version: 66.12
glider: 193
mission: 4
dive: 135
start: 1 1 115 0 1 46
data:
$ID,193
$MISSION,4
$DIVE,135
$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,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,22
$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
$GPS1,311214,235327,6654.018,-5653.220,40,1.0,45,-32.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-58.3
$GPS2,010115,000113,6653.997,-5653.307,5,0.9,5,-32.4
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,37.3,17110,-18.4,-10.000,-20.87,2243
$D_GRID,618
$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,19,-1.60,-146.0,198,2552,1525,1514,0.0,0.0,0,124,0.00,0.00,-102.68,0.000,16386,0.000,0.000,197,2553,3342,3316,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-1.60,-146.0,197,2553,3319,3368,3.7,-3.8,10,145,9.98,0.00,-5.47,0.000,18950,0.457,0.000,2194,2553,3548,3543,3554,0,0,0,0,0,0,14.31,28.83,14.69
$GC,453,-1.57,-146.0,2194,2553,3551,3555,45.3,-11.5,35,459,0.00,2.47,0.00,0.000,516,0.000,0.099,2194,1133,3553,3551,3555,0,0,0,0,0,0,28.83,14.57,28.83
$GC,596,-1.57,-146.0,2194,1132,3551,3554,61.3,-11.0,63,601,0.00,2.55,0.00,0.000,1030,0.000,0.118,2189,2549,3553,3551,3555,0,0,0,0,0,0,28.83,14.58,28.83
$GC,921,-1.57,-146.0,2189,2550,3551,3554,101.0,-12.6,82,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2550,3552,3551,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1219,-1.57,-146.0,2189,2550,3551,3553,135.0,-10.5,97,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2550,3551,3551,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-1.57,-146.0,2188,2550,3551,3556,164.7,-9.7,112,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2550,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1820,-1.57,-146.0,2189,2550,3551,3551,192.8,-9.0,127,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2550,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,-1.57,-146.0,2189,2550,3551,3551,220.9,-9.5,142,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2550,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2419,-1.57,-146.0,2189,2550,3551,3551,248.5,-9.3,157,2426,0.00,2.45,0.00,0.000,516,0.000,0.100,2189,1133,3551,3551,3551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2522,-1.57,-146.0,2189,1133,3551,3551,258.9,-10.2,177,2529,0.12,2.53,0.00,0.000,3078,0.308,0.116,2208,2551,3551,3551,3551,0,0,0,0,0,0,14.63,14.71,28.83
$GC,2849,-1.60,-146.0,2208,2551,3551,3551,288.1,-9.2,191,2855,0.00,2.45,0.00,0.000,516,0.000,0.101,2208,1133,3551,3551,3551,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2917,-1.60,-146.0,2208,1133,3551,3552,294.7,-9.5,204,2922,0.00,2.53,0.00,0.000,1030,0.000,0.117,2201,2550,3551,3551,3551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3245,-1.60,-146.0,2201,2550,3552,3552,323.0,-8.5,219,3251,0.00,2.45,0.00,0.000,516,0.000,0.103,2201,1133,3552,3552,3552,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3308,-1.60,-146.0,2201,1133,3552,3551,328.8,-9.2,231,3313,0.00,2.53,0.00,0.000,1030,0.000,0.119,2195,2550,3552,3552,3552,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3642,-1.60,-146.0,2195,2550,3552,3552,359.2,-9.3,247,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2550,3552,3552,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3941,-1.60,-146.0,2195,2550,3556,3552,387.3,-9.5,257,3947,0.00,2.45,0.00,0.000,516,0.000,0.106,2196,1139,3554,3556,3552,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3999,-1.60,-146.0,2195,1138,3556,3552,393.1,-10.0,268,4005,0.00,2.53,0.00,0.000,1030,0.000,0.122,2189,2554,3554,3556,3553,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