version: 66.12
glider: 193
mission: 4
dive: 251
start: 1 20 115 8 47 25
data:
$ID,193
$MISSION,4
$DIVE,251
$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,21
$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
$GPS1,200115,035321,6707.333,-5655.073,181,99.0,181,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-27.9
$GPS2,200115,035321,6707.333,-5655.073,181,99.0,181,-32.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,180.1,9511,-18.4,-10.000,-20.87,2243
$D_GRID,421
$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,-146.0,205,2551,1530,1501,0.0,0.0,0,122,0.00,0.00,-101.05,0.000,16386,0.000,0.000,205,2552,3339,3308,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.60,-146.0,205,2552,3310,3372,4.0,-3.1,10,148,10.15,2.53,-5.53,0.000,18692,0.467,0.161,2188,3844,3549,3537,3561,0,0,0,0,0,0,14.30,14.50,14.83
$GC,375,-1.55,-146.0,2187,3843,3542,3561,43.3,-14.9,59,381,0.10,2.22,0.00,0.000,3078,0.319,0.061,2207,2535,3551,3542,3561,0,0,0,0,0,0,14.42,14.62,28.83
$GC,694,-1.55,-146.0,2206,2535,3543,3561,82.9,-12.0,77,699,0.00,2.40,0.00,0.000,516,0.000,0.097,2207,1145,3551,3543,3560,0,0,0,0,0,0,28.83,14.59,28.83
$GC,761,-1.55,-146.0,2207,1145,3543,3560,90.3,-10.7,90,767,0.00,2.45,0.00,0.000,1030,0.000,0.112,2200,2551,3552,3543,3561,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1079,-1.55,-146.0,2201,2550,3543,3559,124.5,-10.5,108,1084,0.00,2.40,0.00,0.000,260,0.000,0.136,2191,3836,3550,3543,3558,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1153,-1.53,-146.0,2191,3836,3542,3558,132.7,-11.0,122,1159,0.12,2.17,0.00,0.000,3078,0.299,0.059,2218,2552,3550,3543,3557,0,0,0,0,0,0,14.47,14.69,28.83
$GC,1467,-1.53,-146.0,2218,2551,3544,3554,164.0,-9.7,139,1473,0.00,2.45,0.00,0.000,260,0.000,0.142,2209,3846,3548,3543,3554,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1530,-1.53,-146.0,2209,3846,3546,3554,170.2,-10.0,151,1536,0.00,2.20,0.00,0.000,1030,0.000,0.062,2209,2550,3548,3543,3554,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1854,-1.53,-146.0,2209,2549,3543,3554,198.5,-8.6,170,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2549,3548,3543,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2155,-1.53,-146.0,2209,2549,3543,3554,224.2,-8.8,185,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2549,3550,3543,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2455,-1.53,-146.0,2209,2549,3544,3554,251.2,-8.8,200,2460,0.00,2.45,0.00,0.000,260,0.000,0.142,2200,3845,3549,3544,3554,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2497,-1.53,-146.0,2200,3845,3544,3555,255.2,-8.9,208,2503,0.00,2.20,0.00,0.000,1030,0.000,0.062,2200,2543,3548,3543,3554,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2822,-1.53,-146.0,2200,2543,3545,3554,284.7,-9.4,222,2827,0.00,2.42,0.00,0.000,260,0.000,0.137,2191,3837,3549,3545,3554,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2844,-1.53,-146.0,2191,3837,3545,3554,287.1,-9.4,226,2851,0.12,2.17,0.00,0.000,3078,0.292,0.060,2218,2545,3549,3545,3554,0,0,0,0,0,0,14.52,14.74,28.83
$GC,3161,-1.56,-146.0,2218,2544,3547,3554,315.7,-9.0,238,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2545,3550,3546,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3459,-1.59,-146.0,2218,2545,3547,3556,342.2,-8.7,248,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2545,3552,3548,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-1.62,-146.0,2218,2545,3550,3557,367.6,-8.3,258,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2545,3553,3550,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4059,-1.65,-146.0,2218,2545,3551,3558,392.5,-8.2,268,4061,0.12,0.00,0.00,0.000,4102,0.152,0.000,2166,2545,3554,3551,3558,0,0,0,0,0,0,14.76,28.83,28.83
$GC,4359,-1.65,-146.0,2166,2545,3551,3559,420.7,-9.4,278,4365,0.10,2.45,0.00,0.000,2308,0.308,0.135,2177,3844,3555,3551,3559,0,0,0,0,0,0,14.58,14.65,28.83
$STATE,4370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4370,begin apogee
$GC,4377,-0.38,0.0,2174,2395,3551,3559,421.8,-9.1,280,4566,1.05,0.00,179.88,1.336,10246,0.259,0.000,2466,2394,2952,2969,2935,0,0,0,0,1,0,14.54,28.83,13.28
$STATE,4568,end apogee,CONTROL_FINISHED_OK
$STATE,4568,begin climb
$GC,4570,1.60,146.0,2466,2395,2970,2944,425.1,0.0,286,4738,1.40,2.67,152.88,1.958,10756,0.155,0.114,2907,1008,2358,2396,2320,0,0,0,0,1,0,13.97,13.56,12.93
