version: 66.12
glider: 193
mission: 4
dive: 142
start: 1 1 115 22 30 50
data:
$ID,193
$MISSION,4
$DIVE,142
$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,36
$R_STBD_OVSHOOT,11
$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
$GPS1,010115,222504,6700.958,-5649.376,28,0.8,28,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-59.9
$GPS2,010115,223017,6700.959,-5649.402,5,0.8,5,-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,47.5,3913,-18.4,-10.000,-20.87,2243
$D_GRID,532
$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,-146.0,209,2531,1519,1520,0.0,0.0,0,122,0.00,0.00,-101.50,0.000,16386,0.000,0.000,209,2531,3353,3330,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.60,-146.0,209,2531,3331,3377,3.3,-2.1,10,147,10.10,2.50,-5.45,0.000,18948,0.470,0.129,2197,1156,3550,3545,3555,0,0,0,0,0,0,14.34,14.52,14.72
$GC,373,-1.58,-146.0,2197,1156,3551,3555,37.2,-12.8,59,379,0.00,2.55,0.00,0.000,1030,0.000,0.123,2191,2553,3553,3551,3555,0,0,0,0,0,0,28.83,14.56,28.83
$GC,691,-1.58,-146.0,2191,2552,3551,3555,76.8,-12.1,77,697,0.00,2.47,0.00,0.000,516,0.000,0.109,2190,1148,3552,3551,3554,0,0,0,0,0,0,28.83,14.63,28.83
$GC,748,-1.58,-146.0,2191,1148,3552,3555,83.9,-12.3,88,755,0.10,2.55,0.00,0.000,3078,0.334,0.122,2203,2557,3553,3551,3555,0,0,0,0,0,0,14.53,14.62,28.83
$GC,1054,-1.58,-146.0,2203,2557,3551,3554,116.6,-10.2,104,1059,0.00,2.47,0.00,0.000,516,0.000,0.108,2203,1147,3552,3551,3553,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1127,-1.58,-146.0,2203,1152,3551,3553,124.4,-10.5,118,1132,0.00,2.55,0.00,0.000,1030,0.000,0.124,2199,2554,3552,3552,3553,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1440,-1.58,-146.0,2199,2554,3551,3551,155.9,-9.9,135,1445,0.00,2.45,0.00,0.000,516,0.000,0.108,2199,1155,3551,3551,3551,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1487,-1.58,-146.0,2199,1156,3551,3551,160.8,-9.9,144,1492,0.00,2.53,0.00,0.000,1030,0.000,0.123,2193,2555,3551,3552,3551,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1804,-1.58,-146.0,2193,2555,3551,3550,191.2,-9.5,162,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2555,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-1.58,-146.0,2193,2555,3551,3550,219.3,-9.4,177,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2555,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2405,-1.58,-146.0,2192,2555,3551,3550,247.4,-9.5,192,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2555,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-1.58,-146.0,2188,2555,3551,3550,277.0,-9.4,203,2720,0.00,2.45,0.00,0.000,516,0.000,0.110,2192,1152,3551,3551,3551,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2797,-1.58,-146.0,2192,1152,3551,3551,285.2,-9.8,219,2802,0.00,2.53,0.00,0.000,1030,0.000,0.127,2187,2559,3551,3551,3551,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3111,-1.58,-146.0,2187,2559,3551,3551,315.3,-9.4,231,3116,0.00,2.47,0.00,0.000,516,0.000,0.113,2187,1148,3551,3551,3551,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3198,-1.58,-146.0,2187,1148,3551,3551,323.2,-8.4,248,3205,0.12,2.53,0.00,0.000,3078,0.323,0.127,2207,2552,3551,3551,3551,0,0,0,0,0,0,14.65,14.73,28.83
$GC,3505,-1.60,-146.0,2207,2552,3551,3551,347.0,-7.8,259,3510,0.00,2.45,0.00,0.000,516,0.000,0.112,2207,1151,3551,3552,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3558,-1.62,-146.0,2207,1151,3551,3551,351.2,-8.1,269,3563,0.00,2.53,0.00,0.000,1030,0.000,0.125,2201,2559,3551,3552,3551,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3872,-1.62,-146.0,2201,2562,3552,3552,374.8,-7.4,281,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2559,3552,3552,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4172,-1.65,-146.0,2201,2559,3552,3552,396.9,-7.4,291,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2559,3551,3552,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-1.65,-146.0,2200,2559,3554,3552,418.9,-7.3,301,4476,0.00,2.45,0.00,0.000,516,0.000,0.112,2201,1155,3553,3554,3552,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4564,-1.65,-146.0,2201,1155,3554,3553,426.5,-8.6,319,4569,0.00,2.53,0.00,0.000,1030,0.000,0.127,2196,2558,3553,3554,3553,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4897,-1.65,-146.0,2196,2558,3555,3553,454.8,-8.7,335,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2558,3554,3555,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5197,-1.65,-146.0,2196,2556,3556,3554,480.6,-8.6,345,5202,0.00,2.47,0.00,0.000,516,0.000,0.115,2196,1144,3554,3556,3553,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5302,-1.67,-146.0,2196,1144,3557,3554,489.9,-8.4,365,5307,0.00,2.53,0.00,0.000,1030,0.000,0.128,2190,2548,3554,3556,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5625,-1.67,-146.0,2190,2548,3556,3554,518.2,-8.5,379,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2548,3555,3556,3554,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5803,begin apogee
