version: 66.12
glider: 193
mission: 4
dive: 9
start: 12 11 114 14 27 9
data:
$ID,193
$MISSION,4
$DIVE,9
$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,14
$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
$GPS1,111214,142134,6356.707,-5340.845,38,0.9,38,-28.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-54.1
$GPS2,111214,142640,6356.723,-5340.886,4,0.8,4,-28.8
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_1
$TGT_LATLONG,6400.000,-5400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,328.2,16663,-18.4,-10.000,-20.87,2243
$D_GRID,815
$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,-146.0,208,2503,1328,1298,0.0,0.0,0,124,0.00,0.00,-103.78,0.000,16386,0.000,0.000,205,2503,3332,3306,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.60,-146.0,206,2503,3307,3358,3.0,-2.2,10,149,9.30,2.70,-6.00,0.000,19204,0.428,0.191,2186,3841,3548,3541,3556,0,0,0,0,0,0,14.40,14.47,14.75
$GC,375,-1.57,-146.0,2186,3841,3546,3556,39.7,-13.4,59,381,0.10,2.38,0.00,0.000,3078,0.310,0.080,2206,2482,3551,3546,3556,0,0,0,0,0,0,14.52,14.62,28.83
$GC,693,-1.57,-146.0,2205,2482,3546,3555,75.6,-10.0,77,699,0.00,2.65,0.00,0.000,260,0.000,0.171,2196,3846,3551,3546,3556,0,0,0,0,0,0,28.83,14.61,28.83
$GC,925,-1.57,-146.0,2196,3846,3546,3555,102.4,-12.2,123,930,0.00,2.35,0.00,0.000,1030,0.000,0.081,2196,2499,3550,3546,3555,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1237,-1.57,-146.0,2196,2499,3546,3554,135.0,-9.8,140,1243,0.00,2.58,0.00,0.000,260,0.000,0.165,2186,3839,3550,3546,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1323,-1.57,-146.0,2186,3839,3546,3554,144.2,-10.9,157,1330,0.10,2.33,0.00,0.000,3078,0.308,0.081,2206,2499,3550,3546,3554,0,0,0,0,0,0,14.63,14.73,28.83
$GC,1642,-1.60,-146.0,2206,2499,3546,3555,177.6,-10.7,175,1648,0.00,2.58,0.00,0.000,260,0.000,0.164,2199,3843,3550,3546,3554,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1749,-1.60,-146.0,2197,3843,3546,3554,189.3,-10.6,196,1754,0.00,2.33,0.00,0.000,1030,0.000,0.080,2197,2500,3550,3546,3554,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2067,-1.62,-146.0,2197,2500,3546,3554,218.2,-8.7,214,2073,0.00,2.50,0.00,0.000,516,0.000,0.127,2197,1089,3550,3546,3554,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2193,-1.62,-146.0,2197,1090,3546,3553,229.8,-9.3,239,2199,0.00,2.62,0.00,0.000,1030,0.000,0.151,2189,2509,3550,3546,3554,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2521,-1.62,-146.0,2189,2506,3546,3554,259.8,-9.3,256,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2509,3549,3546,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-1.62,-146.0,2189,2509,3547,3554,289.7,-10.4,266,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2509,3550,3546,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-1.62,-146.0,2189,2509,3547,3554,320.8,-10.2,276,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2509,3551,3548,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-1.62,-146.0,2188,2510,3548,3554,352.0,-10.5,286,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2510,3553,3548,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3720,-1.62,-146.0,2188,2510,3549,3554,383.4,-10.5,296,3726,0.00,2.53,0.00,0.000,516,0.000,0.133,2189,1095,3551,3549,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3793,-1.62,-146.0,2189,1096,3549,3554,391.1,-10.6,310,3799,0.00,2.62,0.00,0.000,1030,0.000,0.156,2181,2512,3551,3549,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4116,-1.62,-146.0,2179,2511,3549,3554,424.7,-10.1,324,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2512,3552,3550,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-1.62,-146.0,2181,2511,3551,3554,453.0,-9.4,334,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2512,3552,3551,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-1.62,-146.0,2181,2512,3551,3554,480.3,-9.2,344,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2512,3552,3551,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5017,-1.62,-146.0,2181,2511,3551,3554,507.9,-9.2,354,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2512,3552,3551,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5316,-1.62,-146.0,2181,2511,3551,3554,534.2,-8.6,364,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2512,3552,3551,3554,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5404,begin apogee
$GC,5409,-0.38,0.0,2177,2402,3551,3553,542.2,-8.8,367,5572,0.98,0.00,159.55,1.302,10246,0.223,0.000,2467,2402,2950,2969,2932,0,0,0,0,0,0,14.76,28.83,13.59
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5575,1.60,146.0,2467,2402,2962,2922,543.7,0.0,372,5748,1.35,0.00,167.30,1.147,10502,0.137,0.000,2896,2402,2354,2394,2315,0,0,0,0,0,0,14.00,28.83,13.54
