version: 66.12
glider: 193
mission: 4
dive: 100
start: 12 26 114 19 40 9
data:
$ID,193
$MISSION,4
$DIVE,100
$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,2
$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,300
$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,19
$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
$GPS1,261214,193328,6607.108,-5650.740,40,1.5,40,-31.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-57.0
$GPS2,261214,193935,6607.095,-5650.754,6,1.4,6,-31.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,17.6,103556,-18.4,-10.000,-20.87,2243
$D_GRID,598
$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,-146.0,196,2553,1718,1719,0.0,0.0,0,113,0.00,0.00,-91.70,0.000,16386,0.000,0.000,195,2557,3347,3321,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,195,2554,3323,3373,3.2,-2.3,9,138,10.07,2.47,-6.18,0.000,18692,0.466,0.167,2187,3840,3547,3541,3554,0,0,0,0,0,0,14.36,14.48,14.73
$GC,290,-1.55,-146.0,2186,3840,3554,3554,26.5,-13.7,43,296,0.10,2.22,0.00,0.000,3078,0.335,0.063,2205,2534,3550,3547,3554,0,0,0,0,0,0,14.47,14.59,28.83
$GC,603,-1.55,-146.0,2206,2535,3547,3553,62.2,-10.8,60,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2535,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-1.55,-146.0,2206,2535,3547,3554,94.5,-11.2,75,909,0.00,2.40,0.00,0.000,516,0.000,0.100,2207,1142,3550,3547,3554,0,0,0,0,0,0,28.83,14.65,28.83
$GC,976,-1.55,-146.0,2207,1143,3547,3554,103.1,-12.4,89,982,0.00,2.53,0.00,0.000,1030,0.000,0.122,2200,2549,3550,3547,3553,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1290,-1.55,-146.0,2201,2549,3547,3552,138.4,-10.6,106,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2550,3549,3547,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,-1.55,-146.0,2200,2550,3547,3550,166.7,-8.8,121,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2549,3548,3546,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-1.55,-146.0,2200,2550,3547,3549,191.0,-8.6,136,1896,0.00,2.42,0.00,0.000,516,0.000,0.103,2200,1151,3547,3546,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1953,-1.55,-146.0,2200,1151,3546,3549,196.8,-9.9,148,1958,0.00,2.53,0.00,0.000,1030,0.000,0.122,2193,2558,3548,3547,3549,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2275,-1.55,-146.0,2193,2558,3547,3549,226.4,-9.5,167,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2558,3548,3547,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2597,-1.55,-146.0,2193,2558,3547,3549,257.1,-9.2,182,2602,0.00,2.45,0.00,0.000,516,0.000,0.108,2193,1151,3548,3547,3549,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2690,-1.55,-146.0,2193,1151,3547,3550,265.7,-8.6,200,2698,0.08,2.50,0.00,0.000,3078,0.297,0.127,2207,2549,3547,3546,3549,0,0,0,0,0,0,14.62,14.71,28.83
$GC,3025,-1.55,-146.0,2207,2549,3547,3549,294.2,-8.6,216,3030,0.00,2.45,0.00,0.000,516,0.000,0.107,2207,1140,3548,3547,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3099,-1.55,-146.0,2207,1140,3547,3549,300.4,-8.2,230,3104,0.00,2.55,0.00,0.000,1030,0.000,0.126,2200,2554,3548,3547,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3422,-1.55,-146.0,2200,2553,3548,3550,327.5,-8.1,244,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2554,3549,3549,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-1.55,-146.0,2200,2554,3549,3549,351.9,-8.3,254,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2553,3549,3549,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-1.55,-146.0,2200,2554,3551,3549,374.3,-7.1,264,4027,0.00,2.45,0.00,0.000,516,0.000,0.112,2200,1150,3548,3551,3546,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4119