version: 66.12
glider: 193
mission: 4
dive: 77
start: 12 23 114 17 28 26
data:
$ID,193
$MISSION,4
$DIVE,77
$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,450
$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,18
$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
$GPS1,231214,172105,6540.076,-5641.255,25,1.6,25,-31.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-58.2
$GPS2,231214,172742,6540.097,-5641.132,13,1.5,13,-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,1.0,37461,-18.4,-10.000,-20.87,2243
$D_GRID,450
$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,-146.0,198,2650,1715,1718,0.0,0.0,0,113,0.00,0.00,-92.47,0.000,16386,0.000,0.000,198,2650,3422,3399,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,198,2651,3400,3446,3.2,-1.8,9,138,10.02,2.55,-3.70,0.000,18948,0.464,0.127,2194,1240,3549,3543,3555,0,0,0,0,0,0,14.38,14.51,14.74
$GC,365,-1.58,-146.0,2194,1240,3547,3555,33.7,-11.0,58,370,0.00,2.58,0.00,0.000,1030,0.000,0.132,2190,2650,3551,3547,3555,0,0,0,0,0,0,28.83,14.57,28.83
$GC,682,-1.55,-146.0,2190,2650,3547,3554,68.2,-10.4,76,684,0.10,0.00,0.00,0.000,2054,0.352,0.000,2208,2650,3550,3547,3554,0,0,0,0,0,0,14.54,28.83,28.83
$GC,983,-1.55,-146.0,2208,2650,3547,3554,95.7,-9.0,91,988,0.00,2.47,0.00,0.000,516,0.000,0.104,2208,1231,3550,3547,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1209,-1.55,-146.0,2208,1231,3547,3553,116.7,-9.8,136,1215,0.00,2.60,0.00,0.000,1030,0.000,0.132,2204,2655,3550,3547,3553,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1527,-1.55,-146.0,2203,2654,3547,3551,147.3,-9.9,154,1533,0.00,2.50,0.00,0.000,516,0.000,0.108,2204,1235,3548,3547,3550,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1599,-1.55,-146.0,2204,1229,3547,3550,154.9,-10.0,168,1604,0.00,2.60,0.00,0.000,1030,0.000,0.134,2197,2654,3548,3547,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1911,-1.55,-146.0,2198,2654,3547,3550,186.9,-9.8,185,1917,0.00,2.47,0.00,0.000,516,0.000,0.109,2197,1238,3548,3547,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1999,-1.55,-146.0,2197,1238,3547,3549,195.5,-10.0,202,2004,0.00,2.58,0.00,0.000,1030,0.000,0.135,2192,2651,3548,3547,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2316,-1.55,-146.0,2191,2652,3547,3549,225.7,-9.5,220,2322,0.00,2.47,0.00,0.000,516,0.000,0.109,2192,1235,3548,3547,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2379,-1.55,-146.0,2192,1236,3547,3549,232.0,-9.9,232,2385,0.12,2.58,0.00,0.000,3078,0.324,0.135,2211,2650,3548,3547,3549,0,0,0,0,0,0,14.62,14.71,28.83
$GC,2693,-1.58,-146.0,2212,2650,3547,3549,258.6,-8.4,249,2699,0.00,2.47,0.00,0.000,516,0.000,0.110,2210,1234,3548,3547,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2751,-1.60,-146.0,2212,1234,3547,3549,263.7,-8.5,260,2757,0.00,2.58,0.00,0.000,1030,0.000,0.136,2205,2650,3548,3547,3549,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3056,-1.60,-146.0,2205,2650,3547,3549,288.2,-7.5,271,3062,0.00,2.47,0.00,0.000,516,0.000,0.110,2205,1232,3548,3547,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3123,-1.60,-146.0,2205,1232,3547,3550,292.9,-6.3,284,3128,0.00,2.58,0.00,0.000,1030,0.000,0.136,2199,2650,3548,3547,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3451,-1.60,-146.0,2199,2650,3549,3550,314.2,-6.0,299,3456,0.00,2.47,0.00,0.000,516,0.000,0.111,2199,1231,3549,3549,3549,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3593,-1.60,-146.0,2199,1231,3549,3550,323.1,-7.0,327,3598,0.00,2.60,0.00,0.000,1030,0.000,0.139,2192,2654,3549,3549,3550,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3906,-1.60,-146.0,2192,2653,3550,3550,343.1,-6.8,339,3911,0.00,2.50,0.00,0.000,516,0.000,0.112,2192,1229,3550,3550,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4003,-1.60,-146.0,2192,1229,3550,3550,350.1,-7.9,358,4009,0.00,2.60,0.00,0.000,1030,0.000,0.140,2187,2652,3550,3550,3550,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4332,-1.60,-146.0,2186,2652,3551,3550,373.9,-7.4,373,4338,0.00,2.50,0.00,0.000,516,0.000,0.114,2186,1231,3550,3551,3550,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4374,-1.60,-146.0,2187,1231,3551,3550,377.4,-8.2,381,4381,0.10,2.60,0.00,0.000,3078,0.336,0.141,2199,2654,3551,3551,3551,0,0,0,0,0,0,14.67,14.75,28.83
