version: 66.12
glider: 193
mission: 4
dive: 376
start: 2 8 115 4 0 13
data:
$ID,193
$MISSION,4
$DIVE,376
$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,20
$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
$GPS1,080215,024035,6715.192,-5638.470,14,1.2,14,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,8.0
$GPS2,080215,024035,6715.192,-5638.470,14,1.2,14,-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,229.7,23605,-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,-146.0,2921,2551,2161,2096,0.0,0.0,0,103,0.00,0.00,-81.45,0.000,16390,0.000,0.000,2921,2551,3547,3537,3558,0,0,0,0,0,0,28.83,28.83,14.81
$GC,107,-1.60,-146.0,2923,2551,3539,3559,2.6,-1.9,8,118,2.70,2.55,0.00,0.000,4612,0.294,0.099,2209,1139,3549,3539,3559,0,0,0,0,0,0,14.29,14.46,28.83
$GC,349,-1.58,-146.0,2209,1140,3541,3559,31.9,-11.6,55,356,0.00,2.60,0.00,0.000,1030,0.000,0.116,2203,2551,3549,3540,3559,0,0,0,0,0,0,28.83,14.45,28.83
$GC,653,-1.55,-146.0,2203,2551,3540,3559,70.9,-11.9,71,659,0.00,2.47,0.00,0.000,516,0.000,0.095,2203,1140,3549,3540,3559,0,0,0,0,0,0,28.83,14.47,28.83
$GC,757,-1.55,-146.0,2203,1140,3540,3559,83.7,-12.7,91,762,0.00,2.55,0.00,0.000,1030,0.000,0.116,2198,2557,3549,3540,3559,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1081,-1.55,-146.0,2198,2557,3541,3556,122.7,-11.4,110,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2556,3548,3540,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1382,-1.55,-146.0,2197,2553,3540,3554,157.4,-11.2,125,1387,0.00,2.50,0.00,0.000,516,0.000,0.098,2198,1137,3546,3540,3552,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1405,-1.55,-146.0,2198,1137,3535,3553,160.3,-11.6,129,1411,0.00,2.60,0.00,0.000,1030,0.000,0.117,2192,2557,3547,3540,3554,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1729,-1.55,-146.0,2192,2557,3540,3553,196.5,-10.5,148,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2557,3546,3540,3553,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1887,begin apogee
$GC,1894,-0.38,0.0,2192,2390,3540,3554,212.8,-9.5,156,2072,1.02,0.00,172.80,1.088,10246,0.266,0.000,2465,2389,2950,2967,2933,0,0,0,0,0,0,14.27,28.83,13.57
$STATE,2073,end apogee,CONTROL_FINISHED_OK
$STATE,2075,begin climb
$GC,2077,1.60,146.0,2465,2389,2957,2921,217.7,0.0,165,2260,1.48,0.00,174.57,0.965,10502,0.181,0.000,2900,2389,2353,2393,2314,0,0,0,0,0,0,14.01,28.83,13.41
$GC,2550,1.60,146.0,2900,2389,2366,2283,173.8,10.8,201,2555,0.00,2.85,0.00,0.000,260,0.000,0.143,2900,3804,2325,2367,2283,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2608,1.57,146.0,2900,3808,2368,2283,166.6,12.2,212,2615,0.00,2.50,0.00,0.000,1030,0.000,0.074,2909,2406,2324,2366,2283,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2913,1.57,146.0,2909,2406,2366,2282,132.3,11.0,228,2919,0.00,2.53,0.00,0.000,516,0.000,0.106,2919,993,2324,2366,2282,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2953,1.57,146.0,2919,990,2366,2282,128.1,11.3,235,2960,0.12,2.60,0.00,0.000,5126,0.279,0.113,2892,2400,2324,2367,2281,0,0,0,0,0,0,14.23,14.37,28.83
