version: 66.12
glider: 193
mission: 4
dive: 381
start: 2 8 115 11 12 28
data:
$ID,193
$MISSION,4
$DIVE,381
$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,26
$R_STBD_OVSHOOT,17
$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
$GPS1,080215,065816,6715.329,-5638.958,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.80
$_SM_ANGLEo,-2.0
$GPS2,080215,065816,6715.329,-5638.958,181,99.0,181,-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,228.7,23748,-18.4,-10.000,-20.87,2243
$D_GRID,207
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.60,-146.0,2568,2540,2765,2744,0.0,0.0,0,33,0.00,0.00,-11.27,0.000,16386,0.000,0.000,2568,2541,3171,3163,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.60,-146.0,2568,2541,3165,3180,9.1,0.0,1,52,1.12,0.00,-9.73,0.000,20486,0.145,0.000,2203,2540,3550,3540,3560,0,0,0,0,0,0,14.42,28.83,14.79
$GC,363,-1.58,-146.0,2203,2540,3545,3561,50.8,-13.3,25,368,0.00,2.50,0.00,0.000,260,0.000,0.135,2194,3836,3553,3545,3561,0,0,0,0,0,0,28.83,14.43,28.83
$GC,469,-1.53,-146.0,2194,3836,3545,3561,65.2,-14.3,45,475,0.10,2.22,0.00,0.000,3078,0.316,0.062,2213,2544,3553,3545,3561,0,0,0,0,0,0,14.30,14.57,28.83
$GC,793,-1.53,-146.0,2213,2543,3545,3560,103.8,-11.6,64,798,0.00,2.50,0.00,0.000,260,0.000,0.137,2204,3840,3552,3545,3560,0,0,0,0,0,0,28.83,14.42,28.83
$GC,893,-1.51,-146.0,2204,3841,3546,3560,115.7,-12.0,83,899,0.00,2.22,0.00,0.000,1030,0.000,0.062,2204,2549,3552,3545,3560,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1196,-1.51,-146.0,2204,2548,3545,3558,149.8,-10.9,99,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2548,3552,3545,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1497,-1.51,-146.0,2204,2551,3545,3557,181.8,-10.4,114,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2548,3551,3545,3557,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1754,begin apogee
$GC,1760,-0.38,0.0,2204,2399,3545,3555,207.8,-10.0,127,1939,0.98,0.00,173.45,1.080,10246,0.266,0.000,2462,2398,2948,2966,2930,0,0,0,0,0,0,14.28,28.83,13.59
$STATE,1940,end apogee,CONTROL_FINISHED_OK
$STATE,1941,begin climb
$GC,1945,1.60,146.0,2462,2398,2957,2921,212.2,0.0,136,2120,1.45,0.00,163.57,1.063,10758,0.183,0.000,2896,2398,2357,2393,2321,0,0,0,0,1,0,14.00,28.83,13.14
$GC,2416,1.60,146.0,2895,2398,2393,2329,167.1,11.0,184,2421,0.00,2.53,0.00,0.000,516,0.000,0.107,2903,999,2361,2393,2329,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2449,1.60,146.0,2903,999,2388,2329,163.3,11.1,190,2454,0.00,2.58,0.00,0.000,1030,0.000,0.113,2903,2397,2360,2393,2328,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2762,1.60,146.0,2903,2397,2394,2328,128.9,10.7,207,2768,0.00,2.50,0.00,0.000,516,0.000,0.106,2911,999,2360,2393,2328,0,0,0,0,0,0,28.83,14.36,28.83
$GC,2820,1.60,146.0,2911,999,2394,2328,122.3,11.1,218,2827,0.00,2.58,0.00,0.000,1030,0.000,0.114,2911,2407,2360,2393,2328,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3125,1.60,146.0,2911,2407,2393,2328,87.6,11.1,234,3131,0.00,2.67,0.00,0.000,260,0.000,0.139,2911,3812,2360,2393,2328,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3184,1.56,146.0,2911,3812,2393,2328,80.3,13.4,245,3191,0.12,2.47,0.00,0.000,5126,0.304,0.073,2893,2403,2361,2393,2329,0,0,0,0,0,0,14.28,14.49,28.83
$GC,3489,1.64,180.3,2893,2401,2393,2327,52.0,8.4,261,3522,0.00,2.78,23.48,0.298,8452,0.000,0.139,2889,3810,2224,2257,2191,0,0,0,0,0,0,28.83,14.43,14.28
$GC,3559,1.64,180.3,2893,3810,2249,2194,45.2,10.4,275,3565,0.00,2.47,1.20,0.272,9222,0.000,0.071,2900,2396,2215,2245,2185,0,0,0,0,0,0,28.83,14.50,14.42
$GC,3874,1.71,211.5,2900,2396,2244,2195,16.5,8.6,296,3902,0.10,2.50,20.38,0.184,10756,0.168,0.104,2949,991,2086,2120,2053,0,0,0,0,0,0,14.52,14.44,14.35
$GC,3930,1.71,211.5,2949,991,2120,2060,10.7,11.0,306,3936,0.12,2.55,0.00,0.000,5126,0.287,0.111,2923,2403,2090,2120,2060,0,0,0,0,0,0,14.28,14.43,28.83
$FREEZE,8.30,-1.641,-1.810,2,4,0
$FREEZE,7.22,-1.647,-1.809,2,4,0
$FREEZE,6.01,-1.643,-1.808,2,4,0
$FREEZE,5.03,-1.649,-1.808,2,4,0
$FREEZE,3.96,-1.651,-1.807,2,4,0
$FREEZE,2.97,-1.664,-1.806,2,4,0
$STATE,4004,end climb,SURFACE_DEPTH_REACHED
$STATE,4004,begin surface coast
$FREEZE,2.08,-1.671,-1.806,2,4,0
$FREEZE,2.33,-1.662,-1.806,2,4,0
$FINISH,2.3,1.026494
$STATE,4023,end surface coast,CONTROL_FINISHED_OK
$STATE,4023,begin surface
$SM_CCo,4127,222.48,0.154,0,0,500,601.23
$SM_GC,2.25,8.62,0.30,222.48,0.160,0.149,0.154,203,2558,500,-10.66,-0.31,601.23,0,0,0,0,0,0,14.58,14.46,14.34
$RAFOS_CLK,201
$RAFOS,1,1423397354,12.166667,12.153889,71,64,58,56,50,50,190,220,207,126,145,162
$RAFOS,0,1423396871,12.033333,12.019722,63,57,54,52,52,51,196,216,162,135,171,121
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6647.44,-5638.70,080215,065022
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.07
$INTERNAL_PRESSURE,8.35216
$TCM_TEMP,12.60
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.9,999.0
$SC_FREEKB,7648160
$24V_AH,13.14,93.127
$10V_AH,13.09,0.000
$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,12.625,37.875,382.075,222.475,0.000,0.000,0.000,0.000,6.250,0.000,0.000,673.410,2552.481,604.094,529.135,105.016,0.000,922.331,0.000,477.354,1080.000,2.549,0.000
$DEVICE_MAMPS,315.945,149.175,1080.180,153.765,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.769,0.000,0.000,0.000
$MEM,271120
$DATA_FILE_SIZE,10141,316
$CAP_FILE_SIZE,56423,0
$CFSIZE,260034560,225705984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1455.9
$GPS,080215,122628,6713.254,-5641.342,39,1.7,39,-32.7