version: 66.12
glider: 193
mission: 4
dive: 6
start: 12 11 114 5 13 9
data:
$ID,193
$MISSION,4
$DIVE,6
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,650
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,180
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,591.23029
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$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,2570
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,11
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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,49
$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
$GPS1,111214,050735,6353.992,-5330.542,37,1.2,37,-28.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-52.6
$GPS2,111214,051240,6354.018,-5330.711,6,1.1,6,-28.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_1
$TGT_LATLONG,6400.000,-5400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,359.0,26233,-18.4,-10.000,-20.87,2243
$D_GRID,839
$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,18,-1.60,-146.0,204,2302,573,505,0.0,0.0,0,164,0.00,0.00,-143.02,0.000,16386,0.000,0.000,204,2302,3446,3421,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,166,-1.60,-146.0,203,2302,3422,3471,3.3,-3.1,14,189,9.43,2.72,-2.60,0.000,19204,0.426,0.171,2206,3707,3549,3539,3559,0,0,0,0,0,0,14.37,14.47,14.72
$GC,414,-1.60,-146.0,2206,3707,3542,3559,37.5,-12.0,63,420,0.00,2.47,0.00,0.000,1030,0.000,0.080,2206,2290,3548,3541,3556,0,0,0,0,0,0,28.83,14.58,28.83
$GC,732,-1.60,-146.0,2206,2290,3542,3559,73.2,-11.4,81,738,0.00,2.75,0.00,0.000,260,0.000,0.162,2196,3718,3550,3542,3559,0,0,0,0,0,0,28.83,14.59,28.83
$GC,964,-1.60,-146.0,2196,3718,3542,3559,100.2,-11.1,127,970,0.12,2.47,0.00,0.000,3078,0.282,0.083,2224,2295,3551,3543,3560,0,0,0,0,0,0,14.59,14.66,28.83
$GC,1277,-1.63,-146.0,2224,2295,3542,3559,128.5,-8.8,144,1283,0.00,2.70,0.00,0.000,260,0.000,0.161,2214,3713,3550,3542,3559,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1509,-1.63,-146.0,2214,3713,3542,3558,151.8,-10.0,190,1515,0.00,2.45,0.00,0.000,1030,0.000,0.082,2214,2298,3550,3542,3559,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1822,-1.67,-146.0,2214,2297,3542,3559,181.7,-9.2,207,1827,0.00,2.70,0.00,0.000,260,0.000,0.160,2203,3718,3550,3542,3559,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2054,-1.69,-146.0,2203,3718,3542,3559,204.9,-9.0,253,2060,0.00,2.47,0.00,0.000,1030,0.000,0.085,2203,2293,3550,3542,3559,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2368,-1.72,-146.0,2203,2289,3542,3559,233.3,-9.0,270,2373,0.00,2.70,0.00,0.000,260,0.000,0.158,2189,3717,3551,3543,3559,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2531,-1.72,-146.0,2193,3717,3542,3559,249.0,-10.4,302,2536,0.00,2.45,0.00,0.000,1030,0.000,0.083,2193,2293,3550,3542,3559,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2854,-1.72,-146.0,2193,2297,3543,3559,280.0,-9.7,316,2859,0.00,2.70,0.00,0.000,260,0.000,0.159,2182,3717,3551,3543,3559,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2906,-1.72,-146.0,2182,3717,3543,3559,285.6,-10.9,326,2911,0.00,2.45,0.00,0.000,1030,0.000,0.081,2182,2294,3551,3543,3559,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3218,-1.72,-146.0,2182,2294,3544,3559,317.9,-10.3,338,3224,0.00,2.67,0.00,0.000,260,0.000,0.157,2172,3712,3551,3544,3559,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3265,-1.72,-146.0,2168,3713,3544,3559,323.1,-11.5,347,3271,0.10,2.42,0.00,0.000,3078,0.292,0.080,2192,2302,3551,3544,3559,0,0,0,0,0,0,14.69,14.77,28.83
