version: 66.12
glider: 193
mission: 4
dive: 132
start: 12 31 114 13 31 44
data:
$ID,193
$MISSION,4
$DIVE,132
$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,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
$GPS1,311214,102525,6650.278,-5653.153,5,1.8,5,-32.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.79
$_SM_ANGLEo,-1.0
$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,356.3,23853,-28.1,-10.000,-30.00,958
$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,-2.24,-62.3,2567,2549,2753,2718,0.0,0.0,0,32,0.00,0.00,-9.52,0.000,16390,0.000,0.000,2567,2550,3207,3203,3211,0,0,0,0,0,0,28.83,28.83,14.95
$GC,34,-2.24,-62.3,2567,2550,3204,3212,14.3,0.0,1,41,1.50,2.50,0.00,0.000,4356,0.129,0.147,2061,3843,3208,3205,3211,0,0,0,0,0,0,14.71,14.70,28.83
$GC,223,-2.24,-62.3,2061,3844,3205,3215,33.9,-11.6,38,228,0.00,2.20,0.00,0.000,1030,0.000,0.063,2061,2539,3210,3205,3215,0,0,0,0,0,0,28.83,14.76,28.83
$GC,540,-2.24,-62.3,2061,2539,3205,3215,68.6,-12.0,56,546,0.00,2.45,0.00,0.000,260,0.000,0.139,2053,3840,3210,3205,3216,0,0,0,0,0,0,28.83,14.70,28.83
$GC,773,-2.21,-62.3,2052,3840,3205,3216,93.7,-10.8,102,778,0.00,2.17,0.00,0.000,1030,0.000,0.062,2052,2551,3210,3205,3216,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1085,-2.23,-79.8,2052,2550,3205,3215,122.6,-8.1,119,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2550,3210,3205,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1387,-2.25,-96.7,2052,2551,3205,3215,146.6,-8.2,134,1392,0.00,2.40,0.00,0.000,516,0.000,0.100,2052,1148,3209,3205,3214,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1471,-2.27,-109.9,2053,1148,3205,3214,153.7,-8.6,150,1476,0.00,2.53,0.00,0.000,1030,0.000,0.120,2042,2556,3210,3205,3215,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1793,-2.31,-140.0,2042,2556,3205,3214,178.5,-6.8,169,1800,0.00,2.42,0.00,0.000,516,0.000,0.098,2042,1146,3209,3205,3213,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1881,-2.31,-146.0,2042,1146,3205,3213,184.4,-6.6,186,1887,0.00,2.53,0.00,0.000,1030,0.000,0.119,2032,2554,3209,3205,3213,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2199,-2.31,-146.0,2032,2554,3205,3213,206.4,-6.9,204,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2555,3209,3205,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-2.31,-146.0,2032,2554,3205,3213,227.0,-6.8,219,2506,0.00,2.42,0.00,0.000,516,0.000,0.099,2032,1143,3208,3205,3212,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2733,-2.31,-146.0,2032,1143,3205,3213,242.3,-6.6,265,2740,0.10,2.53,0.00,0.000,3078,0.376,0.119,2039,2553,3209,3205,3213,0,0,0,0,0,0,14.62,14.74,28.83
$GC,3047,-2.31,-146.0,2039,2553,3205,3213,261.2,-6.0,279,3052,0.00,2.42,0.00,0.000,516,0.000,0.100,2040,1143,3209,3205,3213,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3280,-2.31,-146.0,2040,1143,3205,3212,276.1,-6.3,325,3286,0.00,2.53,0.00,0.000,1030,0.000,0.119,2030,2554,3208,3205,3212,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3594,-2.31,-146.0,2030,2554,3205,3213,294.5,-5.6,337,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2554,3209,3205,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,-2.31,-146.0,2030,2554,3205,3213,313.1,-6.6,347,3899,0.00,2.42,0.00,0.000,516,0.000,0.103,2030,1147,3209,3205,3213,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4126,-2.31,-146.0,2030,1147,3205,3213,330.2,-7.9,393,4133,0.12,2.53,0.00,0.000,3078,0.368,0.122,2044,2553,3209,3205,3214,0,0,0,0,0,0,14.64,14.76,28.83
