version: 66.12
glider: 193
mission: 4
dive: 301
start: 1 29 115 12 57 20
data:
$ID,193
$MISSION,4
$DIVE,301
$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,21
$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
$GPS1,290115,081144,6637.199,-6023.346,0,2087.0,0,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.10
$_SM_ANGLEo,-2.8
$GPS2,290115,081144,6637.199,-6023.346,0,2087.0,0,-32.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,23.8,12743,-18.4,-10.000,-20.87,2243
$D_GRID,481
$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,-146.0,2574,2548,2633,2601,0.0,0.0,0,33,0.00,0.00,-11.98,0.000,16386,0.000,0.000,2573,2549,2930,2934,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.60,-146.0,2573,2549,2935,2930,5.7,0.0,1,67,1.12,2.47,-22.50,0.000,20996,0.116,0.113,2193,1139,3549,3537,3562,0,0,0,0,0,0,14.50,14.52,14.78
$GC,80,-1.54,-146.0,2194,1139,3539,3562,8.2,-9.1,8,87,0.12,2.58,0.00,0.000,3078,0.339,0.112,2210,2557,3551,3539,3563,0,0,0,0,0,0,14.32,14.49,28.83
$GC,386,-1.51,-146.0,2211,2554,3543,3562,51.1,-14.3,30,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2557,3553,3543,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,686,-1.47,-146.0,2210,2557,3544,3562,91.7,-13.1,45,692,0.00,2.45,0.00,0.000,260,0.000,0.144,2201,3843,3552,3543,3562,0,0,0,0,0,0,28.83,14.49,28.83
$GC,734,-1.42,-146.0,2202,3843,3544,3562,98.6,-14.2,54,741,0.17,2.22,0.00,0.000,3078,0.308,0.063,2240,2545,3552,3543,3562,0,0,0,0,0,0,14.35,14.62,28.83
$GC,1053,-1.42,-146.0,2240,2544,3544,3562,136.4,-11.6,72,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2544,3552,3543,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1355,-1.42,-146.0,2240,2544,3544,3562,169.2,-10.7,87,1361,0.00,2.47,0.00,0.000,260,0.000,0.147,2231,3837,3553,3544,3562,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1422,-1.42,-146.0,2231,3837,3543,3562,176.9,-10.7,100,1428,0.00,2.22,0.00,0.000,1030,0.000,0.063,2231,2542,3552,3543,3562,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1740,-1.42,-146.0,2231,2542,3544,3561,209.0,-10.4,118,1745,0.00,2.47,0.00,0.000,260,0.000,0.144,2222,3844,3552,3544,3560,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1772,-1.42,-146.0,2222,3845,3544,3561,212.5,-11.3,124,1778,0.00,2.22,0.00,0.000,1030,0.000,0.062,2222,2544,3552,3544,3560,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2085,-1.42,-146.0,2222,2543,3543,3560,243.3,-10.1,141,2091,0.00,2.42,0.00,0.000,516,0.000,0.094,2222,1139,3551,3543,3560,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2178,-1.42,-146.0,2222,1139,3543,3560,253.4,-11.1,159,2184,0.12,2.55,0.00,0.000,3078,0.324,0.117,2239,2550,3552,3544,3560,0,0,0,0,0,0,14.37,14.54,28.83
$GC,2513,-1.45,-146.0,2238,2549,3543,3560,284.4,-9.1,175,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2550,3551,3543,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2813,-1.49,-146.0,2239,2548,3543,3560,310.4,-8.4,185,2818,0.00,2.45,0.00,0.000,516,0.000,0.096,2240,1141,3551,3543,3559,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2857,-1.52,-146.0,2240,1141,3543,3559,314.2,-8.8,193,2862,0.00,2.55,0.00,0.000,1030,0.000,0.118,2233,2552,3551,3544,3559,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3182,-1.56,-146.0,2234,2552,3544,3559,340.8,-8.0,207,3187,0.00,2.40,0.00,0.000,260,0.000,0.140,2224,3837,3551,3544,3559,