version: 66.12
glider: 193
mission: 4
dive: 76
start: 12 23 114 15 38 26
data:
$ID,193
$MISSION,4
$DIVE,76
$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,300
$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,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
$GPS1,231214,153253,6539.131,-5641.189,38,1.1,38,-31.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-57.8
$GPS2,231214,153743,6539.141,-5641.083,5,1.3,5,-31.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_3
$TGT_LATLONG,6600.000,-5650.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,12.0,39210,-18.4,-10.000,-20.87,2243
$D_GRID,300
$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,-146.0,204,2651,1719,1718,0.0,0.0,0,112,0.00,0.00,-91.72,0.000,16386,0.000,0.000,204,2652,3419,3396,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.60,-146.0,203,2652,3397,3443,3.3,-2.6,9,137,9.93,2.58,-3.72,0.000,19204,0.461,0.130,2194,1234,3549,3543,3555,0,0,0,0,0,0,14.38,14.52,14.74
$GC,364,-1.57,-146.0,2195,1234,3547,3555,35.3,-11.0,58,369,0.00,2.62,0.00,0.000,1030,0.000,0.135,2189,2655,3551,3547,3555,0,0,0,0,0,0,28.83,14.57,28.83
$GC,681,-1.55,-146.0,2189,2655,3547,3555,72.3,-11.8,76,688,0.10,2.50,0.00,0.000,2564,0.360,0.108,2207,1239,3553,3552,3555,0,0,0,0,0,0,14.55,14.62,28.83
$GC,765,-1.55,-146.0,2207,1239,3547,3554,81.8,-11.3,92,770,0.00,2.60,0.00,0.000,1030,0.000,0.136,2201,2652,3550,3545,3555,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1087,-1.55,-146.0,2202,2651,3547,3554,115.5,-10.2,111,1092,0.00,2.50,0.00,0.000,516,0.000,0.111,2201,1231,3550,3547,3553,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1130,-1.55,-146.0,2202,1231,3547,3553,119.4,-8.9,119,1135,0.00,2.60,0.00,0.000,1030,0.000,0.137,2195,2649,3550,3547,3553,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1453,-1.55,-146.0,2195,2648,3547,3550,149.0,-9.1,138,1458,0.00,2.50,0.00,0.000,516,0.000,0.115,2196,1230,3546,3543,3550,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1636,-1.55,-146.0,2195,1231,3547,3550,165.7,-8.8,174,1642,0.10,2.60,0.00,0.000,3078,0.348,0.140,2209,2649,3548,3547,3550,0,0,0,0,0,0,14.59,14.68,28.83
$GC,1959,-1.55,-146.0,2209,2649,3547,3550,191.7,-7.9,193,1965,0.00,2.47,0.00,0.000,516,0.000,0.114,2209,1241,3548,3547,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2053,-1.57,-146.0,2209,1241,3547,3549,199.2,-7.7,211,2058,0.00,2.58,0.00,0.000,1030,0.000,0.139,2204,2650,3548,3547,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2365,-1.57,-146.0,2204,2650,3547,3549,223.7,-7.7,228,2371,0.00,2.47,0.00,0.000,516,0.000,0.113,2204,1239,3548,3547,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2428,-1.57,-146.0,2203,1239,3547,3549,228.8,-8.3,240,2433,0.00,2.58,0.00,0.000,1030,0.000,0.139,2198,2649,3548,3547,3549,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2751,-1.57,-146.0,2198,2649,3547,3549,255.2,-8.3,258,2757,0.00,2.50,0.00,0.000,516,0.000,0.116,2198,1237,3548,3547,3549,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2838,-1.57,-146.0,2198,1237,3547,3549,262.7,-8.2,275,2845,0.00,2.58,0.00,0.000,1030,0.000,0.140,2192,2650,3548,3547,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3145,-1.57,-146.0,2192,2651,3547,3549,290.4,-9.4,286,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2651,3548,3547,3549,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3264,begin apogee
$GC,3269,-0.38,0.0,2192,2390,3548,3549,301.9,-9.6,290,3423,0.98,0.00,150.27,1.099,10246,0.251,0.000,2466,2390,2949,2969,2930,0,0,0,0,0,0,14.66,28.83,13.70
$STATE,3424,end apogee,CONTROL_FINISHED_OK
$STATE,3425,begin climb
$GC,3426,1.60,146.0,2467,2390,2962,2923,306.0,0.0,295,3584,1.42,0.00,153.43,1.021,10246,0.158,0.000,2903,2390,2354,2398,2311,0,0,0,0,0,0,14.07,28.83,13.56
