version: 66.12
glider: 193
mission: 4
dive: 83
start: 12 24 114 9 26 22
data:
$ID,193
$MISSION,4
$DIVE,83
$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,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
$GPS1,241214,092034,6543.935,-5643.738,29,1.4,29,-31.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-53.4
$GPS2,241214,092539,6543.917,-5643.677,6,1.4,6,-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,3.6,30165,-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,-146.0,202,2654,1722,1718,0.0,0.0,0,113,0.00,0.00,-92.07,0.000,16386,0.000,0.000,202,2655,3408,3384,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,201,2654,3386,3433,3.2,-2.3,9,138,9.93,2.33,-3.95,0.000,18692,0.458,0.181,2189,3840,3548,3542,3554,0,0,0,0,0,0,14.36,14.48,14.73
$GC,365,-1.56,-146.0,2189,3840,3546,3554,35.1,-11.7,58,371,0.00,2.05,0.00,0.000,1030,0.000,0.062,2189,2631,3550,3546,3554,0,0,0,0,0,0,28.83,14.63,28.83
$GC,683,-1.54,-146.0,2189,2630,3547,3554,69.0,-10.3,76,689,0.10,2.40,0.00,0.000,2564,0.329,0.095,2209,1246,3550,3547,3554,0,0,0,0,0,0,14.54,14.62,28.83
$GC,830,-1.54,-146.0,2209,1246,3547,3554,84.3,-11.7,105,836,0.00,2.53,0.00,0.000,1030,0.000,0.126,2203,2650,3550,3547,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1148,-1.54,-146.0,2203,2650,3547,3554,115.4,-9.8,123,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2650,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-1.54,-146.0,2203,2650,3547,3552,144.7,-10.0,138,1455,0.00,2.42,0.00,0.000,516,0.000,0.102,2203,1250,3549,3547,3552,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1546,-1.54,-146.0,2203,1251,3547,3551,154.6,-10.1,157,1553,0.00,2.53,0.00,0.000,1030,0.000,0.129,2197,2650,3549,3547,3551,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1852,-1.54,-146.0,2197,2655,3547,3550,181.2,-8.6,173,1859,0.00,2.45,0.00,0.000,516,0.000,0.105,2197,1241,3548,3547,3550,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1910,-1.54,-146.0,2197,1241,3548,3549,186.5,-9.6,184,1918,0.10,2.55,0.00,0.000,3078,0.340,0.129,2208,2653,3548,3547,3549,0,0,0,0,0,0,14.60,14.69,28.83
$GC,2216,-1.54,-146.0,2209,2653,3547,3550,212.7,-8.9,200,2221,0.00,2.45,0.00,0.000,516,0.000,0.106,2209,1244,3548,3547,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2338,-1.54,-146.0,2213,1243,3547,3549,223.5,-8.5,224,2344,0.00,2.55,0.00,0.000,1030,0.000,0.133,2203,2654,3548,3547,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2671,-1.54,-146.0,2203,2654,3547,3549,254.3,-9.6,243,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2654,3548,3547,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2971,-1.54,-146.0,2203,2654,3547,3549,279.9,-8.2,253,2977,0.00,2.45,0.00,0.000,516,0.000,0.108,2203,1246,3548,3547,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3099,-1.54,-146.0,2203,1246,3547,3549,290.6,-8.6,278,3105,0.00,2.53,0.00,0.000,1030,0.000,0.135,2197,2647,3548,3547,3549,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3428,-1.54,-146.0,2197,2647,3548,3549,317.3,-8.2,293,3434,0.00,2.45,0.00,0.000,516,0.000,0.109,2197,1248,3549,3548,3550,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3510,-1.54,-146.0,2197,1248,3548,3549,324.9,-9.4,309,3517,0.10,2.55,0.00,0.000,3078,0.333,0.137,2210,2650,3548,3548,3549,0,0,0,0,0,0,14.65,14.73,28.83
$GC,3826,-1.57,-146.0,2210,2650,3550,3550,351.2,-8.2,321,3832,0.00,2.45,0.00,0.000,516,0.000,0.110,2210,1243,3549,3549,3550,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3944,-1.59,-146.0,2210,1243,3550,3549,361.7,-9.0,344,3951,0.00,2.58,0.00,0.000,1030,0.000,0.137,2203,2659,3549,3550,3549,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4249,-1.59,-146.0,2204,2659,3550,3549,387.8,-8.4,355,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2659,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4549,-1.59,-146.0,2203,2659,3551,3550,410.9,-7.5,365,4555,0.00,2.45,0.00,0.000,516,0.000,0.110,2203,1249,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4643,-1.59,-146.0,2203,1249,3551,3550,418.1,-7.4,383,4648,0.00,2.55,0.00,0.000,1030,0.000,0.138,2197,2652,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4976,-1.59,-146.0,2197,2652,3551,3550,444.5,-8.1,399,4981,0.00,2.45,0.00,0.000,516,0.000,0.112,2197,1248,3551,3553,3550,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,5041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5041,begin apogee
