version: 66.12
glider: 193
mission: 4
dive: 244
start: 1 19 115 14 32 52
data:
$ID,193
$MISSION,4
$DIVE,244
$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,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,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,14
$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
$GPS1,190115,141804,6709.662,-5702.435,28,0.9,28,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-45.4
$GPS2,190115,143218,6709.816,-5702.149,16,1.0,16,-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,173.7,16240,-18.4,-10.000,-20.87,2243
$D_GRID,419
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.60,-146.0,207,2550,524,478,0.0,0.0,0,172,0.00,0.00,-150.82,0.000,16386,0.000,0.000,207,2550,3232,3200,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,176,-1.60,-146.0,207,2550,3201,3265,3.3,-2.6,15,202,10.35,2.50,-9.48,0.000,18692,0.470,0.155,2185,3847,3548,3537,3559,0,0,0,0,0,0,14.16,14.38,14.66
$GC,430,-1.54,-146.0,2183,3847,3541,3560,42.8,-15.0,65,437,0.12,2.25,0.00,0.000,3078,0.308,0.060,2209,2534,3551,3542,3560,0,0,0,0,0,0,14.32,14.53,28.83
$GC,744,-1.54,-146.0,2208,2533,3542,3559,78.5,-10.5,82,750,0.00,2.50,0.00,0.000,260,0.000,0.141,2200,3837,3551,3542,3560,0,0,0,0,0,0,28.83,14.50,28.83
$GC,977,-1.52,-146.0,2200,3837,3542,3559,107.0,-11.4,128,982,0.00,2.20,0.00,0.000,1030,0.000,0.060,2200,2545,3550,3542,3558,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1290,-1.52,-146.0,2200,2545,3542,3557,138.9,-9.8,145,1295,0.00,2.42,0.00,0.000,516,0.000,0.100,2200,1150,3554,3550,3558,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1313,-1.52,-146.0,2200,1150,3542,3556,141.3,-10.0,149,1319,0.10,2.55,0.00,0.000,3078,0.336,0.116,2214,2559,3549,3542,3556,0,0,0,0,0,0,14.45,14.59,28.83
$GC,1637,-1.52,-146.0,2214,2559,3542,3556,172.6,-9.5,168,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2559,3549,3542,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1939,-1.54,-146.0,2215,2559,3542,3556,199.9,-8.6,183,1944,0.00,2.42,0.00,0.000,260,0.000,0.141,2205,3837,3549,3542,3557,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1991,-1.54,-146.0,2205,3837,3542,3556,205.2,-10.1,193,1997,0.00,2.20,0.00,0.000,1030,0.000,0.060,2205,2540,3549,3543,3556,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2304,-1.54,-146.0,2205,2540,3544,3556,235.0,-9.8,210,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2540,3551,3547,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,-1.54,-146.0,2205,2540,3547,3556,264.7,-9.5,223,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2540,3550,3545,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,-1.54,-146.0,2205,2540,3547,3557,291.5,-8.6,233,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2540,3552,3547,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-1.54,-146.0,2205,2540,3549,3558,316.7,-8.5,243,3220,0.00,2.45,0.00,0.000,260,0.000,0.138,2196,3837,3553,3549,3558,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3248,-1.54,-146.0,2196,3837,3549,3558,319.5,-8.7,249,3253,0.00,2.17,0.00,0.000,1030,0.000,0.058,2196,2542,3554,3549,3559,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3583,-1.54,-146.0,2196,2541,3551,3559,347.7,-8.3,265,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2541,3555,3551,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-1.54,-146.0,2196,2541,3552,3559,372.9,-8.4,275,3887,0.00,2.42,0.00,0.000,516,0.000,0.109,2196,1145,3555,3551,3560,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3909,-1.54,-146.0,2196,1149,3551,3559,375.4,-8.7,280,3917,0.10,2.55,0.00,0.000,3078,0.321,0.119,2210,2558,3555,3552,3559,0,0,0,0,0,0,14.55,14.69,28.83
$GC,4217,-1.57,-146.0,2209,2558,3552,3560,399.5,-7.9,291,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2558,3555,3551,3560,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$GC,4459,-0.38,0.0,2209,2400,3552,3560,419.8,-7.9,299,4653,0.90,0.00,185.50,1.284,10246,0.250,0.000,2460,2400,2954,2973,2935,0,0,0,0,1,0,14.54,28.83,13.28
$STATE,4655,end apogee,CONTROL_FINISHED_OK
$STATE,4655,begin climb
$GC,4657,1.60,146.0,2461,2400,2968,2940,423.4,0.0,305,4827,1.40,2.75,152.43,1.965,10756,0.155,0.117,2904,1008,2362,2396,2328,0,0,0,0,1,0,13.97,13.57,12.94
