version: 66.12
glider: 193
mission: 4
dive: 86
start: 12 24 114 17 22 11
data:
$ID,193
$MISSION,4
$DIVE,86
$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,16
$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
$GPS1,241214,171034,6549.961,-5647.837,36,1.0,36,-31.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-55.2
$GPS2,241214,172128,6549.936,-5648.088,5,1.0,5,-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,33.5,18695,-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,-146.0,198,2659,1720,1714,0.0,0.0,0,113,0.00,0.00,-92.18,0.000,16386,0.000,0.000,197,2659,3425,3404,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,197,2659,3404,3447,3.5,-3.0,9,135,10.12,2.60,-3.42,0.000,18948,0.464,0.122,2191,1232,3546,3539,3554,0,0,0,0,0,0,14.29,14.45,14.66
$GC,217,-1.58,-146.0,2195,1232,3543,3554,19.9,-15.0,28,223,0.00,2.60,0.00,0.000,1030,0.000,0.126,2189,2649,3548,3543,3553,0,0,0,0,0,0,28.83,14.47,28.83
$GC,540,-1.55,-146.0,2189,2649,3543,3554,55.7,-10.6,47,546,0.10,2.50,0.00,0.000,2564,0.350,0.099,2209,1233,3548,3543,3554,0,0,0,0,0,0,14.50,14.57,28.83
$GC,607,-1.55,-146.0,2209,1233,3544,3554,63.3,-11.2,60,612,0.00,2.60,0.00,0.000,1030,0.000,0.127,2203,2657,3549,3544,3554,0,0,0,0,0,0,28.83,14.57,28.83
$GC,925,-1.55,-146.0,2203,2657,3544,3553,92.8,-8.6,78,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2657,3548,3544,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1226,-1.55,-146.0,2203,2657,3543,3551,116.5,-8.7,93,1232,0.00,2.47,0.00,0.000,516,0.000,0.103,2203,1237,3546,3543,3550,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1309,-1.55,-146.0,2203,1236,3544,3550,124.3,-9.6,109,1315,0.00,2.58,0.00,0.000,1030,0.000,0.130,2196,2655,3546,3543,3550,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1632,-1.55,-146.0,2197,2655,3543,3549,156.1,-9.8,128,1638,0.00,2.47,0.00,0.000,516,0.000,0.106,2196,1238,3546,3543,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1689,-1.55,-146.0,2197,1238,3543,3549,161.5,-8.9,139,1697,0.10,2.58,0.00,0.000,3078,0.333,0.132,2209,2655,3546,3543,3549,0,0,0,0,0,0,14.59,14.68,28.83
$GC,1995,-1.55,-146.0,2209,2655,3538,3555,187.2,-8.6,155,2000,0.00,2.47,0.00,0.000,516,0.000,0.106,2208,1237,3546,3543,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2073,-1.55,-146.0,2209,1237,3544,3549,194.4,-9.2,170,2079,0.00,2.58,0.00,0.000,1030,0.000,0.132,2203,2656,3546,3543,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2378,-1.55,-146.0,2203,2656,3543,3549,222.1,-8.8,186,2384,0.00,2.47,0.00,0.000,516,0.000,0.107,2203,1237,3546,3543,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2441,-1.55,-146.0,2203,1237,3543,3549,227.8,-9.3,198,2447,0.00,2.58,0.00,0.000,1030,0.000,0.133,2197,2658,3546,3544,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2754,-1.55,-146.0,2198,2663,3544,3549,254.1,-8.5,216,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2658,3546,3544,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-1.55,-146.0,2198,2658,3544,3549,281.2,-9.0,226,3060,0.00,2.47,0.00,0.000,516,0.000,0.109,2197,1238,3546,3544,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3182,-1.55,-146.0,2198,1238,3544,3549,292.7,-9.2,251,3188,0.10,2.58,0.00,0.000,3078,0.334,0.136,2209,2658,3546,3544,3549,0,0,0,0,0,0,14.64,14.71,28.83
$GC,3511,-1.57,-146.0,2210,2657,3546,3549,319.1,-7.6,266,3516,0.00,2.47,0.00,0.000,516,0.000,0.111,2210,1238,3548,3546,3550,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3554,-1.60,-146.0,2210,1238,3546,3550,322.4,-7.8,274,3559,0.00,2.58,0.00,0.000,1030,0.000,0.135,2203,2659,3547,3546,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3877,-1.60,-146.0,2203,2659,3547,3549,345.8,-7.1,288,3883,0.00,2.50,0.00,0.000,516,0.000,0.111,2203,1228,3548,3547,3549,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3964,-1.60,-146.0,2203,1228,3547,3549,351.9,-7.2,305,3971,0.00,2.58,0.00,0.000,1030,0.000,0.136,2197,2651,3548,3547,3549,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4270,-1.60,-146.0,2197,2650,3548,3549,373.9,-7.4,316,4276,0.00,2.47,0.00,0.000,516,0.000,0.112,2197,1237,3548,3548,3549,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4337,-1.60,-146.0,2197,1237,3548,3549,379.4,-7.9,329,4343,0.00,2.58,0.00,0.000,1030,0.000,0.138,2191,2652,3551,3553,3549,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4666,-1.60,-146.0,2190,2652,3549,3549,404.8,-8.0,344,4671,0.00,2.47,0.00,0.000,516,0.000,0.115,2191,1238,3549,3549,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4762,-1.60,-146.0,2191,1239,3549,3550,413.1,-8.5,363,4768,0.00,2.58,0.00,0.000,1030,0.000,0.141,2184,2651,3549,3549,3550,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5091,-1.60,-146.0,2184,2651,3549,3550,439.3,-7.7,378,5096,0.00,2.47,0.00,0.000,516,0.000,0.116,2184,1238,3549,3549,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5164,-1.60,-146.0,2184,1238,3549,3550,445.4,-8.7,392,5170,0.10,2.58,0.00,0.000,3078,0.327,0.142,2197,2650,3549,3549,3550,0,0,0,0,0,0,14.68,14.76,28.83
