version: 66.12
glider: 193
mission: 4
dive: 75
start: 12 23 114 13 49 11
data:
$ID,193
$MISSION,4
$DIVE,75
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,840
$D_ABORT,950
$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,280
$T_MISSION,320
$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,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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,2650
$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,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
$GPS1,231214,134205,6537.690,-5640.729,34,1.1,34,-31.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-58.8
$GPS2,231214,134829,6537.721,-5640.662,6,1.1,6,-31.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_3
$TGT_LATLONG,6600.000,-5650.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,18.5,41856,-18.4,-10.000,-20.87,2243
$D_GRID,300
$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,-146.0,199,2654,1718,1717,0.0,0.0,0,113,0.00,0.00,-92.38,0.000,16386,0.000,0.000,197,2654,3418,3395,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,197,2654,3397,3442,3.4,-2.5,9,138,10.12,2.58,-3.85,0.000,18948,0.466,0.126,2195,1238,3549,3543,3555,0,0,0,0,0,0,14.33,14.47,14.69
$GC,365,-1.60,-146.0,2194,1238,3549,3555,33.8,-11.3,58,370,0.00,2.60,0.00,0.000,1030,0.000,0.132,2188,2649,3551,3548,3555,0,0,0,0,0,0,28.83,14.54,28.83
$GC,682,-1.57,-146.0,2189,2649,3549,3554,69.8,-11.6,76,688,0.00,2.50,0.00,0.000,516,0.000,0.103,2189,1240,3552,3549,3555,0,0,0,0,0,0,28.83,14.59,28.83
$GC,839,-1.57,-146.0,2189,1239,3548,3555,88.2,-12.1,107,846,0.12,2.60,0.00,0.000,3078,0.327,0.134,2207,2654,3551,3548,3554,0,0,0,0,0,0,14.53,14.62,28.83
$GC,1145,-1.57,-146.0,2207,2654,3548,3553,118.3,-9.8,123,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2654,3551,3549,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1447,-1.57,-146.0,2207,2654,3549,3552,144.2,-8.7,138,1452,0.00,2.47,0.00,0.000,516,0.000,0.108,2207,1240,3549,3548,3551,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1599,-1.57,-146.0,2208,1240,3548,3550,157.7,-8.3,168,1604,0.00,2.58,0.00,0.000,1030,0.000,0.133,2203,2650,3549,3548,3550,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1911,-1.57,-146.0,2203,2650,3548,3550,181.9,-7.8,185,1918,0.00,2.47,0.00,0.000,516,0.000,0.106,2203,1233,3549,3548,3550,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2069,-1.57,-146.0,2203,1233,3548,3550,194.6,-8.0,216,2076,0.00,2.60,0.00,0.000,1030,0.000,0.135,2196,2654,3548,3548,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2375,-1.57,-146.0,2196,2654,3548,3549,219.2,-8.2,232,2380,0.00,2.47,0.00,0.000,516,0.000,0.110,2196,1240,3549,3548,3550,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2432,-1.57,-146.0,2196,1239,3548,3550,224.3,-8.9,243,2438,0.00,2.58,0.00,0.000,1030,0.000,0.136,2191,2650,3548,3548,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2747,-1.57,-146.0,2191,2650,3548,3550,253.2,-9.5,259,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2650,3549,3548,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3048,-1.57,-146.0,2191,2650,3548,3550,279.7,-8.9,269,3054,0.00,2.47,0.00,0.000,516,0.000,0.112,2191,1235,3549,3549,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3125,-1.57,-146.0,2191,1235,3549,3550,286.9,-9.5,284,3131,0.10,2.58,0.00,0.000,3078,0.336,0.139,2203,2649,3549,3548,3550,0,0,0,0,0,0,14.65,14.73,28.83
$STATE,3292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3292,begin apogee
$GC,3297,-0.38,0.0,2203,2391,3549,3550,301.8,-8.9,292,3451,0.93,0.00,150.88,1.090,10246,0.248,0.000,2465,2391,2949,2969,2930,0,0,0,0,0,0,14.67,28.83,13.71
$STATE,3453,end apogee,CONTROL_FINISHED_OK
$STATE,3453,begin climb
$GC,3454,1.60,146.0,2465,2391,2962,2923,305.3,0.0,297,3612,1.42,0.00,152.85,1.017,10758,0.158,0.000,2901,2390,2354,2398,2310,0,0,0,0,0,0,14.08,28.83,13.56
$GC,3893,1.60,146.0,2902,2390,2378,2286,258.7,12.0,322,3899,0.00,2.78,0.00,0.000,260,0.000,0.157,2901,3808,2332,2378,2286,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3930,1.55,146.0,2902,3807,2376,2287,253.9,13.7,329,3937,0.12,2.50,0.00,0.000,5126,0.325,0.085,2887,2405,2331,2376,2287,0,0,0,0,0,0,14.28,14.38,28.83
$GC,4248,1.55,146.0,2886,2405,2376,2285,216.7,12.0,348,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2405,2329,2376,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4550,1.55,146.0,2887,2405,2376,2285,179.6,12.6,363,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2405,2329,2376,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4849,1.55,146.0,2886,2405,2377,2285,140.7,12.7,378,4855,0.00,2.53,0.00,0.000,516,0.000,0.125,2896,992,2328,2376,2280,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4886,1.55,146.0,2895,992,2374,2286,135.8,13.0,385,4893,0.00,2.55,0.00,0.000,1030,0.000,0.126,2896,2405,2330,2374,2286,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5192,1.55,146.0,2896,2406,2374,2286,96.7,12.5,401,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2406,2330,2374,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5493,1.55,146.0,2896,2406,2374,2287,60.7,11.6,416,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2409,2330,2374,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5794,1.55,146.0,2896,2406,2374,2288,27.3,11.0,431,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2405,2331,2374,2288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6021,end climb,SURFACE_DEPTH_REACHED
$STATE,6021,begin surface coast
$FINISH,1.5,1.002764
$STATE,6042,end surface coast,CONTROL_FINISHED_OK
$STATE,6042,begin surface
$SM_CCo,6058,80.75,0.158,0,0,1727,300.00
$SM_GC,2.21,7.68,0.47,80.75,0.087,0.155,0.158,208,2650,1727,-10.65,-0.45,300.00,0,0,0,0,0,0,14.77,14.71,14.62
$RAFOS_CLK,251
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6506.88,-5622.93,231214,115608
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.15
$INTERNAL_PRESSURE,8.53771
$TCM_TEMP,14.10
$XPDR_PINGS,3
$SC_FREEKB,7745920
$24V_AH,13.56,18.162
$10V_AH,13.78,0.000
$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,20.500,41.775,303.725,80.750,0.000,0.000,0.000,273.325,0.750,0.000,6.901,1038.411,3922.850,508.454,1008.174,78.021,0.000,1162.519,0.000,684.373,0.000,0.539,0.000
$DEVICE_MAMPS,465.885,156.825,1090.125,158.355,0.000,0.000,0.000,168.300,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6036.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.819,0.000,0.000,0.000
$MEM,313528
$DATA_FILE_SIZE,13484,454
$CAP_FILE_SIZE,73698,0
$CFSIZE,260034560,247296000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6504.86,0x23769e,7,5
$SOUNDSPEED,1468.1
$CURRENT,0.187,3.15,1
$GPS,231214,153253,6539.131,-5641.189,38,1.1,38,-31.0