version: 66.12
glider: 193
mission: 4
dive: 236
start: 1 18 115 17 20 8
data:
$ID,193
$MISSION,4
$DIVE,236
$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,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,20
$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
$GPS1,180115,170534,6707.729,-5702.871,30,1.2,30,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-54.7
$GPS2,180115,171935,6707.768,-5702.768,6,1.3,7,-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,162.3,13846,-18.4,-10.000,-20.87,2243
$D_GRID,474
$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,-146.0,189,2560,1519,1514,0.0,0.0,0,113,0.00,0.00,-91.20,0.000,16386,0.000,0.000,189,2561,3059,3027,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.60,-146.0,188,2561,3032,3092,3.1,-1.8,9,152,10.20,2.42,-18.95,0.000,18692,0.463,0.152,2184,3836,3547,3536,3559,1,0,0,0,0,0,14.10,14.43,14.72
$GC,330,-1.52,-146.0,2184,3836,3541,3559,33.6,-14.0,51,337,0.15,2.22,0.00,0.000,3078,0.309,0.059,2215,2525,3550,3541,3559,0,0,0,0,0,0,14.36,14.56,28.83
$GC,644,-1.52,-146.0,2215,2525,3541,3559,69.2,-11.2,68,650,0.00,2.38,0.00,0.000,516,0.000,0.099,2216,1156,3549,3541,3558,0,0,0,0,0,0,28.83,14.56,28.83
$GC,821,-1.52,-146.0,2216,1155,3541,3557,89.2,-11.4,103,828,0.00,2.50,0.00,0.000,1030,0.000,0.113,2209,2549,3549,3541,3557,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1127,-1.52,-146.0,2209,2549,3541,3554,123.6,-10.8,119,1132,0.00,2.45,0.00,0.000,516,0.000,0.101,2209,1144,3547,3541,3554,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1153,-1.52,-146.0,2209,1144,3541,3558,126.5,-11.1,124,1159,0.00,2.53,0.00,0.000,1030,0.000,0.113,2201,2549,3547,3541,3554,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1471,-1.52,-146.0,2201,2549,3541,3553,159.1,-10.2,142,1476,0.00,2.42,0.00,0.000,516,0.000,0.100,2202,1154,3546,3541,3552,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1554,-1.52,-146.0,2202,1154,3541,3551,167.6,-10.4,158,1560,0.10,2.50,0.00,0.000,3078,0.334,0.115,2213,2549,3546,3541,3552,0,0,0,0,0,0,14.48,14.62,28.83
$GC,1878,-1.52,-146.0,2214,2550,3541,3552,197.6,-9.0,177,1883,0.00,2.42,0.00,0.000,516,0.000,0.101,2213,1155,3546,3541,3552,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1976,-1.52,-146.0,2214,1155,3541,3552,206.6,-9.2,196,1983,0.00,2.53,0.00,0.000,1030,0.000,0.115,2207,2556,3546,3541,3552,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2281,-1.52,-146.0,2207,2557,3541,3552,233.7,-8.5,212,2286,0.00,2.45,0.00,0.000,516,0.000,0.103,2207,1149,3547,3541,3553,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2368,-1.52,-146.0,2207,1149,3542,3552,241.3,-8.9,229,2373,0.00,2.53,0.00,0.000,1030,0.000,0.115,2200,2552,3547,3541,3553,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2698,-1.52,-146.0,2200,2552,3543,3553,270.8,-9.6,244,2703,0.00,2.40,0.00,0.000,260,0.000,0.135,2191,3843,3548,3543,3553,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2739,-1.52,-146.0,2191,3843,3543,3553,275.5,-10.7,252,2746,0.12,2.17,0.00,0.000,3078,0.301,0.059,2217,2548,3547,3543,3552,0,0,0,0,0,0,14.52,14.73,28.83
