version: 66.12
glider: 193
mission: 4
dive: 256
start: 1 20 115 23 42 55
data:
$ID,193
$MISSION,4
$DIVE,256
$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,22
$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
$GPS1,200115,232906,6703.375,-5645.879,37,0.9,37,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-55.5
$GPS2,200115,234225,6703.461,-5645.862,5,0.9,5,-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,289.9,165028,-18.4,-10.000,-20.87,2243
$D_GRID,467
$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,-146.0,202,2557,1514,1521,0.0,0.0,0,122,0.00,0.00,-101.18,0.000,16386,0.000,0.000,202,2558,3317,3285,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.60,-146.0,202,2558,3287,3350,3.7,-2.4,10,151,10.57,2.53,-6.35,0.000,18692,0.475,0.164,2183,3829,3549,3538,3560,0,0,0,0,0,0,14.14,14.34,14.64
$GC,244,-1.54,-146.0,2183,3829,3541,3560,23.0,-13.6,33,251,0.12,2.22,0.00,0.000,3078,0.307,0.060,2209,2533,3551,3542,3560,0,0,0,0,0,0,14.28,14.48,28.83
$GC,549,-1.54,-146.0,2208,2533,3542,3560,61.5,-12.8,50,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2534,3551,3542,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-1.54,-146.0,2209,2533,3542,3559,94.8,-10.8,65,856,0.00,2.40,0.00,0.000,516,0.000,0.098,2209,1152,3552,3547,3557,0,0,0,0,0,0,28.83,14.54,28.83
$GC,914,-1.54,-146.0,2209,1152,3542,3558,101.3,-9.8,77,919,0.00,2.53,0.00,0.000,1030,0.000,0.112,2203,2552,3550,3542,3558,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1237,-1.54,-146.0,2202,2552,3542,3554,135.3,-10.6,96,1242,0.00,2.42,0.00,0.000,260,0.000,0.136,2194,3843,3548,3542,3554,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1294,-1.54,-146.0,2194,3843,3542,3554,141.8,-11.4,107,1301,0.00,2.20,0.00,0.000,1030,0.000,0.060,2194,2549,3548,3542,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1600,-1.54,-146.0,2194,2548,3542,3554,172.7,-9.8,123,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2548,3547,3542,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-1.54,-146.0,2194,2548,3542,3553,201.9,-9.9,138,1907,0.00,2.45,0.00,0.000,516,0.000,0.102,2194,1143,3547,3542,3553,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1950,-1.54,-146.0,2194,1143,3537,3553,207.0,-10.4,147,1957,0.12,2.53,0.00,0.000,3078,0.323,0.118,2213,2550,3547,3542,3553,0,0,0,0,0,0,14.46,14.61,28.83
$GC,2270,-1.56,-146.0,2213,2550,3542,3553,236.2,-8.8,165,2275,0.00,2.40,0.00,0.000,260,0.000,0.136,2204,3840,3547,3542,3553,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2333,-1.56,-146.0,2204,3840,3541,3556,242.4,-10.0,177,2338,0.00,2.17,0.00,0.000,1030,0.000,0.060,2204,2549,3548,3543,3553,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2656,-1.56,-146.0,2204,2549,3543,3554,271.6,-8.9,192,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2549,3549,3544,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2956,-1.56,-146.0,2204,2549,3544,3554,299.4,-9.3,202,2962,0.00,2.45,0.00,0.000,260,0.000,0.142,2195,3843,3549,3544,3554,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2984,-1.56,-146.0,2195,3843,3545,3554,302.0,-9.7,207,2991,0.00,2.20,0.00,0.000,1030,0.000,0.060,2196,2538,3549,3544,3554,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3291,-1.56,-146.0,2195,2538,3546,3554,330.1,-9.0,218,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2538,3550,3546,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-1.56,-146.0,2195,2538,3547,3555,356.7,-9.0,228,3596,0.00,2.45,0.00,0.000,260,0.000,0.137,2187,3845,3551,3547,3555,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3657,-1.56,-146.0,2187,3844,3547,3555,363.2,-10.2,241,3663,0.10,2.17,0.00,0.000,3078,0.306,0.060,2205,2549,3551,3547,3555,0,0,0,0,0,0,14.49,14.73,28.83
