version: 66.11
glider: 193
mission: 1
dive: 14
start: 6 28 112 5 11 48
data:
$ID,193
$MISSION,1
$DIVE,14
$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,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,-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,-372.18942
$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,10
$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
$GPS1,280612,050522,4742.328,-12226.216,3,1.0,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.7
$GPS2,280612,051021,4742.284,-12226.277,5,1.0,5,16.6
$SPEED_LIMITS,0.287,0.297
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.263,-0.138
$KALMAN_X,-2277.2,-496.3,-170.0,1256.4,-802.2
$KALMAN_Y,-838.6,-999.3,23.3,-343.1,768.2
$MHEAD_RNG_PITCHd_Wd,101.0,4956,-9.3,-7.692
$D_GRID,186
$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,-0.81,-117.3,0.0,0.0,0,75,0.00,0.00,-57.78,0.000,2,0.000,0.000,132,3422,2016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.81,-117.3,3.1,-6.0,10,108,11.77,2.55,-11.90,0.000,4,0.422,0.144,2682,2007,2444,0,0,0,0,0,0,14.58,14.68,14.92
$GC,334,-0.81,-117.3,19.8,-7.7,60,341,0.00,2.72,0.00,0.000,6,0.000,0.177,2676,3424,2445,0,0,0,0,0,0,28.83,14.73,28.83
$GC,403,-0.81,-117.3,24.7,-6.1,73,410,0.00,2.55,0.00,0.000,4,0.000,0.129,2675,2008,2446,0,0,0,0,0,0,28.83,14.76,28.83
$GC,636,-0.81,-117.3,40.0,-6.4,119,643,0.00,2.72,0.00,0.000,6,0.000,0.179,2667,3422,2445,0,0,0,0,0,0,28.83,14.78,28.83
$GC,766,-0.81,-117.3,48.9,-6.4,144,773,0.00,0.82,0.00,0.000,4,0.000,0.190,2664,3840,2446,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1000,-0.81,-117.3,64.9,-7.0,190,1006,0.00,0.77,0.00,0.000,6,0.000,0.107,2664,3414,2446,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1128,-0.81,-117.3,72.9,-5.5,215,1136,0.00,2.47,0.00,0.000,4,0.000,0.129,2663,2011,2446,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1362,-0.81,-117.3,85.5,-5.8,261,1369,0.12,2.70,0.00,0.000,6,0.262,0.178,2684,3427,2446,0,0,0,0,0,0,14.83,14.84,28.83
$GC,1493,-0.81,-117.3,91.5,-4.9,286,1499,0.00,0.82,0.00,0.000,4,0.000,0.190,2683,3845,2446,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1643,-0.81,-117.3,98.6,-5.6,315,1649,0.00,0.77,0.00,0.000,6,0.000,0.109,2683,3419,2446,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1774,-0.81,-117.3,106.1,-5.3,340,1781,0.00,2.50,0.00,0.000,4,0.000,0.131,2683,2011,2445,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1949,-0.81,-117.3,113.3,-4.0,374,1956,0.00,2.70,0.00,0.000,6,0.000,0.180,2676,3427,2445,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2078,-0.81,-117.3,118.8,-4.4,399,2085,0.00,0.80,0.00,0.000,4,0.000,0.189,2673,3837,2446,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,2106,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2106,begin apogee
$GC,2110,-0.36,0.0,120.0,-3.8,404,2218,0.35,0.00,103.60,0.848,6,0.203,0.000,2779,3418,1962,0,0,0,0,0,0,14.85,28.83,14.20
$STATE,2219,end apogee,CONTROL_FINISHED_OK
$STATE,2220,begin climb
$GC,2221,0.81,117.3,122.4,0.0,423,2329,0.80,0.00,104.35,0.773,6,0.162,0.000,3032,3418,1486,0,0,0,0,0,0,14.46,28.83,14.01
$GC,2451,0.83,137.5,108.1,7.3,466,2480,0.00,2.62,14.98,0.740,4,0.000,0.132,3042,2017,1402,0,0,0,0,1,0,28.83,14.42,13.10
$GC,2707,0.90,189.9,91.5,6.6,516,2759,0.00,2.72,37.00,1.184,6,0.000,0.176,3042,3421,1191,0,0,0,0,1,0,28.83,14.61,13.89
$GC,2881,0.90,191.9,79.3,7.6,549,2889,0.00,0.85,2.83,0.559,4,0.000,0.187,3042,3839,1184,0,0,1,0,0,0,28.83,14.53,14.11
$GC,2910,0.90,191.9,77.0,8.0,554,2918,0.00,0.77,1.35,0.209,6,0.000,0.115,3044,3428,1183,0,0,0,0,0,0,28.83,14.58,14.53
$GC,3041,1.03,301.4,68.8,5.4,579,3123,0.12,0.88,71.35,1.282,4,0.145,0.182,3107,3839,736,0,0,1,0,1,0,14.69,14.23,13.81
$GC,3194,1.03,301.4,52.3,12.1,607,3201,0.08,0.80,0.00,0.000,6,0.236,0.114,3086,3419,745,0,0,0,0,0,0,14.37,14.42,28.83
$GC,3323,1.03,301.4,38.4,10.3,632,3329,0.00,2.58,0.00,0.000,4,0.000,0.135,3096,2010,745,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3385,1.03,301.4,32.3,9.3,644,3392,0.00,2.75,0.00,0.000,6,0.000,0.176,3096,3422,745,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3454,1.03,301.4,25.9,9.9,657,3460,0.00,0.82,0.00,0.000,4,0.000,0.184,3095,3836,745,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3537,1.03,301.4,17.9,10.2,673,3544,0.00,0.77,1.00,0.195,6,0.000,0.112,3097,3422,735,0,0,0,0,0,0,28.83,14.67,14.66
$GC,3606,1.04,307.5,11.7,7.6,686,3619,0.00,2.60,3.85,0.209,4,0.000,0.136,3107,2013,712,0,0,0,0,0,0,28.83,14.66,14.65
$STATE,3725,end climb,SURFACE_DEPTH_REACHED
$STATE,3725,begin surface coast
$FINISH,0.8,1.018392
$STATE,3786,end surface coast,CONTROL_FINISHED_OK
$STATE,3786,begin surface
$SM_CCo,3803,22.80,0.171,0,0,538,350.04
$SM_GC,1.76,8.40,2.75,22.80,0.076,0.177,0.171,137,3421,538,-12.44,-0.54,350.04,0,0,1,0,0,0,14.77,14.71,14.70
$RAFOS_CLK,108
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,280612,040441
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.59
$INTERNAL_PRESSURE,8.94789
$TCM_TEMP,17.70
$XPDR_PINGS,3
$24V_AH,13.1,1.646
$10V_AH,13.9,0.625
$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,21.650,46.600,340.300,22.800,0.000,24.746,28.009,165.781,2.000,0.000,5.877,1618.645,773.143,453.453,1268.088,52.871,33.226,1040.982,0.000,1039.215,0.000,8.866,0.000
$DEVICE_MAMPS,421.515,189.720,1282.140,171.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.809,327.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321952
$DATA_FILE_SIZE,33438,721
$CAP_FILE_SIZE,71497,1
$CFSIZE,259252224,256401408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,1,0
$SOUNDSPEED,1484.2
$GPS,280612,061622,4742.146,-12226.710,6,1.3,6,16.6