$GC,4442,-2.31,-146.0,2044,2553,3205,3214,350.1,-5.9,405,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2553,3209,3205,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-2.31,-146.0,2044,2553,3206,3215,368.3,-5.8,415,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2553,3210,3206,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,-2.31,-146.0,2044,2553,3207,3215,386.9,-6.5,425,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2553,3210,3207,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5340,-2.31,-146.0,2044,2553,3207,3215,404.1,-5.4,435,5346,0.00,2.42,0.00,0.000,516,0.000,0.106,2044,1147,3211,3207,3215,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5438,-2.31,-146.0,2044,1147,3207,3215,409.6,-5.7,454,5443,0.00,2.53,0.00,0.000,1030,0.000,0.123,2034,2555,3211,3207,3215,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5767,-2.31,-146.0,2034,2554,3207,3215,426.0,-4.8,469,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2554,3211,3207,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6066,-2.31,-146.0,2034,2555,3207,3216,440.7,-4.8,479,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2555,3211,3207,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6366,-2.31,-146.0,2034,2555,3208,3215,455.6,-5.0,489,6372,0.00,2.45,0.00,0.000,516,0.000,0.109,2034,1140,3211,3207,3215,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6509,-2.31,-146.0,2034,1140,3207,3215,463.2,-5.8,517,6516,0.10,2.55,0.00,0.000,3078,0.383,0.126,2042,2555,3211,3207,3215,0,0,0,0,0,0,14.67,14.79,28.83
$GC,6824,-2.31,-146.0,2041,2556,3207,3215,479.3,-5.0,529,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2556,3211,3207,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7124,-2.31,-146.0,2041,2557,3207,3215,494.2,-4.9,539,7129,0.00,2.47,0.00,0.000,516,0.000,0.111,2042,1138,3211,3207,3215,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7250,-2.31,-146.0,2042,1139,3207,3216,501.0,-5.2,564,7256,0.00,2.55,0.00,0.000,1030,0.000,0.128,2032,2554,3209,3207,3211,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7579,-2.31,-146.0,2032,2554,3207,3215,517.5,-5.0,579,7584,0.00,2.45,0.00,0.000,516,0.000,0.112,2032,1147,3211,3207,3215,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7672,-2.31,-146.0,2032,1147,3207,3215,522.2,-5.0,597,7679,0.10,2.53,0.00,0.000,3078,0.382,0.129,2039,2550,3211,3207,3215,0,0,0,0,0,0,14.66,14.78,28.83
$GC,8007,-2.34,-146.0,2040,2549,3207,3215,537.9,-4.6,613,8013,0.00,2.38,0.00,0.000,260,0.000,0.136,2031,3836,3211,3207,3215,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8195,-2.31,-146.0,2031,3836,3207,3215,547.3,-4.7,650,8200,0.00,2.15,0.00,0.000,1030,0.000,0.060,2031,2549,3211,3207,3215,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,8491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8492,begin apogee
$GC,8496,-0.38,0.0,2031,2397,3207,3215,563.1,-5.6,664,8576,1.65,0.00,70.70,1.739,10246,0.309,0.000,2461,2396,2951,2959,2943,0,0,0,0,1,0,14.66,28.83,13.44
$STATE,8578,end apogee,CONTROL_FINISHED_OK
$STATE,8578,begin climb
$GC,8580,2.34,146.0,2461,2396,2962,2951,564.4,0.0,666,8755,1.85,2.97,157.75,2.196,10500,0.146,0.149,3061,3808,2356,2391,2322,0,0,0,0,1,0,14.21,13.72,13.05
$GC,8832,2.31,146.0,3061,3809,2391,2328,525.9,22.8,718,8837,0.00,2.58,0.00,0.000,1030,0.000,0.085,3073,2410,2359,2391,2328,0,0,0,0,0,0,28.83,14.07,28.83
