version: 66.12
glider: 193
mission: 4
dive: 372
start: 2 7 115 22 27 19
data:
$ID,193
$MISSION,4
$DIVE,372
$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,350
$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,11
$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
$GPS1,070215,221057,6714.875,-5637.918,41,0.9,44,-32.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-45.2
$GPS2,070215,222646,6714.868,-5637.582,5,0.9,5,-32.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,231.6,23231,-18.4,-10.000,-20.87,2243
$D_GRID,212
$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,-146.0,206,2554,523,475,0.0,0.0,0,196,0.00,0.00,-172.93,0.000,16390,0.000,0.000,206,2556,3547,3523,3571,0,0,0,0,0,0,28.83,28.83,14.63
$GC,201,-1.60,-146.0,206,2557,3525,3573,2.8,-1.2,17,217,11.07,2.47,0.00,0.000,2308,0.491,0.129,2185,3845,3550,3528,3572,0,0,0,0,0,0,13.99,14.25,28.83
$GC,327,-1.53,-146.0,2185,3845,3535,3570,28.3,-15.5,41,333,0.12,2.28,0.00,0.000,3078,0.318,0.063,2209,2534,3552,3536,3569,0,0,0,0,0,0,14.08,14.35,28.83
$GC,652,-1.50,-146.0,2209,2534,3540,3568,72.1,-12.4,60,657,0.00,2.50,0.00,0.000,260,0.000,0.139,2201,3843,3553,3539,3567,0,0,0,0,0,0,28.83,14.28,28.83
$GC,777,-1.47,-146.0,2200,3843,3539,3567,88.8,-12.7,84,783,0.12,2.22,0.00,0.000,3078,0.320,0.061,2225,2554,3553,3539,3567,0,0,0,0,0,0,14.14,14.50,28.83
$GC,1101,-1.47,-146.0,2225,2552,3540,3565,124.7,-10.6,103,1107,0.00,2.45,0.00,0.000,260,0.000,0.140,2217,3841,3552,3540,3564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1128,-1.47,-146.0,2217,3840,3540,3565,128.1,-11.7,108,1133,0.00,2.22,0.00,0.000,1030,0.000,0.063,2217,2549,3552,3540,3564,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1446,-1.47,-146.0,2217,2548,3540,3563,159.2,-9.7,126,1452,0.00,2.45,0.00,0.000,260,0.000,0.138,2208,3840,3551,3540,3563,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1490,-1.47,-146.0,2208,3840,3540,3563,164.0,-10.9,134,1496,0.10,2.22,0.00,0.000,3078,0.310,0.063,2226,2545,3551,3540,3563,0,0,0,0,0,0,14.27,14.54,28.83
$GC,1814,-1.47,-146.0,2226,2545,3540,3563,197.4,-10.4,153,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2545,3551,3540,3563,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1972,begin apogee
$GC,1979,-0.38,0.0,2227,2398,3540,3563,213.7,-10.0,161,2165,0.90,0.00,182.15,1.086,10246,0.275,0.000,2465,2397,2949,2964,2935,0,0,0,0,0,0,14.24,28.83,13.54
$STATE,2167,end apogee,CONTROL_FINISHED_OK
$STATE,2167,begin climb
$GC,2171,1.60,146.0,2465,2398,2953,2923,218.6,0.0,170,2357,1.45,2.72,165.18,1.074,11012,0.190,0.109,2900,996,2360,2393,2328,0,0,0,0,1,0,13.95,13.71,13.05
$GC,2404,1.60,147.2,2900,996,2393,2333,202.9,9.9,201,2414,0.00,2.67,2.35,0.449,9222,0.000,0.116,2899,2403,2351,2382,2321,0,0,0,0,0,0,28.83,13.85,13.19
