version: 66.12
glider: 193
mission: 4
dive: 235
start: 1 18 115 14 20 57
data:
$ID,193
$MISSION,4
$DIVE,235
$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,25
$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
$GPS1,180115,135929,6706.787,-5703.425,38,1.7,39,-32.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-45.8
$GPS2,180115,142024,6707.176,-5703.056,38,1.8,38,-32.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,158.1,13343,-18.4,-10.000,-20.87,2243
$D_GRID,506
$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,-146.0,192,2541,518,480,0.0,0.0,0,183,0.00,0.00,-161.52,0.000,16386,0.000,0.000,190,2541,3319,3288,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,186,-1.60,-146.0,190,2541,3289,3352,3.3,-2.2,16,213,10.95,2.55,-7.22,0.000,18692,0.491,0.164,2187,3837,3549,3537,3561,0,0,0,0,0,0,14.21,14.36,14.66
$GC,295,-1.50,-146.0,2187,3837,3541,3560,19.5,-12.4,37,302,0.15,2.20,0.00,0.000,3078,0.327,0.056,2218,2541,3550,3541,3560,0,0,0,0,0,0,14.28,14.51,28.83
$GC,601,-1.47,-146.0,2218,2541,3544,3561,65.4,-14.5,55,606,0.00,2.45,0.00,0.000,260,0.000,0.139,2209,3836,3551,3543,3560,0,0,0,0,0,0,28.83,14.49,28.83
$GC,833,-1.47,-146.0,2209,3836,3543,3560,93.9,-12.9,101,838,0.00,2.17,0.00,0.000,1030,0.000,0.057,2209,2552,3552,3544,3560,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1145,-1.47,-146.0,2209,2551,3543,3559,130.8,-11.3,118,1151,0.00,2.45,0.00,0.000,516,0.000,0.102,2209,1141,3551,3544,3558,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1263,-1.47,-146.0,2209,1141,3543,3557,143.8,-11.0,141,1271,0.12,2.53,0.00,0.000,3078,0.324,0.116,2227,2549,3550,3543,3558,0,0,0,0,0,0,14.45,14.58,28.83
$GC,1569,-1.50,-146.0,2227,2549,3543,3557,172.3,-8.8,157,1574,0.00,2.45,0.00,0.000,516,0.000,0.103,2228,1145,3554,3549,3559,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1747,-1.54,-146.0,2228,1145,3539,3557,188.5,-8.4,192,1753,0.00,2.53,0.00,0.000,1030,0.000,0.116,2221,2552,3550,3543,3557,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2053,-1.56,-146.0,2221,2552,3544,3557,215.6,-9.1,208,2058,0.00,2.45,0.00,0.000,516,0.000,0.103,2221,1147,3550,3544,3557,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2176,-1.59,-146.0,2221,1146,3545,3557,227.0,-9.5,232,2182,0.00,2.53,0.00,0.000,1030,0.000,0.116,2215,2549,3551,3545,3557,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2500,-1.62,-146.0,2215,2550,3546,3557,255.4,-8.6,250,2505,0.00,2.45,0.00,0.000,516,0.000,0.105,2214,1143,3552,3546,3558,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2625,-1.64,-146.0,2214,1143,3547,3558,266.3,-8.9,274,2630,0.00,2.53,0.00,0.000,1030,0.000,0.118,2208,2552,3552,3547,3558,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2960,-1.66,-146.0,2208,2552,3549,3558,295.0,-8.6,290,2965,0.00,2.47,0.00,0.000,516,0.000,0.106,2208,1139,3554,3549,3559,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3027,-1.66,-146.0,2208,1141,3549,3559,301.4,-8.8,303,3033,0.00,2.55,0.00,0.000,1030,0.000,0.121,2201,2558,3554,3549,3559,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3357,-1.66,-146.0,2202,2558,3551,3559,330.9,-9.2,318,3362,0.00,2.47,0.00,0.000,516,0.000,0.109,2201,1144,3555,3551,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3420,-1.66,-146.0,2201,1144,3550,3559,337.4,-10.1,330,3425,0.00,2.55,0.00,0.000,1030,0.000,0.121,2195,2559,3555,3551,3560,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3754,-1.66,-146.0,2195,2560,3551,3560,370.6,-9.5,346,3760,0.00,2.47,0.00,0.000,516,0.000,0.110,2190,1148,3553,3546,3560,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3812,-1.66,-146.0,2194,1148,3551