$GC,3864,1.60,146.0,2903,2390,2379,2287,257.3,13.1,310,3870,0.00,2.78,0.00,0.000,260,0.000,0.158,2903,3809,2332,2378,2287,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3907,1.55,146.0,2903,3807,2376,2288,251.1,14.8,318,3913,0.12,2.50,0.00,0.000,5126,0.319,0.086,2887,2410,2332,2377,2288,0,0,0,0,0,0,14.28,14.38,28.83
$GC,4230,1.55,146.0,2887,2410,2376,2286,208.3,13.8,337,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2410,2331,2376,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4531,1.55,146.0,2887,2410,2376,2285,166.4,13.8,352,4536,0.00,2.58,0.00,0.000,516,0.000,0.130,2897,986,2330,2376,2285,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4587,1.55,146.0,2897,986,2374,2287,158.4,13.2,363,4593,0.00,2.58,0.00,0.000,1030,0.000,0.132,2896,2399,2330,2374,2287,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4893,1.55,146.0,2897,2399,2374,2287,118.9,12.6,379,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2399,2330,2374,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5194,1.55,146.0,2896,2399,2374,2287,84.7,11.1,394,5199,0.00,2.67,0.00,0.000,260,0.000,0.151,2896,3808,2330,2374,2287,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5226,1.52,146.0,2897,3807,2374,2287,80.7,12.7,400,5232,0.12,2.47,0.00,0.000,5126,0.323,0.083,2880,2390,2330,2374,2287,0,0,0,0,0,0,14.58,14.67,28.83
$GC,5539,1.55,146.0,2881,2391,2373,2288,48.1,10.3,417,5546,0.00,2.50,0.00,0.000,516,0.000,0.124,2889,984,2331,2374,2288,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5573,1.59,150.0,2889,984,2374,2289,44.6,9.8,423,5578,0.00,2.55,0.00,0.000,1030,0.000,0.125,2889,2401,2331,2375,2288,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5886,1.61,150.0,2889,2401,2374,2289,12.0,10.5,446,5892,0.00,2.67,0.00,0.000,260,0.000,0.151,2889,3814,2331,2374,2289,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5933,1.59,150.0,2888,3814,2373,2289,6.4,11.9,455,5940,0.00,2.47,0.00,0.000,1030,0.000,0.086,2899,2396,2331,2374,2289,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,5967,end climb,SURFACE_DEPTH_REACHED
$STATE,5967,begin surface coast
$FINISH,1.6,1.026645
$STATE,5989,end surface coast,CONTROL_FINISHED_OK
$STATE,5989,begin surface
$SM_CCo,6004,80.75,0.156,0,0,1726,300.00
$SM_GC,2.15,7.75,0.50,80.75,0.092,0.145,0.156,200,2649,1726,-10.68,-0.48,300.00,0,0,0,0,0,0,14.75,14.69,14.60
$RAFOS_CLK,247
$RAFOS,6,1419353354,16.833334,16.820555,67,62,61,57,54,43,180,215,201,145,158,110
$RAFOS,5,1419352878,16.700001,16.688334,66,64,64,57,53,53,197,174,122,221,132,186
$RAFOS,4,1419352399,16.566668,16.555277,65,62,57,54,51,50,178,217,202,159,124,168
$RAFOS,3,1419351902,16.433332,16.417223,71,65,64,59,55,51,176,203,215,145,996,119
$RAFOS,2,1419351429,16.299999,16.285833,62,60,57,57,55,52,138,206,191,152,163,221
$RAFOS,1,1419350945,16.166666,16.151388,62,59,58,56,54,54,206,139,239,194,164,120
$RAFOS,0,1419350477,16.033333,16.021389,62,56,55,54,52,50,199,181,222,131,163,142
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6506.88,-5644.60,231214,134400
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.60
$INTERNAL_PRESSURE,8.52795
$TCM_TEMP,14.10
$XPDR_PINGS,0
$SC_FREEKB,7745600
$24V_AH,13.56,18.302
$10V_AH,13.78,0.000
$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,20.525,62.400,303.700,80.750,0.000,0.000,0.000,184.450,0.000,0.000,6.824,1070.108,3785.959,536.152,942.784,76.396,0.000,1111.017,0.000,693.564,2520.000,0.539,0.000
$DEVICE_MAMPS,460.530,157.590,1098.540,156.060,0.000,0.000,0.000,143.820,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5984.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.757,0.000,0.000,0.000
$MEM,313504
$DATA_FILE_SIZE,16788,461
$CAP_FILE_SIZE,79302,0
$CFSIZE,260034560,247234560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,6553.65,0x23769e,7,5
$SOUNDSPEED,1467.6
$CURRENT,0.095,58.01,1
$GPS,231214,172105,6540.076,-5641.255,25,1.6,25,-31.0