version: 66.12
glider: 193
mission: 4
dive: 5
start: 12 11 114 2 1 39
data:
$ID,193
$MISSION,4
$DIVE,5
$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,15
$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
$GPS1,111214,015428,6353.912,-5326.689,37,1.0,37,-28.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-50.8
$GPS2,111214,020105,6353.887,-5326.834,3,0.9,3,-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,332.4,29209,-18.4,-10.000,-20.87,2243
$D_GRID,860
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.60,-146.0,215,2305,586,519,0.0,0.0,0,171,0.00,0.00,-149.48,0.000,16390,0.000,0.000,214,2305,3548,3526,3570,0,0,0,0,0,0,28.83,28.83,14.75
$GC,173,-1.60,-146.0,214,2305,3527,3570,4.0,-4.4,15,191,9.40,2.58,0.00,0.000,2564,0.427,0.128,2215,888,3551,3533,3569,0,0,0,0,0,0,14.35,14.47,28.83
$GC,237,-1.60,-146.0,2215,887,3536,3568,17.4,-13.2,27,243,0.00,2.62,0.00,0.000,1030,0.000,0.142,2206,2305,3552,3536,3568,0,0,0,0,0,0,28.83,14.50,28.83
$GC,560,-1.60,-146.0,2206,2305,3538,3568,57.7,-12.4,47,565,0.00,2.65,0.00,0.000,260,0.000,0.152,2195,3712,3552,3537,3568,0,0,0,0,0,0,28.83,14.57,28.83
$GC,682,-1.60,-146.0,2195,3713,3538,3568,72.6,-11.8,71,688,0.12,2.47,0.00,0.000,3078,0.282,0.081,2223,2289,3552,3537,3568,0,0,0,0,0,0,14.53,14.62,28.83
$GC,1006,-1.63,-146.0,2223,2289,3538,3566,104.6,-9.4,90,1012,0.00,2.70,0.00,0.000,260,0.000,0.157,2213,3713,3551,3537,3565,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1238,-1.65,-146.0,2213,3712,3538,3565,128.6,-10.6,136,1244,0.00,2.45,0.00,0.000,1030,0.000,0.082,2213,2301,3551,3538,3565,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1551,-1.68,-146.0,2213,2301,3538,3565,158.3,-9.1,153,1557,0.00,2.67,0.00,0.000,260,0.000,0.159,2202,3713,3551,3538,3565,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1674,-1.68,-146.0,2202,3712,3537,3565,170.2,-8.9,177,1681,0.00,2.45,0.00,0.000,1030,0.000,0.083,2203,2298,3551,3538,3565,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1998,-1.70,-146.0,2202,2298,3539,3563,201.1,-9.4,196,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2298,3551,3539,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2298,-1.73,-146.0,2202,2298,3539,3563,228.6,-9.3,211,2304,0.00,2.70,0.00,0.000,260,0.000,0.158,2192,3717,3551,3539,3564,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2441,-1.73,-146.0,2192,3717,3540,3564,243.4,-10.7,239,2446,0.00,2.45,0.00,0.000,1030,0.000,0.083,2192,2299,3550,3538,3563,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2764,-1.73,-146.0,2191,2299,3535,3563,275.9,-10.0,254,2769,0.00,2.67,0.00,0.000,260,0.000,0.161,2181,3714,3551,3540,3563,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2815,-1.73,-146.0,2181,3714,3540,3563,281.7,-11.0,264,2820,0.00,2.42,0.00,0.000,1030,0.000,0.079,2181,2301,3551,3540,3563,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3127,-1.73,-146.0,2181,2299,3541,3565,314.5,-10.1,276,3133,0.00,2.65,0.00,0.000,260,0.000,0.158,2170,3713,3552,3541,3563,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3163,-1.73,-146.0,2171,3713,3541,3563,318.5,-11.3,283,3169,0.10,2.42,0.00,0.000,3078,0.297,0.080,2192,2300,3552,3541,3563,0,0,0,0,0,0,14.66,14.75,28.83
$GC,3491,-1.73,-146.0,2191,2299,3543,3564,351.9,-10.2,298,3497,0.00,2.67,0.00,0.000,260,0.000,0.160,2182,3718,3553,3543,3563,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3568,-1.73,-146.0,2183,3718,3543,3563,360.6,-11.2,313,3574,0.00,2.45,0.00,0.000,1030,0.000,0.080,2182,2288,3553,3544,3563,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3887,-1.73,-146.0,2182,2287,3544,3564,394.4,-10.7,326,3893,0.00,2.67,0.00,0.000,260,0.000,0.156,2171,3714,3554,3544,3564,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3969,-1.73,-146.0,2171,3714,3544,3563,403.6,-10.6,342,3975,0.10,2.42,0.00,0.000,3078,0.296,0.080,2192,2299,3554,3545,3563,0,0,0,0,0,0,14.68,14.77,28.83
