version: 66.12
glider: 193
mission: 4
dive: 126
start: 12 30 114 17 10 46
data:
$ID,193
$MISSION,4
$DIVE,126
$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,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,22
$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
$GPS1,301214,170135,6644.518,-5649.546,32,1.5,33,-32.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-50.1
$GPS2,301214,171013,6644.434,-5649.564,5,1.5,5,-32.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,349.1,34404,-18.4,-10.000,-20.87,2243
$D_GRID,580
$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,18,-1.60,-146.0,186,2559,512,475,0.0,0.0,0,172,0.00,0.00,-151.27,0.000,16386,0.000,0.000,181,2559,3295,3270,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,175,-1.60,-146.0,181,2559,3272,3322,3.5,-2.7,15,199,10.15,2.53,-7.53,0.000,18692,0.463,0.164,2187,3843,3549,3544,3554,0,0,0,0,0,0,14.31,14.44,14.67
$GC,425,-1.55,-146.0,2187,3843,3550,3554,39.8,-14.6,64,431,0.10,2.22,0.00,0.000,3078,0.323,0.062,2206,2539,3552,3550,3554,0,0,0,0,0,0,14.45,14.58,28.83
$GC,744,-1.55,-146.0,2206,2539,3551,3554,80.1,-11.8,82,749,0.00,2.47,0.00,0.000,260,0.000,0.146,2197,3840,3552,3551,3554,0,0,0,0,0,0,28.83,14.57,28.83
$GC,816,-1.53,-146.0,2198,3840,3551,3554,89.3,-13.0,96,821,0.00,2.20,0.00,0.000,1030,0.000,0.061,2198,2544,3552,3551,3554,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1128,-1.53,-146.0,2198,2544,3551,3554,125.8,-11.2,113,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2544,3552,3551,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-1.53,-146.0,2198,2543,3550,3552,158.8,-10.7,128,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2544,3551,3551,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-1.53,-146.0,2198,2543,3551,3551,191.1,-10.3,143,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2544,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-1.53,-146.0,2198,2543,3551,3552,221.8,-10.0,158,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2543,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2330,-1.53,-146.0,2198,2543,3551,3552,250.4,-9.2,173,2336,0.10,2.40,0.00,0.000,2564,0.322,0.099,2218,1150,3551,3551,3551,0,0,0,0,0,0,14.65,14.73,28.83
$GC,2373,-1.55,-146.0,2218,1150,3551,3552,254.5,-9.0,181,2380,0.00,2.47,0.00,0.000,1030,0.000,0.116,2210,2551,3551,3551,3551,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2699,-1.57,-146.0,2211,2551,3551,3551,282.4,-8.2,195,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2551,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,-1.60,-146.0,2211,2551,3552,3552,306.2,-7.8,205,3004,0.00,2.42,0.00,0.000,516,0.000,0.102,2211,1140,3551,3552,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3087,-1.62,-146.0,2211,1138,3551,3552,313.8,-8.5,222,3094,0.00,2.50,0.00,0.000,1030,0.000,0.118,2203,2552,3552,3552,3552,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3393,-1.62,-146.0,2203,2552,3552,3552,340.9,-8.9,233,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2552,3551,3552,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-1.62,-146.0,2202,2552,3555,3552,366.9,-8.5,243,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2552,3553,3555,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3992,-1.62,-146.0,2203,2552,3556,3553,391.9,-8.0,253,3998,0.00,2.42,0.00,0.000,516,0.000,0.105,2203,1147,3554,3556,3553,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4045,-1.62,-146.0,2202,1146,3556,3553,396.0,-7.2,263,4050,0.00,2.50,0.00,0.000