$GC,6036,1.60,146.0,2897,2402,2372,2288,484.9,14.0,408,6041,0.00,2.83,0.00,0.000,260,0.000,0.174,2896,3809,2330,2372,2288,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6132,1.55,146.0,2896,3809,2369,2288,470.2,15.5,427,6138,0.00,2.60,0.00,0.000,1030,0.000,0.106,2906,2402,2328,2369,2288,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6461,1.52,146.0,2906,2401,2369,2286,422.6,14.8,442,6467,0.12,2.65,0.00,0.000,4612,0.304,0.151,2884,985,2327,2369,2286,0,0,0,0,0,0,14.50,14.53,28.83
$GC,6525,1.52,146.0,2884,985,2366,2287,413.3,14.1,454,6531,0.00,2.67,0.00,0.000,1030,0.000,0.155,2884,2404,2327,2368,2286,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6858,1.52,146.0,2884,2404,2368,2286,365.2,14.4,470,6864,0.00,2.72,0.00,0.000,260,0.000,0.168,2884,3810,2327,2368,2286,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6915,1.49,146.0,2882,3810,2368,2286,356.1,16.7,481,6922,0.00,2.55,0.00,0.000,1030,0.000,0.104,2894,2397,2327,2368,2286,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7221,1.49,146.0,2894,2397,2367,2286,314.5,13.2,492,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2397,2327,2369,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,1.49,146.0,2894,2397,2368,2285,277.6,12.3,502,7526,0.00,2.58,0.00,0.000,516,0.000,0.142,2904,985,2326,2368,2285,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7560,1.49,146.0,2904,985,2368,2285,272.6,13.6,509,7567,0.12,2.62,0.00,0.000,5126,0.304,0.151,2877,2401,2326,2368,2285,0,0,0,0,0,0,14.63,14.69,28.83
$GC,7879,1.49,146.0,2877,2401,2368,2285,230.7,13.1,526,7884,0.00,2.72,0.00,0.000,260,0.000,0.168,2876,3818,2326,2368,2285,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7945,1.46,146.0,2877,3817,2368,2285,221.3,14.1,539,7951,0.10,2.55,0.00,0.000,5126,0.319,0.105,2866,2398,2326,2367,2285,0,0,0,0,0,0,14.65,14.72,28.83
$GC,8264,1.48,146.0,2866,2398,2369,2285,183.7,11.0,557,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2398,2328,2372,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8563,1.49,150.8,2866,2397,2367,2285,154.3,9.8,572,8569,0.00,2.55,0.00,0.000,516,0.000,0.140,2876,988,2326,2368,2285,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8606,1.51,150.8,2876,988,2368,2285,150.0,10.1,580,8611,0.00,2.60,0.00,0.000,1030,0.000,0.150,2876,2400,2326,2367,2285,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8928,1.57,184.8,2876,2400,2367,2285,119.8,8.4,599,8968,0.00,0.00,30.17,0.940,8198,0.000,0.000,2872,2400,2197,2233,2162,0,0,0,0,1,0,28.83,28.83,14.19
$GC,9268,1.60,184.8,2876,2401,2239,2186,80.3,13.5,616,9273,0.10,0.00,2.62,0.185,10246,0.177,0.000,2916,2401,2196,2227,2165,0,0,0,0,0,0,14.70,28.83,14.63
$GC,9568,1.60,184.8,2916,2401,2238,2182,40.4,14.0,631,9578,0.00,2.78,2.33,0.188,8452,0.000,0.165,2916,3816,2198,2227,2170,0,0,0,0,0,0,28.83,14.66,14.66
$GC,9610,1.57,184.8,2916,3816,2229,2179,34.5,14.3,639,9616,0.15,2.55,0.00,0.000,5126,0.293,0.103,2892,2392,2203,2228,2179,0,0,0,0,0,0,14.62,14.69,28.83
$GC,9924,1.61,187.5,2892,2392,2238,2186,3.3,9.9,668,9929,0.00,0.00,3.90,0.187,8706,0.000,0.000,2892,2392,2186,2216,2157,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9930,end climb,SURFACE_DEPTH_REACHED
$STATE,9930,begin surface coast
$FINISH,1.1,1.026283
$STATE,9957,end surface coast,CONTROL_FINISHED_OK
$STATE,9957,begin surface
$SM_CCo,9971,122.45,0.164,0,0,1318,400.08
$SM_GC,1.68,7.68,0.25,122.45,0.089,0.186,0.164,213,2509,1318,-10.64,-0.17,400.08,0,0,0,0,0,0,14.75,14.69,14.57
$RAFOS_CLK,411
$RAFOS,6,1418316551,16.833334,16.819723,61,60,60,52,50,50,163,192,222,149,205,117
$RAFOS,5,1418316071,16.700001,16.686388,62,62,58,56,54,51,167,211,178,196,123,144
$RAFOS,4,1418315585,16.566668,16.551390,74,65,57,53,53,50,197,177,210,141,119,156
$RAFOS,3,1418315128,16.433332,16.424444,78,57,56,55,53,53,190,224,200,209,117,139
$RAFOS,2,1418314645,16.299999,16.290277,68,58,57,56,53,53,205,225,157,183,79,133
$RAFOS,1,1418314145,16.166666,16.151388,64,63,58,55,54,53,169,199,209,182,218,229
$RAFOS,0,1418313663,16.033333,16.017500,66,56,56,54,52,51,191,117,216,134,149,166
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6327.46,-5338.18,111214,110852
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.80
$INTERNAL_PRESSURE,8.49865
$TCM_TEMP,14.20
$XPDR_PINGS,9
$SC_FREEKB,7767040
$24V_AH,13.54,2.901
$10V_AH,13.35,0.000
$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,20.100,67.575,365.875,122.450,0.000,0.000,0.000,199.975,2.250,0.000,5.936,1501.126,6941.994,632.886,1277.883,59.643,0.000,1394.758,0.000,999.450,2520.000,0.539,0.000
$DEVICE_MAMPS,427.635,191.250,1302.030,163.710,0.000,0.000,0.000,161.415,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9967.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.010,0.000,0.000,0.000
$MEM,227164
$DATA_FILE_SIZE,23429,672
$CAP_FILE_SIZE,108907,0
$CFSIZE,260034560,252510208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,11683.60,0x23769e,7,5
$SOUNDSPEED,1471.5
$CURRENT,0.147,202.86,1
$GPS,111214,171728,6356.767,-5344.325,78,1.5,78,-28.8