version: 66.12
glider: 193
mission: 4
dive: 313
start: 1 31 115 8 36 52
data:
$ID,193
$MISSION,4
$DIVE,313
$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,16
$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
$GPS1,310115,043512,6648.158,-5927.659,0,3100.3,0,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.11
$_SM_ANGLEo,-2.0
$GPS2,310115,043512,6648.158,-5927.659,0,3100.3,0,-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,109.2,118528,-18.4,-10.000,-20.87,2243
$D_GRID,912
$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,-146.0,2577,2552,2663,2631,0.0,0.0,0,33,0.00,0.00,-11.73,0.000,16386,0.000,0.000,2577,2552,2979,2980,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.60,-146.0,2578,2551,2981,2979,6.8,0.0,1,67,1.12,2.55,-18.62,0.000,20996,0.116,0.116,2198,1138,3548,3536,3561,0,0,0,0,0,0,14.49,14.49,14.78
$GC,84,-1.55,-146.0,2198,1138,3539,3561,10.2,-10.3,10,91,0.10,2.60,0.00,0.000,3078,0.335,0.117,2208,2550,3550,3539,3561,0,0,0,0,0,0,14.33,14.47,28.83
$GC,390,-1.52,-146.0,2208,2550,3542,3561,52.4,-13.4,31,395,0.00,2.47,0.00,0.000,260,0.000,0.142,2199,3840,3551,3542,3561,0,0,0,0,0,0,28.83,14.45,28.83
$GC,433,-1.48,-146.0,2199,3840,3542,3561,58.5,-14.2,39,439,0.12,2.25,0.00,0.000,3078,0.314,0.064,2224,2533,3551,3542,3561,0,0,0,0,0,0,14.32,14.54,28.83
$GC,757,-1.48,-146.0,2225,2533,3542,3561,102.9,-13.8,58,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2533,3551,3542,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1058,-1.48,-146.0,2225,2534,3543,3561,138.0,-11.3,73,1064,0.00,2.42,0.00,0.000,516,0.000,0.099,2225,1151,3551,3542,3561,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1086,-1.48,-146.0,2225,1151,3542,3561,141.4,-11.6,78,1092,0.00,2.58,0.00,0.000,1030,0.000,0.119,2218,2549,3551,3542,3561,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1405,-1.48,-146.0,2218,2552,3542,3560,174.6,-10.0,96,1410,0.00,2.47,0.00,0.000,260,0.000,0.142,2208,3843,3551,3542,3560,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1443,-1.45,-146.0,2207,3843,3543,3560,178.7,-11.2,103,1451,0.12,2.22,0.00,0.000,3078,0.299,0.063,2233,2550,3551,3542,3560,0,0,0,0,0,0,14.33,14.59,28.83
$GC,1749,-1.48,-146.0,2233,2549,3542,3560,208.2,-10.0,119,1754,0.00,2.45,0.00,0.000,516,0.000,0.098,2233,1145,3551,3543,3559,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1850,-1.51,-146.0,2234,1145,3542,3559,218.8,-10.3,138,1857,0.00,2.58,0.00,0.000,1030,0.000,0.121,2227,2554,3550,3542,3559,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2153,-1.51,-146.0,2227,2554,3542,3559,249.7,-9.8,154,2158,0.00,2.47,0.00,0.000,516,0.000,0.096,2228,1141,3550,3542,3559,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2176,-1.53,-146.0,2227,1141,3542,3559,252.2,-10.4,158,2182,0.00,2.58,0.00,0.000,1030,0.000,0.119,2219,2558,3550,3542,3559,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2491,-1.53,-146.0,2219,2558,3542,3559,282.3,-9.8,170,2497,0.00,2.47,0.00,0.000,516,0.000,0.096,2219,1143,3550,3542,3558,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2514,-1.53,-146.0,2219,1143,3550,3558,284.7,-9.7,174,2520,0.00,2.60,0.00,0.000,1030,0.000,0.118,2211,2558,3550,3543,3558,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2829,-1.53,-146.0,2212,2558,3543,3558,314.6,-9.3,186,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2558,3550,3542,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,-1.53,-146.0,2212,2558,3542,3558,341.1,-8.9,196,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2559,3550,3543,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3428,-1.53,-146.0,2212,2559,3542,3558,368.9,-9.2,206,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2559,3554,3550,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-1.55,-146.0,2212,2562,3542,3558,395.2,-8.7,216,3734,0.00,2.50,0.00,0.000,516,0.000,0.103,2211,1140,3550,3542,3558,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3777,-1.57,-146.0,2212,1140,3542,3558,399.6,-9.1,225,3782,0.00,2.60,0.00,0.000,1030,0.000,0.122,2204,2550,3550,3542,3558,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4097,-1.57,-146.0,2204,2550,3542,3558,427.9,-9.1,238,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2550,3550,3542,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4395,-1.57,-146.0,2205,2550,3543,3558,456.9,-9.9,248,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2551,3551,3544,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4695,-1.57,-146.0,2205,2550,3544,3558,486.3,-9.6,258,4701,0.00,2.45,0.00,0.000,260,0.000,0.141,2195,3837,3551,3544,3558,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4732,-1.57,-146.0,2195,3837,3545,3558,490.2,-10.2,265,4738,0.00,2.20,0.00,0.000,1030,0.000,0.063,2194,2549,3551,3544,3558,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5062,-1.57,-146.0,2194,2549,3544,3558,520.8,-9.2,280,5067,0.00,2.47,0.00,0.000,516,0.000,0.112,2195,1148,3551,3544,3558,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5105,-1.57,-146.0,2195,1148,3544,3558,525.0,-9.3,288,5111,0.00,2.60,0.00,0.000,1030,0.000,0.129,2188,2550,3550,3544,3557,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5430,-1.57,-146.0,2188