version: 66.12
glider: 193
mission: 4
dive: 358
start: 2 7 115 4 2 11
data:
$ID,193
$MISSION,4
$DIVE,358
$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,24
$R_STBD_OVSHOOT,13
$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,2.57
$_SM_ANGLEo,-49.3
$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,-146.0,202,2546,528,476,0.0,0.0,0,164,0.00,0.00,-141.07,0.000,16386,0.000,0.000,203,2546,3222,3194,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,168,-1.60,-146.0,203,2547,3194,3252,3.4,-1.7,14,194,10.73,2.58,-9.32,0.000,18692,0.478,0.169,2185,3845,3547,3538,3556,0,0,0,0,0,0,14.07,14.34,14.74
$GC,424,-1.53,-146.0,2185,3845,3542,3556,44.7,-15.1,64,430,0.12,2.25,0.00,0.000,3078,0.321,0.065,2210,2548,3549,3542,3556,0,0,0,0,0,0,14.13,14.47,28.83
$GC,738,-1.53,-146.0,2210,2548,3543,3556,85.9,-12.3,81,744,0.00,2.50,0.00,0.000,260,0.000,0.143,2201,3839,3549,3543,3556,0,0,0,0,0,0,28.83,14.33,28.83
$GC,822,-1.50,-146.0,2202,3839,3542,3556,96.6,-12.9,97,828,0.10,2.22,0.00,0.000,3078,0.323,0.064,2219,2547,3549,3543,3556,0,0,0,0,0,0,14.19,14.48,28.83
$GC,1146,-1.50,-146.0,2219,2546,3543,3554,131.3,-10.2,116,1151,0.00,2.47,0.00,0.000,516,0.000,0.099,2219,1140,3548,3543,3554,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1198,-1.50,-146.0,2220,1141,3543,3553,136.9,-11.0,126,1203,0.00,2.60,0.00,0.000,1030,0.000,0.116,2213,2550,3547,3542,3553,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1511,-1.50,-146.0,2213,2550,3543,3553,166.1,-8.1,143,1517,0.00,2.47,0.00,0.000,516,0.000,0.099,2212,1146,3548,3543,3553,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1559,-1.50,-146.0,2213,1145,3542,3553,170.1,-7.8,152,1564,0.00,2.60,0.00,0.000,1030,0.000,0.118,2205,2555,3548,3543,3553,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1877,-1.50,-146.0,2205,2555,3543,3553,199.8,-11.6,170,1883,0.00,2.50,0.00,0.000,516,0.000,0.099,2205,1142,3546,3543,3549,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1915,-1.70,-146.0,2205,1143,3544,3553,202.6,-2.9,177,1924,0.12,2.62,0.00,0.000,5126,0.161,0.124,2163,2554,3548,3544,3553,0,0,0,0,0,0,14.47,14.41,28.83
$STATE,2058,end dive,NO_VERTICAL_VELOCITY
$STATE,2058,begin apogee
$GC,2065,-0.38,0.0,2163,2402,3544,3553,202.7,0.0,185,2220,1.00,0.00,141.93,1.774,10246,0.162,0.000,2471,2403,2954,2971,2937,0,0,0,0,1,0,14.36,28.83,13.15
$STATE,2222,end apogee,CONTROL_FINISHED_OK
$STATE,2222,begin climb
$GC,2225,1.60,146.0,2471,2403,2970,2940,202.6,0.0,193,2395,1.40,2.78,153.18,1.756,10756,0.155,0.113,2906,998,2357,2397,2317,0,0,0,0,1,0,13.83,13.33,12.71
$GC,2488,1.60,146.0,2907,998,2397,2317,180.4,10.4,246,2493,0.00,2.72,0.00,0.000,1030,0.000,0.116,2906,2403,2357,2397,2317,0,0,0,0,0,0,28.83,13.69,28.83
