version: 66.12
glider: 193
mission: 4
dive: 349
start: 2 6 115 13 45 6
data:
$ID,193
$MISSION,4
$DIVE,349
$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,23
$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,1.73
$_SM_ANGLEo,8.9
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.60,-146.0,2910,2557,2130,2065,0.0,0.0,0,113,0.00,0.00,-90.28,0.000,16390,0.000,0.000,2910,2558,3547,3539,3556,0,0,0,0,0,0,28.83,28.83,14.83
$GC,117,-1.60,-146.0,2911,2557,3540,3556,1.9,-0.6,9,129,2.45,2.50,0.00,0.000,4356,0.231,0.139,2201,3833,3548,3540,3556,0,0,0,0,0,0,14.37,14.42,28.83
$GC,253,-1.55,-146.0,2201,3833,3541,3558,17.1,-11.4,35,258,0.00,2.22,0.00,0.000,1030,0.000,0.065,2201,2548,3549,3541,3558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,566,-1.53,-146.0,2201,2547,3542,3558,54.9,-12.4,55,572,0.00,2.50,0.00,0.000,260,0.000,0.143,2192,3843,3549,3542,3557,0,0,0,0,0,0,28.83,14.42,28.83
$GC,610,-1.48,-146.0,2192,3843,3542,3558,60.9,-14.2,63,616,0.15,2.25,0.00,0.000,3078,0.295,0.064,2224,2539,3550,3542,3558,0,0,0,0,0,0,14.25,14.57,28.83
$GC,934,-1.48,-146.0,2224,2539,3542,3557,98.6,-11.3,82,939,0.00,2.42,0.00,0.000,516,0.000,0.095,2224,1148,3548,3542,3554,0,0,0,0,0,0,28.83,14.49,28.83
$GC,977,-1.48,-146.0,2224,1148,3542,3556,103.4,-11.2,90,983,0.00,2.55,0.00,0.000,1030,0.000,0.115,2217,2552,3548,3542,3555,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1301,-1.48,-146.0,2218,2552,3542,3553,136.5,-9.7,109,1307,0.00,2.47,0.00,0.000,516,0.000,0.094,2217,1141,3547,3542,3553,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1394,-1.48,-146.0,2218,1141,3541,3552,145.6,-9.8,127,1400,0.00,2.58,0.00,0.000,1030,0.000,0.116,2209,2557,3547,3542,3552,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1708,-1.48,-146.0,2209,2557,3542,3549,178.4,-10.8,144,1713,0.00,2.47,0.00,0.000,516,0.000,0.097,2209,1148,3546,3542,3550,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1731,-1.48,-146.0,2209,1148,3542,3550,180.8,-10.4,148,1737,0.12,2.55,0.00,0.000,3078,0.317,0.118,2227,2548,3545,3542,3549,0,0,0,0,0,0,14.26,14.47,28.83
$GC,2055,-1.50,-146.0,2227,2548,3542,3549,213.0,-10.2,167,2061,0.00,2.47,0.00,0.000,516,0.000,0.099,2228,1139,3545,3542,3549,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2109,-1.52,-146.0,2228,1143,3542,3549,218.6,-10.8,177,2115,0.00,2.60,0.00,0.000,1030,0.000,0.118,2221,2555,3545,3542,3549,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2423,-1.65,-146.0,2221,2555,3542,3549,246.0,-7.0,194,2429,0.12,2.47,0.00,0.000,4356,0.156,0.138,2173,3837,3544,3539,3549,0,0,0,0,0,0,14.56,14.42,28.83
$STATE,2561,end dive,NO_VERTICAL_VELOCITY
$STATE,2561,begin apogee
$GC,2569,-0.38,0.0,2173,2402,3542,3549,246.0,0.0,221,2724,0.93,0.00,146.23,1.711,10246,0.148,0.000,2465,2400,2950,2969,2932,0,0,0,0,1,0,14.42,28.83,13.21
$STATE,2726,end apogee,CONTROL_FINISHED_OK
$STATE,2726,begin climb
$GC,2729,1.60,146.0,2465,2401,2969,2936,245.8,0.0,229,2898,1.42,2.97,153.55,1.789,11012,0.168,0.141,2894,3810,2355,2398,2313,0,0,0,0,1,0,13.88,13.41,12.79
