version: 66.12
glider: 193
mission: 4
dive: 195
start: 1 11 115 6 58 7
data:
$ID,193
$MISSION,4
$DIVE,195
$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,-2
$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,601.23029
$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,24
$R_STBD_OVSHOOT,13
$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
$GPS1,110115,041144,6637.881,-6014.724,0,2096.0,0,-32.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-2.7
$GPS2,110115,041144,6637.881,-6014.724,0,2096.0,0,-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,356.4,14017,-18.4,-10.000,-20.87,2243
$D_GRID,508
$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,-146.0,2580,2547,2556,2533,0.0,0.0,0,33,0.00,0.00,-12.07,0.000,16386,0.000,0.000,2580,2547,2767,2776,2758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-1.60,-146.0,2580,2546,2775,2759,3.1,0.0,1,80,1.15,2.53,-34.42,0.000,20740,0.132,0.168,2191,3836,3549,3537,3561,0,0,0,0,0,0,14.51,14.47,14.74
$GC,113,-1.53,-146.0,2190,3836,3540,3562,11.0,-13.6,16,121,0.12,2.22,0.00,0.000,3078,0.329,0.065,2214,2542,3551,3540,3562,0,0,0,0,0,0,14.39,14.55,28.83
$GC,418,-1.50,-146.0,2214,2541,3543,3562,59.9,-14.5,36,424,0.00,2.47,0.00,0.000,260,0.000,0.147,2205,3841,3552,3543,3562,0,0,0,0,0,0,28.83,14.52,28.83
$GC,461,-1.46,-146.0,2205,3841,3544,3562,66.5,-15.0,44,468,0.12,2.22,0.00,0.000,3078,0.318,0.063,2230,2539,3552,3543,3562,0,0,0,0,0,0,14.45,14.61,28.83
$GC,785,-1.46,-146.0,2230,2538,3544,3562,102.9,-10.3,63,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2539,3551,3544,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1086,-1.46,-146.0,2231,2539,3543,3561,141.0,-14.1,78,1091,0.00,2.42,0.00,0.000,516,0.000,0.106,2230,1148,3552,3544,3561,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1149,-1.46,-146.0,2230,1149,3544,3561,149.6,-13.4,90,1154,0.00,2.55,0.00,0.000,1030,0.000,0.122,2224,2554,3552,3544,3561,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1472,-1.46,-146.0,2224,2554,3544,3561,186.7,-12.3,109,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2554,3552,3544,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1773,-1.46,-146.0,2224,2554,3544,3560,220.0,-9.5,124,1779,0.00,2.47,0.00,0.000,516,0.000,0.103,2224,1140,3552,3544,3560,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1845,-1.46,-146.0,2223,1140,3544,3560,226.8,-9.5,138,1851,0.00,2.55,0.00,0.000,1030,0.000,0.121,2216,2554,3552,3544,3560,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2169,-1.46,-146.0,2217,2553,3539,3560,259.0,-9.6,154,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2554,3551,3544,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2469,-1.46,-146.0,2216,2554,3544,3559,288.0,-9.9,164,2474,0.00,2.42,0.00,0.000,260,0.000,0.145,2207,3843,3551,3544,3559,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2536,-1.46,-146.0,2207,3843,3544,3559,295.1,-10.3,177,2542,0.10,2.20,0.00,0.000,3078,0.311,0.062,2225,2547,3551,3544,3559,0,0,0,0,0,0,14.56,14.71,28.83
