version: 66.12
glider: 193
mission: 4
dive: 81
start: 12 24 114 4 12 54
data:
$ID,193
$MISSION,4
$DIVE,81
$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,19
$R_STBD_OVSHOOT,11
$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
$GPS1,241214,040635,6542.538,-5643.117,28,1.1,28,-31.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-59.5
$GPS2,241214,041150,6542.540,-5643.063,6,1.1,6,-31.1
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_3
$TGT_LATLONG,6600.000,-5650.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,6.8,32755,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.60,-146.0,211,2648,1718,1719,0.0,0.0,0,111,0.00,0.00,-91.72,0.000,16386,0.000,0.000,211,2648,3403,3379,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.60,-146.0,211,2648,3380,3427,3.2,-1.9,9,137,9.80,2.33,-4.40,0.000,18692,0.456,0.177,2190,3836,3548,3543,3554,0,0,0,0,0,0,14.38,14.50,14.75
$GC,365,-1.56,-146.0,2190,3837,3547,3554,36.1,-12.9,58,371,0.00,2.05,0.00,0.000,1030,0.000,0.063,2190,2630,3550,3547,3554,0,0,0,0,0,0,28.83,14.63,28.83
$GC,683,-1.54,-146.0,2190,2630,3547,3554,71.8,-10.8,76,689,0.10,2.42,0.00,0.000,2564,0.327,0.105,2209,1248,3550,3547,3554,0,0,0,0,0,0,14.55,14.64,28.83
$GC,781,-1.54,-146.0,2209,1247,3547,3554,81.5,-10.0,95,787,0.00,2.58,0.00,0.000,1030,0.000,0.133,2203,2659,3550,3547,3554,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1086,-1.54,-146.0,2203,2659,3547,3554,106.7,-7.9,111,1092,0.00,2.47,0.00,0.000,516,0.000,0.111,2203,1249,3550,3547,3554,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1158,-1.54,-146.0,2203,1250,3547,3554,112.2,-7.9,125,1165,0.00,2.58,0.00,0.000,1030,0.000,0.138,2197,2656,3550,3547,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1472,-1.54,-146.0,2197,2655,3547,3555,137.5,-8.4,142,1478,0.00,2.50,0.00,0.000,516,0.000,0.115,2197,1249,3549,3547,3552,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1524,-1.54,-146.0,2198,1249,3546,3551,142.1,-9.0,152,1530,0.10,2.58,0.00,0.000,3078,0.339,0.141,2209,2649,3553,3555,3551,0,0,0,0,0,0,14.59,14.67,28.83
$GC,1838,-1.57,-146.0,2209,2649,3547,3550,169.2,-8.5,169,1844,0.00,2.47,0.00,0.000,516,0.000,0.115,2209,1245,3548,3547,3550,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1951,-1.57,-146.0,2209,1245,3547,3548,179.7,-8.8,191,1956,0.00,2.58,0.00,0.000,1030,0.000,0.138,2204,2652,3548,3547,3549,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2263,-1.57,-146.0,2203,2652,3547,3549,210.6,-9.7,208,2268,0.00,2.47,0.00,0.000,516,0.000,0.115,2203,1247,3548,3547,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2320,-1.57,-146.0,2203,1247,3547,3549,216.2,-10.2,219,2326,0.00,2.58,0.00,0.000,1030,0.000,0.141,2198,2655,3548,3547,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2626,-1.57,-146.0,2198,2654,3548,3549,245.4,-9.2,235,2631,0.00,2.47,0.00,0.000,516,0.000,0.116,2201,1250,3546,3548,3545,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2713,-1.57,-146.0,2198,1248,3547,3549,254.1,-9.9,252,2719,0.00,2.58,0.00,0.000,1030,0.000,0.143,2192,2656,3548,3547,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3018,-1.57,-146.0,2192,2656,3547,3549,281.4,-8.8,263,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2656,3548,3547,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,-1.57,-146.0,2192,2656,3547,3549,309.7,-9.5,273,3325,0.00,2.47,0.00,0.000,516,0.000,0.118,2192,1248,3548,3547,3549,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3481,-1.57,-146.0,2192,1248,3547,3549,325.1,-9.1,305,3488,0.10,2.58,0.00,0.000,3078,0.339,0.145,2205,2653,3548,3547,3549,0,0,0,0,0,0,14.66,14.73,28.83
$GC,3807,-1.59,-146.0,2205,2653,3548,3550,351.8,-8.2,319,3812,0.00,2.50,0.00,0.000,516,0.000,0.119,2205,1241,3549,3549,3549,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3905,-1.61,-146.0,2206,1241,3549,3549,359.5,-7.9,338,3911,0.00,2.60,0.00,0.000,1030,0.000,0.142,2200,2659,3549,3550,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4234,-1.61,-146.0,2200,2658,3550,3549,385.1,-7.9,353,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2658,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4534,-1.63,-146.0,2200,2658,3551,3549,409.3,-8.2,363,4539,0.00,2.47,0.00,0.000,516,0.000,0.116,2200,1250,3550,3551,3549,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4652,-1.63,-146.0,2200,1250,3551,3549,419.8,-8.9,386,4658,0.00,2.58,0.00,0.000,1030,0.000,0.144,2193,2658,3550,3551,3550,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4957,-1.63,-146.0,2194,2657,3551,3550,445.5,-8.0,397,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2659,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5015,begin apogee
