version: 66.12
glider: 193
mission: 4
dive: 141
start: 1 1 115 20 44 14
data:
$ID,193
$MISSION,4
$DIVE,141
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,100
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52059
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3900
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,355
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2951
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.214073
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042903274
$SEABIRD_T_H,0.00062837056
$SEABIRD_T_I,2.3004332e-05
$SEABIRD_T_J,2.3253908e-06
$SEABIRD_C_G,-9.879467
$SEABIRD_C_H,1.1201456
$SEABIRD_C_I,-0.00035123606
$SEABIRD_C_J,0.00012622437
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010115,203604,6700.690,-5649.509,33,0.8,33,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-58.0
$GPS2,010115,204340,6700.691,-5649.404,6,0.8,6,-32.5
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,45.8,4395,-18.4,-10.000,-20.87,2243
$D_GRID,532
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.60,-146.0,196,2905,1511,1511,0.0,0.0,0,122,0.00,0.00,-101.30,0.000,16386,0.000,0.000,196,2905,3292,3269,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.60,-146.0,196,2905,3270,3315,3.2,-1.9,10,151,10.23,0.00,-7.93,0.000,18438,0.469,0.000,2193,2905,3549,3546,3553,0,0,0,0,0,0,14.31,28.83,14.70
$GC,452,-1.57,-146.0,2193,2903,3551,3553,45.7,-12.6,35,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2905,3552,3551,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,753,-1.57,-146.0,2193,2905,3551,3553,82.9,-11.6,50,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2905,3552,3551,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1053,-1.57,-146.0,2194,2905,3551,3554,117.9,-11.0,65,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2905,3551,3551,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-1.57,-146.0,2193,2905,3551,3549,149.3,-10.0,80,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2905,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1653,-1.57,-146.0,2193,2905,3551,3549,178.4,-9.6,95,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2905,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,-1.57,-146.0,2193,2905,3551,3549,208.5,-9.8,110,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2905,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2253,-1.57,-146.0,2193,2905,3551,3549,236.7,-9.3,125,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2905,3554,3559,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,-1.57,-146.0,2193,2911,3551,3549,265.4,-9.3,138,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2905,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2862,-1.57,-146.0,2193,2905,3551,3549,293.6,-9.4,148,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2905,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2950,begin apogee
$GC,2957,-0.38,0.0,2194,1304,3551,3549,302.1,-9.5,151,3119,0.95,0.00,157.45,1.152,10246,0.246,0.000,2463,1304,2951,2972,2930,0,0,0,0,0,0,14.68,28.83,13.66
$STATE,3120,end apogee,CONTROL_FINISHED_OK
$STATE,3120,begin climb
$GC,3122,1.60,146.0,2463,1304,2963,2921,306.5,0.0,156,3290,1.42,0.00,162.65,1.040,10246,0.155,0.000,2900,1303,2351,2395,2308,0,0,0,0,0,0,14.07,28.83,13.56
$GC,3582,1.60,146.0,2899,1303,2379,2282,259.7,11.7,172,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1303,2330,2379,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,1.60,146.0,2900,1303,2379,2280,222.2,12.4,186,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1303,2329,2379,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4193,1.60,146.0,2899,1304,2379,2280,184.2,12.9,201,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1304,2329,2379,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4493,1.60,146.0,2900,1304,2379,2279,147.0,12.6,216,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1304,2328,2379,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4793,1.60,146.0,2900,1304,2379,2279,110.5,11.7,231,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1304,2329,2379,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5093,1.60,146.0,2900,1303,2380,2280,74.0,11.4,246,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1304,2329,2379,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5393,1.61,157.9,2900,1304,2378,2281,43.7,9.5,261,5399,0.00,0.00,4.50,0.201,8198,0.000,0.000,2900,1304,2306,2352,2260,0,0,0,0,0,0,28.83,28.83,14.59
$GC,5693,1.65,168.8,2900,1304,2354,2287,15.2,9.5,281,5704,0.00,0.00,9.60,0.191,8198,0.000,0.000,2900,1304,2260,2300,2221,0,0,0,0,0,0,28.83,28.83,14.65
$FREEZE,8.39,-0.795,-1.805,0,1,0
$FREEZE,7.33,-0.801,-1.804,0,1,0
$FREEZE,6.38,-0.801,-1.803,0,1,0
$FREEZE,5.36,-0.804,-1.802,0,1,0
$FREEZE,4.38,-0.842,-1.801,0,1,0
$FREEZE,3.41,-0.927,-1.799,0,1,0
$FREEZE,2.48,-0.944,-1.798,0,1,0
$STATE,5821,end climb,SURFACE_DEPTH_REACHED
$STATE,5821,begin surface coast
$FREEZE,1.49,-0.966,-1.797,0,1,0
$FREEZE,1.42,-0.847,-0.874,0,1,0
$FREEZE,1.44,-0.710,-0.857,0,1,0
$FINISH,1.4,1.012629
$STATE,5852,end surface coast,CONTROL_FINISHED_OK
$STATE,5852,begin surface
$SM_CCo,5872,100.72,0.157,0,0,1521,350.04
$SM_GC,2.22,7.82,2.97,100.72,0.101,0.128,0.157,209,2894,1521,-10.65,-0.59,350.04,0,0,0,0,0,0,14.74,14.69,14.59
$RAFOS_CLK,248
$RAFOS,6,1420145344,20.833334,20.817778,63,57,55,53,53,51,831,196,186,225,141,169
$RAFOS_FIX,6704.674805,-5657.331543,010115,161656,2,118,1.29
$IRIDIUM_FIX,6604.29,-5041.49,010115,173448
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.36
$INTERNAL_PRESSURE,8.48888
$TCM_TEMP,13.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.0,17.6
$SC_FREEKB,7724800
$24V_AH,13.56,31.796
$10V_AH,13.35,0.000
$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,20.425,6.500,334.200,100.725,0.000,0.000,0.000,308.925,1.000,0.000,6.914,753.745,4218.533,547.865,807.948,108.414,0.000,1113.117,0.000,458.959,360.000,2.631,0.000
$DEVICE_MAMPS,468.945,127.755,1152.090,156.825,0.000,0.000,0.000,162.180,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5863.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.796,0.000,0.000,0.000
$MEM,271084
$DATA_FILE_SIZE,10136,297
$CAP_FILE_SIZE,62656,0
$CFSIZE,260034560,242937856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1463.9
$GPS,010115,222504,6700.958,-5649.376,28,0.8,28,-32.5