version: 66.12
glider: 193
mission: 4
dive: 149
start: 1 2 115 21 22 14
data:
$ID,193
$MISSION,4
$DIVE,149
$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,19
$R_STBD_OVSHOOT,10
$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
$GPS1,020115,211403,6701.919,-5646.891,41,1.0,46,-32.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-54.6
$GPS2,020115,212141,6701.943,-5647.078,5,1.0,5,-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,290.8,163566,-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,19,-1.60,-146.0,195,2553,1530,1507,0.0,0.0,0,122,0.00,0.00,-101.40,0.000,16386,0.000,0.000,195,2553,3343,3320,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.60,-146.0,195,2554,3322,3368,3.9,-3.5,10,147,10.15,2.53,-5.45,0.000,18692,0.469,0.164,2182,3842,3549,3544,3554,0,0,0,0,0,0,14.31,14.47,14.72
$GC,373,-1.55,-146.0,2182,3842,3549,3554,41.8,-12.9,59,380,0.12,2.22,0.00,0.000,3078,0.308,0.062,2208,2536,3551,3549,3554,0,0,0,0,0,0,14.47,14.61,28.83
$GC,692,-1.55,-146.0,2208,2536,3550,3554,77.4,-10.3,77,697,0.00,2.47,0.00,0.000,260,0.000,0.146,2199,3844,3551,3549,3554,0,0,0,0,0,0,28.83,14.59,28.83
$GC,908,-1.55,-146.0,2198,3844,3549,3552,101.4,-11.1,120,915,0.00,2.22,0.00,0.000,1030,0.000,0.063,2198,2540,3550,3550,3551,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1215,-1.55,-146.0,2199,2539,3549,3550,132.8,-9.9,136,1220,0.00,2.40,0.00,0.000,516,0.000,0.098,2199,1146,3549,3549,3549,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1287,-1.55,-146.0,2199,1146,3549,3549,139.8,-9.6,150,1293,0.00,2.50,0.00,0.000,1030,0.000,0.116,2193,2555,3549,3550,3549,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1600,-1.55,-146.0,2192,2555,3549,3549,169.4,-9.4,167,1606,0.00,2.38,0.00,0.000,260,0.000,0.142,2182,3836,3549,3549,3549,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1628,-1.53,-146.0,2182,3836,3549,3549,172.2,-9.6,172,1634,0.15,2.17,0.00,0.000,3078,0.295,0.060,2215,2544,3549,3549,3549,0,0,0,0,0,0,14.58,14.72,28.83
$GC,1947,-1.55,-146.0,2215,2544,3549,3549,200.1,-8.4,190,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2543,3549,3549,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,-1.58,-146.0,2215,2544,3549,3549,225.3,-8.4,205,2253,0.00,2.40,0.00,0.000,516,0.000,0.103,2216,1151,3549,3550,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2301,-1.61,-146.0,2215,1151,3549,3549,230.0,-8.9,215,2306,0.00,2.50,0.00,0.000,1030,0.000,0.117,2208,2556,3549,3549,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2624,-1.63,-146.0,2208,2556,3549,3549,258.3,-8.6,231,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2556,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2924,-1.65,-146.0,2208,2556,3551,3550,285.3,-9.0,241,2930,0.00,2.42,0.00,0.000,516,0.000,0.102,2208,1149,3550,3551,3549,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2981,-1.65,-146.0,2208,1150,3551,3549,291.0,-9.9,252,2988,0.00,2.50,0.00,0.000,1030,0.000,0.118,2202,2558,3549,3551,3548,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3288,-1.65,-146.0,2201,2558,3551,3549,318.6,-8.9,263,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2558,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-1.65,-146.0,2201,2555,3551,3549,343.5,-8.2,273,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2558,3550,3552,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3888,-1.65,-146.0,2201,2558,3552,3549,367.5,-7.8,283,3893,0.00,2.42,0.00,0.000,516,0.000,0