$GC,3065,-1.55,-146.0,2217,2548,3544,3553,305.9,-9.5,266,3071,0.00,2.42,0.00,0.000,516,0.000,0.104,2218,1144,3548,3544,3553,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3184,-1.58,-146.0,2218,1144,3544,3553,317.8,-9.3,289,3191,0.00,2.53,0.00,0.000,1030,0.000,0.118,2211,2550,3549,3544,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3490,-1.60,-146.0,2210,2550,3546,3554,343.6,-7.9,300,3495,0.00,2.45,0.00,0.000,516,0.000,0.106,2211,1143,3549,3546,3553,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3568,-1.63,-146.0,2211,1143,3546,3554,349.7,-7.4,315,3574,0.00,2.55,0.00,0.000,1030,0.000,0.119,2204,2555,3550,3546,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3888,-1.63,-146.0,2204,2555,3547,3554,374.8,-8.0,328,3893,0.00,2.47,0.00,0.000,516,0.000,0.110,2204,1143,3550,3547,3554,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3971,-1.63,-146.0,2204,1143,3547,3555,381.6,-7.6,344,3976,0.00,2.55,0.00,0.000,1030,0.000,0.121,2198,2552,3551,3547,3555,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4285,-1.63,-146.0,2202,2552,3548,3555,404.9,-7.9,356,4290,0.00,2.45,0.00,0.000,516,0.000,0.111,2198,1152,3552,3548,3556,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4399,-1.63,-146.0,2198,1153,3549,3556,415.2,-8.8,378,4404,0.00,2.53,0.00,0.000,1030,0.000,0.121,2191,2552,3552,3548,3557,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4713,-1.63,-146.0,2191,2552,3549,3557,442.9,-9.1,390,4719,0.00,2.47,0.00,0.000,516,0.000,0.114,2191,1144,3553,3549,3557,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4801,-1.63,-146.0,2191,1144,3549,3557,452.3,-10.9,407,4807,0.00,2.55,0.00,0.000,1030,0.000,0.125,2185,2553,3553,3549,3557,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,5044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5044,begin apogee
$GC,5050,-0.38,0.0,2185,2395,3549,3557,474.9,-9.0,416,5243,1.00,0.00,184.75,1.393,10246,0.253,0.000,2461,2394,2953,2971,2936,0,0,0,0,1,0,14.55,28.83,13.25
$STATE,5245,end apogee,CONTROL_FINISHED_OK
$STATE,5245,begin climb
$GC,5248,1.60,146.0,2461,2394,2971,2940,476.9,0.0,422,5418,1.42,2.92,153.73,2.007,10500,0.156,0.144,2900,3812,2358,2396,2320,0,0,0,0,1,0,13.95,13.52,12.88
$GC,5483,1.55,146.0,2900,3811,2397,2321,450.7,16.0,472,5489,0.10,2.60,0.00,0.000,5126,0.312,0.076,2891,2407,2358,2396,2321,0,0,0,0,0,0,13.74,13.83,28.83
$GC,5808,1.55,146.0,2890,2407,2396,2315,408.2,12.7,486,5813,0.00,2.58,0.00,0.000,516,0.000,0.119,2900,990,2355,2396,2315,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5830,1.55,146.0,2899,990,2396,2315,405.4,11.7,490,5836,0.00,2.62,0.00,0.000,1030,0.000,0.119,2898,2405,2355,2396,2315,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6143,1.55,146.0,2899,2405,2396,2314,367.3,12.1,502,6149,0.00,2.70,0.00,0.000,260,0.000,0.142,2899,3816,2355,2396,2314,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6201,1.49,146.0,2899,3816,2396,2314,359.3,14.1,513,6208,0.15,2.47,0.00,0.000,5126,0.291,0.075,2875,2396,2355,2396,2314,0,0,0,0,0,0,14.38,14.50,28.83
$GC,6508,1.49,146.0,2875,2397,2396,2313,322.3,11.7,524,6514,0.00,2.70,0.00,0.000,260,0.000,0.143,2875,3810,2355,2397,2313,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6546,1.46,146.0,2875,3810,2396,2313,317.4,12.7,531,6551,0.00,2.45,0.00,0.000,1030,0.000,0.076,2884,2403,2354,2396,2313,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6875,1.46,146.0,2884,2403,2396,2313,279.7,11.7,546,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2403,2354,2396,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,1.46,146.0,2884,2403,2396,2313,242.1,12.1,557,7189,0.00,2.67,0.00,0.000,260,0.000,0.141,2884,3815,2354,2396,2313,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7278,1.43,146.0,2884,3815,2396,2313,229.9,12.9,575,7284,0.15,2.45,0.00,0.000,5126,0.284,0.075,2858,2398,2354,2396,2313,0,0,0,0,0,0,14.55,14.67,28.83
