version: 66.12
glider: 193
mission: 4
dive: 107
start: 12 27 114 20 53 33
data:
$ID,193
$MISSION,4
$DIVE,107
$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,2
$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,300
$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,18
$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
$GPS1,271214,204728,6618.971,-5648.940,72,0.9,72,-31.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-59.5
$GPS2,271214,205300,6618.942,-5648.985,5,1.2,5,-31.8
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,20.7,81598,-18.4,-10.000,-20.87,2243
$D_GRID,579
$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,19,-1.60,-146.0,200,2561,1721,1717,0.0,0.0,0,102,0.00,0.00,-81.47,0.000,16386,0.000,0.000,199,2561,3156,3131,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.60,-146.0,199,2561,3131,3182,3.1,-2.0,8,132,9.75,0.00,-13.65,0.000,18694,0.451,0.000,2194,2561,3548,3542,3554,0,0,0,0,0,0,14.37,28.83,14.75
$GC,432,-1.60,-146.0,2194,2561,3550,3554,40.6,-11.1,35,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2561,3552,3550,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-1.60,-146.0,2194,2561,3550,3554,77.5,-12.0,50,738,0.00,2.50,0.00,0.000,516,0.000,0.107,2195,1129,3552,3550,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,804,-1.60,-146.0,2195,1129,3550,3554,87.4,-13.6,64,810,0.00,2.58,0.00,0.000,1030,0.000,0.122,2188,2560,3551,3550,3553,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1117,-1.60,-146.0,2188,2560,3550,3552,117.1,-7.9,81,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2560,3550,3550,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-1.60,-146.0,2188,2560,3550,3550,144.3,-9.1,96,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2560,3550,3550,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1718,-1.60,-146.0,2189,2560,3550,3549,171.0,-8.7,111,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2560,3549,3550,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2018,-1.60,-146.0,2188,2559,3550,3549,197.8,-9.0,126,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2560,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2317,-1.60,-146.0,2188,2560,3550,3549,226.9,-10.3,141,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2560,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-1.60,-146.0,2188,2560,3550,3549,257.8,-10.3,155,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2561,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2917,-1.60,-146.0,2188,2560,3550,3549,288.7,-9.8,165,2923,0.00,2.45,0.00,0.000,516,0.000,0.105,2188,1137,3549,3549,3549,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3019,-1.60,-146.0,2188,1137,3551,3549,299.6,-10.8,185,3026,0.10,2.53,0.00,0.000,3078,0.327,0.122,2198,2552,3549,3550,3549,0,0,0,0,0,0,14.68,14.75,28.83
$GC,3344,-1.60,-146.0,2199,2552,3550,3549,330.4,-9.3,199,3350,0.00,2.45,0.00,0.000,516,0.000,0.104,2200,1130,3550,3550,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3417,-1.60,-146.0,2200,1130,3551,3549,337.3,-9.6,213,3424,0.00,2.55,0.00,0.000,1030,0.000,0.123,2193,2558,3550,3551,3549,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3742,-1.60,-146.0,2193,2558,3551,3549,365.4,-8.5,227,3747,0.00,2.47,0.00,0.000,516,0.000,0.107,2193,1129,3550,3551,3549,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3794,-1.60,-146.0,2193,1129,3551,3549,370.3,-9.4,237,3800,0.00,2.55,0.00,0.000,1030,0.000,0.125,2187,2556,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4108,-1.60,-146.0,2187,2556,3551,3550,396.5,-8.3,249,4114,0.00,2.47,0.00,0.000,516,0.000,0.109,2187,1129,3550,3551,3549,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4192,-1.60,-146.0,2187,1129,3551,3550,403.5,-8.7,265,4199,0.10,2.55,0.00,0.000,3078,0.328,0.128,2200,2551,3551,3551,3551,0,0,0,0,0,0,14.67,14.75,28.83
