version: 66.12
glider: 193
mission: 4
dive: 4
start: 12 10 114 23 52 31
data:
$ID,193
$MISSION,4
$DIVE,4
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$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,120
$T_MISSION,145
$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,2070
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$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,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
$GPS1,101214,234729,6353.994,-5325.241,42,1.1,42,-28.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-52.5
$GPS2,101214,235158,6354.007,-5325.277,4,1.0,4,-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,310.5,30297,-18.4,-10.000,-20.87,2243
$D_GRID,878
$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,-146.0,217,2068,585,513,0.0,0.0,0,172,0.00,0.00,-148.70,0.000,16390,0.000,0.000,216,2069,3547,3526,3569,0,0,0,0,0,0,28.83,28.83,14.75
$GC,174,-1.60,-146.0,217,2069,3527,3569,4.4,-5.7,15,185,9.45,0.00,0.00,0.000,2566,0.429,0.000,2216,2069,3547,3529,3566,0,0,0,0,0,0,14.35,28.83,28.83
$GC,482,-1.60,-146.0,2216,2068,3537,3568,46.5,-12.3,38,488,0.00,2.65,0.00,0.000,260,0.000,0.153,2207,3480,3552,3537,3568,0,0,0,0,0,0,28.83,14.54,28.83
$GC,605,-1.60,-146.0,2206,3480,3537,3568,61.4,-11.7,62,611,0.00,2.47,0.00,0.000,1030,0.000,0.087,2207,2060,3552,3537,3568,0,0,0,0,0,0,28.83,14.62,28.83
$GC,927,-1.60,-146.0,2207,2060,3537,3566,96.4,-10.1,81,934,0.00,2.67,0.00,0.000,260,0.000,0.152,2196,3486,3551,3537,3565,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1159,-1.60,-146.0,2197,3486,3537,3565,123.2,-12.5,127,1165,0.10,2.47,0.00,0.000,3078,0.290,0.087,2217,2060,3551,3537,3565,0,0,0,0,0,0,14.58,14.66,28.83
$GC,1475,-1.63,-146.0,2217,2060,3537,3565,155.5,-9.5,144,1481,0.00,2.67,0.00,0.000,260,0.000,0.151,2207,3487,3551,3537,3565,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1708,-1.65,-146.0,2207,3487,3538,3565,178.8,-10.0,190,1713,0.00,2.47,0.00,0.000,1030,0.000,0.087,2207,2060,3551,3537,3565,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2020,-1.68,-146.0,2207,2060,3538,3565,210.8,-11.0,207,2026,0.00,2.65,0.00,0.000,260,0.000,0.150,2197,3486,3554,3538,3571,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2091,-1.68,-146.0,2197,3487,3537,3565,218.5,-10.7,221,2097,0.00,2.45,0.00,0.000,1030,0.000,0.085,2197,2066,3551,3538,3565,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2405,-1.70,-146.0,2197,2066,3539,3565,251.3,-10.5,238,2411,0.00,2.65,0.00,0.000,260,0.000,0.151,2187,3486,3551,3538,3564,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2568,-1.70,-146.0,2186,3486,3539,3564,268.3,-9.7,270,2573,0.00,2.45,0.00,0.000,1030,0.000,0.084,2186,2066,3551,3538,3565,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2891,-1.70,-146.0,2187,2066,3539,3565,297.3,-8.8,284,2896,0.00,2.62,0.00,0.000,260,0.000,0.148,2176,3481,3552,3540,3565,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3113,-1.70,-146.0,2176,3480,3539,3564,318.4,-9.4,328,3119,0.10,2.42,0.00,0.000,3078,0.286,0.085,2197,2070,3552,3540,3565,0,0,0,0,0,0,14.64,14.73,28.83
$GC,3437,-1.72,-146.0,2197,2069,3541,3564,344.6,-8.1,342,3442,0.00,2.62,0.00,0.000,260,0.000,0.151,2189,3484,3552,3540,3565,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,3597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3597,begin apogee
$GC,3603,-0.38,0.0,2187,2065,3541,3564,360.1,-10.3,374,3769,1.02,0.00,160.98,1.056,10246,0.218,0.000,2489,2064,2948,2966,2931,0,0,0,0,0,0,14.66,28.83,13.67
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3772,1.60,146.0,2489,2065,2956,2922,363.8,0.0,379,3940,1.33,2.83,159.60,0.988,11012,0.126,0.150,2916,3478,2346,2380,2313,0,0,0,0,0,0,14.07,13.89,13.55
$GC,3996,1.54,146.0,2917,3478,2358,2292,342.6,13.9,408,4002,0.00,2.60,0.00,0.000,1030,0.000,0.104,2926,2075,2325,2358,2292,0,0,0,0,0,0,28.83,14.12,28.83
