version: 66.12
glider: 193
mission: 4
dive: 197
start: 1 11 115 12 45 49
data:
$ID,193
$MISSION,4
$DIVE,197
$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,24
$R_STBD_OVSHOOT,12
$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
$GPS1,110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.59
$_SM_ANGLEo,-3.6
$GPS2,110115,121912,6645.999,-6025.595,0,2079.0,0,-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,111.2,160259,-18.4,-10.000,-20.87,2243
$D_GRID,515
$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,-146.0,2577,2542,2574,2536,0.0,0.0,0,33,0.00,0.00,-12.10,0.000,16386,0.000,0.000,2577,2542,3039,3037,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-1.60,-146.0,2577,2542,3038,3042,11.7,0.0,1,56,1.20,2.45,-11.90,0.000,20740,0.181,0.162,2195,3839,3554,3541,3567,0,0,0,0,0,0,14.52,14.54,14.80
$GC,73,-1.54,-146.0,2195,3839,3542,3568,15.0,-10.6,8,79,0.00,2.20,0.00,0.000,1030,0.000,0.061,2196,2539,3555,3542,3568,0,0,0,0,0,0,28.83,14.59,28.83
$GC,380,-1.50,-146.0,2195,2539,3547,3568,65.2,-14.3,27,386,0.12,2.42,0.00,0.000,2564,0.329,0.101,2224,1145,3557,3547,3568,0,0,0,0,0,0,14.46,14.58,28.83
$GC,612,-1.50,-146.0,2224,1145,3548,3568,95.6,-13.1,73,618,0.00,2.55,0.00,0.000,1030,0.000,0.124,2217,2561,3558,3548,3568,0,0,0,0,0,0,28.83,14.57,28.83
$GC,925,-1.50,-146.0,2217,2561,3548,3568,137.8,-13.2,90,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2561,3558,3548,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-1.50,-146.0,2217,2561,3548,3566,177.3,-13.3,105,1232,0.00,2.40,0.00,0.000,260,0.000,0.150,2207,3836,3557,3548,3566,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1389,-1.50,-146.0,2207,3836,3548,3565,197.0,-11.1,137,1395,0.00,2.17,0.00,0.000,1030,0.000,0.063,2207,2549,3557,3548,3566,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1712,-1.50,-146.0,2207,2548,3548,3565,228.3,-9.0,156,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2548,3556,3548,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2034,-1.50,-146.0,2207,2548,3548,3565,255.9,-8.9,171,2039,0.00,2.40,0.00,0.000,516,0.000,0.103,2207,1149,3556,3548,3564,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2061,-1.50,-146.0,2207,1149,3548,3564,258.7,-9.7,176,2068,0.10,2.50,0.00,0.000,3078,0.346,0.119,2219,2553,3555,3547,3564,0,0,0,0,0,0,14.54,14.64,28.83
$GC,2368,-1.53,-146.0,2219,2552,3547,3564,289.1,-10.1,187,2374,0.00,2.40,0.00,0.000,260,0.000,0.145,2210,3842,3555,3547,3564,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2475,-1.53,-146.0,2211,3843,3547,3565,300.7,-10.6,208,2480,0.00,2.17,0.00,0.000,1030,0.000,0.062,2210,2552,3555,3547,3563,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2795,-1.55,-146.0,2210,2551,3547,3563,331.4,-9.6,221,2800,0.00,2.42,0.00,0.000,516,0.000,0.105,2210,1142,3554,3546,3563,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2851,-1.55,-146.0,2210,1142,3548,3563,337.5,-10.2,232,2858,0.00,2.53,0.00,0.000,1030,0.000,0.122,2204,2554,3555,3548,3563,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3158,-1.55,-146.0,2204,2554,3548,3563,367.9,-9.6,243,3163,0.00,2.45,0.00,0.000,516,0.000,0.112,2204,1148,3555,3548,3563,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3215,-1.55,-146.0,2204,1148,3548,3563,373.6,-10.1,254,