4306,-1.60,-146.0,2189,2554,3556,3552,421.6,-9.2,279,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2554,3554,3556,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4605,-1.60,-146.0,2189,2554,3557,3553,449.3,-9.2,289,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2554,3555,3557,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4905,-1.60,-146.0,2188,2554,3557,3554,477.9,-9.5,299,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2554,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5205,-1.60,-146.0,2189,2554,3557,3554,505.2,-9.0,309,5212,0.00,2.47,0.00,0.000,516,0.000,0.114,2189,1136,3555,3557,3554,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5254,-1.60,-146.0,2189,1136,3558,3554,509.6,-8.9,318,5259,0.00,2.55,0.00,0.000,1030,0.000,0.127,2183,2559,3555,3557,3554,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5573,-1.60,-146.0,2183,2560,3557,3554,537.1,-8.4,331,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2559,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5872,-1.60,-146.0,2183,2560,3557,3554,561.4,-7.9,341,5874,0.10,0.00,0.00,0.000,2054,0.330,0.000,2202,2559,3555,3557,3554,0,0,0,0,0,0,14.69,28.83,28.83
$GC,6173,-1.62,-146.0,2202,2559,3557,3553,583.1,-7.2,351,6179,0.00,2.50,0.00,0.000,516,0.000,0.117,2202,1136,3555,3557,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6225,-1.62,-146.0,2201,1136,3557,3554,587.0,-7.4,361,6231,0.00,2.58,0.00,0.000,1030,0.000,0.131,2196,2559,3555,3556,3554,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6541,-1.62,-146.0,2196,2559,3557,3553,609.2,-7.1,373,6547,0.00,2.50,0.00,0.000,516,0.000,0.116,2196,1133,3555,3557,3554,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,6647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6648,begin apogee
$GC,6655,-0.38,0.0,2191,2401,3557,3554,618.3,-8.5,394,6830,0.98,0.00,168.18,1.405,10246,0.249,0.000,2466,2401,2943,2966,2921,0,0,0,0,0,0,14.69,28.83,13.50
$STATE,6831,end apogee,CONTROL_FINISHED_OK
$STATE,6831,begin climb
$GC,6833,1.60,146.0,2466,2401,2961,2915,621.0,0.0,400,7011,1.42,0.00,166.88,1.329,10246,0.155,0.000,2900,2401,2342,2389,2295,0,0,0,0,0,0,13.99,28.83,13.38
$GC,7310,1.57,146.0,2900,2401,2373,2275,565.7,13.0,416,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2400,2324,2373,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7610,1.55,146.0,2900,2401,2371,2274,526.5,13.2,426,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2401,2320,2366,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7910,1.53,146.0,2900,2401,2370,2273,486.9,13.5,436,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2401,2321,2370,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8211,1.51,146.0,2900,2401,2369,2273,447.9,13.0,446,8212,0.10,0.00,0.00,0.000,4102,0.308,0.000,2880,2401,2321,2369,2273,0,0,0,0,0,0,14.55,28.83,28.83
$GC,8509,1.51,146.0,2880,2401,2368,2271,410.3,12.7,456,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2401,2320,2369,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8810,1.51,146.0,2880,2401,2367,2272,371.8,13.1,466,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2400,2319,2367,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9109,1.51,146.0,2880,2401,2366,2270,332.6,13.2,476,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2400,2319,2367,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9410,1.51,146.0,2879,2401,2366,2271,294.2,12.7,486,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2400,2318,2366,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9710,1.51,146.0,2880,2400,2366,2270,256.1,12.4,496,