version: 66.12
glider: 193
mission: 4
dive: 143
start: 1 2 115 1 36 37
data:
$ID,193
$MISSION,4
$DIVE,143
$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,21
$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
$GPS1,020115,012959,6702.427,-5648.306,40,0.9,40,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-60.3
$GPS2,020115,013608,6702.395,-5648.352,5,0.9,5,-32.5
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,290.4,162827,-18.4,-10.000,-20.87,2243
$D_GRID,540
$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,-146.0,207,2559,1521,1522,0.0,0.0,0,122,0.00,0.00,-101.97,0.000,16386,0.000,0.000,208,2559,3393,3369,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.60,-146.0,207,2560,3372,3417,3.7,-2.7,10,146,10.12,0.00,-4.05,0.000,18950,0.471,0.000,2194,2559,3548,3542,3554,0,0,0,0,0,0,14.34,28.83,14.73
$GC,454,-1.57,-146.0,2194,2559,3547,3554,47.9,-12.3,36,459,0.00,2.42,0.00,0.000,260,0.000,0.148,2186,3837,3550,3547,3554,0,0,0,0,0,0,28.83,14.57,28.83
$GC,497,-1.53,-146.0,2186,3837,3547,3554,53.4,-13.4,44,503,0.12,2.20,0.00,0.000,3078,0.307,0.064,2213,2541,3550,3547,3554,0,0,0,0,0,0,14.51,14.62,28.83
$GC,820,-1.53,-146.0,2213,2541,3547,3554,88.6,-11.0,63,826,0.00,2.45,0.00,0.000,260,0.000,0.145,2203,3837,3550,3547,3553,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1052,-1.53,-146.0,2204,3837,3546,3552,114.5,-11.1,109,1057,0.00,2.20,0.00,0.000,1030,0.000,0.065,2204,2543,3549,3546,3553,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1365,-1.53,-146.0,2204,2543,3546,3550,145.3,-9.7,126,1370,0.00,2.45,0.00,0.000,260,0.000,0.143,2195,3846,3548,3547,3550,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1597,-1.53,-146.0,2195,3846,3546,3549,171.3,-11.3,172,1603,0.10,2.20,0.00,0.000,3078,0.308,0.065,2214,2552,3547,3546,3549,0,0,0,0,0,0,14.59,14.71,28.83
$GC,1911,-1.55,-146.0,2214,2551,3547,3549,201.3,-9.0,189,1916,0.00,2.42,0.00,0.000,260,0.000,0.143,2205,3845,3548,3547,3549,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2143,-1.55,-146.0,2205,3845,3547,3549,223.9,-10.0,235,2149,0.00,2.20,0.00,0.000,1030,0.000,0.064,2205,2543,3548,3547,3549,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2456,-1.55,-146.0,2201,2543,3547,3549,250.4,-8.3,252,2461,0.00,2.42,0.00,0.000,260,0.000,0.142,2196,3842,3548,3547,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2478,-1.55,-146.0,2197,3843,3547,3549,252.3,-8.5,256,2484,0.00,2.17,0.00,0.000,1030,0.000,0.063,2197,2552,3548,3547,3549,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2793,-1.55,-146.0,2197,2551,3547,3550,280.0,-8.9,268,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2551,3548,3547,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-1.55,-146.0,2196,2550,3548,3549,305.6,-8.2,278,3097,0.00,2.40,0.00,0.000,260,0.000,0.144,2188,3844,3549,3548,3550,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3118,-1.55,-146.0,2188,3844,3548,3549,307.9,-8.5,283,3125,0.10,2.17,0.00,0.000,3078,0.309,0.063,2207,2546,3548,3548,3549,0,0,0,0,0,0,14.66,14.78,28.83
$GC,3426,-1.57,-146.0,2207,2547,3549,3549,332.7,-7.8,294,3431,0.00,2.40,0.00,0.000,260,0.000,0.142,2199,3838,3548,3550,3547,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3658,-1.57,-146.0,2198,3838,3545,3556,354.1,-10.1,340,3663,0.00,2.17,0.00,0.000,1030,0.000,0.064,2198,2544,3549,3550,3549,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3972,-1.57,-146.0,2199,2544,3551,3549,380.9,-8.8,352,3977,0.00,2.40,0.00,0.000,260,0.000,0.142,2190,3838,3550,3551,3549,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4203,-1.57,-146.0,2190,3837,3551,3549,404.1,-10.2,398,4209,0.00,2.17,0.00,0.000,1030,0.000,0.063,2190,2541,3550,3551,3549,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4518,-1.57,-146.0,2190,2540,3551,3549,431.7,-8.7,410,4523,0.00,2.42,0.00,0.000,260,0.000,0.141,2181,3847,3550,3551,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4750,-1.57,-146.0,2181,3848,3551,3549,453.4,-9.1,456,4756,0.12,2.17,0.00,0.000,3078,0.296,0.063,2208,2552,3550,3551,3550,0,0,0,0,0,0,14.66,14.81,28.83
