version: 66.12
glider: 193
mission: 4
dive: 377
start: 2 8 115 5 32 1
data:
$ID,193
$MISSION,4
$DIVE,377
$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,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
$GPS1,080215,024035,6715.192,-5638.470,181,99.0,181,-32.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-46.8
$GPS2,080215,053128,6715.565,-5638.609,41,1.2,41,-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,228.9,24239,-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,16,begin dive
$GC,20,-1.60,-146.0,206,2552,1531,1505,0.0,0.0,0,152,0.00,0.00,-125.72,0.000,16390,0.000,0.000,206,2554,3546,3524,3569,0,0,0,0,0,0,28.83,28.83,14.65
$GC,155,-1.60,-146.0,206,2554,3525,3569,2.3,-0.3,13,171,10.85,2.50,0.00,0.000,2308,0.482,0.132,2183,3840,3548,3528,3568,0,0,0,0,0,0,14.03,14.27,28.83
$GC,351,-1.52,-146.0,2185,3840,3534,3568,32.1,-15.3,51,357,0.15,2.25,0.00,0.000,3078,0.313,0.061,2215,2541,3550,3533,3568,0,0,0,0,0,0,14.14,14.45,28.83
$GC,665,-1.50,-146.0,2215,2540,3536,3564,70.3,-11.4,68,671,0.00,2.45,0.00,0.000,516,0.000,0.095,2216,1143,3550,3536,3564,0,0,0,0,0,0,28.83,14.42,28.83
$GC,729,-1.47,-146.0,2215,1142,3536,3570,77.7,-11.5,80,735,0.00,2.60,0.00,0.000,1030,0.000,0.112,2210,2555,3548,3534,3563,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1052,-1.47,-146.0,2210,2555,3536,3561,114.7,-10.5,99,1058,0.00,2.47,0.00,0.000,516,0.000,0.096,2210,1148,3548,3536,3561,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1120,-1.47,-146.0,2211,1148,3536,3561,122.2,-10.3,112,1126,0.10,2.58,0.00,0.000,3078,0.343,0.115,2223,2549,3548,3536,3561,0,0,0,0,0,0,14.23,14.44,28.83
$GC,1440,-1.47,-146.0,2223,2549,3536,3560,153.1,-9.5,130,1445,0.00,2.45,0.00,0.000,260,0.000,0.138,2214,3836,3547,3535,3560,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1483,-1.47,-146.0,2214,3836,3536,3560,157.7,-10.7,138,1488,0.00,2.22,0.00,0.000,1030,0.000,0.061,2214,2541,3547,3536,3559,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1806,-1.47,-146.0,2214,2541,3536,3560,191.3,-10.5,157,1812,0.00,2.45,0.00,0.000,516,0.000,0.098,2214,1142,3547,3536,3559,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1830,-1.47,-146.0,2215,1142,3536,3559,193.8,-10.5,161,1835,0.00,2.58,0.00,0.000,1030,0.000,0.118,2209,2548,3547,3536,3559,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,1951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1951,begin apogee
$GC,1957,-0.38,0.0,2209,2394,3536,3559,207.5,-11.1,170,2116,0.95,0.00,149.38,1.710,10246,0.274,0.000,2460,2394,2954,2971,2938,0,0,0,0,1,0,14.26,28.83,13.16
$STATE,2118,end apogee,CONTROL_FINISHED_OK
$STATE,2118,begin climb
$GC,2120,1.60,146.0,2460,2394,2966,2942,213.0,0.0,178,2293,1.50,2.80,153.15,1.769,10756,0.188,0.109,2905,1001,2355,2394,2317,0,0,0,0,1,0,13.81,13.35,12.71
$GC,2310,1.60,150.3,2905,1001,2394,2318,200.5,9.8,217,2322,0.00,2.75,5.03,1.325,9222,0.000,0.113,2905,2399,2339,2377,2301,0,0,0,0,0,0,28.83,13.50,12.98
