version: 66.12
glider: 193
mission: 4
dive: 254
start: 1 20 115 18 16 44
data:
$ID,193
$MISSION,4
$DIVE,254
$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,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
$GPS1,200115,164344,6709.784,-5702.632,0,2089.5,0,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-30.3
$GPS2,200115,164344,6709.784,-5702.632,181,99.0,181,-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,172.5,16417,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.60,-146.0,225,2556,541,477,0.0,0.0,0,163,0.00,0.00,-140.80,0.000,16386,0.000,0.000,225,2556,3268,3236,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,166,-1.60,-146.0,225,2556,3237,3301,3.4,-1.5,14,192,10.27,2.47,-8.32,0.000,18692,0.476,0.164,2186,3837,3549,3538,3560,0,0,0,0,0,0,14.26,14.50,14.81
$GC,420,-1.54,-146.0,2186,3837,3542,3561,42.5,-14.3,64,426,0.12,2.22,0.00,0.000,3078,0.315,0.062,2211,2535,3551,3542,3561,0,0,0,0,0,0,14.38,14.61,28.83
$GC,734,-1.54,-146.0,2211,2535,3544,3561,83.3,-12.6,81,740,0.00,2.40,0.00,0.000,516,0.000,0.096,2212,1150,3552,3543,3561,0,0,0,0,0,0,28.83,14.57,28.83
$GC,837,-1.54,-146.0,2212,1150,3543,3561,96.4,-12.5,101,843,0.00,2.53,0.00,0.000,1030,0.000,0.112,2205,2549,3551,3543,3560,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1160,-1.54,-146.0,2205,2549,3543,3563,133.4,-11.2,120,1166,0.00,2.42,0.00,0.000,260,0.000,0.137,2195,3837,3551,3543,3559,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1238,-1.51,-146.0,2195,3838,3543,3559,142.7,-11.6,135,1245,0.10,2.20,0.00,0.000,3078,0.313,0.059,2215,2540,3551,3543,3559,0,0,0,0,0,0,14.42,14.64,28.83
$GC,1543,-1.51,-146.0,2215,2539,3542,3557,174.7,-10.3,151,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2539,3550,3543,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,-1.51,-146.0,2216,2540,3543,3557,204.0,-9.6,166,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2540,3549,3543,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2145,-1.53,-146.0,2215,2540,3543,3558,230.6,-8.3,181,2151,0.00,2.47,0.00,0.000,260,0.000,0.138,2206,3846,3549,3543,3556,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2193,-1.53,-146.0,2206,3846,3543,3556,234.9,-9.0,190,2198,0.00,2.20,0.00,0.000,1030,0.000,0.060,2206,2547,3549,3543,3556,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2522,-1.53,-146.0,2206,2546,3544,3556,262.7,-8.2,206,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2546,3550,3544,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-1.53,-146.0,2206,2549,3545,3557,285.5,-7.4,216,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2546,3551,3546,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-1.53,-146.0,2206,2546,3548,3558,308.7,-7.9,226,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2546,3553,3548,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-1.53,-146.0,2206,2546,3549,3559,333.2,-8.3,236,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2546,3554,3549,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-1.53,-146.0,2206,2546,3551,3559,359.3,-8.8,246,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2547,3555,3550,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-1.53,-146.0,2206,2546,3552,3560,385.3,-8.5,256,4026,0.00,2.45,0.00,0.000,260,0.000,0.139,2197,3845,3555,3551,3559,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4054,-1.53,-146.0,2197,3846,3552,3560,388.3,-10.1,262,4059,0.00,2.17,0.00,0.000,1030,0.000,0.060,2197,2552,3559,3558,3560,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,4387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4387,begin apogee
$GC,4393,-0.38,0.0,2197,2398,3551,3560,419.9,-9.3,278,4547,0.98,0.00,145.38,1.901,10246,0.252,0.000,2467,2397,2950,2967,2934,0,0,0,0,1,0,14.52,28.83,13.22
$STATE,4548,end apogee,CONTROL_FINISHED_OK
$STATE,4548,begin climb
$GC,4551,1.60,146.0,2467,2397,2968,2940,422.5,0.0,283,4722,1.40,2.78,153.38,1.936,10756,0.161,0.113,2903,996,2358,2395,2321,0,0,0,0,1,0,13.90,13.47,12.86
$GC,4744,1.60,146.0,2903,997,2394,2323,404.8,12.0,324,4751,0.00,2.75,0.00,0.000,1030,0.000,0.115,2903,2404,2359,2395,2324,0,0,0,0,0,0,28.83,13.63,28.83
$GC,5049,1.60,146.0,2903,2403,2395,2320,365.1,12.9,335,5055,0.00,2.75,0.00,0.000,260,0.000,0.142,2902,3818,2357,2394,2321,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5077,1.55,146.0,2902,3818,2394,2320,361.1,14.5,340,5084,0.00,2.53,0.00,0.000,1030,0.000,0.076,2912,2401,2357,2395,2320,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5385,1.52,146.0,2912,2403,2395,2320,319.9,13.4,351,5391,0.12,2.50,0.00,0.000,4612,0.295,0.106,2890,995,2357,2394,2320,0,0,0,0,0,0,14.31,14.41,28.83
