version: 66.12
glider: 193
mission: 4
dive: 140
start: 1 1 115 17 39 3
data:
$ID,193
$MISSION,4
$DIVE,140
$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,21
$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
$GPS1,010115,173233,6659.804,-5648.198,37,0.9,42,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-58.9
$GPS2,010115,173831,6659.792,-5648.066,6,0.9,6,-32.5
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,0.8,5941,-18.4,-10.000,-20.87,2243
$D_GRID,513
$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,-146.0,201,2559,1521,1521,0.0,0.0,0,125,0.00,0.00,-103.35,0.000,16386,0.000,0.000,201,2559,3348,3324,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-1.60,-146.0,201,2560,3327,3372,3.2,-2.0,10,151,9.98,2.58,-5.88,0.000,18948,0.462,0.122,2192,1141,3549,3544,3554,0,0,0,0,0,0,14.35,14.51,14.73
$GC,327,-1.57,-146.0,2192,1141,3549,3554,30.5,-12.6,49,335,0.10,2.55,0.00,0.000,3078,0.331,0.117,2203,2549,3552,3550,3554,0,0,0,0,0,0,14.47,14.54,28.83
$GC,633,-1.57,-146.0,2203,2549,3549,3553,67.8,-12.2,65,639,0.00,2.42,0.00,0.000,260,0.000,0.142,2194,3833,3551,3549,3554,0,0,0,0,0,0,28.83,14.59,28.83
$GC,716,-1.54,-146.0,2195,3833,3550,3553,78.2,-12.5,81,723,0.00,2.20,0.00,0.000,1030,0.000,0.063,2194,2538,3551,3548,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1040,-1.54,-146.0,2194,2538,3550,3553,111.2,-9.4,100,1045,0.00,2.40,0.00,0.000,516,0.000,0.100,2194,1149,3550,3549,3552,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1167,-1.54,-146.0,2194,1149,3549,3551,124.0,-10.5,125,1173,0.12,2.53,0.00,0.000,3078,0.322,0.116,2213,2560,3550,3549,3551,0,0,0,0,0,0,14.56,14.65,28.83
$GC,1486,-1.57,-146.0,2213,2559,3549,3548,153.2,-9.1,143,1492,0.00,2.47,0.00,0.000,516,0.000,0.103,2214,1147,3549,3550,3549,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1570,-1.57,-146.0,2213,1147,3549,3549,161.2,-9.9,159,1575,0.00,2.53,0.00,0.000,1030,0.000,0.120,2207,2552,3549,3549,3549,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1893,-1.57,-146.0,2206,2553,3549,3549,190.8,-9.3,178,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2553,3549,3549,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-1.57,-146.0,2206,2553,3549,3549,219.3,-9.6,193,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2552,3549,3549,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,-1.57,-146.0,2206,2553,3549,3549,246.6,-9.0,208,2499,0.00,2.45,0.00,0.000,516,0.000,0.103,2206,1140,3549,3549,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2550,-1.57,-146.0,2206,1140,3549,3549,252.0,-9.1,219,2557,0.00,2.53,0.00,0.000,1030,0.000,0.120,2200,2549,3549,3549,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2857,-1.57,-146.0,2200,2549,3550,3549,279.1,-8.5,230,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2549,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,-1.57,-146.0,2200,2549,3550,3549,302.9,-7.7,240,3162,0.00,2.45,0.00,0.000,516,0.000,0.109,2200,1150,3550,3551,3549,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3205,-1.57,-146.0,2200,1150,3551,3549,306.8,-8.3,249,3211,0.00,2.50,0.00,0.000,1030,0.000,0.122,2193,2550,3549,3550,3548,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3526,-1.57,-146.0,2193,2550,3551,3549,332.1,-7.9,262,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2549,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,-1.57,-146.0,2196,2550,3551,3549,355.7,-8.1,272,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2547,3550,3552,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,-1.57,-146.0,2193,2550,3549,3556,380.5,-8.0,282,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2550,3548,3552,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4424,-1.57,-146.0,2193,2550,3552,3549,404.5,-7.9,292,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2549,3550,3552,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-1.57,-146.0,2193,2549,3552,3550,428.2,-8.0,302,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2549,3551,3552,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,-1.57,-146.0,2193,2550,3554,3551,451.2,-7.4,312,5029,0.00,2.45,0.00,0.000,516,0.000,0.112,2193,1143,3552,3554,3550,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5111,-1.57,-146.0,2194,1143,3554,3550,458.1,-8.5,329,5119,0.10,2.53,0.00,0.000,3078,0.330,0.125,2205,2552,3552,3554,3550,0,0,0,0,0,0,14.69,14.77,28.83
$GC,5419,-1.60,-146.0,2206,2552,3555,3551,480.5,-7.4,340,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2552,3553,3554,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5718,-1.62,-146.0,2206,2552,3556,3553,502.7,-7.4,350,5723,0.00,2.47,0.00,0.000,516,0.000,0.113,2207,1143,3554,3556,3553,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5765,-1.65,-146.0,2207,1143,3556,3552,506.4,-7.4,359,5771,0.00,2.53,0.00,0.000,1030,0.000,0.125,2200,2549,3554,3556,3553,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,5871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5871,begin apogee