$GC,5065,-1.60,-146.0,2208,2551,3551,3550,477.4,-7.7,468,5071,0.00,2.38,0.00,0.000,260,0.000,0.144,2199,3838,3551,3552,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5208,-1.60,-146.0,2199,3838,3552,3550,489.7,-8.4,496,5213,0.00,2.17,0.00,0.000,1030,0.000,0.063,2199,2541,3551,3552,3550,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5522,-1.62,-146.0,2199,2541,3552,3550,514.8,-8.2,508,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2541,3551,3552,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,-1.64,-146.0,2199,2541,3552,3550,539.8,-8.5,518,5827,0.00,2.42,0.00,0.000,260,0.000,0.142,2190,3845,3551,3552,3550,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,5832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5832,begin apogee
$GC,5839,-0.38,0.0,2190,2389,3552,3551,540.9,-8.4,520,6025,0.98,0.00,182.38,1.245,10246,0.256,0.000,2462,2387,2952,2973,2931,0,0,0,0,0,0,14.69,28.83,13.54
$STATE,6026,end apogee,CONTROL_FINISHED_OK
$STATE,6026,begin climb
$GC,6028,1.60,146.0,2462,2388,2963,2921,541.5,0.0,526,6196,1.38,2.72,157.45,1.234,10756,0.138,0.125,2908,997,2346,2393,2300,0,0,0,0,0,0,14.01,13.85,13.44
$GC,6423,1.58,146.0,2907,997,2376,2279,496.0,13.7,607,6429,0.00,2.60,0.00,0.000,1030,0.000,0.124,2907,2405,2327,2376,2278,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6742,1.54,146.0,2907,2405,2374,2275,452.3,13.6,620,6749,0.10,2.53,0.00,0.000,4612,0.308,0.116,2897,1003,2324,2374,2275,0,0,0,0,0,0,14.40,14.46,28.83
$GC,6915,1.54,146.0,2897,1003,2372,2275,430.0,11.9,654,6920,0.00,2.53,0.00,0.000,1030,0.000,0.120,2897,2402,2324,2373,2275,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7229,1.52,146.0,2897,2402,2373,2275,391.5,12.4,666,7235,0.00,2.67,0.00,0.000,260,0.000,0.145,2897,3816,2323,2372,2274,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7302,1.47,146.0,2897,3816,2369,2276,381.0,14.3,680,7309,0.15,2.45,0.00,0.000,5126,0.299,0.080,2873,2410,2322,2369,2276,0,0,0,0,0,0,14.52,14.63,28.83
$GC,7627,1.47,146.0,2873,2409,2369,2275,342.4,11.7,694,7633,0.00,2.50,0.00,0.000,516,0.000,0.112,2882,988,2322,2369,2275,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7649,1.47,146.0,2882,988,2369,2275,339.6,12.1,698,7655,0.00,2.53,0.00,0.000,1030,0.000,0.116,2882,2404,2322,2370,2275,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7962,1.47,146.0,2882,2404,2369,2275,302.2,12.0,710,7968,0.00,2.65,0.00,0.000,260,0.000,0.145,2882,3809,2322,2369,2275,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7999,1.43,146.0,2882,3809,2368,2276,297.0,13.9,717,8006,0.12,2.47,0.00,0.000,5126,0.301,0.080,2865,2391,2322,2368,2276,0,0,0,0,0,0,14.61,14.71,28.83
