version: 66.12
glider: 193
mission: 4
dive: 7
start: 12 11 114 8 13 51
data:
$ID,193
$MISSION,4
$DIVE,7
$N_DIVES,0
$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,400
$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,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,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,17
$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
$GPS1,111214,080804,6354.889,-5333.280,37,0.8,37,-28.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-46.9
$GPS2,111214,081318,6354.956,-5333.372,6,0.8,6,-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,347.4,23550,-18.4,-10.000,-20.87,2243
$D_GRID,753
$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,-146.0,208,2518,580,507,0.0,0.0,0,165,0.00,0.00,-143.60,0.000,16386,0.000,0.000,206,2519,3458,3434,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,168,-1.60,-146.0,206,2519,3435,3482,3.3,-2.7,14,190,9.32,2.65,-2.25,0.000,18948,0.427,0.146,2198,1089,3549,3539,3559,0,0,0,0,0,0,14.36,14.47,14.69
$GC,321,-1.60,-146.0,2198,1090,3542,3560,28.0,-14.2,44,327,0.00,2.62,0.00,0.000,1030,0.000,0.147,2189,2496,3551,3543,3560,0,0,0,0,0,0,28.83,14.51,28.83
$GC,633,-1.60,-146.0,2189,2496,3542,3559,67.3,-11.9,61,640,0.00,2.53,0.00,0.000,516,0.000,0.126,2189,1090,3550,3542,3559,0,0,0,0,0,0,28.83,14.59,28.83
$GC,743,-1.60,-146.0,2189,1090,3542,3559,80.6,-12.3,82,749,0.10,2.62,0.00,0.000,3078,0.316,0.151,2201,2502,3551,3543,3559,0,0,0,0,0,0,14.54,14.59,28.83
$GC,1061,-1.60,-146.0,2201,2501,3542,3557,116.0,-10.9,100,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2502,3550,3542,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1361,-1.62,-146.0,2201,2502,3542,3559,149.1,-11.1,115,1367,0.00,2.53,0.00,0.000,516,0.000,0.129,2201,1089,3550,3542,3558,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1592,-1.62,-146.0,2201,1090,3542,3558,175.0,-11.0,161,1599,0.00,2.62,0.00,0.000,1030,0.000,0.155,2193,2499,3549,3541,3558,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1906,-1.62,-146.0,2193,2499,3547,3558,207.6,-10.4,178,1911,0.00,2.55,0.00,0.000,260,0.000,0.166,2183,3834,3550,3542,3558,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2002,-1.62,-146.0,2183,3834,3542,3558,218.0,-10.4,197,2009,0.00,2.33,0.00,0.000,1030,0.000,0.080,2183,2493,3550,3542,3558,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2308,-1.62,-146.0,2183,2493,3543,3559,246.0,-9.0,213,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2493,3551,3544,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2608,-1.62,-146.0,2183,2493,3549,3558,274.6,-9.9,224,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2494,3553,3547,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2909,-1.62,-146.0,2183,2493,3544,3554,306.7,-10.5,234,2914,0.00,2.58,0.00,0.000,260,0.000,0.167,2172,3835,3551,3544,3558,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2965,-1.62,-146.0,2172,3834,3544,3563,313.2,-11.8,245,2973,0.10,2.30,0.00,0.000,3078,0.300,0.079,2193,2499,3551,3544,3559,0,0,0,0,0,0,14.68,14.78,28.83