$GC,4324,1.51,146.0,2926,2074,2354,2285,297.2,14.2,423,4330,0.12,2.70,0.00,0.000,4356,0.314,0.153,2895,3484,2318,2352,2284,0,0,0,0,0,0,14.36,14.42,28.83
$GC,4427,1.48,146.0,2895,3484,2353,2284,282.2,14.2,443,4432,0.00,2.55,0.00,0.000,1030,0.000,0.103,2905,2066,2318,2353,2284,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4750,1.48,146.0,2905,2066,2350,2283,240.6,13.0,458,4755,0.00,2.67,0.00,0.000,260,0.000,0.153,2905,3480,2317,2352,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4896,1.44,146.0,2905,3480,2352,2283,219.4,14.7,487,4902,0.15,2.53,0.00,0.000,5126,0.297,0.105,2881,2065,2317,2352,2283,0,0,0,0,0,0,14.52,14.62,28.83
$GC,5214,1.44,146.0,2881,2064,2352,2283,180.8,11.7,505,5220,0.00,2.67,0.00,0.000,260,0.000,0.153,2882,3487,2318,2352,2284,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5317,1.44,146.0,2881,3487,2351,2289,168.0,12.1,525,5324,0.00,2.53,0.00,0.000,1030,0.000,0.106,2890,2067,2317,2352,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5640,1.45,156.2,2890,2067,2352,2283,134.6,9.5,544,5646,0.00,2.65,0.00,0.000,260,0.000,0.154,2890,3485,2317,2352,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5777,1.45,157.3,2890,3485,2352,2283,120.5,10.0,571,5784,0.00,2.53,0.00,0.000,1030,0.000,0.104,2900,2059,2317,2352,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6083,1.45,157.3,2900,2059,2352,2283,90.0,10.3,587,6088,0.00,2.65,0.00,0.000,260,0.000,0.153,2900,3480,2317,2352,2283,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6208,1.45,157.3,2900,3480,2352,2282,75.8,11.0,612,6215,0.10,2.50,0.00,0.000,5126,0.320,0.102,2890,2059,2319,2352,2286,0,0,0,0,0,0,14.63,14.71,28.83
$GC,6527,1.49,157.3,2890,2055,2352,2283,44.3,10.4,630,6533,0.00,2.65,0.00,0.000,260,0.000,0.151,2890,3485,2317,2352,2283,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6600,1.49,157.3,2890,3484,2351,2283,36.7,10.3,644,6605,0.00,2.50,0.00,0.000,1030,0.000,0.103,2899,2068,2317,2352,2283,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6913,1.53,168.7,2899,2068,2353,2283,7.5,9.5,670,6935,0.00,2.70,11.93,0.171,8452,0.000,0.155,2899,3477,2264,2293,2235,0,0,0,0,0,0,28.83,14.67,14.68
$STATE,6957,end climb,SURFACE_DEPTH_REACHED
$STATE,6957,begin surface coast
$FINISH,1.0,1.016080
$STATE,6979,end surface coast,CONTROL_FINISHED_OK
$STATE,6979,begin surface
$SM_CCo,6996,238.00,0.161,0,0,538,591.42
$SM_GC,1.40,7.72,2.55,238.00,0.092,0.100,0.161,217,2063,538,-10.74,0.31,591.42,0,0,0,0,0,0,14.75,14.73,14.50
$RAFOS_CLK,289
$RAFOS,6,1418258955,0.833333,0.820833,63,53,52,51,49,49,190,146,217,202,133,1897
$RAFOS,5,1418258462,0.700000,0.683889,61,61,56,53,53,53,139,199,214,181,117,156
$RAFOS,4,1418257987,0.566667,0.551944,71,61,57,55,53,50,205,164,214,184,108,150
$RAFOS,3,1418257510,0.433333,0.419444,64,59,58,54,54,53,212,130,200,167,176,121
$RAFOS,2,1418257022,0.300000,0.283889,58,57,54,52,52,51,210,151,194,161,220,132
$RAFOS,1,1418256543,0.166667,0.150833,65,60,60,54,53,52,118,174,205,219,187,150
$RAFOS,0,1418256063,0.033333,0.017500,64,59,57,57,54,53,216,158,178,135,119,198
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6327.46,-5327.39,101214,214053
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.01
$INTERNAL_PRESSURE,8.43029
$TCM_TEMP,14.10
$XPDR_PINGS,5
$SC_FREEKB,7768640
$24V_AH,13.55,1.812
$10V_AH,13.27,0.000
$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,20.100,77.600,332.500,238.000,0.000,0.000,0.000,171.600,1.250,0.000,5.042,1418.404,4039.737,762.255,1256.137,47.264,0.000,1481.902,0.000,1006.254,2520.000,0.539,0.000
$DEVICE_MAMPS,429.165,154.530,1055.700,160.650,0.000,0.000,0.000,156.825,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6988.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.516,0.000,0.000,0.000
$MEM,227156
$DATA_FILE_SIZE,23402,682
$CAP_FILE_SIZE,95420,0
$CFSIZE,260034560,252874752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7693.40,0x23769e,7,5
$SOUNDSPEED,1470.7
$CURRENT,0.083,149.38,1
$GPS,111214,015428,6353.912,-5326.689,37,1.0,37,-28.7