version: 66.12
glider: 193
mission: 4
dive: 340
start: 2 5 115 19 42 53
data:
$ID,193
$MISSION,4
$DIVE,340
$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,23
$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
$GPS1,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-1.4
$GPS2,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,99.0,43627,-18.4,-10.000,-20.87,2243
$D_GRID,731
$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,20,-1.60,-146.0,2565,2551,2773,2746,0.0,0.0,0,63,0.00,0.00,-41.47,0.000,16386,0.000,0.000,2565,2551,3544,3537,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.60,-146.0,2565,2551,3539,3552,3.1,-1.9,4,73,1.10,2.47,0.00,0.000,4612,0.128,0.089,2201,1133,3546,3540,3552,0,0,0,0,0,0,14.49,14.51,28.83
$GC,96,-1.66,-146.0,2207,1132,3539,3553,5.5,-7.9,9,102,0.00,2.58,0.00,0.000,1030,0.000,0.108,2193,2558,3546,3539,3553,0,0,0,0,0,0,28.83,14.51,28.83
$GC,412,-1.63,-146.0,2194,2558,3540,3554,43.7,-12.4,34,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2558,3546,3538,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,713,-1.60,-146.0,2193,2558,3540,3553,80.0,-11.7,49,718,0.00,2.47,0.00,0.000,516,0.000,0.092,2193,1139,3546,3540,3553,0,0,0,0,0,0,28.83,14.52,28.83
$GC,818,-1.58,-146.0,2193,1139,3540,3553,92.8,-11.6,69,824,0.00,2.58,0.00,0.000,1030,0.000,0.113,2185,2550,3546,3540,3552,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1142,-1.55,-146.0,2186,2551,3540,3549,129.1,-10.7,88,1144,0.12,0.00,0.00,0.000,2054,0.325,0.000,2212,2551,3544,3540,3549,0,0,0,0,0,0,14.31,28.83,28.83
$GC,1442,-1.55,-146.0,2211,2550,3540,3546,158.6,-9.5,103,1447,0.00,2.45,0.00,0.000,260,0.000,0.138,2202,3839,3543,3540,3546,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1468,-1.55,-146.0,2202,3839,3540,3546,161.5,-10.6,108,1474,0.00,2.20,0.00,0.000,1030,0.000,0.062,2198,2551,3543,3540,3546,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1787,-1.55,-146.0,2202,2551,3539,3544,194.1,-10.3,126,1793,0.00,2.45,0.00,0.000,516,0.000,0.095,2202,1141,3541,3540,3543,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1839,-1.55,-146.0,2202,1138,3540,3543,199.6,-10.3,136,1845,0.00,2.55,0.00,0.000,1030,0.000,0.114,2194,2553,3541,3540,3542,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2152,-1.55,-146.0,2194,2552,3540,3542,232.9,-10.7,153,2158,0.00,2.47,0.00,0.000,516,0.000,0.095,2194,1137,3541,3540,3542,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2184,-1.55,-146.0,2194,1137,3540,3542,236.4,-10.9,159,2191,0.10,2.55,0.00,0.000,3078,0.328,0.113,2206,2556,3541,3540,3542,0,0,0,0,0,0,14.32,14.50,28.83
$GC,2519,-1.55,-146.0,2206,2552,3541,3542,267.2,-8.9,174,2524,0.00,2.47,0.00,0.000,516,0.000,0.097,2207,1138,3541,3540,3542,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2552,-1.55,-146.0,2207,1138,3540,3542,270.3,-9.3,180,2558,0.00,2.55,0.00,0.000,1030,0.000,0.115,2199,2552,3541,3540,3542,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2888,-1.55,-146.0,2197,2552,3540,3542,300.0,-8.7,196,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2552,3541,3540,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-1.55,-146.0,2198,2552,3540,3542,326.0,-8.7,206,3191,0.00,2.47,0.00,0.000,516,0.000,0.097,2199,1137,3541,3540,3542,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3224,-1.55