$GC,4507,-1.60,-146.0,2200,2551,3551,3550,425.1,-6.5,277,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2552,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4806,-1.60,-146.0,2200,2552,3552,3550,443.7,-6.1,287,4812,0.00,2.45,0.00,0.000,516,0.000,0.110,2200,1134,3550,3551,3549,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4893,-1.60,-146.0,2200,1134,3552,3550,449.8,-7.4,304,4900,0.00,2.53,0.00,0.000,1030,0.000,0.127,2193,2549,3551,3552,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5200,-1.60,-146.0,2195,2549,3552,3551,472.1,-7.6,315,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2549,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-1.60,-146.0,2193,2549,3552,3551,495.3,-7.7,325,5505,0.00,2.45,0.00,0.000,516,0.000,0.112,2193,1137,3551,3552,3551,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5582,-1.60,-146.0,2194,1137,3551,3551,502.0,-7.9,341,5588,0.00,2.53,0.00,0.000,1030,0.000,0.131,2187,2550,3551,3551,3551,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5896,-1.60,-146.0,2187,2550,3552,3552,525.4,-7.5,353,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2550,3551,3552,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,-1.60,-146.0,2187,2550,3552,3552,549.6,-8.2,363,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2550,3552,3552,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-1.60,-146.0,2187,2550,3552,3552,574.0,-8.0,373,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2550,3552,3552,3552,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6554,begin apogee
$GC,6558,-0.38,0.0,2187,2390,3552,3552,579.2,-8.2,375,6718,0.98,0.00,155.52,1.358,10246,0.248,0.000,2464,2390,2950,2971,2930,0,0,0,0,0,0,14.72,28.83,13.55
$STATE,6719,end apogee,CONTROL_FINISHED_OK
$STATE,6719,begin climb
$GC,6721,1.60,146.0,2464,2390,2963,2922,581.2,0.0,380,6886,1.38,0.00,156.90,1.294,10502,0.151,0.000,2892,2389,2346,2392,2301,0,0,0,0,0,0,14.02,28.83,13.41
$GC,7185,1.60,146.0,2893,2389,2379,2283,525.5,13.3,401,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2389,2331,2379,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7485,1.60,146.0,2893,2390,2377,2282,484.3,14.1,411,7490,0.00,2.72,0.00,0.000,260,0.000,0.150,2893,3808,2329,2377,2282,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7527,1.56,146.0,2893,3808,2375,2283,477.8,15.4,419,7532,0.00,2.47,0.00,0.000,1030,0.000,0.083,2902,2399,2329,2375,2283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7850,1.56,146.0,2903,2399,2375,2281,430.0,15.0,433,7857,0.00,2.50,0.00,0.000,516,0.000,0.122,2912,993,2328,2375,2281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7888,1.56,146.0,2912,990,2373,2282,424.0,15.2,440,7894,0.12,2.53,0.00,0.000,5126,0.305,0.123,2886,2399,2327,2373,2282,0,0,0,0,0,0,14.52,14.59,28.83
$GC,8217,1.56,146.0,2886,2400,2373,2281,378.3,13.4,455,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2400,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,1.56,146.0,2887,2400,2373,2282,339.6,12.7,465,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2400,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8816,1.56,146.0,2886,2400,2373,2281,301.5,12.9,475,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2400,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,1.56,146.0,2886,2400,2373,2280,263.2,12.9,485,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