version: 66.12
glider: 193
mission: 4
dive: 277
start: 1 25 115 0 3 1
data:
$ID,193
$MISSION,4
$DIVE,277
$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
$GPS1,240115,204240,6701.044,-5839.887,0,2119.5,0,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.73
$_SM_ANGLEo,-1.5
$GPS2,240115,204240,6701.044,-5839.887,0,2119.5,0,-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,280.5,83801,-18.4,-10.000,-20.87,2243
$D_GRID,1098
$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,-146.0,2572,2548,2690,2659,0.0,0.0,0,33,0.00,0.00,-11.82,0.000,16386,0.000,0.000,2572,2548,2972,2976,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-1.60,-146.0,2572,2548,2977,2969,5.6,0.0,1,66,1.12,2.50,-21.17,0.000,20740,0.120,0.171,2184,3837,3548,3537,3560,0,0,0,0,0,0,14.53,14.49,14.82
$GC,89,-1.52,-146.0,2184,3836,3540,3560,9.8,-12.1,11,96,0.15,2.22,0.00,0.000,3078,0.308,0.063,2215,2539,3550,3541,3560,0,0,0,0,0,0,14.35,14.60,28.83
$GC,403,-1.52,-146.0,2215,2539,3543,3560,52.6,-13.1,33,408,0.00,2.50,0.00,0.000,260,0.000,0.147,2206,3843,3552,3544,3560,0,0,0,0,0,0,28.83,14.49,28.83
$GC,500,-1.49,-146.0,2212,3844,3546,3560,67.3,-14.8,52,507,0.00,2.22,0.00,0.000,1030,0.000,0.063,2206,2546,3551,3544,3558,0,0,0,0,0,0,28.83,14.61,28.83
$GC,806,-1.49,-146.0,2206,2546,3544,3560,108.8,-13.1,68,811,0.00,2.47,0.00,0.000,260,0.000,0.145,2197,3837,3552,3544,3561,0,0,0,0,0,0,28.83,14.50,28.83
$GC,859,-1.46,-146.0,2197,3837,3544,3560,116.0,-14.3,78,865,0.15,2.20,0.00,0.000,3078,0.306,0.063,2229,2551,3552,3544,3560,0,0,0,0,0,0,14.35,14.66,28.83
$GC,1172,-1.46,-146.0,2229,2550,3543,3560,151.7,-10.8,95,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2550,3552,3544,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1473,-1.46,-146.0,2229,2550,3544,3559,182.5,-10.0,110,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2550,3551,3544,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1774,-1.46,-146.0,2229,2550,3545,3559,213.4,-9.9,125,1779,0.00,2.47,0.00,0.000,260,0.000,0.152,2220,3837,3551,3544,3559,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1890,-1.46,-146.0,2220,3837,3543,3558,226.3,-10.7,148,1897,0.00,2.22,0.00,0.000,1030,0.000,0.064,2220,2540,3551,3543,3559,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2198,-1.46,-146.0,2220,2540,3543,3558,255.6,-9.4,163,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2540,3551,3544,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,-1.48,-146.0,2221,2540,3544,3558,283.3,-9.3,173,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2540,3550,3544,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-1.51,-146.0,2220,2541,3544,3557,310.4,-9.1,183,2804,0.00,2.50,0.00,0.000,260,0.000,0.148,2210,3841,3550,3544,3557,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2862,-1.51,-146.0,2210,3841,3543,3557,316.9,-10.6,195,2867,0.00,2.20,0.00,0.000,1030,0.000,0.063,2210,2550,3550,3544,3557,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3196,-1.51,-146.0,2210,2549,3544,3557,347.8,-9.2,211,3202,0.00,2.47,0.00,0.000,260,0.000,0.145,2202,3845,3550,3544,3557,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3260,-1.51,-146.0,2201,3845,3544,3557,354.4,-10.3,223,3265,0.00,2.20,0.00,0.000,1030,0.000,0.061,2201,2550,3550,3544,3557,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3594,-1.51,-146.0,2201,2549,3544,3557,386.6,-9.6,239,3600,0.00,2.47,0.00,0.000,260,0.000,0.143,2193,3845,3550,3544,3557,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3652,-1.51,-146.0,2193,3846,3544,3557,392.8,-10.8,250,3659,0.12,2.22,0.00,0.000,3078,0.301,0.062,2219,2541,3550,3544,3557,0,0,0,0,0,0,14.38,14.64,28.83
$GC,3959,-1.53,-146.0,2219,2546,3545,3557,419.9,-8.6,261,3965,0.00,2.47,0.00,0.000,260,0.000,0.143,2210,3837,3550,3544,3557,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3987,-1.53,-146.0,2210,3838,3545,3557,422.7,-9.1,266,3994,0.00,2.20,0.00,0.000,1030,0.000,0.061,2210,2543,3551,3544,3558,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4295,-1.55,-146.0,2210,2543,3545,3557,450.1,-8.9,277,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2543,3551,3545,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-1.58,-146.0,2210,2543,3545,3557,476.4,-8.7,287,4599,0.00,2.47,0.00,0.000,260,0.000,0.143,2200,3843,3551,3546,3557,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4667,-1.58,-146.0,2200,3843,3546,3557,483.4,-9.4,301,4673,0.00,2.20,0.00,0.000,1030,0.000,0.060,2201,2550,3551,3546,3556,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4993,-1.58,-146.0,2200,2549,3546,3558,512.5,-9.0,315,4998,0.00,2.47,0.00,0.000,260,0.000,0.144,2192,3841,3554,3546,3563,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5035,-1.58,-146.0,2192,3842,3546,3557,516.9,-10.1,323,5040,0.00,2.20,0.00,0.000,1030,0.000,0.062,2192,2551,3551,3546,3557,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5359,-1.58,-146.0,2192,2550,3547,3557,546.3,-9.2,337,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2550,3552,3547,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,-1.58,-146.0,2192,2549,3548,3557,573.0,-8.8,347,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2550,3552,3548,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5958,-1.58,-146.0,2191,2550,3548,3557,598.8,-8.6,357,5964,0.00,2.47,0.00,0.000,260,0.000,0.145,2183,3840,3553,3549,3557,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6016,-1.58,-146.0,2183,3840,3548,3557,604.1,-9.4,368,6023,0.10,2.20,0.00,0.000,3078,0.302,0.062,2202,2547,3553,3550,3557,0,0,0,0,0,0,14.43,14.68,28.83