$GC,3272,-1.64,-146.0,2193,2499,3545,3558,342.5,-9.5,256,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2499,3551,3545,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-1.66,-146.0,2193,2499,3546,3558,369.9,-9.1,266,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2499,3552,3546,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3872,-1.68,-146.0,2193,2499,3547,3558,397.9,-9.4,276,3877,0.00,2.53,0.00,0.000,516,0.000,0.139,2194,1090,3552,3547,3558,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3939,-1.71,-146.0,2194,1090,3543,3558,404.5,-9.5,289,3945,0.00,2.62,0.00,0.000,1030,0.000,0.161,2187,2500,3552,3547,3558,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4267,-1.71,-146.0,2187,2500,3548,3559,436.2,-9.7,304,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2496,3553,3548,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4567,-1.71,-146.0,2187,2500,3549,3559,467.1,-10.7,314,4572,0.00,2.55,0.00,0.000,516,0.000,0.142,2187,1088,3554,3550,3558,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4633,-1.71,-146.0,2187,1088,3549,3558,474.5,-11.3,327,4638,0.00,2.62,0.00,0.000,1030,0.000,0.161,2179,2499,3554,3549,3559,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4961,-1.71,-146.0,2179,2500,3550,3558,509.0,-10.2,342,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2500,3554,3550,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-1.71,-146.0,2179,2500,3551,3558,537.8,-9.6,352,5266,0.00,2.55,0.00,0.000,516,0.000,0.143,2179,1090,3555,3551,3559,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,5281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5281,begin apogee
$GC,5287,-0.38,0.0,2172,2401,3551,3558,540.2,-10.5,356,5451,1.00,0.00,160.38,1.290,10246,0.229,0.000,2462,2401,2951,2969,2934,0,0,0,0,0,0,14.71,28.83,13.55
$STATE,5453,end apogee,CONTROL_FINISHED_OK
$STATE,5453,begin climb
$GC,5454,1.60,146.0,2462,2401,2960,2924,544.7,0.0,361,5631,1.38,2.92,165.95,1.154,10500,0.138,0.170,2897,3809,2346,2382,2310,0,0,0,0,0,0,13.99,13.83,13.50
$GC,5672,1.55,146.0,2896,3809,2368,2298,526.1,13.7,406,5679,0.00,2.65,0.00,0.000,1030,0.000,0.103,2906,2403,2332,2367,2297,0,0,0,0,0,0,28.83,14.04,28.83
$GC,5992,1.53,146.0,2906,2403,2366,2288,486.5,12.9,419,5994,0.12,0.00,0.00,0.000,4102,0.302,0.000,2879,2403,2327,2366,2288,0,0,0,0,0,0,14.35,28.83,28.83
$GC,6291,1.53,146.0,2879,2403,2363,2287,450.2,12.3,429,6296,0.00,2.65,0.00,0.000,516,0.000,0.155,2889,989,2324,2363,2286,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6332,1.53,146.0,2889,989,2363,2287,444.7,12.1,437,6338,0.00,2.67,0.00,0.000,1030,0.000,0.155,2889,2404,2325,2363,2288,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6655,1.53,146.0,2889,2404,2363,2286,400.6,14.1,451,6661,0.00,2.72,0.00,0.000,260,0.000,0.168,2889,3810,2324,2362,2286,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6718,1.49,146.0,2889,3810,2361,2287,390.7,16.3,463,6724,0.12,2.55,0.00,0.000,5126,0.304,0.103,2872,2394,2324,2362,2287,0,0,0,0,0,0,14.56,14.64,28.83
$GC,7051,1.49,146.0,2872,2394,2361,2287,344.5,13.6,479,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2394,2323,2360,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,1.49,146.0,2872,2394,2361,2286,303.7,13.4,489,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2394,2323,2361,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7652,1.49,146.0,2872,2394,2361,2286,269.4,10.6,499,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2394,2323,2360,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7962,1.49,146.0,2872,2394,2361,2286,236.7,11.0,511,7967,0.00,2.75,0.00,0