$GC,4699,-1.60,-146.0,2199,2654,3551,3550,402.2,-7.6,395,4704,0.00,2.47,0.00,0.000,516,0.000,0.114,2199,1238,3551,3551,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4762,-1.60,-146.0,2199,1238,3551,3551,407.1,-7.8,407,4767,0.00,2.58,0.00,0.000,1030,0.000,0.141,2193,2652,3551,3551,3552,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5095,-1.60,-146.0,2193,2652,3551,3552,431.8,-7.2,423,5100,0.00,2.47,0.00,0.000,516,0.000,0.115,2193,1238,3551,3550,3552,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5182,-1.60,-146.0,2193,1238,3551,3552,438.3,-7.5,440,5188,0.00,2.58,0.00,0.000,1030,0.000,0.142,2187,2650,3551,3551,3552,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,5366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5366,begin apogee
$GC,5370,-0.38,0.0,2187,2388,3551,3552,451.9,-7.3,447,5525,0.98,0.00,151.35,1.235,10246,0.252,0.000,2460,2387,2950,2970,2931,0,0,0,0,0,0,14.69,28.83,13.62
$STATE,5527,end apogee,CONTROL_FINISHED_OK
$STATE,5527,begin climb
$GC,5529,1.60,146.0,2461,2387,2963,2923,452.8,0.0,452,5693,1.42,2.92,153.15,1.162,10500,0.156,0.155,2897,3812,2345,2389,2302,0,0,0,0,0,0,14.04,13.86,13.49
$GC,5725,1.55,146.0,2897,3811,2381,2296,432.0,14.8,478,5732,0.00,2.58,0.00,0.000,1030,0.000,0.083,2907,2406,2338,2381,2295,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6032,1.53,146.0,2907,2406,2378,2288,390.8,13.2,489,6034,0.12,0.00,0.00,0.000,4102,0.308,0.000,2881,2406,2332,2378,2287,0,0,0,0,0,0,14.32,28.83,28.83
$GC,6330,1.53,146.0,2880,2406,2378,2286,354.2,12.1,499,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2406,2331,2377,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6631,1.53,146.0,2881,2406,2375,2286,319.3,11.7,509,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2406,2330,2375,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,1.53,146.0,2881,2406,2375,2285,284.2,11.6,519,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2406,2330,2375,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,1.53,146.0,2881,2406,2376,2284,248.3,12.2,529,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2406,2330,2375,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7531,1.53,146.0,2881,2406,2375,2285,208.5,13.6,544,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2406,2328,2375,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7831,1.53,146.0,2880,2406,2375,2284,170.1,12.5,559,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2406,2329,2375,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8131,1.53,146.0,2883,2406,2375,2284,132.3,12.5,574,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2406,2329,2375,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,1.53,146.0,2881,2406,2375,2284,96.4,10.9,589,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2406,2330,2376,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8732,1.55,148.0,2881,2406,2375,2285,65.1,9.9,604,8737,0.00,2.53,0.00,0.000,516,0.000,0.126,2890,981,2330,2375,2285,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8789,1.59,158.5,2890,981,2375,2285,59.6,9.5,615,8801,0.00,2.55,4.12,0.250,9222,0.000,0.125,2890,2404,2307,2347,2268,0,0,0,0,0,0,28.83,14.73,14.62
$GC,9118,1.61,158.5,2890,2404,2347,2286,26.3,10.8,635,9129,0.00,2.70,2.00,0.196,8452,0.000,0.153,2890,3806,2308,2341,2275,0,0,0,0,0,0,28.83,14.71,14.69
$GC,9171,1.61,158.5,2890,3806,2344,2284,20.2,10.7,645,9177,0.00,2.45,0.00,0.000,1030,0.000,0.085,2900,2394,2314,2345,2284,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,9333,end climb,SURFACE_DEPTH_REACHED
$STATE,9333,begin surface coast
$FINISH,1.6,1.015252
$STATE,9354,end surface coast,CONTROL_FINISHED_OK
$STATE,9354,begin surface
$SM_CCo,9369,78.43,0.156,0,0,1726,300.00
$SM_GC,2.15,7.78,0.50,78.43,0.099,0.150,0.156,212,2649,1726,-10.66,-0.51,300.00,0,0,0,0,0,0,14.76,14.73,14.64
$RAFOS_CLK,388
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6512.01,-5646.10,231214,172254
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.88
$INTERNAL_PRESSURE,8.52795
$TCM_TEMP,14.00
$XPDR_PINGS,0
$SC_FREEKB,7745280
$24V_AH,13.49,18.468
$10V_AH,13.70,0.000
$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,20.650,77.550,310.625,78.425,0.000,0.000,0.000,221.700,0.000,0.000,14.979,1483.812,6474.260,542.657,1284.574,94.601,0.000,1313.186,0.000,984.231,360.000,0.539,0.000
$DEVICE_MAMPS,464.355,155.295,1235.475,156.060,0.000,0.000,0.000,151.470,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9348.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.235,0.000,0.000,0.000
$MEM,313528
$DATA_FILE_SIZE,23413,664
$CAP_FILE_SIZE,106016,0
$CFSIZE,260034560,247152640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6599.15,0x23769e,7,5
$SOUNDSPEED,1470.7
$CURRENT,0.222,148.58,1
$GPS,231214,200704,6540.168,-5641.419,25,1.7,25,-31.1