$GC,3583,-1.75,-146.0,2193,2301,3545,3559,356.2,-10.4,360,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2301,3552,3545,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3883,-1.77,-146.0,2193,2301,3545,3559,386.2,-10.3,370,3889,0.00,2.70,0.00,0.000,260,0.000,0.164,2183,3718,3553,3547,3559,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3970,-1.77,-146.0,2183,3718,3546,3559,396.0,-11.7,387,3976,0.00,2.45,0.00,0.000,1030,0.000,0.082,2183,2292,3552,3546,3558,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4276,-1.77,-146.0,2183,2295,3547,3559,429.3,-11.0,398,4282,0.00,2.70,0.00,0.000,260,0.000,0.158,2173,3718,3553,3547,3559,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4348,-1.77,-146.0,2172,3718,3547,3559,437.3,-10.8,412,4353,0.00,2.45,0.00,0.000,1030,0.000,0.080,2173,2291,3553,3547,3559,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4671,-1.77,-146.0,2173,2291,3549,3560,469.5,-9.7,426,4677,0.00,2.70,0.00,0.000,260,0.000,0.158,2162,3717,3554,3549,3559,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4763,-1.77,-146.0,2162,3716,3548,3559,479.2,-10.5,444,4770,0.10,2.42,0.00,0.000,3078,0.295,0.081,2183,2302,3554,3549,3559,0,0,0,0,0,0,14.71,14.79,28.83
$GC,5097,-1.79,-146.0,2183,2302,3550,3559,512.7,-10.5,460,5102,0.00,2.67,0.00,0.000,260,0.000,0.162,2173,3713,3554,3550,3559,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5178,-1.79,-146.0,2173,3713,3550,3559,521.8,-11.0,476,5183,0.00,2.42,0.00,0.000,1030,0.000,0.080,2173,2300,3554,3550,3559,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,5369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5369,begin apogee
$GC,5372,-0.38,0.0,2173,2299,3550,3559,541.9,-10.3,484,5535,1.05,0.00,159.30,1.307,10246,0.220,0.000,2483,2298,2950,2968,2932,0,0,0,0,0,0,14.73,28.83,13.55
$STATE,5537,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5538,1.60,146.0,2483,2298,2961,2923,545.3,0.0,489,5712,1.38,0.00,164.35,1.434,10246,0.123,0.000,2920,2298,2354,2389,2320,0,0,0,0,1,0,14.00,28.83,13.03
$GC,6000,1.55,146.0,2920,2298,2389,2335,489.1,14.7,505,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2298,2362,2389,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,1.51,146.0,2920,2298,2389,2334,445.0,14.4,515,6306,0.00,2.75,0.00,0.000,260,0.000,0.167,2920,3711,2361,2389,2334,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6408,1.44,146.0,2920,3712,2389,2334,427.9,16.3,536,6414,0.20,2.55,0.00,0.000,5126,0.295,0.103,2883,2299,2361,2389,2334,0,0,0,0,0,0,14.47,14.54,28.83
$GC,6726,1.44,146.0,2883,2299,2389,2332,387.9,12.2,549,6732,0.00,2.72,0.00,0.000,260,0.000,0.165,2883,3713,2360,2389,2332,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6778,1.40,146.0,2883,3713,2389,2332,380.8,13.9,559,6784,0.00,2.53,0.00,0.000,1030,0.000,0.099,2892,2300,2360,2389,2332,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7091,1.40,146.0,2893,2300,2389,2332,341.8,12.8,571,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2300,2360,2389,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7391,1.40,146.0,2892,2299,2389,2332,302.3,13.2,581,7396,0.00,2.70,0.00,0.000,260,0.000,0.164,2893,3713,2360,2389,2332,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7447,1.36,146.0,2893,3713,2389,2332,293.9,15.7,592,7455,0.15,2.53,0.00,0.000,5126,0.294,0.103,2868,2296,2360,2389,2332,0,0,0,0,0,0,14.64,14.70,28.83