$GC,3257,1.60,155.0,2892,2400,2366,2282,97.4,9.6,251,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2400,2324,2366,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3560,1.65,166.6,2892,2400,2366,2282,68.9,9.5,266,3579,0.00,2.60,9.65,0.270,8708,0.000,0.106,2900,984,2275,2309,2241,0,0,0,0,0,0,28.83,14.42,14.19
$GC,3728,1.72,186.0,2900,984,2313,2258,53.6,9.1,299,3752,0.10,2.60,15.50,0.278,11270,0.176,0.112,2940,2401,2195,2226,2164,0,0,0,0,0,0,14.50,14.45,14.20
$GC,4057,1.72,186.0,2940,2401,2231,2177,19.1,11.4,323,4068,0.00,2.58,2.17,0.178,8708,0.000,0.104,2949,988,2193,2222,2165,0,0,0,0,0,0,28.83,14.40,14.40
$GC,4091,1.72,186.0,2949,988,2225,2173,14.7,11.7,329,4097,0.12,2.60,0.00,0.000,5126,0.285,0.112,2922,2407,2199,2226,2173,0,0,0,0,0,0,14.30,14.46,28.83
$FREEZE,8.69,-1.630,-1.811,2,2,0
$FREEZE,7.67,-1.632,-1.810,2,2,0
$FREEZE,6.68,-1.641,-1.809,2,2,0
$FREEZE,5.69,-1.644,-1.808,2,2,0
$FREEZE,4.70,-1.643,-1.808,2,2,0
$FREEZE,3.76,-1.643,-1.807,2,2,0
$FREEZE,3.00,-1.660,-1.806,2,2,0
$STATE,4214,end climb,SURFACE_DEPTH_REACHED
$STATE,4214,begin surface coast
$FREEZE,2.02,-1.657,-1.805,2,2,0
$FREEZE,1.77,-1.466,-1.790,2,2,0
$FREEZE,1.69,-1.665,-1.803,2,2,0
$FINISH,1.7,1.026457
$STATE,4245,end surface coast,CONTROL_FINISHED_OK
$STATE,4245,begin surface
$SM_CCo,4265,97.15,0.151,0,0,1521,350.04
$SM_GC,2.60,8.25,0.28,97.15,0.125,0.146,0.151,207,2552,1521,-10.64,-0.57,350.04,0,0,0,0,0,0,14.59,14.47,14.39
$RAFOS_CLK,202
$RAFOS,6,1423370941,4.833333,4.816945,63,56,54,51,49,49,209,115,136,163,174,228
$RAFOS,5,1423370479,4.700000,4.688611,62,57,56,54,53,52,208,151,175,121,107,230
$RAFOS,4,1423369999,4.566667,4.555278,61,59,58,55,55,51,175,156,218,132,120,185
$RAFOS,3,1423369519,4.433333,4.421945,64,60,55,55,53,52,166,127,208,217,198,184
$RAFOS,2,1423369032,4.300000,4.286667,69,57,54,53,53,52,191,211,159,143,174,117
$RAFOS,1,1423368543,4.166667,4.150833,68,61,56,53,52,50,211,193,156,223,168,139
$RAFOS,0,1423368063,4.033333,4.017500,67,65,60,57,56,49,212,154,182,196,163,173
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5641.76,070215,234814
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.27
$INTERNAL_PRESSURE,8.44005
$TCM_TEMP,12.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,17.0
$SC_FREEKB,7649760
$24V_AH,13.41,92.280
$10V_AH,13.62,0.000
$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,13.800,37.025,374.700,97.150,0.000,0.000,0.000,0.000,1.000,0.000,0.000,724.702,2519.971,547.636,578.334,105.760,0.000,866.639,0.000,525.041,2520.000,2.622,0.000
$DEVICE_MAMPS,293.760,148.410,1087.830,150.705,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4254.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.768,0.000,0.000,0.000
$MEM,271188
$DATA_FILE_SIZE,10124,345
$CAP_FILE_SIZE,57491,0
$CFSIZE,260034560,225910784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,080215,024035,6715.192,-5638.470,181,99.0,181,-32.7