$GC,3988,-1.59,-146.0,2206,2549,3548,3557,391.1,-8.4,256,3994,0.00,2.42,0.00,0.000,516,0.000,0.107,2206,1150,3552,3548,3557,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4041,-1.61,-146.0,2206,1150,3548,3557,395.8,-8.4,266,4047,0.00,2.53,0.00,0.000,1030,0.000,0.118,2200,2561,3552,3548,3557,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4357,-1.61,-146.0,2200,2561,3549,3557,421.3,-8.0,278,4362,0.00,2.47,0.00,0.000,516,0.000,0.104,2200,1141,3553,3549,3557,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4404,-1.61,-146.0,2200,1141,3549,3557,425.3,-8.2,287,4410,0.00,2.55,0.00,0.000,1030,0.000,0.121,2193,2555,3553,3549,3558,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4725,-1.63,-146.0,2194,2555,3550,3558,452.0,-8.4,300,4730,0.00,2.38,0.00,0.000,260,0.000,0.137,2184,3838,3554,3550,3559,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4777,-1.63,-146.0,2184,3838,3557,3565,456.8,-9.3,310,4783,0.00,2.17,0.00,0.000,1030,0.000,0.060,2184,2545,3554,3550,3558,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,4908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4908,begin apogee
$GC,4914,-0.38,0.0,2183,2392,3552,3559,468.2,-8.6,316,5079,1.00,0.00,160.95,1.271,10246,0.242,0.000,2464,2390,2950,2967,2933,0,0,0,0,0,0,14.53,28.83,13.61
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5083,1.60,146.0,2464,2391,2958,2922,470.2,0.0,321,5256,1.40,2.90,161.48,1.174,10500,0.155,0.143,2897,3809,2344,2385,2304,0,0,0,0,0,0,14.04,13.86,13.46
$GC,5294,1.55,146.0,2897,3809,2369,2292,447.6,15.0,352,5300,0.00,2.55,0.00,0.000,1030,0.000,0.076,2907,2408,2329,2368,2291,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5607,1.55,146.0,2911,2413,2366,2283,405.9,13.2,364,5613,0.00,2.55,0.00,0.000,516,0.000,0.114,2916,992,2323,2366,2280,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5659,1.55,146.0,2917,992,2366,2282,398.9,13.4,374,5665,0.12,2.60,0.00,0.000,5126,0.284,0.117,2890,2405,2324,2366,2282,0,0,0,0,0,0,14.28,14.38,28.83
$GC,5974,1.55,146.0,2890,2405,2366,2281,360.5,12.4,386,5980,0.00,2.53,0.00,0.000,516,0.000,0.111,2899,991,2324,2366,2282,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6007,1.55,146.0,2898,991,2366,2282,356.2,12.5,392,6013,0.00,2.58,0.00,0.000,1030,0.000,0.116,2899,2408,2323,2366,2281,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6341,1.55,146.0,2899,2408,2366,2281,313.2,12.9,408,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2408,2323,2366,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,1.55,146.0,2899,2408,2366,2281,275.0,12.8,418,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2408,2323,2366,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6950,1.55,146.0,2899,2408,2366,2281,236.1,12.2,430,6956,0.00,2.50,0.00,0.000,516,0.000,0.109,2909,991,2323,2366,2281,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6983,1.55,146.0,2909,991,2366,2281,232.0,12.3,436,6988,0.00,2.53,0.00,0.000,1030,0.000,0.113,2909,2400,2323,2366,2281,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7296,1.55,146.0,2909,2400,2362,2281,191.7,13.0,453,7297,0.10,0.00,0.00,0.000,4102,0.301,0.000,2888,2400,2323,2366,2281,0,0,0,0,0,0,14.56,28.83,28.83