$GC,5876,-0.38,0.0,2200,2400,3555,3553,514.5,-7.7,365,6033,0.93,0.00,148.02,2.083,10246,0.245,0.000,2461,2400,2951,2973,2930,0,0,0,0,1,0,14.69,28.83,13.15
$STATE,6034,end apogee,CONTROL_FINISHED_OK
$STATE,6034,begin climb
$GC,6036,1.60,146.0,2462,2400,2973,2933,515.9,0.0,370,6203,1.45,0.00,155.20,2.081,10246,0.152,0.000,2901,2400,2356,2401,2311,0,0,0,0,1,0,13.87,28.83,12.96
$GC,6504,1.57,146.0,2901,2399,2401,2307,459.4,13.5,386,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2399,2354,2401,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6804,1.54,146.0,2901,2400,2399,2305,419.6,13.4,396,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2400,2352,2399,2305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7104,1.52,146.0,2901,2400,2397,2304,378.7,13.6,406,7109,0.00,2.70,0.00,0.000,260,0.000,0.147,2901,3814,2351,2397,2305,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7181,1.45,146.0,2901,3814,2397,2305,366.7,15.8,421,7188,0.17,2.47,0.00,0.000,5126,0.290,0.081,2869,2406,2351,2397,2305,0,0,0,0,0,0,14.47,14.57,28.83
$GC,7502,1.45,146.0,2869,2406,2397,2304,325.2,13.3,434,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2406,2350,2397,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7801,1.45,146.0,2869,2406,2397,2303,286.8,12.5,444,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2406,2350,2397,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8101,1.45,146.0,2869,2406,2396,2303,251.1,11.8,454,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2406,2350,2397,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,1.45,146.0,2869,2406,2397,2303,214.7,11.9,469,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2406,2349,2397,2302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8711,1.45,146.0,2869,2406,2397,2302,179.4,11.5,484,8717,0.00,2.67,0.00,0.000,260,0.000,0.146,2868,3816,2350,2397,2303,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8778,1.45,146.0,2869,3820,2397,2303,171.0,12.6,497,8784,0.00,2.45,0.00,0.000,1030,0.000,0.080,2878,2399,2350,2397,2303,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9096,1.45,146.0,2878,2399,2396,2303,133.5,11.9,515,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2398,2349,2396,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9398,1.45,146.0,2878,2399,2397,2303,98.7,11.3,530,9403,0.00,2.45,0.00,0.000,516,0.000,0.111,2888,991,2350,2397,2304,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9470,1.45,146.0,2888,991,2392,2303,90.7,10.2,544,9476,0.10,2.50,0.00,0.000,5126,0.301,0.116,2868,2404,2350,2396,2304,0,0,0,0,0,0,14.65,14.71,28.83
$GC,9783,1.51,166.5,2867,2404,2397,2304,61.0,9.1,561,9804,0.00,2.65,12.00,0.327,8452,0.000,0.148,2868,3807,2273,2314,2232,0,0,0,0,0,0,28.83,14.68,14.59
$GC,9855,1.51,166.5,2867,3807,2314,2235,53.6,10.8,575,9860,0.00,2.45,0.00,0.000,1030,0.000,0.080,2877,2396,2275,2315,2235,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10168,1.56,179.7,2876,2395,2314,2234,24.3,9.4,592,10178,0.00,0.00,8.45,0.225,8198,0.000,0.000,2876,2396,2217,2260,2175,0,0,0,0,0,0,28.83,28.83,14.64
$FREEZE,8.17,-0.759,-1.806,0,1,0
$FREEZE,7.24,-0.754,-1.805,0,1,0
$FREEZE,6.31,-0.761,-1.804,0,1,0
$FREEZE,5.41,-0.804,-1.804,0,1,0
$FREEZE,4.52,-0.802,-1.803,0,1,0
$FREEZE,3.46,-0.815,-1.802,0,1,0
$FREEZE,2.69,-0.820,-1.802,0,1,0
$STATE,10396,end climb,SURFACE_DEPTH_REACHED
$STATE,10397,begin surface coast
$FREEZE,1.72,-0.817,-1.801,0,1,0
$FREEZE,1.40,-1.185,-1.713,0,1,0
$FREEZE,1.33,-1.007,-0.965,0,1,0
$FINISH,1.3,1.014245
$STATE,10429,end surface coast,CONTROL_FINISHED_OK
$STATE,10429,begin surface
$SM_CCo,10445,94.12,0.157,0,0,1523,350.04
$SM_GC,2.17,7.68,0.30,94.12,0.093,0.149,0.157,199,2548,1523,-10.66,-0.59,350.04,0,0,0,0,0,0,14.78,14.71,14.60
$RAFOS_CLK,1564
$RAFOS,3,1420143908,20.433332,20.418888,67,58,57,56,50,48,217,201,173,234,142,187
$RAFOS,2,1420143424,20.299999,20.284445,64,61,58,58,55,54,189,213,135,171,222,152
$RAFOS,1,1420142958,20.166666,20.155001,58,56,56,50,49,49,202,120,217,162,137,180
$RAFOS,0,1420142471,20.033333,20.019722,68,65,57,53,51,49,215,121,195,167,140,109
$RAFOS_FIX,6704.674805,-5657.331543,010115,161656,2,118,1.29
$IRIDIUM_FIX,6625.71,-5652.12,010115,140922
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.68
$INTERNAL_PRESSURE,8.48888
$TCM_TEMP,13.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.2
$SC_FREEKB,7725120
$24V_AH,12.96,31.645
$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,20.625,60.475,323.675,94.125,0.000,0.000,0.000,231.300,1.000,0.000,12.933,1461.729,7506.708,596.688,1225.410,127.832,0.000,1336.933,0.000,924.236,1440.000,2.635,0.000
$DEVICE_MAMPS,462.060,149.175,2083.095,156.825,0.000,0.000,0.000,148.410,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10432.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.139,0.000,0.000,0.000
$MEM,271024
$DATA_FILE_SIZE,20051,618
$CAP_FILE_SIZE,108144,1
$CFSIZE,260034560,242946048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,12318.30,0x23769e,7,5
$SOUNDSPEED,1467.0
$CURRENT,0.068,138.40,1
$GPS,010115,203604,6700.690,-5649.509,33,0.8,33,-32.5