$GC,5808,-0.38,0.0,2190,2401,3556,3553,533.3,-8.4,385,5972,0.98,0.00,160.48,1.332,10246,0.250,0.000,2465,2401,2950,2972,2929,0,0,0,0,0,0,14.69,28.83,13.55
$STATE,5974,end apogee,CONTROL_FINISHED_OK
$STATE,5974,begin climb
$GC,5976,1.60,146.0,2465,2401,2962,2919,536.3,0.0,390,6142,1.40,0.00,161.25,1.233,10502,0.160,0.000,2896,2401,2355,2401,2309,0,0,0,0,0,0,14.00,28.83,13.44
$GC,6435,1.57,146.0,2896,2401,2376,2279,483.3,13.1,411,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2401,2327,2376,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6735,1.55,146.0,2896,2401,2374,2277,443.0,13.5,421,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2401,2325,2374,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,1.53,146.0,2896,2401,2375,2276,401.5,13.8,431,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2401,2325,2374,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7338,1.50,146.0,2896,2401,2374,2275,359.9,13.7,441,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2401,2325,2374,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7635,1.48,146.0,2896,2401,2372,2276,320.2,12.9,451,7636,0.10,0.00,0.00,0.000,4102,0.308,0.000,2875,2401,2324,2372,2276,0,0,0,0,0,0,14.59,28.83,28.83
$GC,7935,1.48,146.0,2875,2401,2372,2276,284.3,11.7,461,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2401,2324,2372,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8235,1.48,146.0,2876,2401,2372,2276,247.6,12.4,471,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2401,2323,2372,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8535,1.48,146.0,2875,2401,2372,2275,211.0,12.1,486,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2401,2323,2372,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8835,1.48,146.0,2876,2401,2372,2275,175.5,11.6,501,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2401,2323,2372,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,1.48,146.0,2876,2401,2372,2276,140.5,11.5,516,9141,0.00,2.67,0.00,0.000,260,0.000,0.145,2875,3813,2321,2367,2276,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9219,1.46,146.0,2875,3813,2369,2278,129.8,13.0,532,9224,0.00,2.42,0.00,0.000,1030,0.000,0.081,2885,2409,2323,2369,2277,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9541,1.46,146.0,2885,2409,2369,2277,91.6,11.9,551,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2409,2323,2369,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9843,1.46,146.0,2885,2409,2369,2283,55.8,11.4,566,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2409,2323,2369,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10143,1.50,161.9,2885,2409,2368,2280,26.8,9.3,581,10157,0.00,2.53,6.15,0.199,8708,0.000,0.113,2894,999,2292,2332,2253,0,0,0,0,0,0,28.83,14.71,14.67
$GC,10232,1.53,161.9,2895,999,2338,2270,18.0,10.3,598,10239,0.00,2.50,2.35,0.184,9222,0.000,0.116,2895,2402,2289,2328,2250,0,0,0,0,0,0,28.83,14.72,14.69
$FREEZE,8.50,-0.709,-1.805,0,1,0
$FREEZE,7.37,-0.720,-1.804,0,1,0
$FREEZE,6.53,-0.740,-1.803,0,1,0
$FREEZE,5.41,-0.780,-1.801,0,1,0
$FREEZE,4.58,-0.836,-1.799,0,1,0
$FREEZE,3.45,-0.967,-1.797,0,1,0
$FREEZE,2.38,-1.042,-1.796,0,1,0
$STATE,10386,end climb,SURFACE_DEPTH_REACHED
$STATE,10386,begin surface coast
$FREEZE,1.96,-0.330,-1.749,0,1,0
$FREEZE,1.88,-1.041,-1.795,0,1,0
$FINISH,1.9,1.026333
$STATE,10408,end surface coast,CONTROL_FINISHED_OK
$STATE,10408,begin surface
$SM_CCo,10545,104.43,0.158,0,0,1522,350.04
$SM_GC,2.18,8.00,0.30,104.43,0.126,0.154,0.158,208,2558,1522,-10.66,-0.28,350.04,0,0,0,0,0,0,14.79,14.73,14.62
$RAFOS_CLK,444
$RAFOS,6,1420159742,0.833333,0.817222,140,65,64,59,57,51,832,193,206,181,223,151
$RAFOS,5,1420159262,0.700000,0.683889,112,65,65,60,59,58,663,220,199,171,152,138
$RAFOS,4,1420158782,0.566667,0.550556,71,59,58,55,54,50,205,128,189,157,147,219
$RAFOS,3,1420158303,0.433333,0.417500,63,60,56,55,51,49,192,151,223,206,164,124
$RAFOS,2,1420157823,0.300000,0.284167,63,61,56,56,51,50,212,170,188,179,120,200
$RAFOS,1,1420157343,0.166667,0.150833,60,59,58,56,54,52,182,215,171,142,195,117
$RAFOS,0,1420156862,0.033333,0.017222,61,59,59,56,54,51,195,156,226,140,174,116
$RAFOS_FIX,6706.202637,-5658.831055,020115,000056,2,126,1.45
$IRIDIUM_FIX,6631.12,-5646.10,010115,203833
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.11
$INTERNAL_PRESSURE,8.49865
$TCM_TEMP,13.80
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.8,18.1
$SC_FREEKB,7724480
$24V_AH,13.44,31.978
$10V_AH,13.30,0.000
$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,20.800,56.300,330.225,104.425,0.000,0.000,0.000,201.075,2.000,0.000,6.895,1407.151,7690.222,582.051,1188.630,131.450,0.000,1301.769,0.000,923.547,2520.000,3.829,0.000
$DEVICE_MAMPS,469.710,153.765,1331.865,157.590,0.000,0.000,0.000,140.760,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.028,0.000,0.000,0.000
$MEM,271024
$DATA_FILE_SIZE,20052,616
$CAP_FILE_SIZE,107647,0
$CFSIZE,260034560,242839552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1467.8
$GPS,020115,012959,6702.427,-5648.306,40,0.9,40,-32.5