$GC,4910,1.60,146.0,2903,1007,2396,2325,395.0,14.5,359,4915,0.00,2.67,0.00,0.000,1030,0.000,0.118,2903,2398,2360,2396,2325,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5245,1.57,146.0,2901,2397,2395,2320,350.4,12.9,375,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2399,2358,2396,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5543,1.55,146.0,2903,2398,2395,2320,311.8,12.5,385,5549,0.00,2.50,0.00,0.000,516,0.000,0.112,2913,1000,2357,2395,2320,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5580,1.55,146.0,2913,1000,2396,2318,306.9,12.5,392,5586,0.12,2.58,0.00,0.000,5126,0.288,0.116,2887,2407,2357,2396,2319,0,0,0,0,0,0,14.38,14.47,28.83
$GC,5909,1.55,146.0,2887,2407,2395,2318,267.1,12.2,407,5914,0.00,2.50,0.00,0.000,516,0.000,0.109,2895,993,2357,2395,2319,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5941,1.55,146.0,2895,993,2395,2319,263.0,12.5,413,5947,0.00,2.55,0.00,0.000,1030,0.000,0.115,2895,2401,2357,2395,2319,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6267,1.55,146.0,2895,2401,2395,2319,220.7,13.5,432,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2401,2357,2395,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6566,1.55,146.0,2895,2401,2395,2319,183.4,12.0,447,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2401,2357,2395,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,1.55,146.0,2891,2402,2395,2319,148.1,12.0,462,6870,0.00,2.67,0.00,0.000,260,0.000,0.142,2895,3813,2357,2395,2319,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6897,1.52,146.0,2896,3813,2395,2319,143.6,14.2,468,6903,0.12,2.45,0.00,0.000,5126,0.289,0.077,2878,2403,2356,2395,2317,0,0,0,0,0,0,14.55,14.67,28.83
$GC,7211,1.52,146.0,2878,2403,2395,2319,109.1,10.8,485,7217,0.00,2.42,0.00,0.000,516,0.000,0.109,2887,999,2357,2395,2319,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7339,1.55,149.7,2887,999,2395,2319,95.3,9.8,510,7350,0.00,2.55,2.88,0.324,9222,0.000,0.116,2887,2408,2340,2374,2307,0,0,0,0,0,0,28.83,14.64,14.39
$GC,7658,1.63,196.0,2887,2408,2374,2318,66.4,7.9,528,7698,0.00,2.70,30.25,0.344,8452,0.000,0.142,2887,3812,2152,2186,2119,0,0,0,0,0,0,28.83,14.57,14.44
$GC,7730,1.65,213.8,2887,3812,2186,2123,60.4,9.2,542,7750,0.00,2.47,11.80,0.321,9222,0.000,0.076,2896,2391,2082,2117,2048,0,0,0,0,0,0,28.83,14.64,14.41
$GC,8063,1.72,230.6,2897,2391,2117,2047,29.7,9.2,563,8084,0.10,2.53,10.68,0.232,10756,0.171,0.113,2947,1000,2012,2049,1976,0,0,0,0,0,0,14.67,14.57,14.50
$GC,8132,1.75,230.6,2947,1000,2049,1980,22.5,11.1,576,8139,0.00,2.55,0.00,0.000,1030,0.000,0.119,2947,2401,2014,2049,1980,0,0,0,0,0,0,28.83,14.59,28.83
$FREEZE,8.91,-1.414,-1.791,0,1,0
$FREEZE,7.74,-1.433,-1.790,0,1,0
$FREEZE,6.56,-1.458,-1.790,0,1,0
$FREEZE,5.49,-1.465,-1.789,0,1,0
$FREEZE,4.28,-1.465,-1.788,0,1,0
$FREEZE,3.21,-1.467,-1.787,0,1,0
$FREEZE,1.98,-1.474,-1.786,0,1,0
$STATE,8316,end climb,SURFACE_DEPTH_REACHED
$STATE,8316,begin surface coast
$FREEZE,1.72,-1.724,-1.800,0,1,0
$FREEZE,1.61,-1.728,-1.050,0,1,0
$FINISH,1.6,1.015486
$STATE,8337,end surface coast,CONTROL_FINISHED_OK
$STATE,8337,begin surface
$SM_CCo,8355,67.35,0.154,0,0,1522,350.04
$SM_GC,2.33,7.93,0.30,67.35,0.091,0.151,0.154,210,2553,1522,-10.67,-0.40,350.04,0,0,0,0,0,0,14.67,14.61,14.52
$RAFOS_CLK,352
$RAFOS,5,1421685667,16.700001,16.685278,84,68,60,58,54,54,623,192,215,154,130,1935
$RAFOS,4,1421685187,16.566668,16.551945,60,59,56,53,53,49,224,125,166,194,843,208
$RAFOS,3,1421684715,16.433332,16.420834,59,59,56,56,54,53,213,228,115,191,126,137
$RAFOS,2,1421684234,16.299999,16.287222,60,59,56,51,50,48,199,221,174,208,152,163
$RAFOS,1,1421683758,16.166666,16.155001,75,63,63,59,57,54,203,176,161,148,215,187
$RAFOS,0,1421683273,16.033333,16.020277,63,61,61,60,58,56,209,175,218,188,122,160
$RAFOS_FIX,6710.515137,-5712.852539,190115,040400,2,88,1.00
$IRIDIUM_FIX,6636.54,-5703.22,190115,064140
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.31
$INTERNAL_PRESSURE,8.44982
$TCM_TEMP,13.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.2,17.4
$SC_FREEKB,7692000
$24V_AH,12.94,59.776
$10V_AH,13.28,0.000
$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,21.250,65.125,393.525,67.350,0.000,0.000,0.000,622.800,1.250,0.000,17.868,1212.941,5626.179,618.615,1564.817,272.702,0.000,1780.127,0.000,891.600,2520.000,2.627,0.000
$DEVICE_MAMPS,470.475,154.530,1964.520,153.765,0.000,0.000,0.000,169.830,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8354.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.296,0.000,0.000,0.000
$MEM,270904
$DATA_FILE_SIZE,20087,597
$CAP_FILE_SIZE,104817,0
$CFSIZE,260034560,234942464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,9774.10,0x23769e,7,5
$SOUNDSPEED,1464.5
$GPS,190115,165434,6709.242,-5703.013,29,1.1,29,-32.7