version: 66.12
glider: 193
mission: 4
dive: 85
start: 12 24 114 14 40 36
data:
$ID,193
$MISSION,4
$DIVE,85
$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
$GPS1,241214,143452,6547.697,-5647.389,66,1.1,66,-31.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-56.1
$GPS2,241214,143953,6547.716,-5647.444,5,1.0,5,-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,41.1,22831,-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,-146.0,201,2651,1721,1717,0.0,0.0,0,112,0.00,0.00,-91.72,0.000,16386,0.000,0.000,199,2651,3451,3428,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.60,-146.0,199,2651,3431,3477,3.8,-3.3,9,132,9.85,2.58,-2.58,0.000,18948,0.455,0.127,2195,1238,3549,3540,3558,0,0,0,0,0,0,14.38,14.52,14.73
$GC,280,-1.57,-146.0,2195,1238,3546,3558,29.5,-11.2,41,286,0.00,2.60,0.00,0.000,1030,0.000,0.128,2188,2662,3552,3547,3558,0,0,0,0,0,0,28.83,14.57,28.83
$GC,604,-1.54,-146.0,2188,2657,3546,3557,64.6,-9.9,60,606,0.10,0.00,0.00,0.000,2054,0.357,0.000,2209,2657,3551,3546,3557,0,0,0,0,0,0,14.54,28.83,28.83
$GC,904,-1.54,-146.0,2208,2657,3546,3557,93.3,-9.3,75,909,0.00,2.47,0.00,0.000,516,0.000,0.102,2209,1238,3550,3545,3555,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1067,-1.54,-146.0,2209,1238,3546,3554,108.7,-10.0,107,1072,0.00,2.58,0.00,0.000,1030,0.000,0.127,2203,2653,3550,3546,3554,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1390,-1.54,-146.0,2202,2653,3546,3554,143.4,-11.2,126,1395,0.00,2.47,0.00,0.000,516,0.000,0.102,2203,1232,3549,3546,3553,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1473,-1.54,-146.0,2203,1232,3546,3552,152.6,-10.9,142,1479,0.00,2.58,0.00,0.000,1030,0.000,0.130,2196,2650,3549,3546,3553,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1796,-1.54,-146.0,2196,2650,3546,3552,185.1,-10.1,161,1802,0.00,2.47,0.00,0.000,516,0.000,0.106,2196,1234,3549,3546,3552,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1868,-1.54,-146.0,2196,1234,3546,3552,192.8,-10.4,175,1874,0.10,2.58,0.00,0.000,3078,0.334,0.132,2208,2650,3549,3546,3552,0,0,0,0,0,0,14.61,14.69,28.83
$GC,2181,-1.54,-146.0,2208,2650,3547,3552,220.9,-8.8,192,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2650,3549,3546,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2482,-1.54,-146.0,2208,2650,3546,3552,245.7,-7.9,207,2488,0.00,2.47,0.00,0.000,516,0.000,0.108,2209,1232,3549,3546,3552,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2524,-1.54,-146.0,2209,1232,3546,3551,249.2,-7.8,215,2530,0.00,2.58,0.00,0.000,1030,0.000,0.132,2202,2650,3549,3546,3552,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2848,-1.54,-146.0,2202,2650,3546,3552,275.2,-8.3,229,2854,0.00,2.47,0.00,0.000,516,0.000,0.108,2202,1232,3550,3548,3552,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2941,-1.54,-146.0,2202,1233,3544,3552,283.2,-8.4,247,2947,0.00,2.60,0.00,0.000,1030,0.000,0.136,2197,2658,3549,3546,3552,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3275,-1.54,-146.0,2197,2658,3546,3552,312.3,-8.9,263,3280,0.00,2.47,0.00,0.000,516,0.000,0.109,2197,1239,3549,3547,3551,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3316,-1.54,-146.0,2197,1239,3547,3552,316.1,-8.6,271,3323,0.10,2.58,0.00,0.000,3078,0.330,0.134,2209,2659,3549,3547,3552,0,0,0,0,0,0,14.65,14.73,28.83
$GC,3641,-1.57,-146.0,2209,2659,3547,3552,343.3,-8.7,285,3647,0.00,2.47,0.00,0.000,516,0.000,0.109,2209,1237,3549,3547,3552,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3734,-1.57,-146.0,2209,1238,3548,3552,351.7,-9.2,303,3740,0.00,2.58,0.00,0.000,1030,0.000,0.135,2203,2658,3550,3548,3553,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4068,-1.57,-146.0,2203,2658,3549,3552,379.9,-8.1,319,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2658,3550,3549,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4367,-1.57,-146.0,2203,2658,3549,3552,401.1,-6.5,329,4373,0.00,2.47,0.00,0.000,516,0.000,0.111,2204,1238,3551,3550,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4431,-1.57,-146.0,2203,1238,3549,3552,405.3,-6.3,341,4437,0.00,2.58,0.00,0.000,1030,0.000,0.137,2198,2653,3552,3550,3555,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4765,-1.57,-146.0,2197,2653,3550,3552,428.5,-7.2,357,4771,0.00,2.47,0.00,0.000,516,0.000,0.113,2197,1237,3551,3550,3553,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4831,-1.57,-146.0,2197,1237,3550,3553,433.5,-8.1,369,4837,0.00,2.58,0.00,0.000,1030,0.000,0.138,2191,2652,3552,3551,3553,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,5042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5042,begin apogee