,3560,376.2,-9.8,357,3818,0.00,2.53,0.00,0.000,1030,0.000,0.122,2188,2549,3556,3552,3560,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4117,-1.66,-146.0,2188,2549,3552,3560,406.7,-10.6,368,4123,0.00,2.47,0.00,0.000,516,0.000,0.112,2188,1147,3556,3552,3560,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4140,-1.66,-146.0,2189,1147,3552,3561,409.3,-11.0,372,4145,0.00,2.53,0.00,0.000,1030,0.000,0.122,2182,2550,3556,3552,3560,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4453,-1.66,-146.0,2182,2549,3553,3561,442.8,-11.4,384,4458,0.00,2.47,0.00,0.000,516,0.000,0.116,2187,1145,3557,3553,3561,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4571,-1.66,-146.0,2182,1145,3553,3561,456.6,-10.7,407,4578,0.00,2.55,0.00,0.000,1030,0.000,0.125,2176,2551,3557,3553,3562,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4877,-1.66,-146.0,2176,2551,3555,3562,483.1,-7.6,418,4882,0.00,2.47,0.00,0.000,516,0.000,0.117,2176,1150,3558,3555,3562,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4934,-1.66,-146.0,2176,1150,3556,3562,488.6,-8.7,429,4941,0.00,2.55,0.00,0.000,1030,0.000,0.125,2170,2552,3558,3555,3562,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,5118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5118,begin apogee
$GC,5124,-0.38,0.0,2170,2394,3556,3562,506.1,-9.4,436,5291,1.05,0.00,163.32,1.286,10246,0.252,0.000,2461,2394,2953,2971,2935,0,0,0,0,0,0,14.55,28.83,13.57
$STATE,5292,end apogee,CONTROL_FINISHED_OK
$STATE,5292,begin climb
$GC,5294,1.60,146.0,2461,2394,2960,2925,508.8,0.0,441,5465,1.40,0.00,163.85,1.200,10758,0.160,0.000,2895,2393,2353,2393,2313,0,0,0,0,0,0,14.03,28.83,13.43
$GC,5750,1.60,146.0,2895,2393,2367,2288,458.1,11.2,472,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2393,2324,2368,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,1.60,146.0,2895,2393,2367,2280,419.0,13.6,482,6055,0.00,2.75,0.00,0.000,260,0.000,0.145,2895,3813,2323,2367,2280,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6098,1.56,146.0,2895,3813,2366,2281,411.3,16.6,491,6103,0.00,2.47,0.00,0.000,1030,0.000,0.079,2904,2405,2323,2366,2281,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6417,1.56,146.0,2904,2405,2366,2281,367.0,14.0,504,6423,0.00,2.70,0.00,0.000,260,0.000,0.143,2904,3812,2323,2366,2281,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6465,1.51,146.0,2904,3813,2366,2280,359.9,14.7,513,6471,0.15,2.47,0.00,0.000,5126,0.295,0.077,2880,2395,2323,2366,2281,0,0,0,0,0,0,14.46,14.59,28.83
$GC,6785,1.51,146.0,2880,2395,2366,2280,321.1,12.2,526,6790,0.00,2.70,0.00,0.000,260,0.000,0.143,2881,3805,2323,2365,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6838,1.48,146.0,2879,3806,2366,2280,314.0,13.3,536,6843,0.00,2.45,0.00,0.000,1030,0.000,0.076,2888,2396,2323,2366,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7152,1.48,146.0,2888,2396,2366,2281,276.1,11.6,548,7158,0.00,2.70,0.00,0.000,260,0.000,0.143,2888,3814,2323,2366,2280,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7200,1.45,146.0,2888,3814,2366,2280,269.5,13.4,557,7206,0.15,2.45,0.00,0.000,5126,0.279,0.076,2862,2401,2321,2366,2276,0,0,0,0,0,0,14.54,14.66,28.83
