version: 66.11
glider: 193
mission: 1
dive: 18
start: 6 28 112 9 33 4
data:
$ID,193
$MISSION,1
$DIVE,18
$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,-377.21643
$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,10
$R_STBD_OVSHOOT,8
$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
$GPS1,280612,092708,4742.940,-12225.149,3,1.8,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.1
$GPS2,280612,093154,4742.956,-12225.101,4,1.7,5,16.6
$SPEED_LIMITS,0.101,0.314
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,0.286
$KALMAN_X,-3971.4,-513.0,-638.0,4885.2,305.7
$KALMAN_Y,-1402.9,-255.6,495.2,243.7,-50.9
$MHEAD_RNG_PITCHd_Wd,7.9,3047,-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,-195.5,0.0,0.0,0,80,0.00,0.00,-63.00,0.000,2,0.000,0.000,137,2092,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.50,-195.5,3.7,-7.9,11,113,11.07,2.65,-12.70,0.000,4,0.422,0.183,2530,675,2763,0,0,0,0,0,0,14.56,14.64,14.90
$GC,185,-1.50,-195.5,22.0,-13.8,30,192,0.00,2.70,0.00,0.000,6,0.000,0.175,2523,2092,2763,0,0,0,0,0,0,28.83,14.67,28.83
$GC,253,-1.50,-195.5,31.6,-15.6,43,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2092,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,320,-1.50,-195.5,41.3,-14.8,56,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2091,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,447,-1.50,-195.5,58.8,-14.4,81,454,0.00,2.65,0.00,0.000,4,0.000,0.168,2523,672,2764,0,0,0,0,0,0,28.83,14.74,28.83
$GC,515,-1.50,-195.5,69.0,-14.8,94,522,0.00,2.67,0.00,0.000,6,0.000,0.174,2513,2091,2764,0,0,0,0,0,0,28.83,14.75,28.83
$GC,645,-1.50,-195.5,86.7,-13.6,119,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,771,-1.50,-195.5,103.5,-13.4,144,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2091,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,901,-1.50,-195.5,120.9,-12.9,169,908,0.00,2.62,0.00,0.000,4,0.000,0.165,2513,674,2764,0,0,0,0,0,0,28.83,14.81,28.83
$GC,929,-1.50,-195.5,124.7,-13.3,174,941,0.12,2.67,0.00,0.000,6,0.284,0.176,2532,2091,2764,0,0,0,0,0,0,14.78,14.80,28.83
$GC,1063,-1.50,-195.5,141.6,-12.7,199,1070,0.00,2.70,0.00,0.000,4,0.000,0.185,2522,3505,2764,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1101,-1.50,-195.5,146.5,-13.0,206,1108,0.00,2.58,0.00,0.000,6,0.000,0.134,2522,2082,2764,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1229,-1.50,-195.5,163.0,-13.1,231,1236,0.00,2.60,0.00,0.000,4,0.000,0.171,2522,672,2764,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1268,-1.50,-195.5,168.6,-14.3,238,1274,0.00,2.67,0.00,0.000,6,0.000,0.177,2513,2090,2764,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,1356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1356,begin apogee
$GC,1360,-0.36,0.0,180.1,-12.6,255,1540,0.90,0.00,172.27,0.910,6,0.227,0.000,2779,1993,1958,0,0,0,0,0,0,14.81,28.83,13.97
$STATE,1541,end apogee,CONTROL_FINISHED_OK
$STATE,1541,begin climb
$GC,1542,1.50,195.5,185.5,0.0,287,1729,1.27,0.00,176.55,0.850,6,0.145,0.000,3187,1993,1159,0,0,0,0,0,0,14.27,28.83,13.87
$GC,1852,1.50,195.5,150.9,14.4,344,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1993,1147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1979,1.50,195.5,132.2,15.2,369,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1993,1146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2106,1.50,195.5,113.3,15.1,394,2113,0.00,2.75,0.00,0.000,4,0.000,0.174,3187,3421,1145,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2134,1.50,195.5,108.9,15.9,399,2141,0.00,2.62,0.00,0.000,6,0.000,0.142,3197,2002,1145,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2264,1.50,195.5,88.9,16.2,424,2271,0.00,2.65,0.00,0.000,4,0.000,0.173,3208,586,1145,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2312,1.50,195.5,80.7,16.4,433,2320,0.10,2.67,0.00,0.000,6,0.308,0.165,3187,2008,1144,0,0,0,0,0,0,14.64,14.68,28.83
$GC,2442,1.50,195.5,63.0,13.3,458,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2008,1143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,1.50,195.5,47.1,12.6,483,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2008,1144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,1.50,195.5,30.3,13.0,508,2703,0.00,2.70,0.00,0.000,4,0.000,0.171,3197,582,1143,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2724,1.50,195.5,26.3,15.1,513,2731,0.00,2.65,0.00,0.000,6,0.000,0.164,3197,2001,1143,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2793,1.53,218.1,17.8,11.1,526,2812,0.00,2.72,9.35,0.207,4,0.000,0.180,3197,3408,1077,0,0,0,0,0,0,28.83,14.74,14.74
$GC,2843,1.53,218.1,11.9,12.5,535,2851,0.00,2.60,1.35,0.212,6,0.000,0.142,3207,1999,1074,0,0,0,0,0,0,28.83,14.77,14.76
$GC,2913,1.62,293.8,5.5,8.9,548,2948,0.00,0.00,33.05,0.171,2,0.000,0.000,3207,1998,823,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2949,end climb,SURFACE_DEPTH_REACHED
$STATE,2949,begin surface coast
$FINISH,0.6,1.008932
$STATE,2980,end surface coast,CONTROL_FINISHED_OK
$STATE,2980,begin surface
$SM_CCo,2995,36.42,0.168,0,0,536,350.04
$SM_GC,1.87,8.80,0.20,36.42,0.092,0.196,0.168,141,2092,536,-12.42,-0.34,350.04,0,0,1,0,0,0,14.81,14.73,14.72
$RAFOS_CLK,82
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,280612,080811
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.00
$INTERNAL_PRESSURE,8.94789
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,125.4,71.4
$24V_AH,13.9,2.194
$10V_AH,14.0,0.762
$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,22.275,48.300,392.575,36.425,0.000,24.032,35.780,147.054,2.000,0.000,5.843,1201.553,554.335,514.029,1032.060,42.191,33.228,1019.764,0.000,810.322,0.000,13.468,0.000
$DEVICE_MAMPS,422.280,195.840,909.585,168.300,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.026,237.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321976
$DATA_FILE_SIZE,23495,560
$CAP_FILE_SIZE,61048,0
$CFSIZE,259252224,256270336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$SOUNDSPEED,1484.4
$GPS,280612,102421,4743.624,-12224.695,3,1.4,3,16.6