version: 66.12
glider: 193
mission: 4
dive: 131
start: 12 31 114 10 25 58
data:
$ID,193
$MISSION,4
$DIVE,131
$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,21
$R_STBD_OVSHOOT,13
$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
$GPS1,311214,101934,6650.279,-5653.105,41,1.8,41,-32.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-48.0
$GPS2,311214,102525,6650.278,-5653.153,5,1.8,5,-32.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,53.9,23853,-18.4,-10.000,-20.87,2243
$D_GRID,562
$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,-146.0,205,2553,525,484,0.0,0.0,0,172,0.00,0.00,-151.27,0.000,16386,0.000,0.000,205,2554,3319,3293,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,175,-1.60,-146.0,204,2554,3295,3346,3.3,-2.8,15,199,10.02,2.58,-6.70,0.000,18948,0.464,0.126,2193,1141,3549,3544,3554,0,0,0,0,0,0,14.33,14.48,14.71
$GC,406,-1.57,-146.0,2192,1141,3551,3554,37.0,-12.7,60,412,0.00,2.58,0.00,0.000,1030,0.000,0.122,2182,2553,3552,3551,3554,0,0,0,0,0,0,28.83,14.54,28.83
$GC,724,-1.54,-146.0,2186,2552,3551,3554,75.4,-11.8,78,726,0.12,0.00,0.00,0.000,2054,0.332,0.000,2212,2553,3552,3551,3554,0,0,0,0,0,0,14.51,28.83,28.83
$GC,1024,-1.54,-146.0,2211,2553,3551,3554,109.5,-11.4,93,1031,0.00,2.47,0.00,0.000,516,0.000,0.102,2212,1133,3548,3547,3550,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1062,-1.54,-146.0,2212,1134,3551,3554,114.0,-12.0,100,1068,0.00,2.55,0.00,0.000,1030,0.000,0.118,2205,2551,3552,3551,3554,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1368,-1.54,-146.0,2205,2552,3551,3553,147.5,-10.4,116,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2552,3552,3551,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-1.54,-146.0,2205,2552,3551,3552,176.0,-9.2,131,1674,0.00,2.45,0.00,0.000,516,0.000,0.101,2205,1142,3551,3551,3551,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1726,-1.54,-146.0,2205,1141,3551,3551,181.8,-9.7,142,1733,0.00,2.53,0.00,0.000,1030,0.000,0.119,2198,2549,3551,3551,3551,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2032,-1.54,-146.0,2198,2549,3551,3551,210.0,-8.9,158,2038,0.00,2.45,0.00,0.000,516,0.000,0.103,2198,1137,3548,3546,3551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2079,-1.54,-146.0,2198,1137,3551,3551,214.3,-8.3,167,2085,0.10,2.53,0.00,0.000,3078,0.330,0.120,2210,2549,3551,3551,3551,0,0,0,0,0,0,14.62,14.70,28.83
$GC,2398,-1.57,-146.0,2206,2549,3551,3551,240.2,-8.0,185,2404,0.00,2.47,0.00,0.000,516,0.000,0.105,2210,1134,3551,3551,3551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2448,-1.59,-146.0,2210,1135,3551,3551,244.4,-9.0,194,2453,0.00,2.55,0.00,0.000,1030,0.000,0.121,2204,2557,3551,3551,3551,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2767,-1.59,-146.0,2203,2557,3552,3551,271.9,-9.0,208,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2557,3551,3551,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3066,-1.59,-146.0,2203,2557,3550,3551,298.6,-8.9,218,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2557,3551,3552,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3366,-1.61,-146.0,2203,2557,3552,3551,323.7,-8.4,228,3372,0.00,2.47,0.00,0.000,516,0.000,0.106,2203,1130,3551,3552,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3409,-1.61,-146.0,2203,1130,3552,3552,327.3,-8.4,236,3414,0.00,2.55,0.00,0.000,1030,0.000,0.122,2196,2552,3552,3552,3552,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3733,-1.61,-146.0,2197,2552,3555,3552,355.0,-8.8,250,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2552,3553,3554,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-1.61,-146.0,2197,2552,3556,3553,382.0,-9.1,260,4037,0.00,2.47,0.00,0.000