3222,0.00,2.50,0.00,0.000,1030,0.000,0.123,2198,2549,3555,3548,3562,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3521,-1.55,-146.0,2198,2549,3548,3563,403.4,-9.8,265,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2549,3555,3548,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-1.55,-146.0,2198,2549,3548,3563,432.9,-9.8,275,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2549,3554,3548,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4121,-1.55,-146.0,2198,2549,3549,3563,461.6,-9.5,285,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2549,3556,3549,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4421,-1.55,-146.0,2198,2549,3550,3563,489.5,-9.4,295,4427,0.00,2.38,0.00,0.000,260,0.000,0.145,2188,3836,3555,3549,3562,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4454,-1.55,-146.0,2188,3836,3550,3563,492.8,-10.1,301,4460,0.10,2.17,0.00,0.000,3078,0.307,0.061,2208,2538,3556,3550,3563,0,0,0,0,0,0,14.59,14.73,28.83
$STATE,4727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4732,-0.38,0.0,2207,2398,3551,3563,516.3,-8.3,315,4922,0.93,0.00,186.27,1.323,10246,0.262,0.000,2462,2398,2951,2971,2931,0,0,0,0,0,0,14.59,28.83,13.43
$STATE,4924,end apogee,CONTROL_FINISHED_OK
$STATE,4924,begin climb
$GC,4926,1.60,146.0,2462,2398,2962,2921,520.2,0.0,321,5123,1.48,2.97,183.93,1.202,10500,0.168,0.153,2899,3808,2343,2388,2299,0,0,0,0,0,0,13.90,13.60,13.22
$GC,5140,1.55,146.0,2898,3808,2378,2292,500.5,12.9,362,5145,0.00,2.60,0.00,0.000,1030,0.000,0.082,2907,2412,2334,2377,2291,0,0,0,0,0,0,28.83,13.76,28.83
$GC,5455,1.52,146.0,2907,2412,2372,2281,460.2,13.0,374,5456,0.12,0.00,0.00,0.000,4102,0.295,0.000,2882,2409,2326,2372,2281,0,0,0,0,0,0,14.09,28.83,28.83
$GC,5753,1.52,146.0,2883,2412,2370,2280,423.2,12.5,384,5758,0.00,2.58,0.00,0.000,516,0.000,0.119,2891,987,2325,2370,2280,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5786,1.52,146.0,2891,988,2370,2280,418.9,12.9,390,5791,0.00,2.60,0.00,0.000,1030,0.000,0.123,2891,2406,2325,2370,2280,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6120,1.52,146.0,2891,2405,2370,2280,376.4,12.6,406,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2405,2324,2370,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6418,1.52,146.0,2891,2405,2370,2279,340.6,11.8,416,6424,0.00,2.53,0.00,0.000,516,0.000,0.118,2900,990,2324,2370,2279,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6481,1.52,146.0,2899,990,2370,2279,333.1,12.1,428,6487,0.00,2.55,0.00,0.000,1030,0.000,0.122,2899,2403,2324,2370,2278,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6815,1.52,146.0,2900,2403,2370,2279,293.8,11.0,444,6820,0.00,2.67,0.00,0.000,260,0.000,0.150,2899,3812,2324,2370,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6848,1.47,146.0,2899,3812,2368,2279,290.0,11.8,450,6855,0.17,2.47,0.00,0.000,5126,0.289,0.080,2868,2390,2324,2370,2279,0,0,0,0,0,0,14.48,14.60,28.83
$GC,7182,1.55,213.4,2868,2390,2370,2275,264.3,6.9,466,7256,0.00,2.88,58.83,1.611,8452,0.000,0.151,2868,3809,2083,2125,2041,0,0,0,0,1,0,28.83,14.14,13.48
$GC,7289,1.57,230.4,2868,3809,2126,2047,256.3,9.2,487,7322,0.00,2.53,22.15,1.161,9222,0.000,0.080,2876,2398,2010,2057,1963,0,0,0,0,1,0,28.83,14.24,13.59