,-1.55,-146.0,2200,1149,3550,3549,381.7,-7.5,283,4124,0.00,2.55,0.00,0.000,1030,0.000,0.129,2194,2559,3549,3550,3549,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4448,-1.55,-146.0,2194,2559,3551,3549,406.3,-7.6,298,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2559,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-1.55,-146.0,2194,2559,3551,3549,428.6,-7.3,308,4752,0.00,2.47,0.00,0.000,516,0.000,0.114,2194,1144,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4871,-1.55,-146.0,2194,1144,3551,3549,437.8,-7.7,332,4877,0.10,2.55,0.00,0.000,3078,0.341,0.133,2207,2551,3550,3551,3550,0,0,0,0,0,0,14.66,14.75,28.83
$GC,5205,-1.58,-146.0,2208,2551,3551,3550,461.9,-7.3,348,5210,0.00,2.45,0.00,0.000,516,0.000,0.115,2207,1155,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5283,-1.60,-146.0,2207,1149,3551,3550,467.9,-8.1,363,5288,0.00,2.53,0.00,0.000,1030,0.000,0.132,2201,2549,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5602,-1.60,-146.0,2201,2549,3551,3550,493.2,-8.1,376,5607,0.00,2.45,0.00,0.000,516,0.000,0.115,2201,1147,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5679,-1.60,-146.0,2201,1147,3551,3550,499.8,-8.3,391,5684,0.00,2.53,0.00,0.000,1030,0.000,0.132,2196,2549,3551,3551,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5997,-1.60,-146.0,2195,2549,3552,3551,526.4,-8.6,404,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2549,3551,3552,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,-1.60,-146.0,2195,2550,3552,3551,553.2,-9.3,414,6303,0.00,2.45,0.00,0.000,516,0.000,0.118,2195,1152,3551,3552,3551,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6370,-1.60,-146.0,2196,1152,3551,3551,560.3,-9.5,428,6375,0.00,2.53,0.00,0.000,1030,0.000,0.134,2190,2551,3551,3552,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6694,-1.60,-146.0,2190,2551,3551,3551,588.9,-8.5,442,6699,0.00,2.45,0.00,0.000,516,0.000,0.119,2190,1151,3551,3551,3551,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6760,-1.60,-146.0,2190,1152,3551,3551,594.9,-9.3,455,6766,0.00,2.55,0.00,0.000,1030,0.000,0.135,2184,2556,3551,3551,3551,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,6816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6816,begin apogee
$GC,6821,-0.38,0.0,2184,2397,3552,3551,600.1,-8.9,461,6985,1.00,0.00,159.57,1.398,10246,0.250,0.000,2466,2397,2950,2971,2930,0,0,0,0,0,0,14.69,28.83,13.50
$STATE,6986,end apogee,CONTROL_FINISHED_OK
$STATE,6986,begin climb
$GC,6988,1.60,146.0,2466,2397,2963,2921,602.7,0.0,466,7154,1.42,0.00,161.50,1.309,10246,0.151,0.000,2903,2397,2354,2398,2310,0,0,0,0,0,0,13.98,28.83,13.39
$GC,7449,1.60,146.0,2902,2397,2376,2281,546.0,13.9,482,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2397,2328,2376,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7748,1.58,146.0,2902,2397,2375,2279,506.0,13.2,492,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2397,2327,2375,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8049,1.56,146.0,2903,2397,2375,2280,466.6,13.3,502,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2397,2327,2374,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8348,1.53,146.0,2903,2397,2373,2280,426.0,13.5,512,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2395,2326,2373,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8649,1.51,146.0,2903,2397,2372,2279,386.9,13.0,522,8651,0.10,0.00,0.00,0.000,4102,0.316,0.000,2882,2397,2325,2372,2278,0,0,0,0,0,0,14.57,28.83,28.83