$GC,2640,1.60,150.3,2906,2399,2377,2301,165.0,11.0,237,2645,0.00,2.78,0.00,0.000,260,0.000,0.141,2906,3812,2339,2377,2302,0,0,0,0,0,0,28.83,14.07,28.83
$GC,2664,1.58,150.3,2905,3812,2377,2308,162.2,12.1,241,2669,0.00,2.53,0.00,0.000,1030,0.000,0.073,2913,2408,2339,2377,2302,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2987,1.58,150.3,2914,2408,2377,2301,126.4,10.6,260,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2408,2339,2377,2301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,1.58,150.3,2913,2408,2377,2301,93.7,10.9,275,3294,0.00,2.53,0.00,0.000,516,0.000,0.106,2923,984,2339,2377,2301,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3367,1.58,150.3,2923,984,2377,2301,85.1,11.2,290,3374,0.12,2.60,0.00,0.000,5126,0.284,0.112,2897,2402,2339,2377,2301,0,0,0,0,0,0,14.26,14.40,28.83
$GC,3673,1.64,180.8,2896,2402,2377,2302,57.5,8.6,306,3701,0.00,2.58,20.20,0.313,8708,0.000,0.105,2905,994,2214,2250,2178,0,0,0,0,0,0,28.83,14.42,14.24
$GC,3830,1.70,188.0,2905,994,2250,2177,43.0,9.7,337,3842,0.00,2.60,5.07,0.263,9222,0.000,0.115,2905,2404,2184,2220,2148,0,0,0,0,0,0,28.83,14.44,14.26
$GC,4151,1.78,221.0,2905,2404,2220,2151,12.7,8.5,363,4182,0.12,2.80,21.25,0.175,10500,0.150,0.144,2958,3809,2046,2086,2007,0,0,0,0,0,0,14.55,14.38,14.38
$FREEZE,8.10,-1.635,-1.810,2,1,0
$FREEZE,7.33,-1.630,-1.809,2,1,0
$FREEZE,6.59,-1.630,-1.809,2,1,0
$GC,4202,1.74,221.0,2958,3809,2086,2008,6.6,13.0,372,4210,0.17,2.47,0.00,0.000,5126,0.307,0.074,2930,2399,2048,2086,2011,0,0,0,0,0,0,14.27,14.50,28.83
$FREEZE,3.97,-1.637,-1.806,2,1,0
$FREEZE,2.80,-1.656,-1.806,2,1,0
$STATE,4226,end climb,SURFACE_DEPTH_REACHED
$STATE,4226,begin surface coast
$FREEZE,2.25,-1.656,-1.805,2,1,0
$FREEZE,2.23,-1.663,-1.806,2,1,0
$FINISH,2.2,1.026495
$STATE,4249,end surface coast,CONTROL_FINISHED_OK
$STATE,4249,begin surface
$SM_CCo,4298,74.60,0.151,0,0,1521,350.04
$SM_GC,2.28,8.05,0.32,74.60,0.101,0.143,0.151,200,2558,1521,-10.67,-0.31,350.04,0,0,0,0,0,0,14.57,14.47,14.41
$RAFOS_CLK,183
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5637.11,080215,023121
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.07
$INTERNAL_PRESSURE,8.44005
$TCM_TEMP,12.80
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.4,17.6
$SC_FREEKB,7649440
$24V_AH,12.71,92.501
$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,22.025,51.575,354.075,74.600,0.000,0.000,0.000,537.000,2.250,0.000,42.204,761.061,2526.014,544.337,1147.554,302.193,0.000,1459.274,0.000,572.184,0.000,2.626,0.000
$DEVICE_MAMPS,481.950,143.820,1768.680,151.470,0.000,0.000,0.000,172.890,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.841,0.000,0.000,0.000
$MEM,270888
$DATA_FILE_SIZE,13465,377
$CAP_FILE_SIZE,71926,0
$CFSIZE,260034560,225853440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,5506.67,0x23769e,7,5
$SOUNDSPEED,1455.9
$GPS,080215,064612,6715.289,-5639.174,7,2.5,28,-32.7