$GC,7625,1.61,230.4,2876,2398,2057,1974,224.4,10.1,510,7632,0.10,2.53,0.00,0.000,2564,0.172,0.111,2923,985,2015,2057,1973,0,0,0,0,0,0,14.44,14.38,28.83
$GC,7698,1.61,230.4,2924,986,2057,1973,215.4,13.1,524,7704,0.10,2.58,0.00,0.000,5126,0.306,0.121,2904,2400,2015,2057,1973,0,0,0,0,0,0,14.33,14.40,28.83
$GC,8012,1.64,230.4,2904,2400,2057,1972,175.0,13.4,541,8018,0.00,2.67,0.00,0.000,260,0.000,0.149,2904,3814,2014,2057,1972,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8044,1.64,230.4,2904,3814,2057,1972,170.1,14.3,547,8050,0.00,2.47,0.00,0.000,1030,0.000,0.080,2913,2398,2014,2057,1972,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8358,1.68,247.4,2913,2398,2062,1972,135.4,9.2,564,8391,0.00,2.72,20.77,1.074,8452,0.000,0.150,2913,3810,1941,1987,1895,0,0,0,0,1,0,28.83,14.41,13.89
$GC,8427,1.68,247.4,2913,3810,1987,1905,128.3,10.3,578,8433,0.00,2.47,0.00,0.000,1030,0.000,0.079,2920,2399,1946,1987,1905,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8741,1.76,280.1,2920,2399,1986,1905,100.2,8.5,595,8785,0.00,2.58,31.30,1.197,8708,0.000,0.115,2929,997,1811,1854,1769,0,0,0,0,1,0,28.83,14.32,13.72
$GC,8863,1.84,301.1,2929,997,1855,1779,89.3,9.0,619,8883,0.00,2.58,14.30,0.400,9222,0.000,0.122,2929,2407,1721,1761,1682,0,0,0,0,0,0,28.83,14.36,14.16
$GC,9183,1.88,301.1,2929,2407,1765,1692,58.7,10.7,638,9185,0.10,0.00,0.00,0.000,2054,0.172,0.000,2969,2407,1728,1765,1692,0,0,0,0,0,0,14.52,28.83,28.83
$GC,9485,1.88,301.1,2969,2407,1765,1691,19.7,12.6,655,9490,0.00,2.53,0.00,0.000,516,0.000,0.120,2978,994,1728,1765,1691,0,0,0,0,0,0,28.83,14.51,28.83
$FREEZE,8.56,-1.777,-1.739,2,45,1
$GC,9568,1.88,301.1,2978,994,1765,1691,8.6,12.9,671,9574,0.00,2.55,0.00,0.000,1030,0.000,0.122,2978,2405,1727,1764,1691,0,0,0,0,0,0,28.83,14.52,28.83
$FREEZE,7.06,-1.777,-1.738,2,45,1
$FREEZE,5.80,-1.777,-1.737,2,45,1
$FREEZE,4.51,-1.777,-1.736,2,45,1
$FREEZE,3.48,-1.778,-1.736,2,45,1
$FREEZE,2.65,-1.777,-1.735,2,45,1
$STATE,9620,end climb,SURFACE_DEPTH_REACHED
$STATE,9620,begin surface coast
$FREEZE,2.58,-1.764,-1.734,2,45,1
$FREEZE,2.76,-1.777,-1.735,2,45,1
$FINISH,2.8,1.025484
$STATE,9643,end surface coast,CONTROL_FINISHED_OK
$STATE,9643,begin surface
$RAFOS_CLK,471
$RAFOS,6,1420980546,12.833333,12.818334,69,60,58,58,55,54,231,152,203,194,137,185
$RAFOS,5,1420980068,12.700000,12.685555,57,55,54,51,50,50,121,190,213,131,140,158
$RAFOS_FIX,6645.998535,-6025.594727,110115,121212,2,79,1.02
$IRIDIUM_FIX,6625.71,-5708.95,030115,111203
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.66
$INTERNAL_PRESSURE,8.38146
$TCM_TEMP,11.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,17.6
$SC_FREEKB,7706880
$24V_AH,13.22,47.396
$10V_AH,13.37,0.000
$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,4.525,92.650,517.550,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1367.956,6762.799,548.024,1074.554,114.507,0.000,1165.764,0.000,1008.646,360.000,2.624,0.000
$DEVICE_MAMPS,345.780,162.180,1611.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9652.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.890,0.000,0.000,0.000
$MEM,271116
$DATA_FILE_SIZE,23432,679
$CAP_FILE_SIZE,105363,0
$CFSIZE,260034560,238551040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$SOUNDSPEED,1449.6
$GPS,110115,121912,6645.999,-6025.595,0,2079.0,0,-32.5