version: 66.12
glider: 193
mission: 4
dive: 124
start: 12 30 114 10 7 6
data:
$ID,193
$MISSION,4
$DIVE,124
$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,-3
$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,2
$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,20
$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
$GPS1,301214,100028,6645.098,-5655.312,40,2.0,40,-32.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-48.1
$GPS2,301214,100633,6645.099,-5655.373,16,1.6,25,-32.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,44.8,33577,-18.4,-10.000,-20.87,2243
$D_GRID,608
$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,17,begin dive
$GC,19,-1.60,-146.0,199,2556,521,480,0.0,0.0,0,172,0.00,0.00,-151.18,0.000,16386,0.000,0.000,198,2557,3339,3313,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,175,-1.60,-146.0,198,2557,3315,3365,3.3,-2.3,15,198,9.93,2.50,-5.90,0.000,18948,0.457,0.120,2197,1140,3548,3543,3554,0,0,0,0,0,0,14.33,14.50,14.71
$GC,381,-1.58,-146.0,2197,1140,3549,3554,29.7,-12.7,55,386,0.00,2.58,0.00,0.000,1030,0.000,0.119,2190,2552,3551,3549,3554,0,0,0,0,0,0,28.83,14.54,28.83
$GC,704,-1.55,-146.0,2190,2552,3549,3554,67.8,-11.5,74,710,0.10,2.47,0.00,0.000,2564,0.346,0.099,2209,1138,3551,3549,3554,0,0,0,0,0,0,14.52,14.60,28.83
$GC,788,-1.55,-146.0,2209,1139,3549,3554,77.2,-11.7,90,793,0.00,2.55,0.00,0.000,1030,0.000,0.118,2202,2558,3551,3549,3554,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1110,-1.55,-146.0,2202,2561,3549,3553,111.0,-10.6,109,1116,0.00,2.40,0.00,0.000,260,0.000,0.144,2193,3839,3551,3549,3553,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1178,-1.55,-146.0,2193,3839,3550,3553,118.8,-11.4,122,1183,0.00,2.22,0.00,0.000,1030,0.000,0.065,2193,2533,3551,3549,3553,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1495,-1.55,-146.0,2193,2533,3549,3551,153.3,-11.0,140,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2532,3550,3549,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1796,-1.55,-146.0,2192,2534,3549,3551,185.0,-10.3,155,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2533,3549,3549,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2097,-1.55,-146.0,2192,2533,3556,3551,215.2,-9.9,170,2103,0.00,2.40,0.00,0.000,516,0.000,0.105,2192,1144,3550,3549,3551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2164,-1.55,-146.0,2193,1144,3549,3551,222.1,-9.6,183,2170,0.12,2.53,0.00,0.000,3078,0.321,0.122,2212,2550,3550,3549,3551,0,0,0,0,0,0,14.60,14.70,28.83
$GC,2483,-1.58,-146.0,2212,2550,3549,3551,251.4,-9.5,201,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2550,3550,3549,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2783,-1.61,-146.0,2212,2550,3551,3551,279.7,-9.4,211,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2550,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3083,-1.63,-146.0,2211,2550,3551,3551,308.3,-9.4,221,3089,0.00,2.42,0.00,0.000,516,0.000,0.106,2212,1148,3551,3552,3551,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3126,-1.66,-146.0,2212,1147,3551,3551,312.6,-10.0,229,3132,0.00,2.53,0.00,0.000,1030,0.000,0.122,2205,2556,3551,3552,3551,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3451,-1.68,-146.0,2203,2556,3552,3551,342.6,-9.3,243,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2556,3551,3552,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3749,-1.68,-146.0,2205,2556,3552,3552,367.7,-8.1,253,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2553,3552,3552,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,-1.68,-146.0,2205,2556,3555,3552,390.6,-7.6,263,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2556,3554,3555,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4350,-1.70,-146.0,2205,2557,3556,3553,413.8,-7.8,273,4357,0.10,2.47,0.00,0.000,4612,0.174,0.109,2160,1141,3554,3556,3553,0,0,0,0,0,0,14.81,14.77,28.83