$STATE,5246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5246,begin apogee
$GC,5251,-0.38,0.0,2197,2390,3549,3550,451.7,-7.5,398,5407,0.95,0.00,152.50,1.236,10246,0.246,0.000,2466,2390,2950,2970,2931,0,0,0,0,0,0,14.68,28.83,13.60
$STATE,5409,end apogee,CONTROL_FINISHED_OK
$STATE,5409,begin climb
$GC,5411,1.60,146.0,2466,2390,2962,2922,453.8,0.0,403,5569,1.42,0.00,154.07,1.157,10246,0.154,0.000,2903,2391,2354,2398,2311,0,0,0,0,0,0,14.04,28.83,13.48
$GC,5848,1.58,146.0,2904,2390,2377,2285,402.5,13.4,418,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2390,2331,2378,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6147,1.58,146.0,2903,2390,2376,2283,361.8,13.5,428,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2390,2329,2376,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,1.55,146.0,2903,2390,2376,2282,321.2,13.7,438,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2390,2328,2375,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6747,1.55,146.0,2903,2390,2373,2282,280.7,13.5,448,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2390,2327,2373,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,1.55,146.0,2903,2390,2374,2282,239.1,14.0,459,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2390,2327,2373,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7348,1.55,146.0,2904,2390,2373,2282,195.9,14.7,474,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2390,2327,2373,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7648,1.55,146.0,2904,2390,2373,2281,155.1,12.5,489,7654,0.00,2.70,0.00,0.000,260,0.000,0.155,2903,3810,2327,2373,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7701,1.51,146.0,2903,3810,2371,2284,148.0,14.0,499,7707,0.15,2.45,0.00,0.000,5126,0.309,0.086,2880,2405,2328,2372,2284,0,0,0,0,0,0,14.62,14.72,28.83
$GC,8014,1.51,146.0,2880,2405,2372,2283,115.1,11.6,516,8019,0.00,2.53,0.00,0.000,516,0.000,0.125,2888,985,2328,2372,2284,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8066,1.54,146.0,2889,985,2371,2283,108.6,12.2,526,8072,0.00,2.55,0.00,0.000,1030,0.000,0.125,2889,2405,2327,2371,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8379,1.54,146.0,2889,2405,2371,2284,72.4,11.4,543,8384,0.00,2.67,0.00,0.000,260,0.000,0.155,2889,3811,2328,2371,2285,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8482,1.54,146.0,2889,3811,2371,2285,58.6,13.2,563,8487,0.00,2.45,0.00,0.000,1030,0.000,0.084,2899,2397,2328,2371,2285,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8794,1.54,146.0,2899,2397,2371,2285,20.6,12.3,583,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2397,2328,2372,2285,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8963,end climb,SURFACE_DEPTH_REACHED
$STATE,8963,begin surface coast
$FINISH,1.5,1.026421
$STATE,8984,end surface coast,CONTROL_FINISHED_OK
$STATE,8985,begin surface
$SM_CCo,9000,80.12,0.157,0,0,1726,300.00
$SM_GC,2.17,7.62,0.52,80.12,0.082,0.158,0.157,208,2661,1726,-10.65,-0.14,300.00,0,0,0,0,0,0,14.78,14.72,14.64
$RAFOS_CLK,376
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6517.16,-5653.51,241214,143650
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.58
$INTERNAL_PRESSURE,8.52795
$TCM_TEMP,13.90
$XPDR_PINGS,1
$SC_FREEKB,7742400
$24V_AH,13.48,19.973
$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,20.675,77.150,306.575,80.125,0.000,0.000,0.000,539.025,0.250,0.000,6.884,1397.090,6214.073,557.801,1466.705,129.679,0.000,1592.385,0.000,900.293,0.000,0.540,0.000
$DEVICE_MAMPS,463.590,158.355,1236.240,156.825,0.000,0.000,0.000,133.875,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8985.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.221,0.000,0.000,0.000
$MEM,313512
$DATA_FILE_SIZE,20078,602
$CAP_FILE_SIZE,102055,0
$CFSIZE,260034560,246321152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9694.25,0x23769e,7,5
$SOUNDSPEED,1469.9
$CURRENT,0.074,171.03,1
$GPS,241214,195528,6550.826,-5648.232,70,1.7,70,-31.3