,1030,0.000,0.119,2196,2553,3554,3556,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4358,-1.62,-146.0,2196,2553,3557,3554,419.1,-7.5,275,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2553,3555,3557,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-1.62,-146.0,2196,2553,3557,3555,440.8,-7.2,285,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2553,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4958,-1.62,-146.0,2196,2553,3558,3554,463.1,-7.4,295,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2553,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5258,-1.62,-146.0,2196,2553,3558,3554,486.2,-7.6,305,5264,0.00,2.47,0.00,0.000,516,0.000,0.111,2196,1143,3556,3558,3554,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5367,-1.62,-146.0,2196,1143,3558,3555,495.6,-9.2,326,5373,0.00,2.53,0.00,0.000,1030,0.000,0.126,2189,2551,3557,3559,3555,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5687,-1.62,-146.0,2189,2551,3558,3555,522.9,-8.6,339,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2556,3556,3558,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5985,-1.62,-146.0,2188,2551,3558,3556,548.4,-8.8,349,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2551,3557,3559,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6286,-1.62,-146.0,2189,2551,3559,3556,574.8,-9.3,359,6291,0.00,2.45,0.00,0.000,516,0.000,0.117,2189,1150,3557,3559,3556,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,6342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6342,begin apogee
$GC,6348,-0.38,0.0,2183,2407,3559,3556,580.2,-8.6,370,6517,1.00,0.00,164.43,1.379,10246,0.246,0.000,2467,2407,2951,2973,2930,0,0,0,0,0,0,14.71,28.83,13.53
$STATE,6518,end apogee,CONTROL_FINISHED_OK
$STATE,6518,begin climb
$GC,6520,1.60,146.0,2467,2407,2963,2921,582.6,0.0,375,6706,1.40,2.90,171.62,1.244,10500,0.151,0.148,2900,3806,2347,2390,2304,0,0,0,0,0,0,14.00,13.84,13.47
$GC,6753,1.54,146.0,2899,3806,2382,2297,557.6,15.5,416,6759,0.12,2.55,0.00,0.000,5126,0.308,0.082,2884,2410,2339,2381,2297,0,0,0,0,0,0,13.97,14.07,28.83
$GC,7072,1.54,146.0,2884,2410,2379,2288,517.8,12.6,429,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2410,2333,2379,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7371,1.54,146.0,2884,2410,2377,2287,480.4,12.5,439,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2410,2332,2377,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7671,1.54,146.0,2884,2410,2377,2286,442.2,12.7,449,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2410,2331,2377,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,1.54,146.0,2884,2410,2377,2284,404.7,12.5,459,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2410,2331,2377,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,1.54,146.0,2884,2410,2375,2286,366.0,12.9,469,8278,0.00,2.67,0.00,0.000,260,0.000,0.149,2883,3812,2330,2374,2286,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8335,1.51,146.0,2884,3813,2373,2287,357.3,14.2,481,8341,0.00,2.47,0.00,0.000,1030,0.000,0.085,2893,2394,2330,2373,2287,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8670,1.51,146.0,2898,2395,2373,2286,314.3,12.9,497,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2395,2330,2374,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8968,1.51,146.0,2892,2395,2373,2286,275.0,13.4,507,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2395,2329,2373,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9278,1.51,146.0,2893,2395,2373,2285,234.2,12.6,519,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2395,2329,2373,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9580,1.51,146.0,2893,2395,2373,2285,196.7,12.4,534,9586,0.00,2.67,0.00,0.000,260,0.000,0.147,2893,3807,2329,2373,2286,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9624,1.46,146.0,2892,3807,2373,2286,190.6,14.0,542,9630,0.15,2.45,0.00,0.000,5126,0.290,0.083,2868,2400,2329,2373,2286,0,0,0,0,0,0,14.66,14.75,28.83
