version: 66.12
glider: 193
mission: 4
dive: 84
start: 12 24 114 12 3 25
data:
$ID,193
$MISSION,4
$DIVE,84
$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,12
$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
$GPS1,241214,115734,6545.183,-5645.464,41,2.0,41,-31.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-55.5
$GPS2,241214,120241,6545.200,-5645.567,13,1.9,13,-31.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_3
$TGT_LATLONG,6600.000,-5650.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,25.1,27612,-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,-146.0,205,2656,1721,1716,0.0,0.0,0,111,0.00,0.00,-91.72,0.000,16386,0.000,0.000,201,2656,3414,3388,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.60,-146.0,205,2656,3390,3440,3.5,-2.9,9,134,9.93,2.35,-3.90,0.000,18692,0.462,0.177,2187,3845,3548,3541,3555,0,0,0,0,0,0,14.38,14.50,14.74
$GC,287,-1.55,-146.0,2187,3846,3547,3555,25.4,-12.1,42,293,0.10,2.05,0.00,0.000,3078,0.327,0.063,2206,2636,3551,3547,3556,0,0,0,0,0,0,14.47,14.62,28.83
$GC,610,-1.55,-146.0,2206,2641,3548,3555,60.6,-10.7,61,616,0.00,2.40,0.00,0.000,516,0.000,0.100,2207,1252,3551,3547,3555,0,0,0,0,0,0,28.83,14.62,28.83
$GC,713,-1.55,-146.0,2207,1257,3548,3555,71.9,-11.0,81,720,0.00,2.47,0.00,0.000,1030,0.000,0.125,2200,2654,3551,3548,3555,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1037,-1.55,-146.0,2200,2654,3547,3554,108.1,-11.0,100,1042,0.00,2.45,0.00,0.000,516,0.000,0.102,2200,1248,3551,3548,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1113,-1.55,-146.0,2200,1248,3548,3554,116.4,-10.7,115,1120,0.00,2.55,0.00,0.000,1030,0.000,0.128,2193,2652,3551,3548,3554,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1419,-1.55,-146.0,2193,2652,3547,3553,148.0,-10.5,131,1425,0.00,2.45,0.00,0.000,516,0.000,0.106,2193,1250,3553,3547,3560,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1456,-1.55,-146.0,2193,1250,3547,3552,152.2,-11.3,138,1463,0.10,2.55,0.00,0.000,3078,0.346,0.132,2206,2652,3550,3548,3552,0,0,0,0,0,0,14.57,14.65,28.83
$GC,1762,-1.55,-146.0,2206,2652,3548,3551,185.7,-11.2,154,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2652,3549,3548,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,-1.55,-146.0,2206,2652,3547,3551,215.8,-9.1,169,2069,0.00,2.45,0.00,0.000,516,0.000,0.108,2207,1249,3549,3548,3551,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2174,-1.55,-146.0,2207,1249,3547,3550,225.8,-8.3,191,2180,0.00,2.55,0.00,0.000,1030,0.000,0.134,2200,2650,3549,3547,3551,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2487,-1.55,-146.0,2200,2650,3547,3551,249.5,-7.0,208,2492,0.00,2.45,0.00,0.000,516,0.000,0.107,2200,1245,3549,3548,3550,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2575,-1.55,-146.0,2201,1245,3548,3551,256.1,-7.5,225,2582,0.00,2.55,0.00,0.000,1030,0.000,0.134,2194,2650,3548,3547,3550,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2880,-1.55,-146.0,2194,2650,3548,3550,278.8,-7.3,236,2885,0.00,2.45,0.00,0.000,516,0.000,0.109,2194,1247,3549,3548,3551,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2943,-1.55,-146.0,2194,1247,3547,3551,283.9,-8.1,248,2949,0.10,2.55,0.00,0.000,3078,0.343,0.136,2207,2650,3549,3548,3550,0,0,0,0,0,0,14.63,14.71,28.83
$GC,3276,-1.55,-146.0,2207,2650,3548,3551,308.9,-7.5,264,3282,0.00,2.45,0.00,0.000,516,0.000,0.109,2207,1245,3549,3548,3551,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3353,-1.55,-146.0,2207,1244,3548,3550,314.9,-7.5,279,3359,0.00,2.53,0.00,0.000,1030,0.000,0.136,2201,2647,3549,3548,3551,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3672,-1.55,-146.0,2201,2648,3548,3551,340.8,-8.2,292,3677,0.00,2.42,0.00,0.000,516,0.000,0.109,2201,1253,3549,3548,3551,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3744,-1.55,-146.0,2201,1253,3549,3551,347.2,-8.4,306,3750,0.00,2.55,0.00,0.000,1030,0.000,0.135,2195,2657,3550,3549,3551,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4067,-1.55,-146.0,2194,2657,3551,3551,376.4,-9.5,320,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3550,3549,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-1.55,-146.0,2194,2658,3551,3551,404.5,-9.5,330,4373,0.00,2.45,0.00,0.000,516,0.000,0.112,2194,1251,3551,3551,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4460,-1.55,-146.0,2194,1250,3551,3551,413.3,-9.5,348,4467,0.12,2.55,0.00,0.000,3078,0.321,0.138,2214,2653,3551,3551,3551,0,0,0,0,0,0,14.67,14.75,28.83
$GC,4794,-1.59,-146.0,2214,2653,3551,3551,439.9,-7.8,364,4800,0.00,2.45,0.00,0.000,516,0.000,0.114,2215,1253,3551,3551,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4852,-1.61,-146.0,2215,1254,3551,3551,444.5,-8.1,375,4858,0.00,2.55,0.00,0.000,1030,0.000,0.139,2207,2650,3550,3551,3550,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,4945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4945,begin apogee