$GC,7596,1.55,146.0,2888,2400,2366,2280,156.1,11.7,468,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2400,2323,2366,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7897,1.55,146.0,2888,2400,2366,2281,120.3,11.7,483,7902,0.00,2.50,0.00,0.000,516,0.000,0.108,2897,979,2324,2367,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7943,1.55,146.0,2898,979,2366,2281,114.5,11.9,492,7949,0.00,2.55,0.00,0.000,1030,0.000,0.113,2897,2401,2322,2366,2278,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8261,1.55,146.0,2898,2401,2366,2280,79.0,10.7,510,8267,0.00,2.67,0.00,0.000,260,0.000,0.141,2897,3813,2323,2366,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8299,1.53,146.0,2897,3813,2365,2282,74.5,11.4,517,8307,0.12,2.45,0.00,0.000,5126,0.288,0.074,2880,2392,2323,2366,2281,0,0,0,0,0,0,14.56,14.70,28.83
$GC,8605,1.63,189.2,2880,2392,2366,2282,46.2,8.0,533,8635,0.10,2.45,23.00,0.266,10756,0.168,0.105,2930,990,2178,2215,2141,0,0,0,0,0,0,14.73,14.63,14.47
$GC,8692,1.63,189.2,2930,990,2215,2156,37.9,11.0,550,8698,0.12,2.55,0.00,0.000,5126,0.285,0.113,2903,2401,2186,2215,2157,0,0,0,0,0,0,14.52,14.62,28.83
$GC,9002,1.70,213.1,2903,2401,2216,2161,10.0,8.9,575,9020,0.00,0.00,15.98,0.173,8198,0.000,0.000,2902,2401,2081,2118,2044,0,0,0,0,0,0,28.83,28.83,14.57
$FREEZE,7.03,-1.593,-1.790,0,1,0
$FREEZE,6.05,-1.599,-1.789,0,1,0
$FREEZE,5.20,-1.595,-1.788,0,1,0
$FREEZE,4.14,-1.598,-1.787,0,1,0
$FREEZE,3.23,-1.606,-1.787,0,1,0
$FREEZE,2.14,-1.601,-1.786,0,1,0
$STATE,9079,end climb,SURFACE_DEPTH_REACHED
$STATE,9079,begin surface coast
$FREEZE,1.72,-1.670,-1.789,0,1,0
$FREEZE,1.80,-1.628,-1.785,0,1,0
$FREEZE,1.70,-1.631,-1.785,0,1,0
$FINISH,1.7,1.026205
$STATE,9111,end surface coast,CONTROL_FINISHED_OK
$STATE,9111,begin surface
$SM_CCo,9128,78.32,0.151,0,0,1521,350.04
$SM_GC,2.34,7.82,0.30,78.32,0.097,0.150,0.151,206,2556,1521,-10.65,-0.34,350.04,0,0,0,0,0,0,14.71,14.63,14.54
$RAFOS_CLK,385
$RAFOS,6,1421801358,0.833333,0.821667,139,60,58,57,55,53,747,167,234,198,222,114
$RAFOS,5,1421800872,0.700000,0.686667,80,60,59,54,53,52,615,208,146,190,123,169
$RAFOS,4,1421800392,0.566667,0.553333,116,61,58,54,50,50,843,146,213,177,224,202
$RAFOS,3,1421799909,0.433333,0.419167,61,57,57,56,53,52,208,190,140,150,219,117
$RAFOS,2,1421799422,0.300000,0.283889,62,62,54,54,52,51,166,210,136,220,151,185
$RAFOS,1,1421798952,0.166667,0.153333,61,56,52,52,51,50,192,224,201,170,121,96
$RAFOS,0,1421798470,0.033333,0.019444,61,57,56,54,52,50,170,200,152,124,136,187
$RAFOS_FIX,6708.452148,-5658.826660,210115,000022,3,112,3.59
$IRIDIUM_FIX,6631.12,-5643.07,200115,204414
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.84
$INTERNAL_PRESSURE,8.46935
$TCM_TEMP,13.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,16.7
$SC_FREEKB,7688160
$24V_AH,13.46,62.233
$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,21.725,84.100,361.400,78.325,0.000,0.000,0.000,580.550,0.750,0.000,6.871,1294.582,6371.195,593.224,1495.863,278.468,0.000,1694.378,0.000,877.261,2520.000,2.628,0.000
$DEVICE_MAMPS,475.065,164.475,1270.665,151.470,0.000,0.000,0.000,178.245,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9127.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.194,0.000,0.000,0.000
$MEM,270960
$DATA_FILE_SIZE,20117,586
$CAP_FILE_SIZE,112213,0
$CFSIZE,260034560,234143744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10187.70,0x23769e,7,5
$SOUNDSPEED,1466.8
$GPS,210115,021804,6704.041,-5649.002,39,1.1,39,-32.6