$GC,7519,1.48,146.0,2862,2401,2366,2280,232.0,12.3,572,7524,0.00,2.70,0.00,0.000,260,0.000,0.145,2862,3816,2323,2366,2280,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7602,1.48,146.0,2862,3816,2366,2280,220.9,13.6,588,7608,0.00,2.45,0.00,0.000,1030,0.000,0.076,2871,2398,2323,2366,2280,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7925,1.50,146.0,2871,2398,2366,2280,181.6,11.8,607,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2398,2323,2366,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8227,1.53,146.0,2871,2398,2366,2280,148.1,10.9,622,8232,0.00,2.67,0.00,0.000,260,0.000,0.143,2871,3808,2323,2366,2280,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8264,1.53,146.0,2871,3806,2366,2280,143.5,11.9,629,8271,0.00,2.42,0.00,0.000,1030,0.000,0.077,2880,2405,2323,2366,2280,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8570,1.55,146.0,2880,2400,2366,2280,112.0,10.0,645,8576,0.00,2.70,0.00,0.000,260,0.000,0.143,2880,3815,2323,2365,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8647,1.55,146.0,2880,3815,2367,2280,102.4,12.8,660,8654,0.00,2.45,0.00,0.000,1030,0.000,0.076,2889,2396,2323,2366,2280,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8953,1.55,146.0,2890,2396,2366,2281,71.1,11.1,676,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2396,2323,2366,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9256,1.60,147.4,2890,2396,2366,2282,41.8,9.9,691,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2396,2323,2365,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,1.63,147.4,2890,2396,2366,2282,13.7,12.3,711,9559,0.00,2.70,0.00,0.000,260,0.000,0.144,2889,3807,2324,2365,2283,0,0,0,0,0,0,28.83,14.65,28.83
$FREEZE,8.66,-1.350,-1.797,0,1,0
$FREEZE,7.99,-1.350,-1.796,0,1,0
$FREEZE,7.32,-1.342,-1.796,0,1,0
$FREEZE,6.76,-1.342,-1.795,0,1,0
$FREEZE,6.05,-1.342,-1.795,0,1,0
$FREEZE,5.67,-1.342,-1.794,0,1,0
$GC,9622,1.63,147.4,2889,3807,2366,2283,5.7,11.4,724,9629,0.00,2.45,0.00,0.000,1030,0.000,0.077,2900,2393,2324,2366,2283,0,0,0,0,0,0,28.83,14.71,28.83
$FREEZE,3.91,-1.341,-1.793,0,1,0
$FREEZE,2.92,-1.356,-1.793,0,1,0
$STATE,9646,end climb,SURFACE_DEPTH_REACHED
$STATE,9646,begin surface coast
$FREEZE,1.62,-1.347,-1.791,0,1,0
$FREEZE,1.53,-1.327,-1.789,0,1,0
$FINISH,1.5,1.026254
$STATE,9667,end surface coast,CONTROL_FINISHED_OK
$STATE,9667,begin surface
$SM_CCo,9685,110.15,0.151,0,0,1523,350.04
$SM_GC,2.33,7.68,0.32,110.15,0.083,0.139,0.151,209,2556,1523,-10.66,-0.34,350.04,0,0,0,0,0,0,14.75,14.67,14.56
$RAFOS_CLK,409
$RAFOS,6,1421599750,16.833334,16.819445,62,57,55,55,54,53,214,181,195,122,137,166
$RAFOS,5,1421599265,16.700001,16.684723,62,57,55,53,51,50,209,195,162,150,229,174
$RAFOS,4,1421598800,16.566668,16.555555,62,61,57,56,51,50,205,188,150,221,127,172
$RAFOS,3,1421598313,16.433332,16.420279,67,60,60,55,54,54,215,156,147,204,124,191
$RAFOS,2,1421597826,16.299999,16.285000,61,59,49,48,47,47,216,153,117,191,141,178
$RAFOS,1,1421597369,16.166666,16.158056,59,59,57,54,53,48,193,209,219,144,162,172
$RAFOS,0,1421596874,16.033333,16.020555,69,61,54,53,50,49,216,182,139,163,121,195
$RAFOS_FIX,6701.163574,-5728.308594,170115,040444,3,122,0.81
$IRIDIUM_FIX,6631.12,-5617.06,180115,140309
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,8.46935
$TCM_TEMP,13.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.8
$SC_FREEKB,7694880
$24V_AH,13.43,57.846
$10V_AH,13.70,0.000
$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,21.650,101.225,327.175,110.150,0.000,0.000,0.000,945.075,0.500,0.000,39.437,1497.326,6509.526,670.032,2107.531,282.377,0.000,2230.618,0.000,1080.480,2520.000,2.632,0.000
$DEVICE_MAMPS,491.130,164.475,1285.965,150.705,0.000,0.000,0.000,163.710,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9684.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.142,0.000,0.000,0.000
$MEM,270960
$DATA_FILE_SIZE,26761,729
$CAP_FILE_SIZE,125318,0
$CFSIZE,260034560,235536384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13270.56,0x23769e,7,5
$SOUNDSPEED,1468.2
$GPS,180115,170534,6707.729,-5702.871,30,1.2,30,-32.7