,-146.0,2199,1137,3540,3542,329.4,-8.8,213,3229,0.00,2.55,0.00,0.000,1030,0.000,0.115,2191,2558,3541,3540,3542,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3552,-1.55,-146.0,2191,2552,3540,3543,357.8,-8.7,228,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2553,3541,3540,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3853,-1.55,-146.0,2191,2553,3540,3544,384.4,-8.9,238,3858,0.00,2.47,0.00,0.000,516,0.000,0.102,2191,1143,3541,3540,3543,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3890,-1.55,-146.0,2191,1143,3540,3539,388.1,-10.0,245,3896,0.12,2.55,0.00,0.000,3078,0.301,0.118,2210,2542,3542,3540,3544,0,0,0,0,0,0,14.33,14.54,28.83
$GC,4220,-1.58,-146.0,2210,2542,3540,3545,416.3,-8.5,260,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2542,3542,3540,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4521,-1.60,-146.0,2210,2542,3540,3546,442.1,-8.5,270,4527,0.00,2.47,0.00,0.000,516,0.000,0.107,2210,1142,3543,3540,3546,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4641,-1.62,-146.0,2210,1142,3540,3547,452.2,-8.7,293,4648,0.00,2.60,0.00,0.000,1030,0.000,0.120,2202,2558,3543,3540,3547,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4947,-1.88,-146.0,2202,2558,3541,3547,462.6,-0.0,304,4953,0.17,2.53,0.00,0.000,4612,0.129,0.108,2131,1146,3544,3541,3547,0,0,0,0,0,0,14.58,14.48,28.83
$STATE,5003,end dive,NO_VERTICAL_VELOCITY
$STATE,5003,begin apogee
$GC,5011,-0.38,0.0,2130,2407,3541,3548,462.5,0.0,315,5172,1.08,0.00,156.95,1.299,10246,0.155,0.000,2466,2407,2951,2970,2932,0,0,0,0,0,0,14.49,28.83,13.57
$STATE,5173,end apogee,CONTROL_FINISHED_OK
$STATE,5173,begin climb
$GC,5176,1.60,146.0,2466,2407,2961,2922,462.4,0.0,320,5350,1.35,2.85,163.02,1.196,10500,0.140,0.141,2897,3807,2343,2389,2297,0,0,0,0,0,0,14.07,13.84,13.41
$GC,5580,1.55,146.0,2896,3807,2371,2288,414.9,14.2,404,5586,0.00,2.50,0.00,0.000,1030,0.000,0.074,2906,2405,2329,2371,2288,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5916,1.53,146.0,2907,2405,2371,2285,371.7,13.1,420,5918,0.12,0.00,0.00,0.000,4102,0.285,0.000,2879,2405,2328,2371,2285,0,0,0,0,0,0,14.29,28.83,28.83
$GC,6214,1.53,146.0,2878,2404,2371,2284,335.8,11.9,430,6219,0.00,2.72,0.00,0.000,260,0.000,0.142,2878,3811,2327,2371,2283,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6251,1.50,146.0,2879,3811,2371,2284,330.8,13.5,437,6257,0.00,2.47,0.00,0.000,1030,0.000,0.073,2888,2395,2327,2371,2283,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6581,1.50,146.0,2889,2395,2371,2283,290.6,12.1,452,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2395,2327,2371,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6880,1.50,146.0,2888,2395,2371,2283,254.4,12.1,462,6885,0.00,2.75,0.00,0.000,260,0.000,0.141,2889,3813,2327,2371,2283,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6908,1.48,146.0,2888,3813,2371,2283,250.5,13.0,467,6915,0.12,2.47,0.00,0.000,5126,0.269,0.075,2870,2395,2327,2371,2283,0,0,0,0,0,0,14.40,14.59,28.83