$GC,9948,1.49,146.0,2868,2395,2373,2285,151.6,11.8,561,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2395,2329,2374,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10249,1.51,146.0,2868,2395,2373,2286,117.9,10.9,576,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2395,2329,2373,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10548,1.54,146.0,2868,2395,2374,2286,86.4,10.2,591,10554,0.08,2.67,0.00,0.000,2308,0.210,0.146,2903,3807,2330,2373,2287,0,0,0,0,0,0,14.77,14.72,28.83
$GC,10638,1.51,146.0,2903,3807,2373,2288,75.1,12.6,608,10644,0.15,2.45,0.00,0.000,5126,0.291,0.083,2878,2393,2334,2374,2295,0,0,0,0,0,0,14.67,14.75,28.83
$GC,10958,1.54,146.0,2878,2393,2374,2288,40.9,10.2,626,10963,0.00,2.45,0.00,0.000,516,0.000,0.115,2887,991,2330,2373,2288,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11056,1.59,166.3,2887,992,2373,2288,31.7,9.1,645,11073,0.00,2.53,10.18,0.219,9222,0.000,0.121,2887,2399,2272,2310,2234,0,0,0,0,0,0,28.83,14.72,14.65
$FREEZE,8.80,-0.198,-1.807,0,1,0
$FREEZE,7.92,-0.203,-1.806,0,1,0
$FREEZE,7.03,-0.199,-1.805,0,1,0
$FREEZE,6.31,-0.209,-1.805,0,1,0
$FREEZE,5.55,-0.204,-1.804,0,1,0
$FREEZE,4.75,-0.206,-1.804,0,1,0
$FREEZE,3.81,-0.207,-1.803,0,1,0
$FREEZE,3.23,-0.207,-1.802,0,1,0
$FREEZE,2.71,-0.207,-1.802,0,1,0
$GC,11376,1.68,210.0,2886,2399,2316,2254,3.8,8.0,676,11392,0.10,0.00,13.35,0.160,10498,0.177,0.000,2924,2399,2192,2231,2154,0,0,0,0,0,0,14.76,28.83,28.83
$STATE,11393,end climb,SURFACE_DEPTH_REACHED
$STATE,11394,begin surface coast
$FREEZE,1.32,-0.208,-1.801,0,1,0
$FREEZE,1.33,-0.272,-1.697,0,1,0
$FREEZE,1.39,-0.099,-0.433,0,1,0
$FINISH,1.4,1.006296
$STATE,11421,end surface coast,CONTROL_FINISHED_OK
$STATE,11421,begin surface
$SM_CCo,11438,225.80,0.161,0,0,497,601.23
$SM_GC,1.85,7.68,0.30,225.80,0.076,0.159,0.161,208,2552,497,-10.66,-0.42,601.23,0,0,0,0,0,0,14.76,14.70,14.51
$RAFOS_CLK,491
$RAFOS,1,1419970161,20.166666,20.155834,64,57,55,54,52,52,202,214,151,142,178,99
$RAFOS,0,1419969671,20.033333,20.019722,65,55,55,55,51,49,188,151,209,218,168,120
$RAFOS_FIX,6640.624023,-5720.196777,301214,121200,2,91,2.07
$IRIDIUM_FIX,6614.97,-5659.48,301214,100239
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,8.39122
$TCM_TEMP,13.60
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.2,17.5
$SC_FREEKB,7729600
$24V_AH,13.47,28.564
$10V_AH,13.66,0.000
$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,21.025,60.050,359.575,225.800,0.000,0.000,0.000,364.400,4.500,0.000,6.853,1548.394,8283.750,756.076,1446.256,161.258,0.000,1700.364,0.000,1015.454,1080.000,2.635,0.000
$DEVICE_MAMPS,462.825,164.475,1379.295,161.415,0.000,0.000,0.000,166.770,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11435.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.862,0.000,0.000,0.000
$MEM,271068
$DATA_FILE_SIZE,23403,681
$CAP_FILE_SIZE,120534,0
$CFSIZE,260034560,243879936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13461.93,0x23769e,7,5
$SOUNDSPEED,1467.1
$CURRENT,0.046,226.36,1
$GPS,301214,202634,6645.387,-5652.947,37,1.2,37,-32.2