version: 66.12
glider: 193
mission: 4
dive: 148
start: 1 2 115 18 23 3
data:
$ID,193
$MISSION,4
$DIVE,148
$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,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
$GPS1,020115,181604,6700.484,-5647.189,30,1.1,30,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-54.8
$GPS2,020115,182235,6700.440,-5647.239,5,1.1,6,-32.5
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,25.9,4773,-18.4,-10.000,-20.87,2243
$D_GRID,513
$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,-146.0,201,2560,1518,1514,0.0,0.0,0,122,0.00,0.00,-101.15,0.000,16386,0.000,0.000,202,2560,3343,3319,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.60,-146.0,201,2560,3321,3366,3.6,-2.7,10,147,10.10,2.50,-5.72,0.000,18692,0.467,0.167,2186,3836,3549,3545,3554,0,0,0,0,0,0,14.32,14.48,14.72
$GC,314,-1.56,-146.0,2187,3836,3551,3554,31.0,-14.0,47,320,0.10,2.22,0.00,0.000,3078,0.319,0.063,2205,2534,3552,3551,3554,0,0,0,0,0,0,14.46,14.59,28.83
$GC,632,-1.56,-146.0,2205,2534,3551,3554,70.1,-12.6,65,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2534,3552,3551,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,933,-1.56,-146.0,2205,2534,3551,3553,104.1,-10.2,80,938,0.00,2.40,0.00,0.000,516,0.000,0.099,2205,1144,3552,3551,3553,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1050,-1.56,-146.0,2205,1144,3551,3549,117.0,-10.6,103,1057,0.00,2.50,0.00,0.000,1030,0.000,0.116,2199,2548,3552,3551,3553,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1355,-1.56,-146.0,2199,2549,3551,3551,149.6,-10.1,119,1360,0.00,2.42,0.00,0.000,516,0.000,0.099,2199,1149,3551,3551,3551,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1432,-1.56,-146.0,2199,1149,3551,3557,157.7,-10.7,134,1439,0.00,2.50,0.00,0.000,1030,0.000,0.116,2192,2559,3550,3551,3550,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1738,-1.56,-146.0,2192,2554,3551,3549,186.9,-9.6,150,1743,0.00,2.42,0.00,0.000,516,0.000,0.099,2192,1151,3550,3551,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1801,-1.56,-146.0,2192,1151,3551,3549,192.8,-9.3,162,1807,0.10,2.47,0.00,0.000,3078,0.335,0.117,2205,2545,3550,3551,3549,0,0,0,0,0,0,14.59,14.69,28.83
$GC,2125,-1.56,-146.0,2205,2545,3551,3550,220.7,-8.3,181,2131,0.00,2.42,0.00,0.000,516,0.000,0.101,2206,1141,3550,3551,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2164,-1.56,-146.0,2206,1141,3551,3549,224.1,-9.2,188,2170,0.00,2.53,0.00,0.000,1030,0.000,0.119,2199,2557,3551,3553,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2468,-1.56,-146.0,2199,2557,3551,3549,249.6,-8.0,204,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2557,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2789,-1.56,-146.0,2198,2557,3551,3550,274.6,-8.0,215,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2557,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3088,-1.56,-146.0,2199,2557,3551,3550,300.1,-8.8,225,3094,0.00,2.42,0.00,0.000,516,0.000,0.103,2199,1150,3549,3551,3548,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3171,-1.56,-146.0,2199,1150,3551,3550,307.7,-10.0,241,3176,0.00,2.50,0.00,0.000,1030,0.000,0.119,2192,2558,3550,3551,3550,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3484,-1.56,-146.0,2193,2558,3559,3549,335.1,-8.5,253,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2558,3549,3552,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3784,-1.56,-146.0,2193,2558,3553,3550,360.5,-8.6,263,3789,0.00,2.45,0.00,0.000,516,0.000,0.108,2193,1143,3551,3553,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3821,-1.56,-146.0,2193,1143,3552,3550,363.9,-9.0,270,3827,0.10,2.53,0.00,0.000,3078,0.337,0.123,2206,2560,3555,3553,3557,0,0,0,0,0,0,14.66,14.75,28.83