$GC,2866,-1.50,-146.0,2226,2546,3544,3559,321.5,-8.2,192,2871,0.00,2.42,0.00,0.000,516,0.000,0.103,2226,1146,3551,3544,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2985,-1.54,-146.0,2227,1146,3544,3559,332.6,-9.1,215,2991,0.00,2.53,0.00,0.000,1030,0.000,0.121,2220,2549,3551,3543,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3291,-1.57,-146.0,2219,2549,3544,3559,359.9,-8.9,226,3296,0.00,2.45,0.00,0.000,516,0.000,0.101,2220,1140,3551,3544,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3333,-1.60,-146.0,2220,1139,3543,3559,364.1,-9.8,234,3339,0.00,2.53,0.00,0.000,1030,0.000,0.118,2212,2549,3551,3544,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3658,-1.62,-146.0,2212,2549,3544,3559,395.6,-9.6,248,3664,0.00,2.45,0.00,0.000,516,0.000,0.106,2212,1145,3552,3545,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3711,-1.65,-146.0,2212,1146,3544,3554,400.8,-9.5,258,3716,0.00,2.53,0.00,0.000,1030,0.000,0.120,2206,2550,3551,3543,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4026,-1.67,-146.0,2206,2550,3544,3559,428.7,-8.6,270,4031,0.00,2.40,0.00,0.000,260,0.000,0.142,2196,3840,3551,3544,3559,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4068,-1.67,-146.0,2197,3841,3544,3559,432.8,-9.3,278,4073,0.00,2.20,0.00,0.000,1030,0.000,0.060,2196,2539,3551,3544,3559,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4392,-1.67,-146.0,2197,2540,3546,3559,460.0,-8.2,292,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2539,3551,3545,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,-1.67,-146.0,2197,2539,3546,3559,484.7,-8.3,302,4697,0.00,2.42,0.00,0.000,516,0.000,0.111,2197,1148,3552,3546,3559,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4743,-1.67,-146.0,2197,1148,3546,3559,489.1,-7.8,312,4748,0.00,2.53,0.00,0.000,1030,0.000,0.124,2190,2549,3553,3547,3559,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,4994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4994,begin apogee
$GC,4999,-0.38,0.0,2190,2393,3547,3559,510.1,-8.5,322,5187,1.00,0.00,183.95,1.312,10246,0.267,0.000,2461,2393,2950,2970,2931,0,0,0,0,0,0,14.57,28.83,13.43
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5191,1.60,146.0,2462,2393,2960,2921,514.4,0.0,328,5379,1.45,0.00,181.52,1.206,10758,0.171,0.000,2895,2393,2355,2398,2312,0,0,0,0,0,0,13.89,28.83,13.22
$GC,5657,1.60,146.0,2896,2393,2370,2277,463.4,12.4,364,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2393,2323,2370,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5957,1.60,146.0,2895,2391,2369,2275,427.2,11.9,374,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2392,2322,2369,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6257,1.60,146.0,2895,2393,2368,2275,394.3,10.6,384,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2393,2321,2368,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6557,1.60,146.0,2896,2389,2368,2275,362.0,10.8,394,6562,0.00,2.50,0.00,0.000,516,0.000,0.122,2905,1001,2321,2368,2275,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6599,1.60,146.0,2905,1000,2368,2275,357.2,11.8,402,6604,0.00,2.58,0.00,0.000,1030,0.000,0.126,2905,2402,2321,2368,2275,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6924,1.58,146.0,2905,2402,2368,2274,317.6,13.1,416,6929,0.00,2.53,0.00,0.000,516,0.000,0.118,2912,998,2321,2368,2275,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6980,1.58,146.0,2913,998,2368,2275,309.9,12.9,427,6987,0.00,2.58,0.00,0.000,1030,0.000,0.124,2913,2408,2321,2368,2275,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7288,1.55,146.0,2913,2408,2368,2275,274.3,11.2,438,7294,0.12,2.70,0.00,0.000,4356,0.291,0.148,2881,3817,2322,2369,2275,0,0,0,0,0,0,14.51,14.56,28.83
$GC,7383,1.53,146.0,2881,3817,2368,2275,262.7,11.9,456,7389,0.00,2.45,0.00,0.000,1030,0.000,0.081,2890,2406,2321,2368,2274,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7706,1.56,166.7,2890,2406,2368,2274,230.9,9.1,475,7731,0.00,0.00,17.55,1.086,8198,0.000,0.000,2890,2402,2268,2311,2226,0,0,0,0,1,0,28.83,28.83,14.07