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2401,2318,2366,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10011,1.51,146.0,2880,2401,2366,2271,219.7,12.1,510,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2401,2318,2366,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10310,1.51,146.0,2880,2401,2366,2271,184.9,11.2,525,10317,0.00,2.65,0.00,0.000,260,0.000,0.145,2879,3809,2319,2366,2272,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10368,1.48,146.0,2879,3809,2366,2272,177.4,12.8,536,10375,0.00,2.45,0.00,0.000,1030,0.000,0.083,2888,2396,2316,2365,2268,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10674,1.48,146.0,2889,2396,2366,2273,140.9,11.8,552,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2396,2319,2366,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10975,1.48,146.0,2888,2396,2366,2273,107.1,11.0,567,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2396,2319,2365,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11275,1.48,146.0,2888,2396,2365,2273,75.0,10.6,582,11281,0.00,2.67,0.00,0.000,260,0.000,0.145,2888,3810,2319,2366,2273,0,0,0,0,0,0,28.83,14.71,28.83
$GC,11362,1.46,146.0,2888,3810,2366,2274,64.4,12.2,599,11368,0.12,2.45,0.00,0.000,5126,0.290,0.083,2869,2397,2320,2366,2275,0,0,0,0,0,0,14.67,14.76,28.83
$GC,11681,1.53,177.0,2869,2396,2366,2275,36.2,8.6,617,11703,0.00,2.55,14.90,0.236,8708,0.000,0.113,2879,985,2231,2272,2190,0,0,0,0,0,0,28.83,14.71,14.64
$GC,11826,1.61,196.5,2879,985,2274,2209,22.2,9.1,645,11849,0.10,2.53,13.65,0.210,11270,0.172,0.120,2922,2400,2150,2188,2112,0,0,0,0,0,0,14.74,14.69,14.64
$FREEZE,7.91,-0.286,-1.807,0,1,0
$FREEZE,6.48,-0.284,-1.805,0,1,0
$FREEZE,5.25,-0.282,-1.805,0,1,0
$FREEZE,3.66,-0.292,-1.804,0,1,0
$FREEZE,2.57,-0.300,-1.803,0,1,0
$STATE,11986,end climb,SURFACE_DEPTH_REACHED
$STATE,11986,begin surface coast
$FREEZE,1.58,-0.319,-1.802,0,1,0
$FREEZE,1.25,-0.631,-0.936,0,1,0
$FINISH,1.2,1.013814
$STATE,12007,end surface coast,CONTROL_FINISHED_OK
$STATE,12007,begin surface
$SM_CCo,12023,85.85,0.155,0,0,1521,350.04
$SM_GC,2.07,7.72,0.28,85.85,0.083,0.134,0.155,210,2553,1521,-10.64,-0.59,350.04,0,0,0,0,0,0,14.76,14.72,14.60
$RAFOS_CLK,515
$RAFOS,6,1420073350,0.833333,0.819444,96,63,55,52,52,52,801,217,183,166,133,142
$RAFOS,5,1420072862,0.700000,0.683889,65,64,63,62,59,54,206,177,167,188,118,220
$RAFOS,4,1420072382,0.566667,0.550556,63,60,54,53,53,47,220,196,170,205,122,159
$RAFOS,3,1420071903,0.433333,0.417500,58,57,56,56,55,52,166,140,191,209,175,200
$RAFOS,2,1420071422,0.300000,0.283889,68,61,60,57,52,49,208,190,134,159,217,179
$RAFOS,1,1420070956,0.166667,0.154444,62,59,57,56,53,51,226,208,174,131,153,119
$RAFOS_FIX,6658.460938,-5650.041016,311214,040400,2,73,4.83
$IRIDIUM_FIX,6620.33,-5655.12,311214,202042
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.48
$INTERNAL_PRESSURE,8.48888
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,17.8
$SC_FREEKB,7726720
$24V_AH,13.38,30.526
$10V_AH,13.64,0.000
$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,20.650,55.450,363.600,85.850,0.000,0.000,0.000,333.725,0.500,0.000,6.856,1592.900,8843.809,616.940,1404.908,133.338,0.000,1491.976,0.000,997.193,2160.000,2.634,0.000
$DEVICE_MAMPS,456.705,145.350,1405.305,155.295,0.000,0.000,0.000,157.590,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.821,0.000,0.000,0.000
$MEM,271008
$DATA_FILE_SIZE,23400,665
$CAP_FILE_SIZE,115648,0
$CFSIZE,260034560,243265536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12978.06,0x23769e,7,5
$SOUNDSPEED,1466.8
$CURRENT,0.151,150.06,1
$GPS,010115,032507,6654.850,-5651.887,41,1.1,42,-32.4