version: 66.11
glider: 193
mission: 1
dive: 16
start: 6 28 112 7 35 27
data:
$ID,193
$MISSION,1
$DIVE,16
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,-374.70264
$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,2090
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$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,4
$ALTIM_SENSITIVITY,1
$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
$GPS1,280612,072859,4742.134,-12226.265,38,1.4,38,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.1
$GPS2,280612,073417,4742.120,-12226.254,4,1.4,4,16.6
$SPEED_LIMITS,0.101,0.314
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.291,0.120
$KALMAN_X,-3824.8,-524.7,-713.8,3388.9,-478.2
$KALMAN_Y,-1597.8,-598.9,663.8,-922.4,81.2
$MHEAD_RNG_PITCHd_Wd,51.0,5158,-17.6,-12.000
$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,15,-1.50,-195.5,0.0,0.0,0,85,0.00,0.00,-68.28,0.000,2,0.000,0.000,135,2093,2268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.50,-195.5,3.4,-7.4,12,113,11.12,0.00,-11.35,0.000,6,0.423,0.000,2528,2093,2764,0,0,0,0,0,0,14.54,28.83,14.89
$GC,174,-1.50,-195.5,18.3,-14.7,28,181,0.00,2.67,0.00,0.000,4,0.000,0.167,2528,669,2764,0,0,0,0,0,0,28.83,14.65,28.83
$GC,317,-1.50,-195.5,40.6,-14.1,56,324,0.00,2.70,0.00,0.000,6,0.000,0.174,2521,2090,2765,0,0,0,0,0,0,28.83,14.70,28.83
$GC,447,-1.50,-195.5,57.1,-13.0,81,453,0.00,2.65,0.00,0.000,4,0.000,0.171,2520,672,2764,0,0,0,0,0,0,28.83,14.73,28.83
$GC,469,-1.50,-195.5,60.3,-13.4,85,476,0.10,2.70,0.00,0.000,6,0.308,0.175,2531,2096,2764,0,0,0,0,0,0,14.70,14.73,28.83
$GC,598,-1.50,-195.5,76.4,-12.4,110,605,0.00,2.72,0.00,0.000,4,0.000,0.190,2521,3508,2765,0,0,0,0,0,0,28.83,14.75,28.83
$GC,651,-1.50,-195.5,83.0,-12.5,120,658,0.00,2.60,0.00,0.000,6,0.000,0.138,2522,2082,2764,0,0,0,0,0,0,28.83,14.77,28.83
$GC,779,-1.50,-195.5,99.6,-13.3,145,789,0.00,2.60,0.00,0.000,4,0.000,0.174,2521,678,2765,0,0,0,0,0,0,28.83,14.78,28.83
$GC,841,-1.50,-195.5,108.1,-14.0,156,847,0.00,2.67,0.00,0.000,6,0.000,0.178,2513,2090,2764,0,0,0,0,0,0,28.83,14.78,28.83
$GC,968,-1.50,-195.5,125.6,-13.7,181,975,0.00,2.70,0.00,0.000,4,0.000,0.190,2502,3504,2765,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1006,-1.50,-195.5,130.7,-13.6,188,1013,0.12,2.60,0.00,0.000,6,0.276,0.138,2530,2087,2764,0,0,0,0,0,0,14.77,14.81,28.83
$GC,1137,-1.50,-195.5,146.3,-12.0,213,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2086,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-1.50,-195.5,161.3,-11.4,238,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2087,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-1.50,-195.5,176.0,-11.1,263,1399,0.00,2.60,0.00,0.000,4,0.000,0.175,2530,678,2764,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1435,-0.36,0.0,180.6,-12.5,270,1616,0.85,0.00,172.40,0.881,6,0.229,0.000,2774,2001,1958,0,0,0,0,0,0,14.79,28.83,13.99
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1618,1.50,195.5,185.0,0.0,302,1805,1.30,2.83,175.18,0.806,4,0.148,0.175,3186,3418,1157,0,0,1,0,0,0,14.27,14.14,13.90
$GC,1851,1.50,195.5,157.9,17.0,344,1859,0.00,2.67,0.00,0.000,6,0.000,0.141,3196,2003,1148,0,0,1,0,0,0,28.83,14.31,28.83
$GC,1980,1.50,195.5,137.3,15.9,369,1987,0.00,2.70,0.00,0.000,4,0.000,0.174,3206,586,1144,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2013,1.50,195.5,131.8,16.6,375,2020,0.00,2.70,0.00,0.000,6,0.000,0.165,3207,1998,1143,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2143,1.50,195.5,112.8,13.4,400,2150,0.00,2.72,0.00,0.000,4,0.000,0.179,3207,3418,1143,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2166,1.50,195.5,109.0,16.0,404,2174,0.12,2.65,0.00,0.000,6,0.300,0.142,3190,1999,1143,0,0,0,0,0,0,14.57,14.61,28.83
$GC,2297,1.50,195.5,92.5,13.6,429,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2000,1143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,1.50,195.5,75.2,13.6,454,2431,0.00,2.65,0.00,0.000,4,0.000,0.174,3199,585,1143,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2467,1.50,195.5,68.9,15.1,462,2474,0.00,2.67,0.00,0.000,6,0.000,0.167,3199,2008,1142,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2596,1.50,195.5,52.4,12.6,487,2602,0.00,2.67,0.00,0.000,4,0.000,0.181,3199,3415,1142,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2624,1.50,195.5,48.9,12.9,492,2631,0.10,2.60,0.00,0.000,6,0.320,0.142,3190,1999,1142,0,0,0,0,0,0,14.70,14.74,28.83
$GC,2753,1.50,195.5,32.4,12.6,517,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1999,1142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,1.52,210.0,24.6,11.4,530,2828,0.00,0.00,4.55,0.184,6,0.000,0.000,3190,1999,1108,0,0,0,0,0,0,28.83,28.83,14.72
$GC,2889,1.54,225.5,16.6,11.4,543,2902,0.00,0.00,10.50,0.216,6,0.000,0.000,3190,1999,1044,0,0,0,0,0,0,28.83,28.83,14.74
$GC,2964,1.65,317.4,9.6,8.2,557,3022,0.10,2.70,48.25,0.186,4,0.172,0.174,3239,587,670,0,0,0,0,0,0,14.83,14.71,14.71
$STATE,3043,end climb,SURFACE_DEPTH_REACHED
$STATE,3043,begin surface coast
$FINISH,0.5,1.008172
$STATE,3069,end surface coast,CONTROL_FINISHED_OK
$STATE,3069,begin surface
$SM_CCo,3087,17.35,0.173,0,0,537,350.04
$SM_GC,2.05,8.90,2.88,17.35,0.091,0.169,0.173,141,2088,537,-12.42,-0.45,350.04,0,0,1,0,0,0,14.78,14.72,14.71
$RAFOS_CLK,81
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,280612,060638
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.07
$INTERNAL_PRESSURE,8.93812
$TCM_TEMP,17.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,135.4,67.3
$24V_AH,13.9,1.886
$10V_AH,14.0,0.697
$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,22.725,64.225,410.875,17.350,0.000,26.118,34.062,174.552,3.250,0.000,5.024,1236.047,565.652,517.176,1082.884,43.911,33.223,1036.126,0.000,833.567,0.000,16.604,0.000
$DEVICE_MAMPS,423.045,190.485,881.280,172.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.789,246.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322000
$DATA_FILE_SIZE,26774,576
$CAP_FILE_SIZE,64716,0
$CFSIZE,259252224,256339968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0
$SOUNDSPEED,1484.4
$GPS,280612,082759,4742.594,-12225.273,3,2.0,4,16.6