version: 66.12
glider: 193
mission: 4
dive: 240
start: 1 19 115 4 23 5
data:
$ID,193
$MISSION,4
$DIVE,240
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,400
$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,601.23029
$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,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,13
$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
$GPS1,190115,015452,6710.315,-5658.445,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-32.2
$GPS2,190115,015452,6710.315,-5658.445,181,99.0,181,-32.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,183.6,15505,-18.4,-10.000,-20.87,2243
$D_GRID,402
$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,-146.0,202,2555,1541,1484,0.0,0.0,0,124,0.00,0.00,-102.38,0.000,16386,0.000,0.000,202,2556,3323,3291,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.60,-146.0,202,2556,3292,3356,3.4,-2.6,10,150,10.30,2.55,-5.85,0.000,18692,0.477,0.168,2183,3843,3549,3538,3561,0,0,0,0,0,0,14.32,14.53,14.81
$GC,377,-1.54,-146.0,2183,3843,3542,3561,43.9,-14.3,59,383,0.12,2.22,0.00,0.000,3078,0.312,0.060,2208,2535,3552,3543,3561,0,0,0,0,0,0,14.42,14.64,28.83
$GC,696,-1.54,-146.0,2209,2534,3543,3561,81.7,-11.0,77,701,0.00,2.47,0.00,0.000,260,0.000,0.142,2200,3834,3552,3543,3561,0,0,0,0,0,0,28.83,14.57,28.83
$GC,928,-1.54,-146.0,2200,3837,3543,3560,109.8,-12.0,123,933,0.00,2.20,0.00,0.000,1030,0.000,0.058,2200,2539,3551,3543,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1240,-1.54,-146.0,2200,2539,3543,3558,144.3,-10.5,140,1246,0.00,2.47,0.00,0.000,260,0.000,0.136,2191,3847,3550,3543,3558,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1298,-1.52,-146.0,2191,3847,3543,3558,150.6,-11.2,151,1305,0.12,2.20,0.00,0.000,3078,0.301,0.058,2217,2546,3550,3543,3558,0,0,0,0,0,0,14.50,14.69,28.83
$GC,1604,-1.55,-146.0,2217,2546,3543,3557,178.8,-9.1,167,1610,0.00,2.42,0.00,0.000,516,0.000,0.099,2217,1148,3550,3543,3557,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1628,-1.57,-146.0,2218,1148,3543,3557,181.1,-9.9,171,1634,0.00,2.53,0.00,0.000,1030,0.000,0.112,2211,2557,3549,3543,3556,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1952,-1.59,-146.0,2210,2557,3543,3556,212.0,-9.6,190,1958,0.00,2.40,0.00,0.000,260,0.000,0.138,2201,3836,3550,3543,3557,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2010,-1.59,-146.0,2201,3836,3543,3556,217.9,-10.1,201,2016,0.00,2.17,0.00,0.000,1030,0.000,0.058,2202,2545,3549,3543,3556,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2316,-1.59,-146.0,2201,2544,3543,3557,247.5,-9.4,217,2321,0.00,2.42,0.00,0.000,260,0.000,0.138,2192,3835,3549,3543,3556,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2353,-1.59,-146.0,2193,3832,3543,3556,251.5,-10.3,224,2360,0.00,2.17,0.00,0.000,1030,0.000,0.057,2193,2541,3550,3543,3557,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2660,-1.59,-146.0,2193,2540,3544,3557,281.5,-9.8,235,2666,0.00,2.42,0.00,0.000,260,0.000,0.137,2184,3835,3550,3544,3557,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2693,-1.59,-146.0,2185,3836,3544,3557,285.1,-11.2,241,2698,0.00,2.17,0.00,0.000,1030,0.000,0.058,2185,2541,3550,3544,3557,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3028,-1.59,-146.0,2184,2540,3546,3557,318.7,-9.9,257,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2541,3551,3546,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3326,-1.59,-146.0,2185,2541,3548,3560,347.7,-9.3,267,3332,0.00,2.42,0.00,0.000,260,0.000,0.136,2176,3836,3553,3548,3558,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3355,-1.57,-146.0,2178,3836,3548,3558,350.5,-9.6,272,3362,0.12,2.15,0.00,0.000,3078,0.293,0.057,2203,2552,3553,3548,3558,0,0,0,0,0,0,14.56,14.76,28.83
$GC,3661,-1.57,-146.0,2203,2552,3548,3559,377.6,-9.0,283,3667,0.00,2.42,0.00,0.000,260,0.000,0.138,2194,3836,3554,3549,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3740,-1.57,-146.0,2194,3836,3549,3559,385.5,-10.1,298,3746,0.00,2.17,0.00,0.000,1030,0.000,0.057,2194,2537,3554,3549,3559,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,3936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3936,begin apogee
$GC,3942,-0.38,0.0,2194,2398,3550,3559,404.7,-9.2,307,4107,0.98,0.00,161.32,1.241,10246,0.249,0.000,2466,2398,2951,2968,2935,0,0,0,0,0,0,14.57,28.83,13.62
$STATE,4108,end apogee,CONTROL_FINISHED_OK
$STATE,4109,begin climb
$GC,4111,1.60,146.0,2467,2398,2959,2924,408.3,0.0,312,4287,1.38,2.65,160.93,1.287,10756,0.159,0.114,2901,997,2357,2394,2321,0,0,0,0,1,0,14.05,13.82,13.17
