version: 66.12
glider: 193
mission: 4
dive: 343
start: 2 6 115 2 49 49
data:
$ID,193
$MISSION,4
$DIVE,343
$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
$GPS1,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,5.9
$GPS2,040215,124656,6653.581,-5743.374,181,99.0,181,-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,99.0,43627,-18.4,-10.000,-20.87,2243
$D_GRID,731
$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,-146.0,2914,2551,2209,2151,0.0,0.0,0,101,0.00,0.00,-76.12,0.000,16390,0.000,0.000,2913,2551,3541,3532,3550,0,0,0,0,0,0,28.83,28.83,14.86
$GC,106,-1.60,-146.0,2913,2551,3534,3554,3.6,-4.0,8,117,2.38,2.55,0.00,0.000,4612,0.213,0.096,2204,1139,3541,3533,3549,0,0,0,0,0,0,14.42,14.49,28.83
$GC,150,-1.60,-146.0,2204,1138,3533,3550,8.0,-9.8,16,155,0.00,2.58,0.00,0.000,1030,0.000,0.112,2196,2551,3541,3533,3550,0,0,0,0,0,0,28.83,14.50,28.83
$GC,473,-1.57,-146.0,2196,2550,3534,3550,49.9,-13.9,40,479,0.00,2.47,0.00,0.000,516,0.000,0.093,2196,1136,3542,3535,3549,0,0,0,0,0,0,28.83,14.51,28.83
$GC,578,-1.54,-146.0,2196,1137,3534,3550,64.6,-14.0,60,585,0.12,2.60,0.00,0.000,3078,0.313,0.114,2214,2557,3541,3534,3549,0,0,0,0,0,0,14.28,14.49,28.83
$GC,903,-1.54,-146.0,2214,2556,3534,3546,105.4,-11.9,79,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2556,3541,3534,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1204,-1.54,-146.0,2213,2557,3534,3545,138.0,-10.2,94,1210,0.00,2.50,0.00,0.000,516,0.000,0.096,2214,1140,3539,3535,3544,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1297,-1.54,-146.0,2214,1140,3534,3543,148.3,-11.5,112,1302,0.00,2.58,0.00,0.000,1030,0.000,0.115,2206,2551,3538,3534,3543,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1610,-1.54,-146.0,2206,2551,3534,3541,178.6,-9.4,129,1616,0.00,2.47,0.00,0.000,516,0.000,0.096,2206,1141,3537,3534,3540,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1658,-1.54,-146.0,2206,1141,3534,3540,183.6,-9.9,138,1664,0.00,2.58,0.00,0.000,1030,0.000,0.113,2198,2550,3535,3531,3540,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1977,-1.54,-146.0,2198,2550,3534,3540,214.0,-9.3,156,1983,0.00,2.47,0.00,0.000,516,0.000,0.096,2198,1138,3537,3534,3540,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2004,-1.54,-146.0,2198,1138,3534,3539,216.7,-9.6,161,2011,0.10,2.58,0.00,0.000,3078,0.323,0.114,2210,2560,3536,3534,3539,0,0,0,0,0,0,14.30,14.50,28.83
$GC,2324,-1.54,-146.0,2210,2560,3534,3539,246.1,-9.5,179,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2560,3536,3534,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-1.54,-146.0,2210,2560,3534,3540,274.1,-9.3,190,2629,0.00,2.45,0.00,0.000,260,0.000,0.138,2201,3843,3536,3534,3539,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2667,-1.54,-146.0,2201,3843,3534,3539,278.6,-10.7,198,2672,0.00,2.22,0.00,0.000,1030,0.000,0.062,2200,2540,3536,3534,3539,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2992,-1.54,-146.0,2201,2543,3534,3539,307.9,-9.3,212,2997,0.00,2.45,0.00,0.000,516,0.000,0.099,2201,1143,3536,3534,3539,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3019,-1.54,-146.0,2201,1142,3534,3539,310.6,-9.2,217,3027,0.10,2.58,0.00,0.000,3078,0.326,0.117,2212,2548,3534,3534,3535,0,0,0,0,0,0,14.32,14.51,28.83
$GC,3328,-1.73,-146.0,2212,2548,3534,3540,329.1,-1.0,228,3334,0.12,2.47,0.00,0.000,4356,0.147,0.134,2159,3845,3537,3534,3540,0,0,0,0,0,0,14.60,14.46,28.83
$STATE,3444,end dive,NO_VERTICAL_VELOCITY
$STATE,3444,begin apogee
$GC,3453,-0.38,0.0,2159,2396,3534,3540,329.0,0.0,251,3600,0.98,0.00,138.52,1.844,10246,0.153,0.000,2465,2396,2951,2971,2932,0,0,0,0,1,0,14.43,28.83,13.24
$STATE,3602,end apogee,CONTROL_FINISHED_OK
$STATE,3602,begin climb
$GC,3604,1.60,146.0,2465,2396,2971,2936,328.9,0.0,256,3779,1.38,3.05,153.90,1.863,11012,0.145,0.139,2893,3808,2359,2399,2320,0,0,0,0,1,0,13.93,13.45,12.81
$GC,3786,1.60,146.0,2894,3808,2399,2320,314.6,11.3,288,3792,0.00,2.65,0.00,0.000,1030,0.000,0.073,2904,2402,2359,2399,2320,0,0,0,0,0,0,28.83,13.58,28.83