$GC,5047,-0.38,0.0,2191,2391,3551,3553,450.1,-7.5,381,5203,0.98,0.00,152.60,1.232,10246,0.249,0.000,2466,2391,2950,2969,2931,0,0,0,0,0,0,14.69,28.83,13.60
$STATE,5205,end apogee,CONTROL_FINISHED_OK
$STATE,5205,begin climb
$GC,5207,1.60,146.0,2466,2390,2962,2922,451.6,0.0,386,5366,1.38,0.00,154.57,1.163,10502,0.155,0.000,2894,2390,2354,2398,2310,0,0,0,0,0,0,14.03,28.83,13.46
$GC,5645,1.60,146.0,2894,2390,2377,2283,399.3,13.5,406,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2390,2330,2377,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,1.60,146.0,2894,2390,2376,2282,358.2,13.1,416,5949,0.00,2.75,0.00,0.000,260,0.000,0.155,2894,3811,2329,2376,2282,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5996,1.55,146.0,2894,3812,2373,2284,350.9,14.2,426,6002,0.00,2.50,0.00,0.000,1030,0.000,0.086,2899,2401,2331,2379,2284,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6311,1.53,146.0,2903,2400,2373,2283,311.1,12.6,438,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2400,2328,2374,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6608,1.53,146.0,2903,2400,2373,2282,270.4,14.7,448,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2400,2327,2373,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6919,1.53,146.0,2903,2400,2373,2282,221.5,15.6,461,6926,0.00,2.70,0.00,0.000,260,0.000,0.154,2903,3810,2328,2374,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6958,1.49,146.0,2903,3810,2374,2282,215.3,16.1,468,6966,0.17,2.47,0.00,0.000,5126,0.298,0.084,2873,2393,2327,2373,2282,0,0,0,0,0,0,14.57,14.68,28.83
$GC,7263,1.49,146.0,2873,2393,2373,2282,175.9,12.3,484,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2392,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,1.49,146.0,2875,2398,2373,2281,143.0,10.5,499,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2392,2327,2372,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7864,1.51,146.0,2873,2392,2373,2282,109.2,12.3,514,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2393,2327,2373,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8164,1.54,146.0,2873,2392,2373,2282,71.8,12.1,529,8170,0.00,2.47,0.00,0.000,516,0.000,0.119,2882,989,2327,2373,2282,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8207,1.57,146.0,2882,988,2373,2282,66.6,11.6,537,8214,0.00,2.53,0.00,0.000,1030,0.000,0.123,2882,2401,2327,2373,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8531,1.65,191.3,2882,2401,2373,2283,36.2,7.9,556,8562,0.10,2.67,23.42,0.255,10500,0.174,0.149,2923,3819,2171,2212,2130,0,0,0,0,0,0,14.79,14.67,14.61
$GC,8675,1.62,191.3,2923,3818,2212,2141,17.4,13.9,584,8681,0.15,2.47,0.00,0.000,5126,0.307,0.083,2900,2395,2176,2212,2141,0,0,0,0,0,0,14.62,14.71,28.83
$STATE,8816,end climb,SURFACE_DEPTH_REACHED
$STATE,8816,begin surface coast
$FINISH,1.7,1.026638
$STATE,8837,end surface coast,CONTROL_FINISHED_OK
$STATE,8838,begin surface
$SM_CCo,8853,59.92,0.157,0,0,1727,300.00
$SM_GC,2.22,7.62,0.50,59.92,0.079,0.132,0.157,208,2657,1727,-10.66,-0.34,300.00,0,0,0,0,0,0,14.75,14.71,14.62
$RAFOS_CLK,369
$RAFOS,6,1419439757,16.833334,16.821388,65,59,54,53,50,49,170,206,187,149,112,222
$RAFOS,5,1419439277,16.700001,16.688055,67,65,56,55,52,52,197,211,169,121,155,144
$RAFOS,4,1419438793,16.566668,16.553612,63,60,55,52,48,47,204,160,188,121,178,231
$RAFOS,3,1419438313,16.433332,16.420279,63,60,55,53,52,51,179,200,158,144,209,223
$RAFOS,2,1419437829,16.299999,16.285833,64,60,56,55,55,52,177,217,156,197,122,135
$RAFOS,1,1419437349,16.166666,16.152500,75,70,53,52,51,45,217,204,178,166,145,122
$RAFOS,0,1419436862,16.033333,16.017221,60,55,53,52,52,49,195,120,215,162,177,136
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6517.16,-5641.86,241214,115931
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,8.52795
$TCM_TEMP,14.10
$XPDR_PINGS,3
$SC_FREEKB,7742720
$24V_AH,13.46,19.793
$10V_AH,13.33,0.000
$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,20.550,72.175,330.600,59.925,0.000,0.000,0.000,190.600,0.750,0.000,6.892,1372.164,6078.845,539.852,1165.418,94.334,0.000,1231.108,0.000,898.464,2520.000,0.539,0.000
$DEVICE_MAMPS,455.175,154.530,1231.650,156.825,0.000,0.000,0.000,149.940,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8849.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.255,0.000,0.000,0.000
$MEM,313504
$DATA_FILE_SIZE,20053,601
$CAP_FILE_SIZE,100065,0
$CFSIZE,260034560,246644736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9430.26,0x23769e,7,5
$SOUNDSPEED,1469.4
$CURRENT,0.208,347.26,1
$GPS,241214,171034,6549.961,-5647.837,36,1.0,36,-31.2