$GC,4151,-1.58,-146.0,2206,2559,3554,3550,390.3,-7.7,285,4156,0.00,2.45,0.00,0.000,516,0.000,0.108,2206,1147,3552,3554,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4228,-1.61,-146.0,2206,1147,3554,3550,396.8,-9.1,300,4234,0.00,2.53,0.00,0.000,1030,0.000,0.122,2200,2559,3552,3554,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4548,-1.63,-146.0,2200,2559,3556,3551,424.4,-8.9,313,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2559,3553,3555,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,-1.65,-146.0,2200,2559,3556,3551,450.5,-8.4,323,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2560,3553,3556,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5147,-1.68,-146.0,2200,2559,3557,3552,473.1,-7.6,333,5153,0.00,2.45,0.00,0.000,516,0.000,0.109,2201,1149,3554,3557,3552,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5205,-1.70,-146.0,2200,1149,3557,3552,477.9,-8.4,344,5211,0.00,2.53,0.00,0.000,1030,0.000,0.124,2195,2557,3554,3557,3552,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5511,-1.70,-146.0,2195,2557,3557,3553,501.6,-7.9,355,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2556,3555,3557,3553,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5689,begin apogee
$GC,5693,-0.38,0.0,2194,2395,3557,3553,515.1,-7.6,361,5856,0.95,0.00,159.07,1.311,10246,0.246,0.000,2463,2395,2950,2972,2929,0,0,0,0,0,0,14.69,28.83,13.57
$STATE,5858,end apogee,CONTROL_FINISHED_OK
$STATE,5858,begin climb
$GC,5860,1.60,146.0,2463,2395,2962,2919,516.7,0.0,366,6031,1.40,2.92,159.93,1.218,10500,0.157,0.148,2896,3816,2344,2389,2299,0,0,0,0,0,0,14.03,13.86,13.45
$GC,6043,1.56,146.0,2896,3816,2381,2292,497.6,13.3,386,6048,0.00,2.58,0.00,0.000,1030,0.000,0.080,2905,2412,2336,2381,2291,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6357,1.53,146.0,2906,2411,2375,2280,452.8,14.2,398,6359,0.10,0.00,0.00,0.000,4102,0.300,0.000,2888,2411,2329,2378,2280,0,0,0,0,0,0,14.31,28.83,28.83
$GC,6655,1.53,146.0,2887,2411,2374,2278,413.2,13.5,408,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2412,2326,2374,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6956,1.53,146.0,2886,2411,2373,2278,373.3,13.7,418,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2411,2324,2372,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,1.53,146.0,2886,2416,2374,2277,333.8,12.7,428,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2411,2324,2373,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,1.53,146.0,2882,2411,2373,2276,296.1,12.6,438,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2411,2324,2373,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7856,1.53,146.0,2886,2411,2373,2276,257.7,12.8,448,7861,0.00,2.65,0.00,0.000,260,0.000,0.145,2885,3810,2323,2371,2276,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7883,1.50,146.0,2885,3810,2370,2279,254.0,14.1,453,7889,0.00,2.47,0.00,0.000,1030,0.000,0.081,2900,2391,2324,2370,2278,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8199,1.50,146.0,2895,2390,2370,2278,212.1,13.6,469,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2390,2324,2370,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8499,1.50,146.0,2892,2391,2370,2279,172.5,12.7,484,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2391,2324,2370,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8799,1.50,146.0,2895,2391,2370,2278,134.1,12.8,499,8805,0.00,2.70,0.00,0.000,260,0.000,0.145,2895,3816,2324,2370,2278,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8837,1.46,146.0,2895,3816,2369,2279,128.6,14.2,506,8844,0.15,2.47,0.00,0.000,5126,0.281,0.080,2870,2389,2324,2370,2278,0,0,0,0,0,0,14.64,14.73,28.83