$GC,4950,-0.38,0.0,2208,2401,3551,3551,452.3,-8.1,379,5107,0.90,0.00,153.62,1.229,10246,0.242,0.000,2463,2400,2950,2971,2930,0,0,0,0,0,0,14.69,28.83,13.61
$STATE,5109,end apogee,CONTROL_FINISHED_OK
$STATE,5109,begin climb
$GC,5110,1.60,146.0,2464,2400,2963,2921,454.8,0.0,384,5270,1.42,0.00,155.43,1.157,10246,0.155,0.000,2900,2400,2352,2397,2308,0,0,0,0,0,0,14.03,28.83,13.47
$GC,5548,1.60,146.0,2900,2401,2378,2285,403.1,13.3,399,5553,0.00,2.78,0.00,0.000,260,0.000,0.153,2900,3815,2331,2378,2285,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5605,1.55,146.0,2900,3815,2376,2286,394.9,14.6,410,5612,0.10,2.50,0.00,0.000,5126,0.327,0.083,2890,2411,2333,2376,2290,0,0,0,0,0,0,14.29,14.39,28.83
$GC,5911,1.55,146.0,2890,2412,2376,2284,356.5,12.6,421,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2412,2329,2376,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,1.55,146.0,2890,2412,2376,2282,316.0,13.8,431,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2412,2329,2376,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6510,1.55,146.0,2891,2412,2375,2282,274.6,13.6,441,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2412,2329,2376,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6820,1.55,146.0,2891,2412,2376,2282,237.4,11.4,453,6826,0.00,2.70,0.00,0.000,260,0.000,0.152,2890,3816,2329,2376,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6864,1.52,146.0,2890,3816,2373,2284,232.0,12.9,461,6871,0.00,2.47,0.00,0.000,1030,0.000,0.083,2900,2394,2328,2373,2284,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7187,1.52,146.0,2900,2394,2373,2284,195.1,11.8,480,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2394,2328,2373,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7488,1.52,146.0,2898,2395,2373,2285,156.8,13.4,495,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2395,2328,2373,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7788,1.52,146.0,2901,2394,2373,2281,118.9,12.2,510,7794,0.00,2.67,0.00,0.000,260,0.000,0.150,2900,3809,2328,2373,2284,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7867,1.48,146.0,2900,3809,2373,2285,108.2,14.7,525,7875,0.15,2.45,0.00,0.000,5126,0.296,0.083,2875,2396,2328,2373,2284,0,0,0,0,0,0,14.64,14.73,28.83
$GC,8171,1.51,146.0,2875,2395,2373,2284,75.0,10.5,541,8177,0.00,2.47,0.00,0.000,516,0.000,0.116,2884,986,2329,2373,2285,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8244,1.54,146.0,2884,986,2373,2285,67.4,10.2,555,8250,0.00,2.53,0.00,0.000,1030,0.000,0.123,2885,2400,2330,2375,2285,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8557,1.60,173.0,2884,2400,2373,2285,37.3,8.8,572,8577,0.00,0.00,13.52,0.251,8198,0.000,0.000,2884,2400,2245,2285,2206,0,0,0,0,0,0,28.83,28.83,14.62
$STATE,8865,end climb,SURFACE_DEPTH_REACHED
$STATE,8865,begin surface coast
$FINISH,1.9,1.026553
$STATE,8887,end surface coast,CONTROL_FINISHED_OK
$STATE,8887,begin surface
$SM_CCo,8903,69.82,0.158,0,0,1726,300.00
$SM_GC,2.22,7.55,0.47,69.82,0.076,0.145,0.158,209,2649,1726,-10.66,-0.51,300.00,0,0,0,0,0,0,14.76,14.72,14.64
$RAFOS_CLK,374
$RAFOS,6,1419425362,12.833333,12.822778,62,61,58,56,53,53,196,208,160,178,147,227
$RAFOS,5,1419424870,12.700000,12.686111,61,60,58,54,53,52,193,209,120,220,152,171
$RAFOS,4,1419424385,12.566667,12.551389,62,59,58,53,50,46,215,189,170,145,119,203
$RAFOS,3,1419423903,12.433333,12.417500,59,57,56,56,54,50,210,196,126,139,154,227
$RAFOS,2,1419423440,12.300000,12.288889,62,62,58,57,56,54,177,217,158,117,146,202
$RAFOS,1,1419422953,12.166667,12.153611,66,57,56,54,54,52,162,173,125,196,205,214
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6517.16,-5637.48,241214,092232
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.58
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,13.80
$XPDR_PINGS,4
$SC_FREEKB,7743040
$24V_AH,13.47,19.628
$10V_AH,13.71,0.000
$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,20.475,75.700,322.575,69.825,0.000,0.000,0.000,184.025,1.000,0.000,14.347,1384.422,6103.031,571.378,1159.286,93.210,0.000,1248.848,0.000,891.282,2160.000,0.539,0.000
$DEVICE_MAMPS,462.060,177.480,1228.590,157.590,0.000,0.000,0.000,151.470,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8890.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.257,0.000,0.000,0.000
$MEM,313484
$DATA_FILE_SIZE,20043,598
$CAP_FILE_SIZE,100475,0
$CFSIZE,260034560,246702080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9421.08,0x23769e,7,5
$SOUNDSPEED,1469.0
$CURRENT,0.272,341.07,1
$GPS,241214,143452,6547.697,-5647.389,66,1.1,66,-31.2