$GC,5438,1.52,146.0,2890,992,2395,2319,312.9,12.1,361,5443,0.00,2.58,0.00,0.000,1030,0.000,0.114,2890,2405,2356,2394,2319,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5751,1.52,146.0,2890,2405,2394,2319,275.4,11.8,373,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2405,2356,2394,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6051,1.52,146.0,2890,2405,2395,2319,239.0,12.6,384,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2405,2357,2395,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6352,1.52,146.0,2890,2405,2395,2319,201.5,12.1,399,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2405,2356,2394,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6652,1.52,146.0,2890,2405,2395,2319,167.8,11.3,414,6658,0.00,2.47,0.00,0.000,516,0.000,0.108,2900,993,2356,2394,2319,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6699,1.52,146.0,2899,993,2394,2319,161.8,12.1,423,6705,0.00,2.55,0.00,0.000,1030,0.000,0.116,2900,2405,2356,2394,2319,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7017,1.52,146.0,2900,2404,2394,2319,124.1,12.0,441,7022,0.00,2.67,0.00,0.000,260,0.000,0.142,2900,3816,2357,2395,2320,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7041,1.49,146.0,2900,3816,2394,2320,121.3,12.2,445,7047,0.15,2.45,0.00,0.000,5126,0.282,0.076,2875,2396,2357,2394,2320,0,0,0,0,0,0,14.53,14.66,28.83
$GC,7365,1.53,146.0,2875,2396,2394,2320,88.1,10.0,464,7370,0.00,2.70,0.00,0.000,260,0.000,0.145,2875,3809,2357,2394,2320,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7402,1.53,146.0,2874,3809,2399,2321,84.2,10.6,471,7409,0.00,2.42,0.00,0.000,1030,0.000,0.075,2884,2401,2357,2394,2321,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7711,1.64,209.5,2884,2401,2394,2321,61.8,7.1,487,7757,0.10,2.47,39.50,0.321,10756,0.172,0.107,2933,995,2097,2134,2061,0,0,0,0,0,0,14.70,14.57,14.40
$GC,7851,1.64,209.5,2933,995,2134,2062,47.6,10.7,515,7857,0.12,2.55,0.00,0.000,5126,0.275,0.116,2906,2404,2098,2134,2062,0,0,0,0,0,0,14.49,14.57,28.83
$GC,8165,1.69,210.6,2906,2404,2134,2056,17.1,9.9,537,8171,0.00,2.47,0.00,0.000,516,0.000,0.109,2914,995,2095,2134,2056,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8199,1.75,230.0,2915,995,2133,2056,13.9,9.1,543,8220,0.00,2.55,12.50,0.187,9222,0.000,0.117,2915,2405,2010,2051,1970,0,0,0,0,0,0,28.83,14.59,14.52
$FREEZE,8.53,-1.565,-1.792,0,3,0
$FREEZE,7.45,-1.558,-1.791,0,3,0
$FREEZE,6.44,-1.567,-1.790,0,3,0
$FREEZE,5.37,-1.568,-1.789,0,3,0
$FREEZE,4.35,-1.564,-1.788,0,3,0
$FREEZE,3.23,-1.567,-1.788,0,3,0
$FREEZE,2.22,-1.567,-1.787,0,3,0
$STATE,8307,end climb,SURFACE_DEPTH_REACHED
$STATE,8307,begin surface coast
$FREEZE,1.85,-1.539,-1.614,0,3,0
$FREEZE,1.75,-1.472,-1.612,0,3,0
$FINISH,1.7,1.023725
$STATE,8328,end surface coast,CONTROL_FINISHED_OK
$STATE,8328,begin surface
$SM_CCo,8346,210.07,0.156,0,0,499,601.23
$SM_GC,2.11,8.02,0.30,210.07,0.112,0.147,0.156,209,2559,499,-10.65,-0.23,601.23,0,0,0,0,0,0,14.67,14.59,14.42
$RAFOS_CLK,399
$RAFOS,3,1421785510,20.433332,20.419445,63,60,58,51,51,50,146,208,191,114,167,125
$RAFOS,2,1421785026,20.299999,20.285000,57,51,49,49,47,47,207,158,121,226,173,662
$RAFOS,1,1421784559,20.166666,20.155277,64,58,56,56,55,55,192,114,146,211,131,172
$RAFOS,0,1421784072,20.033333,20.020000,64,58,58,57,55,54,166,147,179,189,198,213
$RAFOS_FIX,6709.784180,-5702.631836,200115,161644,2,90,0.68
$IRIDIUM_FIX,6636.54,-5652.31,200115,111442
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,8.36193
$TCM_TEMP,12.60
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.1,17.3
$SC_FREEKB,7688800
$24V_AH,12.86,61.835
$10V_AH,13.21,0.000
$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,21.400,65.300,350.750,210.075,0.000,0.000,0.000,122.075,2.250,0.000,181.772,1155.989,5901.962,710.041,1205.626,293.864,0.000,1341.427,0.000,843.299,1800.000,2.625,0.000
$DEVICE_MAMPS,475.830,163.710,1936.215,156.060,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.289,0.000,0.000,0.000
$MEM,270924
$DATA_FILE_SIZE,20052,558
$CAP_FILE_SIZE,101001,0
$CFSIZE,260034560,234283008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,10995.13,0x23769e,7,5
$SOUNDSPEED,1461.8
$GPS,200115,204035,6703.229,-5644.984,25,1.9,25,-32.5