$GC,4399,-1.68,-146.0,2160,1142,3556,3553,418.5,-10.5,282,4406,0.15,2.53,0.00,0.000,3078,0.315,0.126,2185,2551,3557,3556,3559,0,0,0,0,0,0,14.68,14.76,28.83
$GC,4719,-1.68,-146.0,2185,2551,3558,3553,446.2,-8.5,295,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2551,3555,3556,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-1.68,-146.0,2185,2551,3557,3554,471.7,-8.5,305,5025,0.00,2.45,0.00,0.000,516,0.000,0.113,2186,1147,3555,3557,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5068,-1.68,-146.0,2186,1147,3557,3554,476.0,-9.1,314,5073,0.00,2.53,0.00,0.000,1030,0.000,0.129,2179,2550,3555,3557,3554,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5387,-1.68,-146.0,2178,2550,3557,3554,503.0,-8.6,327,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2550,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,-1.68,-146.0,2178,2550,3557,3554,527.9,-8.5,337,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2550,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5986,-1.68,-146.0,2178,2550,3557,3554,554.1,-8.7,347,5991,0.00,2.47,0.00,0.000,516,0.000,0.116,2178,1133,3556,3558,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6044,-1.68,-146.0,2179,1133,3558,3554,559.3,-9.3,358,6050,0.00,2.55,0.00,0.000,1030,0.000,0.132,2172,2551,3556,3558,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6349,-1.68,-146.0,2172,2551,3557,3554,586.3,-9.4,369,6355,0.00,2.45,0.00,0.000,516,0.000,0.119,2172,1149,3556,3558,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6448,-1.68,-146.0,2172,1148,3557,3554,596.1,-9.4,388,6453,0.00,2.53,0.00,0.000,1030,0.000,0.132,2166,2550,3555,3557,3554,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,6593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6594,begin apogee
$GC,6599,-0.38,0.0,2166,2390,3557,3554,609.9,-9.0,397,6767,1.05,0.00,165.02,1.408,10246,0.257,0.000,2461,2390,2950,2971,2930,0,0,0,0,0,0,14.70,28.83,13.49
$STATE,6769,end apogee,CONTROL_FINISHED_OK
$STATE,6769,begin climb
$GC,6771,1.60,146.0,2461,2390,2962,2921,612.8,0.0,402,6950,1.40,0.00,167.62,1.258,10502,0.154,0.000,2894,2390,2357,2397,2318,0,0,0,0,1,0,13.97,28.83,13.35
$GC,7228,1.57,146.0,2895,2390,2397,2313,560.3,12.4,433,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2389,2355,2398,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,1.57,146.0,2894,2390,2397,2310,523.1,12.4,443,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2390,2353,2397,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7827,1.57,146.0,2894,2390,2397,2309,485.1,12.6,453,7834,0.00,2.72,0.00,0.000,260,0.000,0.151,2894,3816,2353,2397,2309,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7921,1.53,146.0,2894,3817,2396,2310,472.0,14.4,471,7927,0.10,2.47,0.00,0.000,5126,0.324,0.084,2884,2406,2353,2396,2310,0,0,0,0,0,0,14.50,14.59,28.83
$GC,8254,1.53,146.0,2884,2405,2396,2309,431.2,12.4,487,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2407,2352,2396,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,1.53,146.0,2884,2405,2396,2308,393.7,12.3,497,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2406,2352,2396,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,1.53,146.0,2884,2405,2396,2308,357.3,12.0,507,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2405,2352,2396,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9155,1.53,146.0,2884,2406,2395,2307,321.5,11.9,517,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2405,2351,2396,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9455,1.53,146.0,2884,2407,2396,2307,285.0,12.2,527,9460,0.00,2.