$GC,4350,1.60,146.0,2901,997,2395,2329,386.2,12.0,363,4356,0.00,2.67,0.00,0.000,1030,0.000,0.116,2901,2400,2362,2396,2329,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4670,1.60,146.0,2901,2400,2396,2325,347.3,12.4,376,4676,0.00,2.72,0.00,0.000,260,0.000,0.142,2904,3810,2361,2396,2326,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4738,1.54,146.0,2901,3811,2396,2326,337.3,14.3,389,4745,0.12,2.47,0.00,0.000,5126,0.302,0.076,2884,2408,2361,2395,2327,0,0,0,0,0,0,14.31,14.44,28.83
$GC,5067,1.54,146.0,2884,2408,2396,2325,297.1,12.2,404,5073,0.00,2.50,0.00,0.000,516,0.000,0.109,2893,994,2360,2396,2325,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5125,1.54,146.0,2893,993,2395,2324,290.1,12.0,415,5131,0.00,2.55,0.00,0.000,1030,0.000,0.114,2893,2403,2359,2395,2324,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5430,1.54,146.0,2893,2403,2395,2324,254.1,11.7,426,5436,0.00,2.67,0.00,0.000,260,0.000,0.142,2893,3816,2361,2397,2325,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5483,1.49,146.0,2894,3816,2395,2325,247.3,13.2,436,5489,0.12,2.47,0.00,0.000,5126,0.301,0.075,2876,2391,2360,2396,2325,0,0,0,0,0,0,14.50,14.63,28.83
$GC,5797,1.49,146.0,2876,2391,2396,2325,213.9,10.5,453,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2391,2360,2396,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6099,1.49,146.0,2876,2391,2398,2325,182.3,11.0,468,6104,0.00,2.70,0.00,0.000,260,0.000,0.142,2875,3812,2360,2396,2325,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6126,1.49,146.0,2875,3812,2396,2325,178.7,12.0,473,6131,0.00,2.45,0.00,0.000,1030,0.000,0.075,2884,2396,2360,2396,2325,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6444,1.49,146.0,2885,2395,2395,2325,141.7,11.9,491,6449,0.00,2.45,0.00,0.000,516,0.000,0.108,2894,989,2360,2396,2325,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6487,1.49,146.0,2894,989,2395,2325,136.7,12.0,499,6492,0.00,2.53,0.00,0.000,1030,0.000,0.113,2894,2401,2360,2395,2326,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6811,1.49,146.0,2894,2401,2395,2327,97.4,11.7,518,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2401,2361,2395,2327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7111,1.51,157.6,2894,2401,2395,2327,66.1,9.5,533,7126,0.00,2.47,8.60,0.314,8708,0.000,0.106,2902,995,2308,2342,2275,0,0,0,0,0,0,28.83,14.65,14.45
$GC,7158,1.55,188.9,2902,995,2342,2283,61.7,8.6,542,7188,0.00,2.53,20.20,0.324,9222,0.000,0.114,2903,2402,2184,2217,2152,0,0,0,0,0,0,28.83,14.65,14.45
$GC,7496,1.58,188.9,2903,2402,2217,2157,28.4,11.2,564,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2402,2186,2217,2156,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.12,-1.408,-1.794,0,2,0
$FREEZE,7.13,-1.412,-1.793,0,2,0
$FREEZE,6.14,-1.413,-1.792,0,2,0
$FREEZE,5.17,-1.428,-1.791,0,2,0
$FREEZE,4.26,-1.419,-1.791,0,2,0
$FREEZE,3.24,-1.419,-1.790,0,2,0
$FREEZE,2.11,-1.432,-1.789,0,2,0
$STATE,7744,end climb,SURFACE_DEPTH_REACHED
$STATE,7744,begin surface coast
$FREEZE,1.73,-1.475,-1.789,0,2,0
$FREEZE,1.69,-1.605,-1.302,0,2,0
$FINISH,1.7,1.019218
$STATE,7765,end surface coast,CONTROL_FINISHED_OK
$STATE,7765,begin surface
$SM_CCo,7784,230.68,0.156,0,0,498,601.23
$SM_GC,2.06,7.85,0.30,230.68,0.099,0.148,0.156,205,2559,498,-10.68,-0.28,601.23,0,0,0,0,0,0,14.73,14.66,14.47
$RAFOS_CLK,371
$RAFOS,6,1421642946,4.833333,4.818333,115,58,54,53,53,53,774,209,195,170,218,158
$RAFOS,5,1421642463,4.700000,4.684166,61,59,58,52,51,50,651,214,158,192,181,228
$RAFOS,4,1421641999,4.566667,4.555278,56,55,54,54,50,50,150,200,170,217,124,783
$RAFOS,3,1421641506,4.433333,4.418334,65,58,57,54,53,50,199,189,128,215,158,140
$RAFOS,0,1421640061,4.033333,4.016944,59,58,54,51,49,46,206,174,124,192,231,216
$RAFOS_FIX,6710.515137,-5712.852539,190115,040400,2,88,1.00
$IRIDIUM_FIX,6636.54,-5703.22,190115,014533
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.91
$INTERNAL_PRESSURE,8.37169
$TCM_TEMP,13.10
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.4,16.7
$SC_FREEKB,7693280
$24V_AH,13.17,58.959
$10V_AH,13.38,0.000
$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,21.125,78.400,351.050,230.675,0.000,0.000,0.000,120.925,2.750,0.000,181.767,1213.154,5265.772,706.036,1246.940,294.628,0.000,1356.381,0.000,882.620,1440.000,2.627,0.000
$DEVICE_MAMPS,477.360,167.535,1287.495,156.060,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7781.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.358,0.000,0.000,0.000
$MEM,270944
$DATA_FILE_SIZE,20048,589
$CAP_FILE_SIZE,102047,0
$CFSIZE,260034560,235180032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,8859.94,0x23769e,7,5
$SOUNDSPEED,1466.1
$GPS,190115,063804,6709.057,-5659.542,25,0.8,25,-32.7