$GC,2806,1.60,146.0,2906,2403,2397,2311,146.6,10.7,264,2814,0.00,2.80,0.00,0.000,260,0.000,0.145,2907,3817,2354,2397,2312,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2827,1.60,146.0,2907,3812,2401,2312,144.4,10.8,267,2833,0.00,2.55,0.00,0.000,1030,0.000,0.076,2916,2394,2354,2397,2312,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3132,1.60,146.0,2916,2394,2397,2312,111.5,10.4,283,3137,0.00,2.80,0.00,0.000,260,0.000,0.145,2916,3815,2354,2397,2311,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3241,1.55,146.0,2916,3815,2396,2311,99.0,11.4,304,3247,0.17,2.50,0.00,0.000,5126,0.285,0.076,2887,2399,2354,2396,2312,0,0,0,0,0,0,14.18,14.39,28.83
$GC,3562,1.62,180.2,2887,2399,2397,2311,69.1,8.4,322,3590,0.00,2.53,21.42,0.347,8708,0.000,0.106,2896,988,2217,2256,2179,0,0,0,0,0,0,28.83,14.40,14.16
$GC,3634,1.69,197.2,2895,987,2255,2183,62.3,9.2,336,3654,0.00,2.60,11.57,0.321,9222,0.000,0.112,2895,2405,2147,2186,2109,0,0,0,0,0,0,28.83,14.38,14.14
$GC,3968,1.75,207.3,2895,2405,2187,2110,30.3,9.5,357,3983,0.12,2.75,7.05,0.227,10500,0.150,0.145,2949,3809,2105,2145,2065,0,0,0,0,0,0,14.50,14.37,14.25
$GC,4068,1.71,207.3,2949,3809,2145,2069,17.5,11.6,376,4075,0.17,2.50,0.00,0.000,5126,0.284,0.076,2920,2392,2107,2145,2069,0,0,0,0,0,0,14.26,14.47,28.83
$FREEZE,8.26,-1.581,-1.810,2,93,0
$FREEZE,7.17,-1.586,-1.810,2,93,0
$FREEZE,6.13,-1.589,-1.809,2,93,0
$FREEZE,4.96,-1.587,-1.808,2,93,0
$FREEZE,3.92,-1.597,-1.807,2,93,0
$FREEZE,2.76,-1.610,-1.806,2,93,0
$STATE,4201,end climb,SURFACE_DEPTH_REACHED
$STATE,4201,begin surface coast
$FREEZE,2.00,-1.613,-1.805,2,93,0
$FREEZE,1.85,-1.614,-1.805,2,93,0
$FINISH,1.8,1.026495
$STATE,4223,end surface coast,CONTROL_FINISHED_OK
$STATE,4223,begin surface
$SM_CCo,4278,226.05,0.152,0,0,497,601.23
$SM_GC,1.80,8.38,0.32,226.05,0.135,0.148,0.152,203,2550,497,-10.68,-0.51,601.23,0,0,0,0,0,0,14.56,14.42,14.29
$RAFOS_CLK,236
$RAFOS,6,1423284542,4.833333,4.817222,64,61,58,56,54,51,166,120,180,208,197,138
$RAFOS,5,1423284063,4.700000,4.684166,63,58,57,55,52,51,181,200,210,146,122,132
$RAFOS,4,1423283586,4.566667,4.551667,60,55,54,53,52,52,201,183,159,129,116,211
$RAFOS,3,1423283120,4.433333,4.422222,64,63,60,54,53,50,211,182,145,129,115,162
$RAFOS,2,1423282634,4.300000,4.287222,58,57,56,51,51,49,189,206,136,168,219,104
$RAFOS,1,1423282143,4.166667,4.150833,62,57,55,51,51,50,191,208,221,157,231,173
$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,44.29
$INTERNAL_PRESSURE,8.35216
$TCM_TEMP,12.90
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.5,999.0
$SC_FREEKB,7655520
$24V_AH,12.71,89.121
$10V_AH,12.94,0.000
$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,22.325,51.950,335.150,226.050,0.000,0.000,0.000,121.000,2.750,0.000,182.776,773.874,2518.116,695.335,967.921,355.794,0.000,1207.466,0.000,596.575,2160.000,2.551,0.000
$DEVICE_MAMPS,478.125,169.065,1774.035,152.235,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4257.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.994,0.000,0.000,0.000
$MEM,270880
$DATA_FILE_SIZE,13431,392
$CAP_FILE_SIZE,73892,0
$CFSIZE,260034560,226578432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,11700.64,0x23769e,7,5
$SOUNDSPEED,1457.4
$GPS,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6