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30087,691
$CAP_FILE_SIZE,67785,1
$CFSIZE,259252224,256491520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,1,0
$SOUNDSPEED,1484.0
$GPS,280612,035931,4742.544,-12225.732,13,9.0,33,16.6