version: 66.12
glider: 193
mission: 4
dive: 374
start: 2 8 115 1 11 12
data:
$ID,193
$MISSION,4
$DIVE,374
$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,14
$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
$GPS1,070215,235603,6714.627,-5637.782,29,0.9,29,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,4.4
$GPS2,070215,235603,6714.627,-5637.782,29,0.9,29,-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,231.6,22762,-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,-146.0,2940,2553,2018,1954,0.0,0.0,0,115,0.00,0.00,-91.82,0.000,16390,0.000,0.000,2939,2554,3544,3534,3555,0,0,0,0,0,0,28.83,28.83,14.79
$GC,119,-1.60,-146.0,2939,2554,3536,3555,2.6,-2.6,9,130,2.55,2.50,0.00,0.000,4868,0.231,0.138,2199,3835,3545,3535,3555,0,0,0,0,0,0,14.36,14.40,28.83
$GC,159,-1.52,-146.0,2198,3835,3537,3556,6.9,-9.9,16,165,0.00,2.22,0.00,0.000,1030,0.000,0.061,2199,2541,3546,3537,3555,0,0,0,0,0,0,28.83,14.55,28.83
$GC,474,-1.49,-146.0,2199,2541,3538,3556,46.7,-13.0,40,480,0.12,2.53,0.00,0.000,2308,0.317,0.138,2219,3837,3547,3539,3556,0,0,0,0,0,0,14.25,14.41,28.83
$GC,708,-1.49,-146.0,2220,3838,3539,3556,77.3,-13.5,86,714,0.00,2.22,0.00,0.000,1030,0.000,0.063,2219,2548,3550,3546,3555,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1021,-1.49,-146.0,2220,2546,3538,3554,112.0,-10.1,103,1027,0.00,2.47,0.00,0.000,260,0.000,0.140,2211,3837,3546,3539,3554,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1156,-1.49,-146.0,2211,3838,3538,3553,125.7,-9.4,129,1162,0.00,2.22,0.00,0.000,1030,0.000,0.062,2211,2543,3545,3538,3553,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1470,-1.49,-146.0,2211,2543,3538,3551,156.8,-9.9,146,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2543,3545,3539,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1772,-1.49,-146.0,2211,2543,3538,3550,186.5,-9.9,161,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2543,3544,3539,3550,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2050,begin apogee
$GC,2056,-0.38,0.0,2211,2395,3538,3550,213.1,-9.3,175,2213,0.95,0.00,146.75,1.731,10246,0.269,0.000,2461,2394,2952,2968,2937,0,0,0,0,1,0,14.27,28.83,13.16
$STATE,2214,end apogee,CONTROL_FINISHED_OK
$STATE,2214,begin climb
$GC,2217,1.60,146.0,2461,2394,2968,2940,217.3,0.0,183,2392,1.45,2.80,154.23,1.763,11012,0.175,0.106,2899,994,2358,2396,2320,0,0,0,0,1,0,13.82,13.35,12.71
$GC,2444,1.60,146.0,2899,994,2396,2320,196.5,11.8,214,2449,0.00,2.75,0.00,0.000,1030,0.000,0.114,2899,2398,2357,2396,2319,0,0,0,0,0,0,28.83,13.62,28.83
$GC,2757,1.60,146.0,2900,2398,2395,2314,161.1,10.8,231,2763,0.00,2.83,0.00,0.000,260,0.000,0.141,2899,3816,2354,2395,2314,0,0,0,0,0,0,28.83,14.09,28.83
$GC,2781,1.58,146.0,2899,3816,2395,2312,158.6,10.8,235,2787,0.00,2.55,0.00,0.000,1030,0.000,0.073,2907,2397,2354,2395,2313,0,0,0,0,0,0,28.83,14.19,28.83
$GC,3105,1.58,146.0,2907,2396,2395,2313,123.8,10.4,254,3111,0.00,2.53,0.00,0.000,516,0.000,0.106,2914,983,2354,2395,2313,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3172,1.58,146.0,2917,983,2395,2313,116.6,10.5,267,3178,0.12,2.62,0.00,0.000,5126,0.282,0.115,2890,2403,2354,2396,2312,0,0,0,0,0,0,14.22,14.35,28.83
$GC,3492,1.64,175.0,2890,2403,2395,2312,87.6,8.7,285,3512,0.00,0.00,18.05,0.399,8454,0.000,0.000,2890,2403,2235,2274,2196,0,0,0,0,0,0,28.83,28.83,14.14
$GC,3812,1.71,198.9,2891,2403,2274,2202,58.4,8.9,304,3837,0.12,2.58,15.32,0.310,10756,0.147,0.106,2952,993,2141,2177,2106,0,0,0,0,0,0,14.53,14.40,14.22
$GC,3905,1.71,198.9,2952,994,2177,2108,48.4,11.4,322,3911,0.12,2.60,0.00,0.000,5126,0.283,0.115,2926,2401,2142,2177,2108,0,0,0,0,0,0,14.28,14.42,28.83
$GC,4220,1.71,198.9,2926,2402,2177,2101,15.2,11.8,343,4225,0.00,2.75,0.00,0.000,260,0.000,0.142,2926,3815,2141,2177,2105,0,0,0,0,0,0,28.83,14.41,28.83
$GC,4263,1.68,198.9,2926,3815,2177,2105,10.1,12.0,351,4269,0.00,2.47,0.00,0.000,1030,0.000,0.072,2934,2398,2141,2177,2106,0,0,0,0,0,0,28.83,14.49,28.83
$FREEZE,8.45,-1.642,-1.810,2,2,0
$FREEZE,7.31,-1.649,-1.810,2,2,0
$FREEZE,6.31,-1.653,-1.809,2,2,0
$FREEZE,5.03,-1.653,-1.808,2,2,0
$FREEZE,3.75,-1.649,-1.807,2,2,0
$FREEZE,2.65,-1.663,-1.806,2,2,0
$STATE,4325,end climb,SURFACE_DEPTH_REACHED
$STATE,4325,begin surface coast
$FREEZE,1.58,-1.670,-1.805,2,2,0
$FREEZE,1.52,-2.814,-1.876,2,2,0
$FINISH,1.5,1.027523
$STATE,4347,end surface coast,CONTROL_FINISHED_OK
$STATE,4347,begin surface
$SM_CCo,4366,87.40,0.150,0,0,1523,350.04
$SM_GC,2.16,8.05,0.32,87.40,0.102,0.145,0.150,213,2554,1523,-10.65,-0.37,350.04,0,0,0,0,0,0,14.57,14.46,14.39
$RAFOS_CLK,208
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5640.17,070215,221928
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.70
$INTERNAL_PRESSURE,8.42052
$TCM_TEMP,12.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,18.5
$SC_FREEKB,7650400
$24V_AH,12.71,91.958
$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,13.500,41.550,334.350,87.400,0.000,0.000,0.000,0.000,1.250,0.000,0.000,764.400,2580.549,522.544,589.224,107.901,0.000,850.320,0.000,551.460,0.000,2.625,0.000
$DEVICE_MAMPS,316.710,148.410,1762.560,149.940,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4362.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.772,0.000,0.000,0.000
$MEM,271152
$DATA_FILE_SIZE,10162,360
$CAP_FILE_SIZE,58549,0
$CFSIZE,260034560,225976320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1454.2
$GPS,080215,022652,6715.074,-5638.696,36,1.2,36,-32.7