$GC,4775,1.60,146.0,2909,1004,2396,2321,405.5,12.2,330,4781,0.00,2.70,0.00,0.000,1030,0.000,0.116,2907,2398,2359,2396,2322,0,0,0,0,0,0,28.83,13.74,28.83
$GC,5100,1.57,146.0,2907,2398,2395,2316,363.6,12.9,344,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2398,2355,2395,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5398,1.55,146.0,2906,2395,2395,2314,323.9,13.4,354,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2398,2354,2395,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5699,1.55,146.0,2908,2398,2395,2314,284.3,12.9,364,5704,0.00,2.47,0.00,0.000,516,0.000,0.110,2916,1000,2355,2396,2314,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5746,1.55,146.0,2916,1000,2395,2314,278.0,12.5,373,5752,0.12,2.55,0.00,0.000,5126,0.283,0.116,2888,2405,2355,2396,2314,0,0,0,0,0,0,14.45,14.54,28.83
$GC,6066,1.55,146.0,2889,2406,2395,2314,239.9,12.0,387,6072,0.00,2.67,0.00,0.000,260,0.000,0.141,2889,3814,2355,2396,2314,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6099,1.52,146.0,2889,3815,2395,2314,235.4,12.9,393,6104,0.00,2.45,0.00,0.000,1030,0.000,0.076,2899,2405,2354,2395,2314,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6412,1.52,146.0,2899,2404,2398,2314,196.9,12.2,410,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2405,2354,2396,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6713,1.52,146.0,2898,2403,2395,2314,160.6,11.9,425,6718,0.00,2.45,0.00,0.000,516,0.000,0.107,2909,994,2355,2396,2314,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6776,1.52,146.0,2909,994,2396,2314,153.0,11.8,437,6782,0.12,2.55,0.00,0.000,5126,0.282,0.115,2881,2410,2353,2392,2314,0,0,0,0,0,0,14.54,14.64,28.83
$GC,7100,1.52,146.0,2881,2410,2395,2313,118.8,10.5,456,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2409,2355,2396,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7402,1.52,146.0,2886,2410,2395,2314,87.2,10.5,471,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2410,2354,2395,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7702,1.60,182.5,2881,2410,2394,2315,58.9,8.3,486,7734,0.00,2.72,23.10,0.317,8452,0.000,0.142,2885,3813,2207,2243,2172,0,0,0,0,0,0,28.83,14.59,14.47
$GC,7837,1.63,191.4,2881,3813,2243,2174,46.2,9.6,513,7849,0.00,2.45,6.32,0.272,9222,0.000,0.076,2890,2400,2168,2205,2132,0,0,0,0,0,0,28.83,14.66,14.48
$GC,8157,1.70,199.0,2890,2399,2206,2139,17.2,9.7,536,8170,0.10,2.58,5.38,0.199,10756,0.170,0.113,2940,985,2137,2173,2102,0,0,0,0,0,0,14.70,14.61,14.56
$GC,8186,1.72,220.5,2940,985,2173,2108,14.4,9.0,541,8207,0.00,2.58,13.62,0.190,9222,0.000,0.120,2939,2403,2049,2088,2010,0,0,0,0,0,0,28.83,14.62,14.56
$FREEZE,8.34,-1.571,-1.791,0,3,0
$FREEZE,7.32,-1.580,-1.790,0,3,0
$FREEZE,6.17,-1.588,-1.789,0,3,0
$FREEZE,4.94,-1.586,-1.788,0,3,0
$FREEZE,3.64,-1.593,-1.787,0,3,0
$FREEZE,2.44,-1.593,-1.786,0,3,0
$STATE,8283,end climb,SURFACE_DEPTH_REACHED
$STATE,8283,begin surface coast
$FREEZE,1.80,-1.609,-1.786,0,3,0
$FREEZE,1.92,-1.602,-1.783,0,3,0
$FINISH,1.9,1.026180
$STATE,8305,end surface coast,CONTROL_FINISHED_OK
$STATE,8305,begin surface
$SM_CCo,8322,210.57,0.155,0,0,497,601.23
$SM_GC,2.25,8.02,0.30,210.57,0.106,0.148,0.155,205,2557,497,-10.66,-0.28,601.23,0,0,0,0,0,0,14.70,14.62,14.45
$RAFOS_CLK,396
$RAFOS,6,1421743745,8.833333,8.818055,63,58,56,53,51,48,202,189,796,154,115,215
$RAFOS,3,1421742306,8.433333,8.418333,58,57,56,56,56,56,212,234,170,200,122,224
$RAFOS_FIX,6709.477539,-5707.308594,200115,040444,3,118,3.19
$IRIDIUM_FIX,6636.54,-5653.92,200115,035043
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.58
$INTERNAL_PRESSURE,8.37169
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,16.4
$SC_FREEKB,7689760
$24V_AH,12.93,61.197
$10V_AH,13.29,0.000
$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,21.550,64.175,381.175,210.575,0.000,0.000,0.000,121.650,0.250,0.000,181.769,1173.503,5882.500,699.489,1193.488,289.384,0.000,1323.555,0.000,835.093,360.000,2.626,0.000
$DEVICE_MAMPS,467.415,160.650,1958.400,154.530,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8320.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.245,0.000,0.000,0.000
$MEM,270956
$DATA_FILE_SIZE,20080,555
$CAP_FILE_SIZE,101289,0
$CFSIZE,260034560,234500096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,9297.47,0x23769e,7,5
$SOUNDSPEED,1464.1
$GPS,200115,111105,6703.742,-5652.457,36,1.0,36,-32.6