$GC,5047,-0.38,0.0,2192,2400,3551,3550,450.5,-8.9,412,5205,0.95,0.00,153.65,1.229,10246,0.249,0.000,2461,2400,2949,2970,2929,0,0,0,0,0,0,14.69,28.83,13.59
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5208,1.60,146.0,2461,2400,2962,2921,453.6,0.0,417,5368,1.42,0.00,155.62,1.154,10246,0.156,0.000,2897,2400,2353,2397,2309,0,0,0,0,0,0,14.03,28.83,13.47
$GC,5645,1.60,146.0,2898,2400,2377,2284,402.9,13.4,432,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2400,2334,2386,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5945,1.60,146.0,2897,2400,2376,2282,363.5,13.3,442,5951,0.00,2.70,0.00,0.000,260,0.000,0.151,2897,3807,2329,2376,2282,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5994,1.55,146.0,2897,3808,2373,2284,356.5,15.2,451,5999,0.00,2.47,0.00,0.000,1030,0.000,0.084,2907,2406,2328,2373,2284,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6312,1.52,146.0,2906,2406,2373,2283,313.9,13.4,464,6319,0.12,2.53,0.00,0.000,4612,0.311,0.126,2885,994,2327,2373,2282,0,0,0,0,0,0,14.50,14.57,28.83
$GC,6371,1.52,146.0,2885,994,2372,2283,306.2,12.5,475,6377,0.00,2.55,0.00,0.000,1030,0.000,0.129,2885,2398,2327,2372,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6676,1.52,146.0,2885,2398,2372,2282,268.3,12.3,486,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2398,2327,2372,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,1.52,146.0,2885,2399,2372,2282,228.4,13.5,499,6992,0.00,2.67,0.00,0.000,260,0.000,0.149,2885,3812,2327,2372,2282,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7033,1.49,146.0,2885,3812,2371,2283,221.4,14.8,508,7039,0.00,2.47,0.00,0.000,1030,0.000,0.083,2894,2392,2327,2371,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7351,1.49,146.0,2894,2392,2371,2283,177.4,13.9,526,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2391,2327,2371,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7652,1.49,146.0,2894,2391,2371,2283,136.3,13.7,541,7657,0.00,2.70,0.00,0.000,260,0.000,0.152,2894,3814,2327,2371,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7725,1.46,146.0,2894,3814,2371,2284,125.2,15.8,555,7732,0.15,2.40,0.00,0.000,5126,0.301,0.084,2870,2398,2327,2371,2284,0,0,0,0,0,0,14.62,14.71,28.83
$GC,8039,1.49,146.0,2870,2398,2366,2283,88.4,10.9,572,8044,0.00,2.47,0.00,0.000,516,0.000,0.119,2880,993,2326,2371,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8086,1.52,146.0,2880,993,2371,2284,83.4,10.6,581,8091,0.00,2.53,0.00,0.000,1030,0.000,0.124,2880,2401,2328,2371,2285,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8404,1.55,146.0,2879,2401,2371,2285,49.4,10.6,599,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2401,2328,2371,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8704,1.58,147.7,2879,2401,2371,2285,18.5,9.9,617,8710,0.00,2.67,0.00,0.000,260,0.000,0.155,2880,3815,2328,2371,2286,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8771,1.58,147.7,2880,3815,2371,2286,11.2,10.1,630,8778,0.00,2.45,0.00,0.000,1030,0.000,0.083,2889,2399,2328,2371,2286,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,8865,end climb,SURFACE_DEPTH_REACHED
$STATE,8865,begin surface coast
$FINISH,1.5,1.026780
$STATE,8888,end surface coast,CONTROL_FINISHED_OK
$STATE,8888,begin surface
$SM_CCo,8904,80.30,0.158,0,0,1726,300.00
$SM_GC,2.08,7.80,0.50,80.30,0.105,0.146,0.158,210,2655,1726,-10.65,-0.34,300.00,0,0,0,0,0,0,14.77,14.73,14.63
$RAFOS_CLK,374
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6512.01,-5643.23,241214,064404
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.47
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,13.70
$XPDR_PINGS,1
$SC_FREEKB,7743360
$24V_AH,13.47,19.463
$10V_AH,13.72,0.000
$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,20.675,79.975,309.275,80.300,0.000,0.000,0.000,191.575,0.250,0.000,6.866,1468.072,5973.506,572.604,1213.391,92.059,0.000,1285.439,0.000,955.359,0.000,0.540,0.000
$DEVICE_MAMPS,458.235,180.540,1228.590,157.590,0.000,0.000,0.000,155.295,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8888.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.271,0.000,0.000,0.000
$MEM,313628
$DATA_FILE_SIZE,20067,642
$CAP_FILE_SIZE,102639,0
$CFSIZE,260034560,246767616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9515.14,0x23769e,7,5
$SOUNDSPEED,1468.3
$CURRENT,0.046,348.34,1
$GPS,241214,115734,6545.183,-5645.464,41,2.0,41,-31.2