$GC,8948,1.51,146.0,2881,2397,2371,2278,351.6,11.5,532,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2397,2324,2371,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9249,1.51,146.0,2882,2397,2370,2279,319.6,10.4,542,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2397,2324,2370,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9548,1.51,146.0,2882,2397,2370,2278,284.2,12.6,552,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2397,2324,2370,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9848,1.51,146.0,2882,2397,2370,2278,239.5,15.9,563,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2397,2324,2370,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10149,1.51,146.0,2882,2394,2369,2278,188.6,16.6,578,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2397,2324,2370,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10449,1.51,146.0,2882,2396,2370,2277,145.6,12.3,593,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2397,2323,2369,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10749,1.54,171.1,2882,2397,2370,2279,116.5,8.9,608,10776,0.00,0.00,24.70,0.977,8198,0.000,0.000,2882,2397,2252,2295,2209,0,0,0,0,0,0,28.83,28.83,14.27
$GC,11069,1.57,171.4,2881,2397,2276,2187,84.9,10.0,624,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2396,2231,2275,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11369,1.63,190.0,2882,2397,2276,2187,57.0,9.1,639,11380,0.00,0.00,8.93,0.280,8198,0.000,0.000,2882,2397,2174,2217,2131,0,0,0,0,0,0,28.83,28.83,14.57
$GC,11669,1.66,190.0,2882,2396,2220,2155,27.1,10.7,654,11673,0.12,0.00,1.92,0.188,10246,0.161,0.000,2929,2397,2175,2212,2138,0,0,0,0,0,0,14.73,28.83,14.67
$FREEZE,8.56,0.116,-1.819,0,1,0
$FREEZE,7.27,0.091,-1.819,0,1,0
$FREEZE,6.02,0.095,-1.818,0,1,0
$FREEZE,4.59,0.095,-1.816,0,1,0
$FREEZE,3.08,0.090,-1.815,0,1,0
$FREEZE,1.94,0.089,-1.814,0,1,0
$STATE,11878,end climb,SURFACE_DEPTH_REACHED
$STATE,11878,begin surface coast
$FREEZE,1.55,0.084,-1.814,0,1,0
$FREEZE,1.39,0.066,-1.802,0,1,0
$FINISH,1.4,1.026396
$STATE,11900,end surface coast,CONTROL_FINISHED_OK
$STATE,11900,begin surface
$SM_CCo,11916,62.40,0.158,0,0,1727,300.00
$SM_GC,2.00,7.80,0.30,62.40,0.089,0.158,0.158,204,2547,1727,-10.66,-0.62,300.00,0,0,0,0,0,0,14.76,14.69,14.62
$RAFOS_CLK,510
$RAFOS,6,1419626942,20.833334,20.817223,54,52,51,51,49,48,173,209,219,1037,127,198
$RAFOS,5,1419626469,20.700001,20.685833,61,60,60,58,52,47,170,194,209,155,122,219
$RAFOS,4,1419625989,20.566668,20.552500,62,57,56,55,55,53,205,189,219,119,230,162
$RAFOS,3,1419625503,20.433332,20.417500,63,55,53,53,50,47,221,199,139,166,180,125
$RAFOS,2,1419625022,20.299999,20.283890,67,66,57,54,53,52,193,211,162,137,222,118
$RAFOS,1,1419624557,20.166666,20.154722,61,58,58,58,52,48,216,185,196,152,127,225
$RAFOS,0,1419624077,20.033333,20.021389,68,65,56,55,50,49,202,213,148,166,132,110
$RAFOS_FIX,6539.356934,-5649.023926,251214,202028,2,92,5.40
$IRIDIUM_FIX,6532.72,-5658.35,261214,155820
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.37
$INTERNAL_PRESSURE,8.49865
$TCM_TEMP,13.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.7
$SC_FREEKB,7737920
$24V_AH,13.39,23.054
$10V_AH,13.64,0.000
$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,20.800,55.050,356.625,62.400,0.000,0.000,0.000,240.900,0.250,0.000,6.922,1607.841,8741.388,565.760,1331.213,115.798,0.000,1352.168,0.000,1012.699,2520.000,2.632,0.000
$DEVICE_MAMPS,465.885,166.770,1397.655,158.355,0.000,0.000,0.000,148.410,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.888,0.000,0.000,0.000
$MEM,271180
$DATA_FILE_SIZE,23420,676
$CAP_FILE_SIZE,118363,0
$CFSIZE,260034560,245719040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13028.16,0x23769e,7,5
$SOUNDSPEED,1467.8
$CURRENT,0.176,169.09,1
$GPS,261214,230104,6607.596,-5651.498,28,1.1,28,-31.6