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3246,-1.56,-146.0,2223,3837,3543,3559,346.7,-9.7,219,3251,0.00,2.20,0.00,0.000,1030,0.000,0.061,2224,2544,3551,3543,3559,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3581,-1.58,-146.0,2223,2543,3544,3559,374.1,-8.2,235,3586,0.00,2.42,0.00,0.000,516,0.000,0.102,2224,1147,3552,3544,3560,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3619,-1.60,-146.0,2224,1147,3544,3559,377.3,-8.2,242,3624,0.00,2.55,0.00,0.000,1030,0.000,0.122,2217,2550,3555,3551,3559,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3949,-1.60,-146.0,2217,2549,3544,3559,403.4,-7.7,257,3954,0.00,2.42,0.00,0.000,260,0.000,0.138,2207,3843,3551,3543,3560,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4032,-1.60,-146.0,2207,3843,3544,3559,410.5,-8.3,273,4037,0.00,2.20,0.00,0.000,1030,0.000,0.062,2207,2550,3551,3543,3560,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4346,-1.60,-146.0,2207,2549,3544,3559,436.6,-8.6,285,4352,0.00,2.47,0.00,0.000,516,0.000,0.109,2207,1144,3551,3544,3559,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4484,-1.60,-146.0,2207,1144,3544,3559,449.5,-10.0,312,4490,0.00,2.58,0.00,0.000,1030,0.000,0.129,2200,2549,3551,3544,3559,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4804,-1.60,-146.0,2200,2550,3544,3560,478.0,-9.0,325,4809,0.00,2.47,0.00,0.000,516,0.000,0.109,2207,1148,3552,3545,3559,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,4835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4835,begin apogee
$GC,4843,-0.38,0.0,2195,2404,3545,3560,481.2,-9.1,331,5004,1.00,0.00,152.48,2.142,10246,0.259,0.000,2466,2404,2950,2969,2931,0,0,0,0,1,0,14.39,28.83,12.97
$STATE,5006,end apogee,CONTROL_FINISHED_OK
$STATE,5006,begin climb
$GC,5008,1.60,146.0,2466,2404,2970,2933,485.1,0.0,336,5183,1.45,0.00,165.52,2.059,10758,0.159,0.000,2899,2404,2354,2402,2307,0,0,0,0,1,0,13.69,28.83,12.51
$GC,5467,1.58,146.0,2899,2404,2400,2304,438.6,11.9,362,5473,0.00,2.62,0.00,0.000,516,0.000,0.117,2908,1002,2352,2400,2304,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5539,1.58,146.0,2907,1002,2397,2303,430.0,11.9,376,5545,0.00,2.65,0.00,0.000,1030,0.000,0.125,2908,2398,2350,2398,2303,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5864,1.55,146.0,2908,2398,2398,2303,391.8,11.8,390,5870,0.00,2.75,0.00,0.000,260,0.000,0.147,2908,3819,2350,2399,2301,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5912,1.48,146.0,2908,3819,2397,2302,385.3,13.4,399,5918,0.20,2.50,0.00,0.000,5126,0.269,0.076,2871,2407,2349,2397,2302,0,0,0,0,0,0,14.21,14.37,28.83
$GC,6233,1.48,146.0,2870,2407,2397,2302,351.8,10.2,412,6238,0.00,2.50,0.00,0.000,516,0.000,0.107,2880,998,2349,2397,2301,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6275,1.48,146.0,2880,993,2397,2301,347.2,10.2,420,6280,0.00,2.58,0.00,0.000,1030,0.000,0.119,2880,2402,2349,2397,2301,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6600,1.48,146.0,2880,2402,2397,2301,314.4,10.2,434,6605,0.00,2.70,0.00,0.000,260,0.000,0.147,2880,3817,2349,2397,2301,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6647,1.45,146.0,2880,3817,2397,2301,309.0,11.4,443,6653,0.12,2.50,0.00,0.000,5126,0.282,0.076,2863,2390,2349,2397,2301,0,0,0,0,0,0,14.39,14.54,28.83
$GC,6969,1.50,162.6,2859,2390,2397,2301,279.7,9.2,456,7001,0.00,2.50,20.45,1.304,8708,0.000,0.106,2872,987,2289,2331,2248,0,0,0,0,1,0,28.83,14.45,13.67