$GC,4283,-1.73,-146.0,2192,2299,3546,3564,434.2,-9.5,354,4288,0.00,2.65,0.00,0.000,260,0.000,0.157,2182,3713,3554,3546,3563,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4325,-1.73,-146.0,2182,3713,3546,3564,438.6,-10.2,362,4330,0.00,2.42,0.00,0.000,1030,0.000,0.079,2183,2296,3554,3545,3563,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4647,-1.73,-146.0,2182,2296,3547,3563,469.3,-9.4,376,4653,0.00,2.65,0.00,0.000,260,0.000,0.155,2167,3711,3557,3547,3567,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4749,-1.73,-146.0,2171,3711,3546,3564,479.8,-10.4,396,4755,0.10,2.42,0.00,0.000,3078,0.296,0.080,2192,2297,3555,3547,3564,0,0,0,0,0,0,14.68,14.77,28.83
$GC,5073,-1.75,-146.0,2192,2297,3548,3564,507.4,-8.2,410,5079,0.00,2.67,0.00,0.000,260,0.000,0.158,2183,3718,3555,3548,3563,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5185,-1.75,-146.0,2183,3718,3548,3563,517.0,-8.2,432,5191,0.00,2.45,0.00,0.000,1030,0.000,0.081,2183,2291,3556,3548,3564,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,5466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5466,begin apogee
$GC,5469,-0.38,0.0,2183,2291,3548,3564,541.7,-10.0,443,5633,1.02,0.00,154.60,1.932,10246,0.220,0.000,2484,2290,2951,2969,2933,0,0,0,0,1,0,14.71,28.83,13.05
$STATE,5634,end apogee,CONTROL_FINISHED_OK
$STATE,5635,begin climb
$GC,5636,1.60,146.0,2484,2290,2969,2940,545.3,0.0,448,5804,1.38,2.83,152.75,2.114,10756,0.120,0.160,2932,897,2357,2391,2324,0,0,0,0,1,0,13.81,13.66,12.98
$GC,5835,1.55,146.0,2931,897,2391,2328,529.1,12.9,489,5843,0.12,2.78,0.00,0.000,5126,0.307,0.152,2907,2304,2360,2392,2328,0,0,0,0,0,0,13.85,13.91,28.83
$GC,6142,1.52,146.0,2907,2304,2391,2321,492.2,11.9,500,6147,0.00,2.72,0.00,0.000,260,0.000,0.155,2907,3718,2356,2392,2321,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6249,1.45,146.0,2907,3717,2389,2321,478.2,13.4,521,6256,0.15,2.55,0.00,0.000,5126,0.313,0.099,2884,2310,2355,2389,2321,0,0,0,0,0,0,14.35,14.43,28.83
$GC,6568,1.45,146.0,2884,2310,2389,2320,444.6,10.4,534,6574,0.00,2.70,0.00,0.000,260,0.000,0.161,2884,3714,2354,2389,2320,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6620,1.42,146.0,2880,3714,2389,2320,438.5,11.8,544,6625,0.00,2.53,0.00,0.000,1030,0.000,0.099,2894,2299,2355,2389,2321,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6932,1.42,146.0,2893,2299,2389,2320,405.9,10.3,556,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2298,2354,2389,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7232,1.42,146.0,2893,2299,2389,2319,374.4,10.8,566,7238,0.00,2.70,0.00,0.000,260,0.000,0.161,2893,3714,2354,2389,2319,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7289,1.36,146.0,2894,3714,2389,2319,367.2,12.9,577,7297,0.15,2.53,0.00,0.000,5126,0.303,0.100,2870,2294,2354,2389,2319,0,0,0,0,0,0,14.60,14.68,28.83
$GC,7595,1.36,146.0,2870,2293,2389,2318,335.9,10.2,588,7600,0.00,2.72,0.00,0.000,260,0.000,0.165,2870,3717,2354,2389,2319,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7628,1.34,146.0,2869,3717,2389,2319,332.3,12.1,594,7633,0.00,2.53,0.00,0.000,1030,0.000,0.101,2879,2293,2353,2389,2318,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7961,1.34,146.0,2879,2293,2389,2319,296.1,10.9,610,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2293,2353,2389,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,1.34,146.0,2880,2293,2389,2319,262.2,11.5,620,8266,0.00,2.70,0.00,0.000,260,0.000,0.161,2879,3715,2354,2389,2319,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8317,1.31,146.0,2880,3715,2389,2319,254.9,12.6,631,8324,0.15,2.50,0.00,0.000,5126,0.295,0.099,2855,2299,2354,2389,2319,0,0,0,0,0,0,14.66,14.73,28.83