2400,2324,2373,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9417,1.56,146.0,2886,2400,2373,2280,225.8,12.6,498,9422,0.00,2.65,0.00,0.000,260,0.000,0.145,2886,3816,2327,2373,2281,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9468,1.53,146.0,2886,3816,2372,2282,218.9,13.0,508,9474,0.00,2.45,0.00,0.000,1030,0.000,0.081,2895,2395,2327,2372,2282,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9781,1.53,146.0,2895,2395,2372,2282,181.7,11.9,525,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2395,2327,2372,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10081,1.53,146.0,2895,2395,2371,2282,146.4,11.6,540,10087,0.00,2.65,0.00,0.000,260,0.000,0.147,2895,3808,2327,2372,2282,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10129,1.50,146.0,2895,3808,2372,2282,140.4,13.4,549,10136,0.12,2.42,0.00,0.000,5126,0.297,0.082,2877,2397,2326,2371,2282,0,0,0,0,0,0,14.68,14.76,28.83
$GC,10448,1.52,146.0,2877,2398,2371,2282,106.8,10.6,567,10454,0.00,2.47,0.00,0.000,516,0.000,0.113,2886,985,2327,2372,2282,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10491,1.54,146.0,2886,985,2371,2282,102.0,11.3,575,10497,0.00,2.53,0.00,0.000,1030,0.000,0.118,2886,2408,2326,2372,2281,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10814,1.54,146.0,2886,2408,2372,2282,66.5,10.7,594,10820,0.00,2.62,0.00,0.000,260,0.000,0.147,2886,3810,2327,2371,2283,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10871,1.54,146.0,2886,3811,2371,2283,60.2,11.0,605,10879,0.00,2.42,0.00,0.000,1030,0.000,0.080,2896,2398,2327,2372,2283,0,0,0,0,0,0,28.83,14.77,28.83
$GC,11177,1.55,153.4,2896,2397,2371,2284,30.4,9.7,621,11183,0.00,2.65,0.00,0.000,260,0.000,0.148,2896,3814,2328,2372,2285,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11230,1.55,153.4,2896,3814,2372,2285,24.5,11.4,631,11235,0.00,2.42,0.00,0.000,1030,0.000,0.080,2906,2402,2328,2371,2285,0,0,0,0,0,0,28.83,14.77,28.83
$FREEZE,8.42,0.375,-1.819,0,1,0
$FREEZE,7.30,0.376,-1.818,0,1,0
$FREEZE,5.77,0.376,-1.817,0,1,0
$FREEZE,4.47,0.380,-1.816,0,1,0
$FREEZE,3.08,0.377,-1.815,0,1,0
$FREEZE,1.82,0.373,-1.814,0,1,0
$STATE,11481,end climb,SURFACE_DEPTH_REACHED
$STATE,11481,begin surface coast
$FREEZE,1.74,0.307,-1.816,0,1,0
$FREEZE,1.76,0.369,-1.814,0,1,0
$FINISH,1.8,1.026536
$STATE,11503,end surface coast,CONTROL_FINISHED_OK
$STATE,11503,begin surface
$SM_CCo,11518,80.47,0.156,0,0,1727,300.00
$SM_GC,2.13,7.57,0.30,80.47,0.073,0.140,0.156,207,2558,1727,-10.68,-0.34,300.00,0,0,0,0,0,0,14.80,14.74,14.64
$RAFOS_CLK,484
$RAFOS,5,1419712864,20.700001,20.684444,66,59,56,54,53,50,201,192,134,215,172,160
$RAFOS_FIX,6539.356934,-5649.023926,251214,202028,2,92,5.40
$IRIDIUM_FIX,6548.42,-5655.66,271214,172556
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,13.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.2
$SC_FREEKB,7735680
$24V_AH,13.41,24.440
$10V_AH,13.32,0.000
$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,20.125,71.150,312.425,80.475,0.000,0.000,0.000,206.600,0.250,0.000,6.797,1554.420,8451.432,559.252,1261.901,120.069,0.000,1311.344,0.000,984.164,360.000,2.632,0.000
$DEVICE_MAMPS,451.350,149.940,1357.875,156.060,0.000,0.000,0.000,154.530,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11515.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.964,0.000,0.000,0.000
$MEM,271148
$DATA_FILE_SIZE,23376,659
$CAP_FILE_SIZE,114540,0
$CFSIZE,260034560,245235712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12063.99,0x23769e,7,5
$SOUNDSPEED,1470.9
$CURRENT,0.108,176.67,1
$GPS,281214,000821,6619.838,-5649.975,25,1.2,41,-31.8