$GC,8027,1.59,174.5,2890,2406,2308,2221,197.4,9.6,491,8037,0.00,2.72,3.60,0.821,8452,0.000,0.148,2890,3811,2240,2282,2199,0,0,0,0,0,0,28.83,14.53,13.90
$GC,8074,1.61,193.3,2891,3812,2282,2210,193.0,9.1,500,8110,0.00,2.50,23.88,1.106,9222,0.000,0.081,2899,2392,2161,2202,2121,0,0,0,0,1,0,28.83,14.57,13.87
$GC,8411,1.64,193.3,2899,2392,2204,2137,159.6,10.2,522,8416,0.00,2.50,0.00,0.000,516,0.000,0.116,2908,992,2170,2204,2137,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8478,1.68,198.4,2908,992,2204,2137,153.1,9.8,535,8489,0.00,2.60,4.82,0.981,9222,0.000,0.124,2908,2401,2140,2178,2103,0,0,0,0,0,0,28.83,14.50,13.84
$GC,8797,1.73,203.1,2908,2401,2186,2123,122.1,9.8,553,8807,0.00,2.72,5.38,1.015,8452,0.000,0.148,2908,3810,2127,2163,2091,0,0,0,0,0,0,28.83,14.50,13.97
$GC,8869,1.73,203.1,2908,3810,2168,2109,114.4,11.0,567,8880,0.00,2.50,2.55,0.525,9222,0.000,0.080,2920,2395,2124,2159,2089,0,0,0,0,0,0,28.83,14.54,13.84
$GC,9180,1.81,244.1,2916,2395,2168,2104,87.4,8.1,584,9215,0.10,2.53,28.05,0.396,10756,0.178,0.113,2962,984,1955,1997,1914,0,0,0,0,0,0,14.59,14.49,14.31
$GC,9242,1.81,246.5,2962,984,1997,1924,81.8,9.9,596,9252,0.00,2.60,2.62,0.259,9222,0.000,0.122,2962,2402,1949,1983,1916,0,0,0,0,0,0,28.83,14.48,14.30
$GC,9565,1.81,246.5,2962,2403,2000,1926,46.3,10.9,615,9569,0.00,0.00,2.83,0.190,8198,0.000,0.000,2962,2403,1945,1986,1905,0,0,0,0,0,0,28.83,28.83,14.49
$GC,9865,1.81,246.5,2962,2403,1997,1925,10.4,10.6,636,9877,0.10,2.60,2.45,0.181,12804,0.340,0.120,2952,990,1945,1984,1907,0,0,0,0,0,0,14.48,14.53,14.52
$FREEZE,8.54,-1.776,-1.739,2,43,0
$STATE,9882,end climb,FINISH_DEPTH_REACHED
$STATE,9882,begin subsurface finish
$FINISH1,8.5,1.025478,100
$GC,9891,0.12,99.9,2953,2404,1986,1913,8.5,9.6,639,9922,1.35,2.55,-22.73,0.000,20996,0.259,0.138,2577,987,2547,2565,2529,0,0,0,0,0,0,14.47,14.54,14.79
$FINISH2,6.5
$STATE,9923,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9923,begin surface
$RAFOS_CLK,478
$RAFOS,6,1420966167,8.833333,8.824166,58,55,52,52,50,49,212,167,200,228,140,124
$RAFOS,5,1420965682,8.700000,8.689445,68,56,55,55,51,50,216,168,186,139,126,177
$RAFOS,4,1420965202,8.566667,8.556111,92,72,61,57,53,50,603,189,220,201,161,115
$RAFOS,3,1420964701,8.433333,8.416945,62,58,54,49,48,48,198,222,116,133,162,172
$RAFOS,2,1420964223,8.300000,8.284166,142,61,60,60,58,57,626,170,191,121,202,154
$RAFOS,1,1420963755,8.166667,8.154166,63,56,55,55,50,48,196,167,115,211,142,130
$RAFOS,0,1420963268,8.033334,8.018888,77,66,65,53,51,48,585,185,218,146,133,114
$RAFOS_FIX,6641.466309,-6009.285645,110115,080854,3,104,0.52
$IRIDIUM_FIX,6625.71,-5708.95,030115,111203
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.11
$INTERNAL_PRESSURE,8.45959
$TCM_TEMP,12.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.9,15.7
$SC_FREEKB,7707520
$24V_AH,13.22,46.893
$10V_AH,13.15,0.000
$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,5.625,94.850,459.200,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1360.410,6969.115,555.482,1035.768,115.496,0.000,1127.291,0.000,962.432,2520.000,2.622,0.000
$DEVICE_MAMPS,340.425,168.300,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9938.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.989,0.000,0.000,0.000
$MEM,271140
$DATA_FILE_SIZE,23393,645
$CAP_FILE_SIZE,108169,0
$CFSIZE,260034560,238678016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1449.7
$GPS,110115,081954,6641.466,-6009.286,0,3103.7,0,-32.5