.000,260,0.000,0.173,2872,3812,2323,2361,2285,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8038,1.49,146.0,2872,3812,2362,2286,226.9,12.7,526,8046,0.00,2.55,0.00,0.000,1030,0.000,0.104,2882,2396,2323,2361,2286,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8344,1.49,146.0,2881,2396,2358,2286,191.7,11.6,542,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2396,2322,2359,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8645,1.49,146.0,2881,2396,2361,2286,155.9,12.2,557,8650,0.00,2.58,0.00,0.000,516,0.000,0.145,2892,979,2323,2361,2286,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8747,1.49,146.0,2892,979,2361,2286,143.9,11.7,577,8753,0.00,2.62,0.00,0.000,1030,0.000,0.151,2892,2403,2323,2361,2286,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9069,1.49,146.0,2892,2403,2361,2286,109.3,10.7,596,9075,0.00,2.70,0.00,0.000,260,0.000,0.168,2892,3813,2323,2361,2286,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9161,1.46,146.0,2892,3814,2363,2287,99.0,10.7,614,9168,0.15,2.53,0.00,0.000,5126,0.287,0.105,2867,2398,2324,2361,2287,0,0,0,0,0,0,14.70,14.75,28.83
$GC,9476,1.54,178.8,2867,2398,2361,2286,71.6,8.5,631,9496,0.00,0.00,17.20,0.295,8198,0.000,0.000,2867,2398,2223,2258,2188,0,0,0,0,0,0,28.83,28.83,14.64
$GC,9796,1.62,200.9,2867,2398,2266,2218,44.1,9.0,647,9821,0.12,2.60,17.45,0.265,10756,0.155,0.142,2923,981,2135,2162,2109,0,0,0,0,0,0,14.79,14.69,14.64
$GC,9847,1.62,200.9,2923,981,2169,2120,38.2,12.4,654,9855,0.10,2.62,2.28,0.197,13318,0.312,0.150,2904,2402,2132,2162,2102,0,0,0,0,0,0,14.65,14.70,14.67
$STATE,10161,end climb,SURFACE_DEPTH_REACHED
$STATE,10161,begin surface coast
$FINISH,1.3,1.026237
$STATE,10183,end surface coast,CONTROL_FINISHED_OK
$STATE,10183,begin surface
$SM_CCo,10198,114.88,0.163,0,0,1319,400.08
$SM_GC,1.76,7.72,0.20,114.88,0.090,0.197,0.163,211,2500,1319,-10.68,-0.51,400.08,0,0,0,0,0,0,14.76,14.71,14.60
$RAFOS_CLK,423
$RAFOS,6,1418287757,8.833333,8.821389,63,58,53,53,50,49,198,144,179,219,165,90
$RAFOS,5,1418287275,8.700000,8.687500,64,60,59,55,51,50,192,208,157,218,135,175
$RAFOS,4,1418286790,8.566667,8.552778,65,59,58,57,56,56,211,137,168,191,157,178
$RAFOS,3,1418286306,8.433333,8.418333,67,65,60,57,53,51,217,145,184,208,132,166
$RAFOS,2,1418285826,8.300000,8.285000,59,58,56,56,53,52,159,224,173,115,212,148
$RAFOS,0,1418284864,8.033334,8.017777,65,56,55,55,51,50,213,142,120,225,173,190
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6327.46,-5334.24,111214,050927
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.92
$INTERNAL_PRESSURE,8.50842
$TCM_TEMP,14.20
$XPDR_PINGS,5
$SC_FREEKB,7767680
$24V_AH,13.50,2.463
$10V_AH,13.29,0.000
$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,20.250,78.425,363.250,114.875,0.000,0.000,0.000,212.000,1.250,0.000,6.932,1496.262,7132.149,650.393,1309.837,60.548,0.000,1444.453,0.000,1012.305,1800.000,0.539,0.000
$DEVICE_MAMPS,426.870,197.370,1289.790,162.945,0.000,0.000,0.000,151.470,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10194.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.005,0.000,0.000,0.000
$MEM,227140
$DATA_FILE_SIZE,23359,682
$CAP_FILE_SIZE,110435,0
$CFSIZE,260034560,252649472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1472.1
$CURRENT,0.138,288.13,1
$GPS,111214,110706,6356.266,-5337.520,36,1.0,36,-28.8