,516,0.000,0.112,2197,1140,3554,3556,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4119,-1.61,-146.0,2197,1140,3556,3553,390.3,-8.8,277,4127,0.00,2.55,0.00,0.000,1030,0.000,0.128,2190,2553,3554,3556,3553,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4425,-1.61,-146.0,2190,2553,3556,3554,417.7,-9.0,288,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2559,3554,3556,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4725,-1.61,-146.0,2190,2553,3557,3554,444.4,-9.1,298,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2553,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5025,-1.61,-146.0,2190,2553,3557,3554,471.6,-9.2,308,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2553,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5325,-1.61,-146.0,2190,2553,3557,3554,497.0,-8.5,318,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2553,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5625,-1.61,-146.0,2190,2553,3557,3554,522.3,-8.5,328,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2553,3555,3557,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,-1.61,-146.0,2190,2553,3557,3554,546.8,-8.1,338,5931,0.00,2.50,0.00,0.000,516,0.000,0.120,2190,1139,3556,3558,3554,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5997,-1.61,-146.0,2190,1138,3557,3554,553.2,-8.6,352,6003,0.00,2.55,0.00,0.000,1030,0.000,0.132,2183,2550,3555,3557,3554,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,6109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6109,begin apogee
$GC,6114,-0.38,0.0,2183,2393,3557,3554,562.3,-8.1,359,6283,1.00,0.00,165.30,1.344,10246,0.245,0.000,2467,2392,2951,2972,2930,0,0,0,0,0,0,14.69,28.83,13.52
$STATE,6285,end apogee,CONTROL_FINISHED_OK
$STATE,6285,begin climb
$GC,6286,1.60,146.0,2467,2392,2962,2920,564.5,0.0,364,6462,1.38,2.67,164.25,1.255,10756,0.151,0.129,2901,1001,2348,2392,2305,0,0,0,0,0,0,14.00,13.84,13.46
$GC,6493,1.60,146.0,2902,1002,2381,2291,543.7,13.2,400,6499,0.00,2.70,0.00,0.000,1030,0.000,0.132,2908,2401,2335,2381,2290,0,0,0,0,0,0,28.83,13.99,28.83
$GC,6807,1.57,146.0,2902,2401,2375,2282,501.2,13.7,412,6813,0.00,2.75,0.00,0.000,260,0.000,0.148,2902,3816,2329,2376,2282,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6844,1.51,146.0,2903,3816,2373,2284,495.7,15.4,419,6850,0.15,2.53,0.00,0.000,5126,0.294,0.082,2880,2399,2331,2373,2290,0,0,0,0,0,0,14.30,14.40,28.83
$GC,7175,1.51,146.0,2880,2404,2373,2281,455.4,12.1,434,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2399,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7472,1.51,146.0,2880,2399,2372,2281,419.7,11.7,444,7478,0.00,2.72,0.00,0.000,260,0.000,0.150,2879,3814,2326,2372,2281,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7514,1.48,146.0,2879,3814,2370,2282,414.2,13.5,452,7520,0.00,2.47,0.00,0.000,1030,0.000,0.083,2888,2400,2326,2370,2282,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7838,1.48,146.0,2888,2401,2369,2281,375.9,11.9,466,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2400,2325,2369,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8137,1.48,146.0,2888,2400,2370,2280,340.6,12.0,476,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2401,2325,2370,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8437,1.48,146.0,2888,2400,2369,2280,303.9,12.2,486,8442,0.00,2.47,0.00,0.000,516,0.000,0.115,2899,993,2324,2369,2280,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8474,1.48,146.0,2899,993,2368,2281,299.2,12.6,493,8481,0.12,2.47,0.00,0.000,5126,0.306,0.119,2872,2403,2323,2368,2278,0,0,0,0,0,0,14.60,14.68,28.83