$GC,7592,1.46,146.0,2863,2398,2396,2313,196.7,10.3,592,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2398,2354,2396,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,1.49,148.8,2859,2398,2395,2313,166.2,9.9,607,7899,0.00,2.70,1.33,0.216,8452,0.000,0.141,2858,3816,2346,2384,2309,0,0,0,0,0,0,28.83,14.64,14.56
$GC,7961,1.49,148.8,2859,3816,2384,2319,158.2,11.9,620,7967,0.00,2.45,0.00,0.000,1030,0.000,0.076,2868,2396,2349,2379,2319,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8280,1.53,148.8,2868,2396,2384,2320,124.3,10.6,638,8285,0.00,2.70,0.00,0.000,260,0.000,0.143,2868,3819,2352,2384,2320,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8312,1.53,148.8,2867,3819,2384,2320,120.5,11.3,644,8317,0.00,2.45,0.00,0.000,1030,0.000,0.076,2877,2399,2352,2384,2320,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8625,1.60,184.9,2877,2399,2384,2320,89.7,8.3,661,8658,0.00,2.78,23.67,0.409,8452,0.000,0.143,2877,3812,2197,2231,2163,0,0,0,0,0,0,28.83,14.59,14.40
$GC,8716,1.60,184.9,2877,3817,2231,2166,81.5,10.7,679,8722,0.00,2.45,0.00,0.000,1030,0.000,0.076,2886,2398,2199,2232,2166,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9030,1.65,196.9,2886,2397,2231,2166,51.2,9.4,696,9045,0.10,2.45,8.10,0.285,10756,0.174,0.106,2937,996,2147,2181,2113,0,0,0,0,0,0,14.71,14.62,14.47
$GC,9148,1.67,209.1,2936,995,2181,2119,39.2,9.4,719,9164,0.12,2.53,8.07,0.267,13318,0.306,0.113,2911,2405,2100,2135,2065,0,0,0,0,0,0,14.51,14.63,14.49
$FREEZE,8.80,-1.385,-1.798,0,2,0
$GC,9469,1.69,209.1,2911,2405,2135,2068,8.8,10.4,747,9475,0.00,2.67,0.00,0.000,260,0.000,0.144,2910,3813,2101,2134,2068,0,0,0,0,0,0,28.83,14.59,28.83
$FREEZE,7.10,-1.395,-1.797,0,2,0
$FREEZE,6.52,-1.395,-1.797,0,2,0
$FREEZE,5.69,-1.395,-1.796,0,2,0
$FREEZE,5.26,-1.395,-1.796,0,2,0
$FREEZE,4.28,-1.388,-1.795,0,2,0
$FREEZE,3.81,-1.388,-1.794,0,2,0
$FREEZE,2.89,-1.393,-1.794,0,2,0
$STATE,9511,end climb,SURFACE_DEPTH_REACHED
$STATE,9511,begin surface coast
$FREEZE,2.22,-1.393,-1.793,0,2,0
$FREEZE,1.49,-1.402,-1.793,0,2,0
$FINISH,1.5,1.026313
$STATE,9525,end surface coast,CONTROL_FINISHED_OK
$STATE,9525,begin surface
$SM_CCo,9562,219.35,0.155,0,0,499,601.23
$SM_GC,2.10,7.53,2.22,219.35,0.060,0.068,0.155,214,2547,499,-10.64,0.76,601.23,0,0,0,0,0,0,14.70,14.69,14.47
$RAFOS_CLK,408
$RAFOS_FIX,6701.163574,-5728.308594,170115,040444,3,122,0.81
$IRIDIUM_FIX,6636.54,-5701.58,180115,171122
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.58
$INTERNAL_PRESSURE,8.36193
$TCM_TEMP,12.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.6
$SC_FREEKB,7694560
$24V_AH,12.88,58.095
$10V_AH,13.26,0.000
$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,21.150,110.750,379.650,219.350,0.000,0.000,0.000,496.575,0.750,0.000,7.845,1509.609,6415.905,753.326,1688.340,269.348,0.000,1908.853,0.000,1123.878,0.000,2.631,0.000
$DEVICE_MAMPS,462.825,152.235,2006.595,154.530,0.000,0.000,0.000,136.170,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9541.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.240,0.000,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,26704,757
$CAP_FILE_SIZE,124148,0
$CFSIZE,260034560,235372544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,2,0,0
$INTR,0,10750.04,0x23769e,7,5
$SOUNDSPEED,1465.8
$GPS,180115,200435,6708.035,-5700.956,38,1.0,38,-32.7