version: 66.12
glider: 193
mission: 4
dive: 361
start: 2 7 115 8 35 7
data:
$ID,193
$MISSION,4
$DIVE,361
$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,15
$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,2.52
$_SM_ANGLEo,-49.1
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.60,-146.0,200,2553,523,473,0.0,0.0,0,164,0.00,0.00,-140.35,0.000,16386,0.000,0.000,200,2554,3186,3154,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,168,-1.60,-146.0,200,2554,3157,3218,3.0,-0.9,14,199,10.43,2.58,-11.65,0.000,18948,0.466,0.122,2200,1139,3549,3540,3559,0,0,0,0,0,0,14.10,14.40,14.73
$GC,427,-1.57,-146.0,2200,1139,3543,3559,39.3,-13.8,65,434,0.00,2.60,0.00,0.000,1030,0.000,0.115,2192,2555,3552,3545,3559,0,0,0,0,0,0,28.83,14.40,28.83
$GC,735,-1.53,-146.0,2192,2555,3545,3560,81.1,-12.9,81,741,0.12,2.50,0.00,0.000,2564,0.345,0.094,2221,1140,3552,3545,3560,0,0,0,0,0,0,14.19,14.44,28.83
$GC,920,-1.53,-146.0,2220,1140,3545,3559,102.1,-10.7,117,926,0.00,2.58,0.00,0.000,1030,0.000,0.114,2214,2548,3552,3545,3559,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1243,-1.53,-146.0,2214,2548,3544,3557,137.0,-11.3,136,1249,0.00,2.47,0.00,0.000,260,0.000,0.140,2204,3843,3551,3545,3557,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1311,-1.51,-146.0,2210,3843,3545,3556,145.2,-12.5,149,1318,0.08,2.25,0.00,0.000,3078,0.327,0.064,2216,2536,3551,3545,3557,0,0,0,0,0,0,14.31,14.54,28.83
$GC,1630,-1.51,-146.0,2216,2536,3545,3557,179.2,-10.3,167,1636,0.00,2.53,0.00,0.000,260,0.000,0.147,2216,3839,3551,3545,3557,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1643,-1.62,-146.0,2215,3844,3545,3557,179.4,-8.9,169,1649,0.00,2.22,0.00,0.000,1030,0.000,0.067,2215,2551,3551,3545,3557,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,1774,end dive,NO_VERTICAL_VELOCITY
$STATE,1774,begin apogee
$GC,1781,-0.38,0.0,2215,2388,3545,3557,179.5,0.0,177,1945,0.85,0.00,155.05,1.633,10246,0.185,0.000,2468,2388,2951,2968,2935,0,0,0,0,1,0,14.36,28.83,13.16
$STATE,1947,end apogee,CONTROL_FINISHED_OK
$STATE,1947,begin climb
$GC,1949,1.60,146.0,2468,2388,2968,2939,179.3,0.0,185,2117,1.45,3.08,152.52,1.750,10500,0.174,0.143,2898,3810,2356,2395,2318,0,0,0,0,1,0,13.81,13.33,12.72
$GC,2231,1.57,146.0,2899,3810,2395,2317,157.0,11.7,243,2237,0.00,2.60,0.00,0.000,1030,0.000,0.074,2906,2409,2355,2395,2316,0,0,0,0,0,0,28.83,13.77,28.83
$GC,2545,1.57,146.0,2907,2409,2394,2314,124.4,10.4,260,2550,0.00,2.80,0.00,0.000,260,0.000,0.144,2907,3811,2353,2393,2314,0,0,0,0,0,0,28.83,14.13,28.83
$GC,2622,1.54,146.0,2907,3811,2393,2314,115.4,11.2,275,2630,0.12,2.53,0.00,0.000,5126,0.292,0.075,2889,2396,2353,2393,2314,0,0,0,0,0,0,14.09,14.27,28.83
$GC,2929,1.60,173.8,2889,2396,2393,2313,87.8,8.7,291,2948,0.00,0.00,17.55,0.407,8198,0.000,0.000,2889,2396,2241,2280,2202,0,0,0,0,0,0,28.83,28.83,14.09
$GC,3249,1.70,225.2,2889,2396,2280,2207,62.0,7.6,307,3289,0.12,2.50,32.45,0.333,10756,0.147,0.104,2951,993,2033,2075,1992,0,0,0,0,0,0,14.46,14.39,14.16
$GC,3357,1.70,225.2,2951,992,2075,1992,50.7,11.5,328,3363,0.15,2.60,0.00,0.000,5126,0.272,0.113,2917,2410,2033,2075,1991,0,0,0,0,0,0,14.24,14.38,28.83
$GC,3669,1.77,242.1,2917,2413,2076,1988,18.9,9.2,348,3685,0.00,2.55,10.70,0.202,8708,0.000,0.103,2925,992,1961,2006,1916,0,0,0,0,0,0,28.83,14.43,14.31
$GC,3744,1.82,242.1,2926,989,2006,1919,11.4,10.2,362,3751,0.00,2.55,0.00,0.000,1030,0.000,0.110,2926,2401,1962,2006,1919,0,0,0,0,0,0,28.83,14.40,28.83
$FREEZE,8.21,-1.576,-1.810,2,96,0
$FREEZE,7.09,-1.584,-1.810,2,96,0
$FREEZE,5.86,-1.582,-1.809,2,96,0
$FREEZE,4.56,-1.575,-1.808,2,96,0
$FREEZE,3.45,-1.584,-1.807,2,96,0
$FREEZE,2.36,-1.593,-1.806,2,96,0
$STATE,3817,end climb,SURFACE_DEPTH_REACHED
$STATE,3817,begin surface coast
$FREEZE,2.05,-1.578,-1.804,2,96,0
$FREEZE,2.08,-1.590,-1.805,2,96,0
$FINISH,2.1,1.026491
$STATE,3839,end surface coast,CONTROL_FINISHED_OK
$STATE,3839,begin surface
$SM_CCo,3888,207.02,0.153,0,0,496,601.23
$SM_GC,1.96,8.25,0.30,207.02,0.123,0.145,0.153,202,2555,496,-10.65,-0.34,601.23,0,0,0,0,0,0,14.57,14.45,14.30
$RAFOS_CLK,215
$RAFOS,6,1423298944,8.833333,8.817778,62,58,57,56,55,54,147,177,200,163,222,109
$RAFOS,5,1423298466,8.700000,8.685000,58,57,57,50,47,46,208,193,154,219,229,142
$RAFOS,1,1423296547,8.166667,8.151944,63,58,58,58,57,53,200,188,145,219,170,230
$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,44.21
$INTERNAL_PRESSURE,8.34239
$TCM_TEMP,12.60
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.7,17.9
$SC_FREEKB,7654560
$24V_AH,12.72,89.683
$10V_AH,13.04,0.000
$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,21.575,41.500,368.275,207.025,0.000,0.000,0.000,122.475,3.250,0.000,181.774,721.988,2208.901,690.721,912.670,331.526,0.000,1185.073,0.000,561.890,720.000,2.624,0.000
$DEVICE_MAMPS,465.885,146.880,1750.320,153.000,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3854.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.221,0.000,0.000,0.000
$MEM,271048
$DATA_FILE_SIZE,13469,372
$CAP_FILE_SIZE,66768,0
$CFSIZE,260034560,226459648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,5299.53,0x23769e,7,5
$SOUNDSPEED,1454.5
$GPS,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6