$GC,3081,1.57,146.0,2894,3811,2397,2312,214.8,12.2,300,3088,0.00,2.58,0.00,0.000,1030,0.000,0.074,2904,2401,2355,2397,2313,0,0,0,0,0,0,28.83,13.97,28.83
$GC,3387,1.57,150.3,2904,2401,2397,2310,181.9,9.8,316,3397,0.00,2.72,4.18,1.215,8452,0.000,0.142,2904,3807,2339,2379,2299,0,0,0,0,0,0,28.83,14.28,13.49
$GC,3445,1.54,150.3,2904,3807,2379,2306,175.6,11.7,327,3452,0.12,2.50,0.00,0.000,5126,0.286,0.075,2886,2393,2342,2379,2306,0,0,0,0,0,0,14.16,14.33,28.83
$GC,3750,1.56,150.3,2886,2393,2379,2306,140.3,12.6,343,3756,0.00,2.72,0.00,0.000,260,0.000,0.144,2885,3814,2342,2379,2306,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3778,1.56,150.3,2886,3815,2379,2306,136.3,14.2,348,3783,0.00,2.47,0.00,0.000,1030,0.000,0.074,2895,2399,2342,2379,2306,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4096,1.56,150.3,2895,2399,2379,2306,100.2,10.4,366,4101,0.00,2.70,0.00,0.000,260,0.000,0.145,2897,3808,2342,2378,2306,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4119,1.56,150.3,2895,3808,2379,2306,97.7,11.0,370,4124,0.00,2.45,0.00,0.000,1030,0.000,0.075,2905,2397,2342,2379,2306,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4443,1.60,166.4,2905,2397,2379,2307,67.0,9.3,389,4462,0.00,0.00,11.98,0.333,8198,0.000,0.000,2905,2397,2273,2310,2237,0,0,0,0,0,0,28.83,28.83,14.21
$GC,4763,1.66,196.6,2905,2397,2309,2240,38.6,8.6,405,4791,0.00,2.78,19.83,0.256,8452,0.000,0.146,2905,3810,2150,2187,2113,0,0,0,0,0,0,28.83,14.40,14.31
$GC,4855,1.66,196.6,2905,3810,2186,2114,29.5,10.6,423,4861,0.00,2.45,0.00,0.000,1030,0.000,0.075,2914,2401,2149,2186,2113,0,0,0,0,0,0,28.83,14.51,28.83
$FREEZE,8.65,-1.637,-1.811,2,84,0
$FREEZE,7.81,-1.635,-1.810,2,84,0
$FREEZE,6.86,-1.635,-1.809,2,84,0
$FREEZE,5.67,-1.631,-1.808,2,84,0
$FREEZE,4.42,-1.631,-1.807,2,84,0
$FREEZE,3.13,-1.642,-1.806,2,84,0
$FREEZE,2.47,-1.645,-1.806,2,84,0
$STATE,5127,end climb,SURFACE_DEPTH_REACHED
$STATE,5127,begin surface coast
$FREEZE,2.36,-1.623,-1.804,2,84,0
$FREEZE,2.22,-1.644,-1.805,2,84,0
$FINISH,2.2,1.026491
$STATE,5148,end surface coast,CONTROL_FINISHED_OK
$STATE,5148,begin surface
$RAFOS_CLK,240
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.07
$INTERNAL_PRESSURE,8.46935
$TCM_TEMP,12.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,17.4
$SC_FREEKB,7658400
$24V_AH,12.79,87.641
$10V_AH,13.12,0.000
$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,5.325,61.300,335.750,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,921.703,3192.879,423.272,727.037,112.264,0.000,844.789,0.000,686.534,0.000,2.622,0.000
$DEVICE_MAMPS,317.475,147.645,1788.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5162.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.278,0.000,0.000,0.000
$MEM,271120
$DATA_FILE_SIZE,16778,451
$CAP_FILE_SIZE,68955,0
$CFSIZE,260034560,227000320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1458.8
$GPS,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6