$GC,8626,1.33,146.0,2855,2300,2389,2319,222.3,10.5,646,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2299,2354,2389,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8923,1.36,146.3,2855,2300,2389,2319,191.9,10.0,661,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2299,2354,2389,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9222,1.39,146.3,2855,2299,2389,2319,161.3,10.3,676,9228,0.00,2.70,0.00,0.000,260,0.000,0.165,2854,3716,2354,2389,2319,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9319,1.39,146.3,2854,3717,2389,2319,150.6,11.0,695,9325,0.00,2.53,0.00,0.000,1030,0.000,0.101,2864,2290,2354,2389,2319,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9625,1.41,146.3,2864,2290,2389,2319,120.6,10.1,711,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2290,2354,2389,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9926,1.46,161.5,2864,2290,2389,2319,91.6,9.3,726,9942,0.10,2.72,9.40,0.407,10500,0.180,0.162,2905,3717,2292,2322,2262,0,0,0,0,0,0,14.80,14.72,14.59
$GC,10010,1.42,161.5,2904,3717,2324,2270,82.1,11.9,742,10016,0.15,2.50,0.00,0.000,5126,0.291,0.099,2880,2299,2296,2323,2269,0,0,0,0,0,0,14.67,14.74,28.83
$GC,10333,1.47,175.8,2880,2299,2323,2269,50.5,9.3,761,10345,0.00,0.00,10.00,0.297,8198,0.000,0.000,2880,2299,2233,2263,2203,0,0,0,0,0,0,28.83,28.83,14.64
$GC,10634,1.51,184.3,2880,2299,2263,2211,21.7,9.6,777,10646,0.00,2.55,5.95,0.224,8708,0.000,0.138,2889,888,2199,2227,2172,0,0,0,0,0,0,28.83,14.71,14.68
$GC,10709,1.57,203.1,2890,888,2227,2177,14.6,9.1,791,10732,0.10,2.58,12.82,0.205,11270,0.184,0.142,2927,2300,2121,2152,2091,0,0,0,0,0,0,14.76,14.72,14.66
$STATE,10817,end climb,SURFACE_DEPTH_REACHED
$STATE,10817,begin surface coast
$FINISH,1.1,1.011261
$STATE,10840,end surface coast,CONTROL_FINISHED_OK
$STATE,10840,begin surface
$SM_CCo,10854,218.60,0.161,0,0,539,591.42
$SM_GC,1.67,7.80,0.00,218.60,0.091,0.000,0.161,205,2300,539,-10.76,0.03,591.42,0,0,0,0,0,0,14.77,28.83,14.52
$RAFOS_CLK,453
$RAFOS,6,1418273350,4.833333,4.819445,62,62,58,53,52,50,203,217,139,166,175,184
$RAFOS,5,1418272862,4.700000,4.683889,65,63,55,54,53,52,148,200,124,211,177,225
$RAFOS,4,1418272400,4.566667,4.555555,59,59,56,56,54,52,118,160,174,196,207,148
$RAFOS,3,1418271920,4.433333,4.422222,59,58,55,54,54,53,222,182,193,212,124,115
$RAFOS,2,1418271438,4.300000,4.288333,59,54,54,52,52,50,197,169,215,151,1002,228
$RAFOS,1,1418270942,4.166667,4.150556,65,54,52,52,51,50,198,152,183,174,218,125
$RAFOS,0,1418270470,4.033333,4.019444,68,60,59,53,52,51,184,219,200,163,148,135
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6327.46,-5312.70,111214,015618
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.60
$INTERNAL_PRESSURE,8.44005
$TCM_TEMP,14.20
$XPDR_PINGS,9
$SC_FREEKB,7768320
$24V_AH,12.98,2.069
$10V_AH,13.08,0.000
$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,20.950,109.250,345.525,218.600,0.000,0.000,0.000,240.625,2.250,0.000,5.172,1743.714,7386.360,776.961,1523.226,63.953,0.000,1698.186,0.000,1192.771,2520.000,0.540,0.000
$DEVICE_MAMPS,426.870,165.240,2114.460,160.650,0.000,0.000,0.000,152.235,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10848.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.044,0.000,0.000,0.000
$MEM,227152
$DATA_FILE_SIZE,26691,806
$CAP_FILE_SIZE,129246,0
$CFSIZE,260034560,252772352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,5468.01,0x23769e,2,5
$INTR,1,10843.51,0x23769e,7,5
$SOUNDSPEED,1473.0
$CURRENT,0.152,206.97,1
$GPS,111214,050735,6353.992,-5330.542,37,1.2,37,-28.7