$GC,9145,2.31,146.0,3072,2410,2391,2322,460.0,20.8,730,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,2356,2391,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9446,2.31,146.0,3072,2410,2391,2320,397.9,20.2,740,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,2355,2391,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9745,2.31,146.0,3072,2410,2390,2319,337.1,20.4,750,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,2355,2391,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10045,2.31,146.0,3072,2410,2390,2317,277.9,19.8,760,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2410,2353,2390,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10355,2.31,146.0,3072,2410,2391,2316,213.7,20.9,773,10361,0.00,2.65,0.00,0.000,260,0.000,0.143,3072,3808,2354,2391,2317,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10433,2.27,146.0,3072,3807,2390,2317,196.3,21.9,788,10441,0.17,2.47,0.00,0.000,5126,0.342,0.085,3045,2396,2354,2391,2317,0,0,0,0,0,0,14.57,14.69,28.83
$GC,10739,2.31,146.0,3045,2396,2390,2315,138.1,18.7,804,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2396,2356,2390,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11039,2.34,146.0,3045,2396,2391,2316,82.6,18.7,819,11044,0.00,2.67,0.00,0.000,260,0.000,0.145,3044,3814,2353,2391,2316,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11146,2.34,146.0,3044,3814,2390,2316,60.9,20.5,840,11152,0.00,2.47,0.00,0.000,1030,0.000,0.083,3055,2395,2353,2390,2316,0,0,0,0,0,0,28.83,14.72,28.83
$GC,11455,2.39,146.0,3055,2395,2390,2317,11.0,15.3,862,11460,0.00,2.67,0.00,0.000,260,0.000,0.145,3055,3807,2353,2390,2317,0,0,0,0,0,0,28.83,14.69,28.83
$FREEZE,8.94,0.334,-1.809,0,2,0
$FREEZE,8.29,0.334,-1.808,0,2,0
$FREEZE,7.37,0.323,-1.808,0,2,0
$FREEZE,6.45,0.323,-1.807,0,2,0
$FREEZE,5.35,0.324,-1.806,0,2,0
$FREEZE,4.33,0.324,-1.805,0,2,0
$FREEZE,3.31,0.324,-1.804,0,2,0
$FREEZE,2.24,0.324,-1.804,0,2,0
$STATE,11502,end climb,SURFACE_DEPTH_REACHED
$STATE,11502,begin surface coast
$FREEZE,1.27,0.326,-1.803,0,2,0
$FREEZE,1.16,0.326,-1.803,0,2,0
$FINISH,1.2,1.026390
$STATE,11514,end surface coast,CONTROL_FINISHED_OK
$STATE,11514,begin surface
$SM_CCo,11533,247.32,0.155,0,0,499,601.23
$SM_GC,1.68,8.12,2.25,247.32,0.086,0.081,0.155,203,2542,499,-10.65,0.59,601.23,0,0,0,0,0,0,14.76,14.74,14.50
$RAFOS_CLK,502
$RAFOS,4,1420043601,16.566668,16.555834,63,60,59,58,48,44,206,151,217,184,161,117
$RAFOS,3,1420043104,16.433332,16.417778,61,60,58,55,54,53,212,222,193,164,146,132
$RAFOS,2,1420042627,16.299999,16.285278,60,58,57,54,48,47,137,214,159,192,174,117
$RAFOS,1,1420042146,16.166666,16.151667,67,59,56,55,55,54,222,202,183,141,1537,120
$RAFOS,0,1420041666,16.033333,16.018333,66,62,58,56,55,52,170,194,212,230,129,118
$RAFOS_FIX,6658.460938,-5650.041016,311214,040400,2,73,4.83
$IRIDIUM_FIX,6609.62,-5821.05,311214,065755
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.67
$INTERNAL_PRESSURE,8.42052
$TCM_TEMP,15.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,17.0
$SC_FREEKB,7727680
$24V_AH,13.05,29.875
$10V_AH,13.41,0.000
$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,13.725,82.375,228.450,247.325,0.000,0.000,0.000,0.000,0.500,0.000,0.000,1874.952,7988.473,547.942,1367.849,109.374,0.000,1228.379,0.000,1285.187,2160.000,2.633,0.000
$DEVICE_MAMPS,382.500,149.175,2196.315,154.530,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11528.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.752,0.000,0.000,0.000
$MEM,271140
$DATA_FILE_SIZE,30051,873
$CAP_FILE_SIZE,121928,0
$CFSIZE,260034560,243458048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1471.4
$CURRENT,0.161,78.88,1
$GPS,311214,164934,6651.234,-5652.340,40,1.0,40,-32.3