$GC,8329,1.43,146.0,2865,2391,2368,2276,259.5,11.6,732,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2391,2322,2368,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8640,1.43,146.0,2864,2391,2368,2275,223.5,11.7,746,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2391,2322,2369,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8939,1.43,146.0,2865,2391,2368,2275,187.8,11.8,761,8945,0.00,2.67,0.00,0.000,260,0.000,0.145,2864,3810,2321,2368,2275,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8982,1.43,146.0,2864,3810,2368,2276,182.2,13.0,769,8987,0.00,2.45,0.00,0.000,1030,0.000,0.079,2873,2391,2322,2369,2275,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9304,1.43,146.0,2874,2391,2368,2276,143.8,11.2,788,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2390,2322,2368,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9605,1.43,146.0,2873,2391,2368,2276,109.4,11.3,803,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2391,2321,2368,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9906,1.46,146.0,2873,2390,2368,2276,76.0,10.9,818,9911,0.00,2.67,0.00,0.000,260,0.000,0.145,2869,3809,2322,2368,2276,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9922,1.46,146.0,2873,3809,2368,2276,73.8,11.0,821,9929,0.00,2.42,0.00,0.000,1030,0.000,0.078,2883,2398,2322,2368,2276,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10229,1.50,157.5,2883,2398,2368,2277,43.4,9.5,837,10239,0.00,2.50,2.58,0.200,8708,0.000,0.111,2890,995,2311,2352,2270,0,0,0,0,0,0,28.83,14.72,14.71
$GC,10302,1.54,165.0,2892,995,2353,2282,36.5,9.7,851,10313,0.00,2.53,6.88,0.227,9222,0.000,0.116,2892,2408,2277,2318,2236,0,0,0,0,0,0,28.83,14.72,14.64
$FREEZE,8.35,-0.798,-1.804,0,1,0
$FREEZE,7.42,-0.805,-1.803,0,1,0
$FREEZE,6.50,-0.807,-1.802,0,1,0
$FREEZE,5.72,-0.807,-1.802,0,1,0
$FREEZE,5.28,-0.857,-1.801,0,1,0
$GC,10613,1.58,180.1,2893,2408,2325,2263,6.5,9.3,877,10632,0.00,2.53,11.80,0.172,8708,0.000,0.112,2901,985,2215,2253,2178,0,0,0,0,0,0,28.83,14.69,14.69
$FREEZE,3.83,-0.891,-1.799,0,1,0
$FREEZE,3.50,-0.891,-1.799,0,1,0
$FREEZE,2.97,-1.007,-1.799,0,1,0
$STATE,10648,end climb,SURFACE_DEPTH_REACHED
$STATE,10648,begin surface coast
$FREEZE,2.62,-1.007,-1.799,0,1,0
$FREEZE,1.98,-1.046,-1.797,0,1,0
$FREEZE,1.58,-1.046,-1.797,0,1,0
$FREEZE,1.53,-1.145,-1.795,0,1,0
$FREEZE,1.57,-1.145,-1.795,0,1,0
$FREEZE,1.58,-1.113,-1.795,0,1,0
$FINISH,1.6,1.026342
$STATE,10682,end surface coast,CONTROL_FINISHED_OK
$STATE,10682,begin surface
$SM_CCo,10700,93.82,0.155,0,0,1521,350.04
$SM_GC,2.20,7.78,2.85,93.82,0.096,0.115,0.155,206,2549,1521,-10.66,-0.57,350.04,0,0,0,0,0,0,14.76,14.71,14.60
$RAFOS_CLK,446
$RAFOS,3,1420172703,4.433333,4.417500,68,63,58,52,50,49,187,209,171,225,118,156
$RAFOS,2,1420172239,4.300000,4.288611,57,56,56,55,54,52,170,161,208,143,217,998
$RAFOS,1,1420171759,4.166667,4.155278,62,59,56,53,53,52,176,198,211,158,139,229
$RAFOS,0,1420171273,4.033333,4.020278,60,58,58,56,54,50,175,191,210,119,157,138
$RAFOS_FIX,6706.202637,-5658.831055,020115,000056,2,126,1.45
$IRIDIUM_FIX,6625.71,-5653.72,010115,222659
$TT8_MAMPS,0.028462,0.028462
$HUMID,44.25
$INTERNAL_PRESSURE,8.49865
$TCM_TEMP,13.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.6
$SC_FREEKB,7724160
$24V_AH,13.44,32.173
$10V_AH,13.27,0.000
$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,21.075,97.225,361.075,93.825,0.000,0.000,0.000,241.250,1.000,0.000,6.885,1772.770,7018.465,604.210,1625.755,160.390,0.000,1565.676,0.000,1313.950,1800.000,2.635,0.000
$DEVICE_MAMPS,471.240,148.410,1245.420,154.530,0.000,0.000,0.000,144.585,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10696.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.053,0.000,0.000,0.000
$MEM,271088
$DATA_FILE_SIZE,30020,889
$CAP_FILE_SIZE,128130,0
$CFSIZE,260034560,242741248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11145.55,0x23769e,7,5
$SOUNDSPEED,1470.7
$GPS,020115,043805,6701.079,-5649.951,43,1.1,43,-32.5