version: 66.11
glider: 193
mission: 1
dive: 13
start: 6 28 112 4 6 13
data:
$ID,193
$MISSION,1
$DIVE,13
$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,-370.93872
$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
$GPS1,280612,035931,4742.544,-12225.732,13,9.0,33,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.5
$GPS2,280612,040451,4742.505,-12225.805,6,0.9,6,16.6
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,HEADING
$TGT_LATLONG,4732.074,-12221.665
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.206,-0.323
$KALMAN_X,-1494.3,-393.1,56.1,735.3,-494.5
$KALMAN_Y,-917.6,-1049.7,-405.0,618.9,507.8
$MHEAD_RNG_PITCHd_Wd,130.9,20000,-10.1,-10.000
$D_GRID,188
$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,-117.3,0.0,0.0,0,91,0.00,0.00,-73.90,0.000,2,0.000,0.000,139,3424,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.87,-117.3,3.7,-8.4,13,113,11.85,2.58,-1.17,0.000,4,0.429,0.147,2663,2006,2445,0,0,0,0,0,0,14.52,14.64,14.85
$GC,340,-0.87,-117.3,26.5,-7.2,61,346,0.00,2.72,0.00,0.000,6,0.000,0.177,2654,3420,2445,0,0,0,0,0,0,28.83,14.70,28.83
$GC,408,-0.87,-117.3,31.5,-7.4,74,415,0.00,2.55,0.00,0.000,4,0.000,0.132,2654,2009,2445,0,0,0,0,0,0,28.83,14.73,28.83
$GC,642,-0.87,-117.3,48.6,-6.6,120,649,0.10,2.72,0.00,0.000,6,0.285,0.180,2667,3425,2445,0,0,0,0,0,0,14.74,14.76,28.83
$GC,771,-0.87,-117.3,56.4,-6.0,145,778,0.00,0.80,0.00,0.000,4,0.000,0.188,2666,3833,2446,0,0,0,0,0,0,28.83,14.76,28.83
$GC,875,-0.87,-117.3,62.6,-5.6,165,881,0.00,0.75,0.00,0.000,6,0.000,0.110,2665,3418,2445,0,0,1,0,0,0,28.83,14.82,28.83
$GC,1005,-0.87,-117.3,69.2,-5.2,190,1011,0.00,2.50,0.00,0.000,4,0.000,0.131,2665,2011,2445,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1237,-0.87,-117.3,80.3,-4.3,236,1244,0.00,2.70,0.00,0.000,6,0.000,0.181,2657,3420,2445,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1367,-0.87,-117.3,86.6,-4.9,261,1374,0.00,0.80,0.00,0.000,4,0.000,0.190,2654,3834,2445,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1521,-0.87,-117.3,94.0,-4.2,291,1528,0.00,0.75,0.00,0.000,6,0.000,0.110,2654,3421,2445,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1650,-0.87,-117.3,100.8,-5.1,316,1657,0.00,2.50,0.00,0.000,4,0.000,0.133,2654,2007,2445,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1883,-0.87,-117.3,113.8,-5.1,362,1891,0.12,2.72,0.00,0.000,6,0.264,0.180,2675,3422,2445,0,0,0,0,0,0,14.83,14.84,28.83
$GC,2012,-0.87,-117.3,119.9,-4.5,387,2020,0.00,2.53,0.00,0.000,4,0.000,0.129,2675,2008,2445,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,2107,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2107,begin apogee
$GC,2112,-0.36,0.0,123.6,-3.6,405,2198,0.38,0.00,75.28,1.712,6,0.208,0.000,2781,3421,1967,0,0,0,0,1,0,14.83,28.83,13.69
$STATE,2199,end apogee,CONTROL_FINISHED_OK
$STATE,2199,begin climb
$GC,2200,0.87,117.3,126.2,0.0,420,2292,0.85,0.90,79.93,1.728,4,0.155,0.185,3050,3842,1487,0,0,1,0,1,0,14.28,13.99,13.45
$GC,2410,1.15,351.0,115.9,5.6,459,2570,0.15,0.80,148.40,1.608,6,0.080,0.111,3124,3421,534,0,0,0,0,1,0,14.46,14.42,13.53
$GC,2693,1.15,351.0,82.4,13.1,511,2700,0.00,0.85,0.00,0.000,4,0.000,0.177,3124,3837,543,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2762,1.15,351.0,73.3,13.0,524,2769,0.00,0.80,1.10,0.193,6,0.000,0.118,3126,3416,534,0,0,0,0,0,0,28.83,14.50,14.48
$GC,2891,1.15,351.0,57.2,11.7,549,2898,0.00,2.60,0.00,0.000,4,0.000,0.138,3136,2005,541,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2914,1.15,351.0,54.6,11.4,553,2922,0.12,2.75,0.00,0.000,6,0.258,0.178,3108,3420,541,0,0,0,0,0,0,14.57,14.58,28.83
$GC,3045,1.15,351.0,40.8,11.6,578,3051,0.00,0.80,0.00,0.000,4,0.000,0.182,3108,3832,541,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3063,1.15,351.0,38.6,11.2,581,3069,0.00,0.77,0.00,0.000,6,0.000,0.116,3108,3418,541,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3131,1.15,351.0,30.8,10.8,594,3137,0.00,2.55,0.00,0.000,4,0.000,0.138,3118,2009,541,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3364,1.23,410.5,7.1,8.9,640,3377,0.00,2.70,5.18,0.190,6,0.000,0.175,3118,3421,498,0,0,0,0,0,0,28.83,14.73,14.72
$STATE,3407,end climb,SURFACE_DEPTH_REACHED
$STATE,3407,begin surface coast
$FINISH,0.8,1.018454
$STATE,3433,end surface coast,CONTROL_FINISHED_OK
$STATE,3433,begin surface
$SM_CCo,3507,0.00,0.000,0,0,505,358.38
$SM_GC,1.54,8.45,0.00,0.00,0.080,0.000,0.000,132,3421,505,-12.45,0.00,358.38,0,0,0,0,0,0,14.81,28.83,28.83
$RAFOS_CLK,108
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,280612,020248
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.82
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.70
$XPDR_PINGS,1
$24V_AH,13.5,1.541
$10V_AH,13.7,0.587
$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,22.025,44.900,309.875,0.000,0.000,22.496,28.018,188.743,1.500,0.000,9.340,1460.689,759.368,404.134,1183.037,55.655,33.217,941.299,0.000,942.232,0.000,8.854,0.000
$DEVICE_MAMPS,429.165,189.720,1728.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.519,289.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322028
$DATA_FILE_SIZE,30120,653
$CAP_FILE_SIZE,65060,1
$CFSIZE,259252224,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,1,0
$SOUNDSPEED,1484.0
$GPS,280612,050522,4742.328,-12226.216,3,1.0,3,16.6