,2550,3544,3558,554.2,-9.0,302,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2550,3551,3544,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5729,-1.57,-146.0,2188,2550,3545,3558,580.3,-8.7,312,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2550,3551,3545,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6029,-1.57,-146.0,2188,2550,3545,3558,605.9,-8.5,322,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2550,3551,3545,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6329,-1.57,-146.0,2188,2550,3545,3558,631.3,-8.5,332,6334,0.00,2.50,0.00,0.000,516,0.000,0.116,2188,1149,3552,3546,3559,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6366,-1.57,-146.0,2188,1150,3546,3558,634.7,-8.9,339,6372,0.10,2.60,0.00,0.000,3078,0.320,0.129,2201,2551,3552,3546,3558,0,0,0,0,0,0,14.39,14.56,28.83
$GC,6695,-1.57,-146.0,2201,2551,3546,3558,661.7,-8.3,354,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2551,3552,3546,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6996,-1.57,-146.0,2202,2551,3548,3558,687.5,-8.6,364,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2551,3552,3547,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7296,-1.59,-146.0,2201,2551,3547,3558,713.9,-8.9,374,7301,0.00,2.53,0.00,0.000,516,0.000,0.118,2202,1140,3553,3547,3559,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7334,-1.59,-146.0,2202,1141,3547,3558,717.5,-9.4,381,7339,0.00,2.62,0.00,0.000,1030,0.000,0.129,2195,2552,3553,3547,3559,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7664,-1.59,-146.0,2195,2552,3547,3559,746.8,-8.8,396,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2552,3553,3547,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7963,-1.59,-146.0,2194,2552,3547,3559,773.5,-8.8,406,7968,0.00,2.53,0.00,0.000,516,0.000,0.119,2194,1145,3553,3547,3559,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8005,-1.59,-146.0,2194,1145,3547,3559,777.3,-9.0,414,8011,0.00,2.62,0.00,0.000,1030,0.000,0.132,2189,2553,3553,3547,3559,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8331,-1.59,-146.0,2188,2553,3547,3559,806.1,-9.0,428,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2553,3553,3547,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8629,-1.59,-146.0,2189,2553,3547,3559,833.0,-8.9,438,8634,0.00,2.53,0.00,0.000,516,0.000,0.120,2189,1148,3553,3548,3559,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8672,-1.59,-146.0,2188,1148,3547,3559,836.9,-9.3,446,8677,0.00,2.62,0.00,0.000,1030,0.000,0.133,2182,2554,3553,3548,3559,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8997,-1.59,-146.0,2182,2554,3547,3559,864.4,-8.4,460,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2554,3553,3547,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,-1.59,-146.0,2182,2554,3547,3559,889.9,-8.5,470,9301,0.00,2.47,0.00,0.000,260,0.000,0.145,2172,3844,3553,3548,3559,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9333,-1.57,-146.0,2172,3844,3548,3559,893.5,-9.5,477,9340,0.15,2.25,0.00,0.000,3078,0.291,0.070,2205,2543,3553,3548,3559,0,0,0,0,0,0,14.35,14.66,28.83
$STATE,9570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9572,begin apogee
$GC,9577,-0.38,0.0,2205,2392,3548,3559,913.3,-8.1,489,9764,0.93,0.00,183.30,1.709,10246,0.246,0.000,2461,2394,2950,2969,2931,0,0,0,0,0,0,14.38,28.83,13.21
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9766,begin climb
$GC,9769,1.60,146.0,2461,2394,2961,2921,917.2,0.0,495,9967,1.42,3.10,185.90,1.569,10500,0.155,0.155,2893,3804,2345,2391,2300,0,0,0,0,0,0,13.79,13.36,12.81
$GC,9997,1.54,146.0,2893,3803,2379,2288,897.0,13.0,543,10003,0.00,2.65,0.00,0.000,1030,0.000,0.080,2903,2412,2333,2379,2287,0,0,0,0,0,0,28.83,13.57,28.83
$GC,10333,1.51,146.0,2903,2412,2374,2279,853.8,12.6,559,10339,0.12,2.67,0.00,0.000,4612,0.297,0.123,2882,984,2329,2374,2285,0,0,0,0,0,0,13.98,14.09,28.83
$GC,10371,1.51,146.0,2882,984,2374,2278,849.0,11.5,566,10376,0.00,2.70,0.00,0.000,1030,0.000,0.129,2882,2404,2326,2374,2278,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10700,1.51,146.0,2882,2404,2373,2276,811.2,11.7,581,10706,0.00,2.60,0.00,0.000,516,0.000,0.120,2891,983,2324,2373,2276,0,0,0,0,0,0,28.83,14.31,28.83
$GC,10728,1.51,146.0,2891,986,2373,2276,807.6,12.1,586,10735,0.00,2.62,0.00,0.000,1030,0.000,0.123,2891,2401,2324,2373,2276,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11034,1.51,146.0,2891,2402,2372,2276,770.2,12.5,597,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2401,2324,2373,2276,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17986,end climb,FINISH_DEPTH_REACHED
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$STATE,18024,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18024,begin surface
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$XPDR_PINGS,4
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$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.391,0.000,0.000,0.000
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$DATA_FILE_SIZE,36712,1012
$CAP_FILE_SIZE,178829,0
$CFSIZE,260034560,229564416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
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