.106,2202,1152,3550,3552,3549,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3935,-1.65,-146.0,2202,1152,3552,3549,371.4,-7.9,292,3940,0.00,2.47,0.00,0.000,1030,0.000,0.120,2195,2549,3550,3552,3549,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4253,-1.65,-146.0,2195,2549,3552,3550,395.8,-7.5,305,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2549,3551,3552,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4553,-1.65,-146.0,2202,2549,3555,3550,418.8,-7.6,315,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2549,3552,3555,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4852,-1.65,-146.0,2195,2549,3555,3551,441.8,-7.7,325,4858,0.00,2.42,0.00,0.000,516,0.000,0.110,2195,1151,3553,3555,3551,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4900,-1.65,-146.0,2195,1151,3555,3551,445.7,-8.5,334,4905,0.00,2.50,0.00,0.000,1030,0.000,0.122,2190,2558,3553,3555,3552,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5218,-1.65,-146.0,2188,2557,3555,3552,471.0,-7.8,347,5224,0.00,2.45,0.00,0.000,516,0.000,0.111,2189,1149,3553,3555,3552,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5261,-1.65,-146.0,2189,1149,3555,3552,474.5,-8.0,355,5266,0.00,2.50,0.00,0.000,1030,0.000,0.124,2182,2551,3554,3555,3553,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5584,-1.65,-146.0,2182,2550,3555,3553,500.1,-7.9,369,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2551,3554,3556,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-1.73,-146.0,2183,2551,3556,3552,523.8,-7.4,379,5890,0.00,2.45,0.00,0.000,516,0.000,0.116,2182,1152,3555,3557,3553,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,6025,end dive,NO_VERTICAL_VELOCITY
$STATE,6025,begin apogee
$GC,6031,-0.38,0.0,2182,2401,3557,3553,523.9,0.0,407,6238,0.90,0.00,194.23,1.303,10246,0.172,0.000,2465,2401,2955,2974,2937,0,0,0,0,1,0,14.73,28.83,13.18
$STATE,6240,end apogee,CONTROL_FINISHED_OK
$STATE,6240,begin climb
$GC,6241,1.60,146.0,2465,2401,2974,2940,523.1,0.0,414,6412,1.40,2.90,155.10,2.119,10500,0.155,0.145,2896,3806,2356,2400,2312,0,0,0,0,1,0,13.96,13.64,12.97
$GC,6630,1.54,146.0,2896,3806,2400,2316,474.8,15.2,492,6635,0.00,2.53,0.00,0.000,1030,0.000,0.080,2906,2408,2357,2400,2315,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6964,1.51,146.0,2906,2408,2400,2312,430.0,13.2,508,6970,0.12,2.58,0.00,0.000,4612,0.294,0.119,2884,985,2356,2400,2312,0,0,0,0,0,0,14.35,14.41,28.83
$GC,7001,1.51,146.0,2884,985,2395,2311,424.8,12.6,515,7007,0.00,2.60,0.00,0.000,1030,0.000,0.120,2884,2405,2355,2400,2311,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7330,1.51,146.0,2884,2406,2400,2310,385.9,11.8,530,7335,0.00,2.67,0.00,0.000,260,0.000,0.146,2884,3810,2355,2400,2310,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7367,1.47,146.0,2884,3810,2399,2310,381.1,13.0,537,7373,0.12,2.47,0.00,0.000,5126,0.303,0.079,2867,2396,2354,2399,2310,0,0,0,0,0,0,14.47,14.57,28.83
$GC,7695,1.47,146.0,2867,2396,2399,2309,344.5,10.9,552,7700,0.00,2.47,0.00,0.000,516,0.000,0.111,2877,986,2354,2399,2309,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7721,1.47,146.0,2876,986,2398,2310,341.5,11.1,557,7728,0.00,2.55,0.00,0.000,1030,0.000,0.119,2876,2405,2354,2397,2311,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8027,1.47,146.0,2877,2406,2393,2309,304.8,11.8,568,8033,0.00,2.65,0.00,0.000,260,0.000,0.148,2876,3814,2353,2398,2309,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8075,1.44,146.0,2876,3814,2397,2310,298.7,12.9,577,8081,0.10,2.45,0.00,0.000,5126,0.322,0.079,2866,2399,2354,2398,2310,0,0,0,0,0,0,14.59,14.68,28.83