$GC,4116,1.60,146.0,2902,2405,2399,2311,275.2,12.1,303,4121,0.00,2.78,0.00,0.000,260,0.000,0.142,2904,3809,2355,2399,2311,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4150,1.55,146.0,2904,3809,2399,2312,270.7,13.4,309,4156,0.12,2.53,0.00,0.000,5126,0.285,0.073,2888,2394,2355,2398,2312,0,0,0,0,0,0,14.10,14.26,28.83
$GC,4474,1.55,146.0,2887,2394,2398,2310,233.6,11.5,327,4479,0.00,2.75,0.00,0.000,260,0.000,0.141,2886,3805,2354,2398,2311,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4538,1.52,146.0,2887,3809,2398,2311,225.4,13.3,339,4543,0.00,2.47,0.00,0.000,1030,0.000,0.073,2896,2398,2354,2397,2311,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4862,1.52,146.0,2897,2398,2397,2311,188.2,10.8,358,4867,0.00,2.72,0.00,0.000,260,0.000,0.142,2897,3809,2354,2398,2310,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4889,1.50,146.0,2897,3810,2398,2311,184.6,13.1,363,4895,0.12,2.47,0.00,0.000,5126,0.282,0.073,2878,2396,2355,2400,2310,0,0,0,0,0,0,14.34,14.52,28.83
$GC,5209,1.50,146.0,2879,2396,2398,2311,148.0,11.8,381,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2396,2354,2398,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,1.53,149.1,2878,2396,2398,2311,116.7,9.9,396,5521,0.00,2.53,1.62,0.270,8708,0.000,0.102,2887,994,2348,2386,2311,0,0,0,0,0,0,28.83,14.51,14.03
$GC,5575,1.56,154.8,2888,994,2386,2314,110.5,9.7,408,5589,0.00,2.55,8.55,1.180,9222,0.000,0.110,2887,2403,2321,2360,2282,0,0,0,0,0,0,28.83,14.50,14.07
$GC,5898,1.64,183.7,2888,2403,2356,2276,79.7,8.7,427,5921,0.00,2.70,18.05,0.370,8452,0.000,0.138,2887,3810,2204,2243,2166,0,0,0,0,0,0,28.83,14.45,14.23
$GC,6069,1.64,183.7,2888,3810,2242,2167,61.5,11.8,461,6075,0.00,2.47,0.00,0.000,1030,0.000,0.073,2898,2395,2205,2242,2168,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6383,1.68,187.4,2898,2394,2243,2167,30.7,9.8,478,6393,0.00,2.50,3.00,0.230,8708,0.000,0.105,2907,987,2184,2218,2151,0,0,0,0,0,0,28.83,14.49,14.34
$GC,6441,1.74,195.4,2907,987,2223,2156,24.8,9.6,489,6453,0.00,2.55,6.18,0.216,9222,0.000,0.111,2907,2401,2152,2189,2116,0,0,0,0,0,0,28.83,14.46,14.37
$FREEZE,8.66,-1.668,-1.811,2,78,0
$FREEZE,7.59,-1.674,-1.811,2,78,0
$FREEZE,6.53,-1.664,-1.810,2,78,0
$FREEZE,5.49,-1.668,-1.809,2,78,0
$FREEZE,4.50,-1.672,-1.808,2,78,0
$FREEZE,3.58,-1.683,-1.808,2,78,0
$FREEZE,2.65,-1.688,-1.807,2,78,0
$STATE,6659,end climb,SURFACE_DEPTH_REACHED
$STATE,6659,begin surface coast
$FREEZE,2.30,-1.645,-1.805,2,78,0
$FREEZE,2.16,-1.688,-1.807,2,78,0
$FREEZE,2.25,-1.687,-1.807,2,78,0
$FINISH,2.3,1.026519
$STATE,6691,end surface coast,CONTROL_FINISHED_OK
$STATE,6691,begin surface
$RAFOS_CLK,301
$RAFOS,4,1423197189,4.566667,4.552500,60,60,57,55,52,52,199,212,229,1693,128,142
$RAFOS,3,1423196703,4.433333,4.417500,62,60,54,51,49,48,201,174,191,148,131,220
$RAFOS,2,1423196235,4.300000,4.287500,72,61,57,52,50,50,220,198,185,163,115,148
$RAFOS,1,1423195748,4.166667,4.152222,60,60,57,56,54,50,139,210,163,194,173,120
$RAFOS,0,1423195290,4.033333,4.025000,64,58,57,57,52,50,179,232,222,209,150,135
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.83
$INTERNAL_PRESSURE,8.50842
$TCM_TEMP,12.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.5
$SC_FREEKB,7660320
$24V_AH,12.81,86.615
$10V_AH,13.16,0.000
$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,5.425,77.100,329.825,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,1089.482,4433.906,430.743,836.764,133.182,0.000,901.375,0.000,776.988,2160.000,2.628,0.000
$DEVICE_MAMPS,325.890,145.350,1862.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6711.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.646,0.000,0.000,0.000
$MEM,271120
$DATA_FILE_SIZE,16754,515
$CAP_FILE_SIZE,83578,0
$CFSIZE,260034560,227287040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1462.4
$GPS,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6