$GC,7213,1.50,146.0,2870,2395,2371,2283,215.9,11.2,483,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2394,2327,2371,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7515,1.53,146.0,2870,2394,2371,2283,183.0,10.8,498,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2394,2327,2371,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7816,1.56,146.0,2870,2395,2371,2283,151.5,10.2,513,7821,0.00,2.75,0.00,0.000,260,0.000,0.142,2870,3807,2326,2370,2283,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7873,1.56,146.0,2870,3807,2371,2283,144.5,11.9,524,7880,0.00,2.45,0.00,0.000,1030,0.000,0.073,2880,2399,2327,2371,2283,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8180,1.58,146.0,2880,2399,2371,2283,110.9,10.5,540,8185,0.00,2.75,0.00,0.000,260,0.000,0.142,2880,3813,2327,2371,2283,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8207,1.58,146.0,2880,3813,2371,2283,107.7,10.8,545,8213,0.00,2.47,0.00,0.000,1030,0.000,0.073,2890,2391,2327,2371,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8526,1.62,153.7,2890,2391,2370,2284,75.4,9.6,563,8532,0.00,2.45,0.00,0.000,516,0.000,0.103,2899,988,2327,2371,2284,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8616,1.67,165.1,2900,988,2371,2282,66.8,9.5,580,8631,0.00,2.55,8.88,0.268,9222,0.000,0.111,2899,2400,2276,2315,2237,0,0,0,0,0,0,28.83,14.52,14.26
$GC,8930,1.72,179.9,2900,2400,2322,2262,36.9,9.3,598,8951,0.10,2.72,12.75,0.233,10500,0.167,0.137,2943,3816,2217,2251,2183,0,0,0,0,0,0,14.63,14.49,14.33
$GC,9099,1.68,179.9,2943,3816,2254,2199,15.8,13.4,631,9107,0.17,2.47,1.73,0.181,13318,0.274,0.074,2914,2401,2215,2247,2184,0,0,0,0,0,0,14.33,14.57,14.46
$FREEZE,8.88,-1.700,-1.812,2,75,1
$FREEZE,7.96,-1.705,-1.811,2,75,1
$FREEZE,7.04,-1.706,-1.811,2,75,1
$FREEZE,6.14,-1.709,-1.810,2,75,1
$FREEZE,5.15,-1.697,-1.809,2,75,1
$FREEZE,4.16,-1.698,-1.808,2,75,1
$FREEZE,3.17,-1.695,-1.807,2,75,1
$FREEZE,2.45,-1.701,-1.807,2,75,1
$STATE,9233,end climb,SURFACE_DEPTH_REACHED
$STATE,9233,begin surface coast
$FREEZE,2.38,-1.709,-1.807,2,75,1
$FREEZE,2.30,-1.659,-1.804,2,75,1
$FREEZE,2.25,-1.669,-1.805,2,75,1
$FINISH,2.2,1.026486
$STATE,9264,end surface coast,CONTROL_FINISHED_OK
$STATE,9265,begin surface
$RAFOS_CLK,410
$RAFOS,6,1423169350,20.833334,20.819445,76,61,61,59,57,53,806,178,158,202,167,231
$RAFOS,5,1423168863,20.700001,20.684166,68,63,63,60,56,54,212,176,117,194,203,159
$RAFOS,4,1423168406,20.566668,20.557222,63,62,61,58,57,54,216,198,166,148,127,157
$RAFOS,3,1423167901,20.433332,20.416945,58,57,54,54,53,53,140,193,115,126,180,165
$RAFOS,2,1423167423,20.299999,20.284166,74,58,56,55,54,52,203,217,186,137,146,112
$RAFOS,1,1423166958,20.166666,20.155001,63,55,51,50,49,48,181,203,118,216,151,161
$RAFOS,0,1423166473,20.033333,20.020277,60,59,57,56,54,52,214,165,185,136,239,197
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.75
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,12.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.3
$SC_FREEKB,7661280
$24V_AH,13.41,86.066
$10V_AH,13.06,0.000
$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,4.575,89.100,343.325,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,1363.059,6529.754,404.885,1042.321,163.899,0.000,970.744,0.000,967.912,2520.000,4.504,0.000
$DEVICE_MAMPS,328.185,141.525,1298.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9285.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.118,0.000,0.000,0.000
$MEM,271024
$DATA_FILE_SIZE,23378,648
$CAP_FILE_SIZE,104015,0
$CFSIZE,260034560,227442688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$GPS,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6