$GC,8803,1.48,146.0,2872,2403,2368,2281,259.9,11.9,508,8809,0.00,2.67,0.00,0.000,260,0.000,0.149,2872,3809,2324,2368,2281,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8867,1.45,146.0,2872,3809,2367,2282,251.2,14.3,520,8872,0.00,2.45,0.00,0.000,1030,0.000,0.083,2881,2399,2324,2367,2281,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9179,1.45,146.0,2881,2399,2367,2281,212.2,12.1,540,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2399,2324,2367,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9480,1.45,146.0,2881,2399,2367,2281,175.8,12.3,555,9486,0.00,2.67,0.00,0.000,260,0.000,0.148,2881,3809,2324,2367,2281,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9523,1.42,146.0,2881,3809,2367,2281,170.1,13.8,563,9529,0.15,2.45,0.00,0.000,5126,0.291,0.082,2856,2396,2324,2367,2281,0,0,0,0,0,0,14.64,14.74,28.83
$GC,9847,1.45,146.0,2856,2396,2367,2281,133.5,11.2,582,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2396,2324,2367,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10147,1.48,146.0,2856,2396,2367,2281,101.6,11.2,597,10154,0.00,2.47,0.00,0.000,516,0.000,0.112,2865,984,2324,2367,2281,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10185,1.51,146.0,2865,984,2367,2282,97.2,11.4,604,10192,0.00,2.55,0.00,0.000,1030,0.000,0.121,2866,2408,2322,2367,2277,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10492,1.55,146.0,2866,2408,2367,2282,65.1,10.0,620,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2408,2324,2367,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10792,1.60,154.6,2866,2408,2367,2283,35.7,9.6,635,10798,0.12,2.62,0.00,0.000,2308,0.148,0.144,2925,3809,2325,2367,2283,0,0,0,0,0,0,14.78,14.72,28.83
$GC,10866,1.55,154.6,2924,3809,2367,2284,26.3,12.3,649,10873,0.20,2.45,0.00,0.000,5126,0.292,0.081,2887,2394,2325,2367,2284,0,0,0,0,0,0,14.66,14.76,28.83
$STATE,10969,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10969,begin subsurface finish
$FINISH1,16.6,1.026391,55
$GC,10974,0.07,54.7,2883,2395,2368,2284,16.6,8.2,660,10990,1.12,2.53,-8.23,0.000,20996,0.258,0.137,2567,993,2731,2750,2712,0,0,0,0,0,0,14.66,14.72,14.95
$FINISH2,15.8
$STATE,10991,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10992,begin surface
$RAFOS_CLK,464
$RAFOS,6,1420030149,12.833333,12.819167,64,60,60,57,57,55,193,216,817,151,207,137
$RAFOS,5,1420029663,12.700000,12.684167,66,59,56,55,53,52,669,145,211,183,238,221
$RAFOS,4,1420029183,12.566667,12.550834,66,64,59,58,50,49,201,218,163,184,175,121
$RAFOS,3,1420028728,12.433333,12.424444,61,60,60,58,52,51,228,204,192,174,145,160
$RAFOS,2,1420028242,12.300000,12.289444,63,60,59,56,56,54,197,215,164,126,225,184
$RAFOS,1,1420027757,12.166667,12.154722,59,58,58,54,53,53,200,191,213,1204,153,176
$RAFOS,0,1420027270,12.033333,12.019444,60,53,53,52,49,46,201,152,214,132,223,168
$RAFOS_FIX,6658.460938,-5650.041016,311214,040400,2,73,4.83
$IRIDIUM_FIX,6609.62,-5821.05,311214,065755
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,8.63537
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,7.8
$SC_FREEKB,7728000
$24V_AH,13.46,29.677
$10V_AH,13.66,0.000
$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,14.500,84.200,329.550,0.000,0.000,0.000,0.000,217.975,0.250,0.000,6.823,1498.715,7910.973,526.926,1288.194,129.907,0.000,1323.810,0.000,988.715,2520.000,2.621,0.000
$DEVICE_MAMPS,464.355,149.940,1344.105,0.000,0.000,0.000,0.000,153.000,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.898,0.000,0.000,0.000
$MEM,271020
$DATA_FILE_SIZE,23375,662
$CAP_FILE_SIZE,114374,0
$CFSIZE,260034560,243544064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12244.46,0x23769e,7,5
$INTR,1,10972.05,0x23769e,5,5
$SOUNDSPEED,1468.7
$CURRENT,58.228,18.73,1
$GPS,311214,102525,6650.278,-5653.153,5,1.8,5,-32.3