65,0.00,0.000,260,0.000,0.148,2884,3814,2352,2397,2308,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9497,1.49,146.0,2884,3814,2393,2309,279.3,13.5,535,9502,0.00,2.45,0.00,0.000,1030,0.000,0.083,2893,2398,2351,2394,2309,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9820,1.49,146.0,2893,2398,2394,2308,239.6,12.4,550,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2401,2350,2393,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10120,1.49,146.0,2893,2398,2393,2308,201.1,13.0,565,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2398,2351,2394,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10420,1.49,146.0,2893,2398,2393,2309,164.1,12.3,580,10426,0.00,2.65,0.00,0.000,260,0.000,0.146,2893,3813,2351,2393,2309,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10473,1.45,146.0,2893,3813,2393,2309,156.8,13.9,590,10479,0.15,2.45,0.00,0.000,5126,0.291,0.081,2868,2394,2350,2393,2308,0,0,0,0,0,0,14.65,14.74,28.83
$GC,10786,1.47,146.0,2869,2394,2394,2309,120.6,11.7,607,10792,0.00,2.45,0.00,0.000,516,0.000,0.114,2878,986,2351,2393,2309,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10824,1.50,146.0,2878,986,2393,2309,116.1,11.9,614,10831,0.00,2.53,0.00,0.000,1030,0.000,0.121,2878,2403,2351,2393,2309,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11130,1.52,146.0,2877,2403,2393,2309,80.3,11.4,630,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2403,2351,2393,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11431,1.55,153.4,2878,2403,2393,2310,48.5,9.7,645,11437,0.00,0.00,4.30,0.219,8198,0.000,0.000,2878,2403,2324,2365,2283,0,0,0,0,0,0,28.83,28.83,14.64
$GC,11730,1.62,179.8,2878,2403,2372,2312,20.4,8.8,662,11752,0.10,0.00,19.05,0.203,10502,0.168,0.000,2921,2402,2216,2253,2179,0,0,0,0,0,0,14.78,28.83,14.67
$STATE,11768,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11768,begin subsurface finish
$FINISH1,16.3,1.026421,53
$GC,11773,0.07,53.3,2921,2400,2252,2191,16.3,10.0,667,11796,1.25,2.70,-10.85,0.000,20740,0.251,0.173,2564,3809,2739,2754,2724,0,0,0,0,0,0,14.65,14.69,14.92
$FINISH2,14.7
$STATE,11797,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11797,begin surface
$RAFOS_CLK,500
$RAFOS,6,1419943753,12.833333,12.820278,81,65,63,58,57,56,809,208,190,161,173,138
$RAFOS,5,1419943269,12.700000,12.685833,101,62,60,57,56,54,638,210,189,221,156,179
$RAFOS,4,1419942789,12.566667,12.552500,58,57,57,55,54,51,203,188,213,171,160,1437
$RAFOS,3,1419942309,12.433333,12.419167,57,57,55,55,49,47,146,201,188,217,157,229
$RAFOS,2,1419941821,12.300000,12.283611,68,61,52,51,50,49,145,163,229,195,205,216
$RAFOS,1,1419941371,12.166667,12.158611,60,60,58,55,54,54,155,206,164,113,191,141
$RAFOS,0,1419940864,12.033333,12.017777,55,55,55,52,50,50,165,199,218,122,188,131
$RAFOS_FIX,6640.624023,-5720.196777,301214,121200,2,91,2.07
$IRIDIUM_FIX,6609.62,-5656.29,301214,063350
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.57
$INTERNAL_PRESSURE,8.61584
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,7.7
$SC_FREEKB,7730240
$24V_AH,13.35,28.085
$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,14.450,67.925,356.000,0.000,0.000,0.000,0.000,217.075,0.250,0.000,26.204,1549.609,8632.639,556.142,1317.698,124.690,0.000,1345.911,0.000,1002.598,2520.000,2.614,0.000
$DEVICE_MAMPS,457.470,172.890,1407.600,0.000,0.000,0.000,0.000,157.590,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.781,0.000,0.000,0.000
$MEM,271112
$DATA_FILE_SIZE,23398,670
$CAP_FILE_SIZE,115816,0
$CFSIZE,260034560,244023296
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,12481.86,0x23769e,7,5
$INTR,1,11770.87,0x23769e,5,5
$SOUNDSPEED,1468.1
$CURRENT,2.271,238.60,1
$GPS,301214,124800,6640.624,-5720.197,0,2091.0,0,-32.2