$GC,7045,1.56,181.1,2872,987,2333,2252,272.4,9.2,471,7083,0.00,2.58,24.95,1.406,9222,0.000,0.119,2873,2400,2214,2255,2173,0,0,0,0,1,0,28.83,14.43,13.59
$GC,7391,1.59,181.1,2872,2400,2255,2172,236.4,10.2,492,7397,0.10,2.53,0.00,0.000,2564,0.165,0.103,2926,986,2213,2255,2172,0,0,0,0,0,0,14.53,14.42,28.83
$GC,7424,1.59,181.1,2926,986,2255,2173,232.6,11.3,498,7430,0.15,2.58,0.00,0.000,5126,0.274,0.118,2892,2400,2214,2255,2173,0,0,0,0,0,0,14.32,14.42,28.83
$GC,7738,1.61,181.1,2892,2399,2255,2172,199.4,10.7,515,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2399,2213,2255,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8039,1.63,181.1,2892,2399,2255,2172,167.6,10.7,530,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2399,2213,2255,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8339,1.70,213.9,2892,2399,2255,2171,141.3,8.5,545,8387,0.10,2.60,32.55,1.470,10756,0.165,0.107,2941,991,2080,2122,2038,0,0,0,0,1,0,14.62,14.38,13.69
$GC,8414,1.70,213.9,2941,991,2122,2040,133.5,10.6,557,8420,0.00,2.58,0.00,0.000,1030,0.000,0.117,2941,2399,2080,2122,2039,0,0,0,0,0,0,28.83,14.36,28.83
$GC,8719,1.70,213.9,2941,2400,2122,2035,99.5,11.2,573,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2400,2078,2122,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9021,1.70,213.9,2941,2400,2123,2034,67.0,10.5,588,9026,0.00,2.50,0.00,0.000,516,0.000,0.105,2950,985,2077,2122,2033,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9078,1.70,213.9,2950,986,2122,2034,60.5,11.6,599,9085,0.12,2.58,0.00,0.000,5126,0.285,0.116,2923,2408,2078,2123,2033,0,0,0,0,0,0,14.38,14.49,28.83
$GC,9385,1.74,221.2,2924,2414,2122,2032,30.9,9.7,615,9395,0.00,2.70,4.95,0.243,8452,0.000,0.146,2924,3817,2045,2091,2000,0,0,0,0,0,0,28.83,14.46,14.38
$GC,9442,1.74,221.2,2923,3817,2092,2008,24.5,11.2,626,9449,0.00,2.47,0.00,0.000,1030,0.000,0.074,2932,2397,2049,2092,2007,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,9558,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9558,begin subsurface finish
$FINISH1,12.1,1.025801,84
$GC,9564,0.10,83.9,2933,2397,2087,2007,12.1,9.0,638,9589,1.27,2.50,-16.20,0.000,20996,0.243,0.127,2573,987,2612,2631,2593,0,0,0,0,0,0,14.38,14.51,14.80
$FINISH2,10.1
$STATE,9590,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9590,begin surface
$RAFOS_CLK,461
$RAFOS,6,1422535746,12.833333,12.818334,62,60,54,51,51,46,169,210,129,178,228,96
$RAFOS_FIX,6637.199219,-6023.346191,290115,080844,2,87,0.90
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.81
$INTERNAL_PRESSURE,8.47912
$TCM_TEMP,12.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,12.1
$SC_FREEKB,7673760
$24V_AH,12.51,75.273
$10V_AH,12.88,0.000
$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,6.075,104.975,400.900,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1350.257,6650.493,522.294,1021.112,153.095,0.000,1083.437,0.000,956.529,0.000,2.615,0.000
$DEVICE_MAMPS,338.895,146.880,2142.000,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9607.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.061,0.000,0.000,0.000
$MEM,271092
$DATA_FILE_SIZE,23425,642
$CAP_FILE_SIZE,104749,0
$CFSIZE,260034560,230518784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$INTR,0,9561.43,0x23769e,5,5
$SOUNDSPEED,1451.0
$GPS,290115,081144,6637.199,-6023.346,0,2087.0,0,-32.6