$GC,9142,1.48,146.0,2869,2389,2369,2279,94.9,10.7,522,9148,0.00,2.42,0.00,0.000,516,0.000,0.112,2879,996,2324,2370,2278,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9180,1.51,146.0,2878,996,2370,2279,90.5,11.5,529,9187,0.00,2.50,0.00,0.000,1030,0.000,0.119,2877,2399,2326,2370,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9486,1.55,152.3,2879,2399,2370,2279,57.5,9.7,545,9491,0.00,2.47,0.00,0.000,516,0.000,0.112,2888,984,2324,2370,2279,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9513,1.58,156.7,2888,984,2370,2279,54.8,9.8,550,9523,0.00,2.47,1.98,0.179,9222,0.000,0.116,2889,2403,2314,2357,2272,0,0,0,0,0,0,28.83,14.72,14.70
$GC,9831,1.62,188.8,2889,2403,2358,2287,24.9,8.5,568,9861,0.00,2.70,21.35,0.218,8452,0.000,0.146,2888,3806,2182,2222,2142,0,0,0,0,0,0,28.83,14.67,14.64
$GC,9894,1.62,188.8,2889,3806,2221,2152,18.5,11.7,580,9900,0.00,2.45,0.00,0.000,1030,0.000,0.080,2899,2391,2187,2222,2152,0,0,0,0,0,0,28.83,14.72,28.83
$FREEZE,8.91,-0.813,-1.803,0,1,0
$FREEZE,7.48,-0.815,-1.802,0,1,0
$FREEZE,6.11,-0.874,-1.801,0,1,0
$FREEZE,4.39,-0.923,-1.799,0,1,0
$FREEZE,3.76,-0.913,-1.798,0,1,0
$FREEZE,2.87,-0.900,-1.797,0,1,0
$STATE,10036,end climb,SURFACE_DEPTH_REACHED
$STATE,10036,begin surface coast
$FREEZE,1.86,-0.897,-1.796,0,1,0
$FREEZE,1.56,-0.923,-1.702,0,1,0
$FINISH,1.6,1.025006
$STATE,10057,end surface coast,CONTROL_FINISHED_OK
$STATE,10057,begin surface
$SM_CCo,10074,90.00,0.160,0,0,1522,350.04
$SM_GC,2.59,7.68,0.32,90.00,0.084,0.151,0.160,202,2549,1522,-10.67,-0.40,350.04,0,0,0,0,0,0,14.76,14.69,14.60
$RAFOS_CLK,426
$RAFOS,6,1420231759,20.833334,20.821945,87,62,58,52,51,50,745,211,223,158,127,187
$RAFOS,5,1420231279,20.700001,20.688612,63,57,55,53,52,52,204,216,570,163,97,151
$RAFOS,4,1420230807,20.566668,20.557501,73,61,60,57,54,51,227,197,206,180,159,144
$RAFOS,3,1420230327,20.433332,20.424166,66,63,62,56,55,55,192,210,222,150,120,164
$RAFOS,2,1420229847,20.299999,20.290833,65,57,56,52,50,49,171,194,124,138,67,205
$RAFOS,1,1420229367,20.166666,20.157499,59,54,51,48,48,47,201,212,154,134,171,116
$RAFOS,0,1420228862,20.033333,20.017221,60,56,54,51,48,48,201,138,212,81,110,158
$RAFOS_FIX,6705.320312,-5658.294922,020115,161656,2,120,1.92
$IRIDIUM_FIX,6631.12,-5658.34,020115,150338
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.95
$INTERNAL_PRESSURE,8.47912
$TCM_TEMP,13.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,17.9
$SC_FREEKB,7722560
$24V_AH,13.45,33.275
$10V_AH,13.32,0.000
$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,20.675,75.675,342.325,90.000,0.000,0.000,0.000,263.375,1.750,0.000,6.868,1319.546,7300.372,590.511,1212.548,149.612,0.000,1372.261,0.000,896.825,2520.000,2.630,0.000
$DEVICE_MAMPS,466.650,166.770,1311.210,159.885,0.000,0.000,0.000,148.410,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10072.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.031,0.000,0.000,0.000
$MEM,271004
$DATA_FILE_SIZE,20086,597
$CAP_FILE_SIZE,109646,0
$CFSIZE,260034560,242413568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11744.76,0x23769e,7,5
$SOUNDSPEED,1467.9
$GPS,020115,211403,6701.919,-5646.891,41,1.0,46,-32.5