$GC,8394,1.44,146.0,2867,2399,2397,2309,261.5,11.6,590,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2399,2353,2398,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,1.44,146.0,2866,2399,2398,2309,226.4,11.8,603,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2399,2353,2398,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,1.44,146.0,2866,2399,2397,2310,190.6,11.6,618,8999,0.00,2.45,0.00,0.000,516,0.000,0.109,2875,987,2353,2398,2309,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9026,1.44,146.0,2875,987,2397,2309,186.6,11.9,624,9032,0.00,2.53,0.00,0.000,1030,0.000,0.116,2875,2405,2352,2397,2308,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9339,1.44,146.0,2875,2406,2397,2315,151.8,10.9,641,9344,0.00,2.62,0.00,0.000,260,0.000,0.147,2875,3812,2353,2397,2309,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9361,1.44,146.0,2875,3812,2397,2310,149.0,12.0,645,9368,0.05,2.42,0.00,0.000,5126,0.283,0.078,2870,2395,2353,2397,2309,0,0,0,0,0,0,14.64,14.74,28.83
$GC,9686,1.46,146.0,2870,2395,2394,2309,112.3,11.5,664,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2395,2353,2398,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9987,1.49,146.0,2870,2395,2397,2310,81.4,10.5,679,9992,0.00,2.65,0.00,0.000,260,0.000,0.146,2869,3809,2353,2397,2310,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10004,1.49,146.0,2870,3809,2397,2310,79.3,10.5,682,10012,0.00,2.45,0.00,0.000,1030,0.000,0.078,2879,2391,2354,2398,2310,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10310,1.52,152.9,2879,2390,2398,2310,49.0,9.7,698,10320,0.00,0.00,4.30,0.282,8454,0.000,0.000,2879,2391,2328,2368,2289,0,0,0,0,0,0,28.83,28.83,14.62
$GC,10623,1.62,210.1,2879,2391,2368,2299,21.0,7.4,719,10666,0.10,2.47,34.40,0.207,10756,0.171,0.112,2931,985,2094,2136,2052,0,0,0,0,0,0,14.78,14.66,14.64
$STATE,10671,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10671,begin subsurface finish
$FINISH1,16.0,1.026376,55
$GC,10680,0.07,55.5,2931,2403,2136,2054,16.0,11.0,728,10701,1.27,2.58,-13.82,0.000,20996,0.249,0.132,2567,984,2728,2744,2712,0,0,0,0,0,0,14.60,14.66,14.90
$FINISH2,13.8
$STATE,10702,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10702,begin surface
$RAFOS_CLK,446
$RAFOS,1,1420243743,0.166667,0.150833,69,64,59,58,52,51,223,191,158,167,140,123
$RAFOS,0,1420243277,0.033333,0.021389,63,60,56,52,51,51,219,166,201,234,122,152
$RAFOS_FIX,6705.320312,-5658.294922,020115,161656,2,120,1.92
$IRIDIUM_FIX,6631.12,-5653.72,020115,211616
$TT8_MAMPS,0.028462,0.028462
$HUMID,45.31
$INTERNAL_PRESSURE,8.62561
$TCM_TEMP,14.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,7.7
$SC_FREEKB,7722240
$24V_AH,12.97,33.508
$10V_AH,13.19,0.000
$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,14.500,96.875,388.025,0.000,0.000,0.000,0.000,267.225,0.750,0.000,6.852,1482.509,7572.520,544.435,1428.079,147.323,0.000,1447.514,0.000,1086.393,1080.000,2.614,0.000
$DEVICE_MAMPS,468.945,163.710,2119.050,0.000,0.000,0.000,0.000,152.235,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.047,0.000,0.000,0.000
$MEM,270940
$DATA_FILE_SIZE,23390,732
$CAP_FILE_SIZE,120241,0
$CFSIZE,260034560,242331648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,10749.47,0x23769e,7,5
$SOUNDSPEED,1469.4
$GPS,020115,212141,6701.943,-5647.078,5,1.0,5,-32.5