$GC,5019,-0.38,0.0,2194,2396,3551,3550,450.4,-8.0,399,5176,0.95,0.00,152.82,1.230,10246,0.246,0.000,2463,2396,2950,2970,2930,0,0,0,0,0,0,14.69,28.83,13.60
$STATE,5177,end apogee,CONTROL_FINISHED_OK
$STATE,5177,begin climb
$GC,5179,1.60,146.0,2463,2396,2963,2921,452.9,0.0,404,5348,1.42,2.95,154.25,1.161,10500,0.156,0.155,2899,3808,2343,2387,2299,0,0,0,0,0,0,14.04,13.85,13.47
$GC,5395,1.55,146.0,2899,3808,2379,2293,430.2,14.5,439,5401,0.10,2.55,0.00,0.000,5126,0.334,0.083,2890,2412,2334,2379,2289,0,0,0,0,0,0,13.98,14.08,28.83
$GC,5714,1.55,146.0,2890,2412,2376,2287,386.8,13.9,452,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2411,2331,2376,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6014,1.55,146.0,2891,2412,2376,2285,346.0,13.3,462,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2412,2330,2376,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,1.55,146.0,2890,2412,2374,2285,306.0,13.2,472,6319,0.00,2.58,0.00,0.000,516,0.000,0.132,2899,986,2330,2375,2286,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6360,1.55,146.0,2900,986,2372,2286,299.7,13.2,481,6366,0.00,2.58,0.00,0.000,1030,0.000,0.130,2900,2404,2329,2373,2286,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6679,1.55,146.0,2899,2405,2373,2286,254.5,14.8,494,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2404,2329,2373,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6989,1.55,146.0,2900,2404,2373,2285,210.9,13.4,509,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2404,2329,2373,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7289,1.55,146.0,2900,2402,2373,2285,170.5,13.3,524,7294,0.00,2.65,0.00,0.000,260,0.000,0.150,2900,3814,2329,2373,2285,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7346,1.50,146.0,2899,3813,2372,2287,161.9,15.6,535,7353,0.15,2.47,0.00,0.000,5126,0.317,0.085,2876,2390,2329,2372,2287,0,0,0,0,0,0,14.62,14.71,28.83
$GC,7651,1.50,146.0,2876,2391,2368,2286,123.6,11.4,551,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2391,2329,2372,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7953,1.52,157.9,2876,2390,2372,2286,91.9,9.5,566,7963,0.00,2.50,3.85,0.257,8708,0.000,0.122,2886,983,2311,2347,2275,0,0,0,0,0,0,28.83,14.70,14.56
$GC,8031,1.55,157.9,2886,983,2351,2287,83.8,10.3,581,8039,0.00,2.53,2.08,0.201,9222,0.000,0.124,2886,2400,2308,2344,2273,0,0,0,0,0,0,28.83,14.70,14.65
$GC,8335,1.57,157.9,2886,2400,2350,2289,48.8,11.5,597,8343,0.00,2.70,2.17,0.200,8452,0.000,0.148,2886,3809,2310,2342,2278,0,0,0,0,0,0,28.83,14.69,14.65
$GC,8389,1.57,157.9,2886,3809,2348,2285,42.2,12.1,607,8400,0.00,2.45,1.73,0.200,9222,0.000,0.081,2895,2392,2310,2342,2278,0,0,0,0,0,0,28.83,14.73,14.67
$GC,8700,1.57,157.9,2895,2392,2348,2290,8.3,11.3,631,8704,0.00,0.00,2.00,0.199,8198,0.000,0.000,2895,2392,2307,2341,2273,0,0,0,0,0,0,28.83,28.83,14.67
$STATE,8749,end climb,SURFACE_DEPTH_REACHED
$STATE,8749,begin surface coast
$FINISH,1.6,1.026643
$STATE,8771,end surface coast,CONTROL_FINISHED_OK
$STATE,8771,begin surface
$SM_CCo,8787,78.28,0.157,0,0,1725,300.00
$SM_GC,2.07,7.82,0.50,78.28,0.106,0.150,0.157,212,2648,1725,-10.65,-0.54,300.00,0,0,0,0,0,0,14.76,14.71,14.62
$RAFOS_CLK,371
$RAFOS,6,1419396555,4.833333,4.820833,65,65,60,55,53,51,152,211,176,193,138,114
$RAFOS,5,1419396069,4.700000,4.685833,58,55,54,54,54,52,213,183,128,201,152,140
$RAFOS,4,1419395584,4.566667,4.551111,58,58,56,54,53,52,122,212,152,221,197,161
$RAFOS,3,1419395103,4.433333,4.417500,75,66,55,53,52,51,178,206,193,143,152,117
$RAFOS,2,1419394622,4.300000,4.283889,59,58,53,53,52,51,209,173,123,158,695,218
$RAFOS,0,1419393662,4.033333,4.017222,70,56,55,54,53,51,213,145,201,133,170,223
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6512.01,-5638.87,241214,013513
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.31
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,13.80
$XPDR_PINGS,0
$SC_FREEKB,7744000
$24V_AH,13.47,19.131
$10V_AH,13.63,0.000
$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,20.550,76.750,318.900,78.275,0.000,0.000,0.000,202.175,0.000,0.000,6.866,1424.095,5921.743,547.509,1229.148,110.962,0.000,1286.453,0.000,950.256,1800.000,0.539,0.000
$DEVICE_MAMPS,455.940,177.480,1230.120,156.825,0.000,0.000,0.000,149.175,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8771.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.273,0.000,0.000,0.000
$MEM,313508
$DATA_FILE_SIZE,20117,638
$CAP_FILE_SIZE,103812,0
$CFSIZE,260034560,246894592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9223.34,0x23769e,7,5
$SOUNDSPEED,1468.3
$CURRENT,0.107,105.58,1
$GPS,241214,064204,6543.516,-5643.275,36,0.8,36,-31.1