$GC,2723,1.60,147.2,2899,2403,2384,2333,170.7,10.1,219,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2402,2358,2384,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3024,1.60,147.2,2900,2403,2383,2333,139.6,10.5,234,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2403,2358,2384,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,1.60,147.2,2899,2403,2383,2333,108.8,10.3,249,3330,0.00,2.72,0.00,0.000,260,0.000,0.142,2899,3818,2358,2384,2333,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3342,1.60,147.2,2899,3812,2384,2333,106.5,10.5,252,3348,0.00,2.47,0.00,0.000,1030,0.000,0.074,2908,2402,2358,2384,2333,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3648,1.63,173.2,2906,2401,2384,2333,77.7,8.8,268,3668,0.00,0.00,18.45,0.355,8198,0.000,0.000,2907,2402,2244,2275,2213,0,0,0,0,0,0,28.83,28.83,14.16
$GC,3968,1.68,185.1,2908,2402,2274,2228,46.7,9.5,284,3983,0.00,2.75,9.12,0.263,8452,0.000,0.140,2907,3810,2197,2224,2170,0,0,0,0,0,0,28.83,14.41,14.23
$GC,4035,1.68,185.1,2907,3810,2224,2179,39.4,11.3,297,4041,0.00,2.47,0.00,0.000,1030,0.000,0.073,2916,2398,2202,2224,2180,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4345,1.70,186.7,2916,2398,2225,2180,10.6,9.9,322,4356,0.00,2.55,2.17,0.190,8708,0.000,0.106,2923,988,2190,2214,2166,0,0,0,0,0,0,28.83,14.42,14.34
$FREEZE,8.74,-1.644,-1.811,2,1,0
$FREEZE,8.35,-1.656,-1.811,2,1,0
$FREEZE,7.97,-1.656,-1.811,2,1,0
$FREEZE,7.52,-1.646,-1.810,2,1,0
$FREEZE,7.03,-1.646,-1.809,2,1,0
$FREEZE,6.49,-1.651,-1.809,2,1,0
$FREEZE,5.57,-1.651,-1.808,2,1,0
$FREEZE,4.89,-1.649,-1.808,2,1,0
$GC,4393,1.75,205.9,2925,988,2216,2173,6.5,9.1,330,4412,0.00,2.60,12.93,0.161,9222,0.000,0.114,2923,2409,2107,2138,2077,0,0,0,0,0,0,28.83,14.42,14.40
$FREEZE,3.56,-1.660,-1.807,2,1,0
$FREEZE,2.35,-1.665,-1.806,2,1,0
$STATE,4428,end climb,SURFACE_DEPTH_REACHED
$STATE,4428,begin surface coast
$FREEZE,1.61,-1.554,-1.527,2,1,0
$FINISH,1.6,1.022490
$STATE,4442,end surface coast,FINISH_DEPTH_REACHED
$STATE,4442,begin surface
$SM_CCo,4461,82.68,0.148,0,0,1522,350.04
$SM_GC,2.06,8.85,0.28,82.68,0.178,0.149,0.148,218,2552,1522,-10.67,-0.51,350.04,0,0,0,0,0,0,14.43,14.45,14.37
$RAFOS_CLK,194
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5637.11,070215,221510
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.62
$INTERNAL_PRESSURE,8.41076
$TCM_TEMP,12.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.1,999.0
$SC_FREEKB,7651040
$24V_AH,13.05,91.611
$10V_AH,13.01,0.000
$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,22.625,40.325,392.350,82.675,0.000,0.000,0.000,639.350,1.500,0.000,5.858,712.196,2707.793,639.315,1155.072,300.807,0.000,1609.295,0.000,518.346,0.000,2.552,0.000
$DEVICE_MAMPS,491.130,149.175,1086.300,148.410,0.000,0.000,0.000,167.535,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4455.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.722,0.000,0.000,0.000
$MEM,270896
$DATA_FILE_SIZE,10117,336
$CAP_FILE_SIZE,69081,0
$CFSIZE,260034560,226045952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4772.33,0x23769e,7,5
$SOUNDSPEED,1454.0
$GPS,070215,234358,6714.558,-5637.954,3,2.0,3,-32.7