$GC,7754,1.36,146.0,2868,2296,2390,2332,256.5,12.3,603,7759,0.00,2.72,0.00,0.000,260,0.000,0.170,2867,3714,2360,2389,2331,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7830,1.36,146.0,2868,3714,2389,2332,246.1,13.0,618,7838,0.00,2.53,0.00,0.000,1030,0.000,0.104,2874,2297,2360,2389,2332,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8136,1.36,146.0,2877,2297,2389,2332,211.4,10.6,634,8142,0.00,2.55,0.00,0.000,516,0.000,0.143,2887,890,2360,2389,2332,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8193,1.36,146.0,2887,891,2389,2332,205.5,10.6,645,8200,0.10,2.60,0.00,0.000,5126,0.304,0.146,2867,2308,2360,2389,2331,0,0,0,0,0,0,14.66,14.72,28.83
$GC,8499,1.36,152.2,2867,2313,2389,2332,175.9,9.7,661,8510,0.00,2.67,4.90,1.075,8452,0.000,0.161,2867,3714,2334,2360,2309,0,0,0,0,0,0,28.83,14.69,14.06
$GC,8651,1.36,152.2,2866,3714,2367,2325,159.0,12.8,691,8663,0.00,2.53,2.62,0.551,9222,0.000,0.103,2876,2293,2331,2353,2310,0,0,0,0,0,0,28.83,14.71,14.17
$GC,8962,1.36,153.4,2876,2293,2362,2321,126.3,9.9,708,8973,0.00,2.60,2.88,0.623,8708,0.000,0.138,2886,885,2328,2349,2307,0,0,0,0,0,0,28.83,14.69,14.19
$GC,9025,1.40,165.4,2886,886,2357,2318,120.2,9.4,720,9054,0.00,2.58,18.48,0.965,9222,0.000,0.142,2886,2300,2274,2302,2247,0,0,0,0,1,0,28.83,14.70,14.28
$GC,9367,1.42,165.4,2886,2301,2301,2251,85.1,10.6,743,9372,0.00,2.67,0.00,0.000,260,0.000,0.161,2886,3712,2275,2300,2251,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9463,1.42,165.4,2886,3712,2301,2251,73.0,12.6,762,9471,0.00,2.53,0.00,0.000,1030,0.000,0.100,2896,2294,2276,2301,2252,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9769,1.42,165.4,2896,2294,2300,2252,40.1,10.1,778,9777,0.00,2.53,0.00,0.000,516,0.000,0.140,2906,886,2276,2301,2252,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9838,1.45,165.4,2906,886,2301,2252,32.5,11.4,791,9844,0.00,2.60,0.00,0.000,1030,0.000,0.143,2906,2305,2276,2301,2252,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,10135,end climb,SURFACE_DEPTH_REACHED
$STATE,10135,begin surface coast
$FINISH,1.2,1.026179
$STATE,10157,end surface coast,CONTROL_FINISHED_OK
$STATE,10157,begin surface
$SM_CCo,10171,240.82,0.162,0,0,538,591.42
$SM_GC,1.70,7.82,0.00,240.82,0.101,0.000,0.162,212,2305,538,-10.75,0.17,591.42,0,0,0,0,0,0,14.76,28.83,14.50
$RAFOS_CLK,420
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6322.64,-5315.62,111214,015808
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,8.43029
$TCM_TEMP,14.20
$XPDR_PINGS,12
$SC_FREEKB,7768000
$24V_AH,13.03,2.279
$10V_AH,13.42,0.000
$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,20.450,103.550,352.525,240.825,0.000,0.000,0.000,197.075,3.000,0.000,6.865,1765.368,6577.153,838.061,1485.687,64.051,0.000,1693.668,0.000,1210.638,360.000,0.539,0.000
$DEVICE_MAMPS,426.105,170.595,1434.375,162.180,0.000,0.000,0.000,163.710,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10162.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.060,0.000,0.000,0.000
$MEM,227056
$DATA_FILE_SIZE,26669,821
$CAP_FILE_SIZE,121405,0
$CFSIZE,260034560,252706816
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,11489.71,0x23769e,7,5
$INTR,1,5369.94,0x23769e,2,5
$INTR,2,9769.08,0x2342f8,1,24
$INTR,3,10159.90,0x23769e,7,5
$SOUNDSPEED,1471.8
$CURRENT,0.142,241.36,1
$GPS,111214,080804,6354.889,-5333.280,37,0.8,37,-28.7