$GC,6323,-1.58,-146.0,2202,2547,3549,3557,628.3,-7.8,379,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2547,3553,3549,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6622,-1.58,-146.0,2202,2547,3549,3557,651.5,-7.8,389,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2547,3553,3549,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6922,-1.60,-146.0,2203,2544,3550,3557,674.7,-7.6,399,6928,0.00,2.47,0.00,0.000,260,0.000,0.145,2193,3837,3553,3550,3557,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6980,-1.60,-146.0,2193,3837,3550,3557,679.5,-8.1,410,6987,0.00,2.20,0.00,0.000,1030,0.000,0.062,2193,2545,3553,3550,3557,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7286,-1.60,-146.0,2193,2545,3550,3557,704.3,-8.0,421,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2545,3553,3550,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7586,-1.60,-146.0,2193,2545,3551,3557,729.0,-8.4,431,7591,0.00,2.50,0.00,0.000,260,0.000,0.145,2184,3843,3554,3551,3558,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7633,-1.60,-146.0,2184,3849,3551,3557,733.4,-8.9,440,7639,0.00,2.20,0.00,0.000,1030,0.000,0.063,2184,2552,3554,3551,3558,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7953,-1.60,-146.0,2184,2551,3551,3558,760.4,-8.7,453,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2551,3553,3551,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8253,-1.60,-146.0,2184,2551,3551,3557,786.2,-8.6,463,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2551,3554,3551,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8552,-1.60,-146.0,2184,2551,3551,3557,812.6,-8.7,473,8557,0.00,2.50,0.00,0.000,260,0.000,0.148,2174,3841,3554,3551,3558,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8586,-1.57,-146.0,2174,3842,3551,3558,815.7,-9.9,479,8592,0.15,2.20,0.00,0.000,3078,0.288,0.064,2208,2547,3552,3551,3554,0,0,0,0,0,0,14.40,14.69,28.83
$GC,8921,-1.60,-146.0,2208,2545,3551,3558,842.7,-7.8,495,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2547,3555,3552,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9221,-1.64,-146.0,2208,2547,3551,3558,866.2,-7.7,505,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2547,3555,3552,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,-1.67,-146.0,2207,2547,3551,3557,889.6,-7.8,515,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2547,3555,3552,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-1.70,-146.0,2207,2547,3552,3562,912.9,-7.8,525,9828,0.12,2.50,0.00,0.000,4612,0.148,0.119,2148,1151,3554,3551,3558,0,0,0,0,0,0,14.67,14.60,28.83
$GC,9880,-1.67,-146.0,2148,1151,3552,3558,918.3,-9.6,536,9887,0.20,2.60,0.00,0.000,3078,0.313,0.135,2185,2549,3554,3551,3558,0,0,0,0,0,0,14.38,14.57,28.83
$GC,10187,-1.67,-146.0,2185,2549,3551,3558,944.0,-8.5,547,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2549,3555,3552,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10486,-1.67,-146.0,2185,2549,3551,3558,971.7,-9.1,557,10491,0.00,2.50,0.00,0.000,260,0.000,0.148,2177,3845,3555,3552,3558,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10523,-1.67,-146.0,2176,3845,3550,3558,975.3,-8.4,564,10529,0.00,2.22,0.00,0.000,1030,0.000,0.068,2176,2546,3554,3551,3557,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,10700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10700,begin apogee
$GC,10705,-0.38,0.0,2177,2396,3551,3558,990.1,-8.4,574,10895,1.05,0.00,185.27,1.771,10246,0.255,0.000,2462,2395,2950,2972,2929,0,0,0,0,0,0,14.41,28.83,13.21
$STATE,10896,end apogee,CONTROL_FINISHED_OK
$STATE,10896,begin climb
$GC,10899,1.60,146.0,2463,2395,2963,2917,992.7,0.0,580,11097,1.42,2.83,187.50,1.643,10756,0.155,0.130,2903,1000,2345,2395,2296,0,0,0,0,0,0,13.79,13.33,12.79
$GC,11326,1.58,146.0,2903,1000,2377,2272,945.4,12.8,658,11332,0.00,2.75,0.00,0.000,1030,0.000,0.135,2903,2400,2325,2377,2273,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11642,1.54,146.0,2903,2400,2374,2270,904.9,12.8,670,11647,0.00,2.80,0.00,0.000,260,0.000,0.152,2903,3812,2322,2374,2270,0,0,0,0,0,0,28.83,14.20,28.83
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$STATE,19806,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19806,begin surface
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$HUMID,48.30
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$10V_AH,13.08,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,271092
$DATA_FILE_SIZE,39964,1184
$CAP_FILE_SIZE,195884,0
$CFSIZE,260034560,232329216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,19775.33,0x23769e,5,5
$SOUNDSPEED,1458.1
$GPS,250115,004322,6658.653,-5828.488,0,3119.3,0,-32.6