version: 66.12
glider: 193
mission: 4
dive: 79
start: 12 23 114 22 55 34
data:
$ID,193
$MISSION,4
$DIVE,79
$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
$GPS1,231214,224935,6540.190,-5641.820,40,1.0,40,-31.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-60.7
$GPS2,231214,225501,6540.163,-5641.796,6,1.0,6,-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,8.6,37255,-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,-146.0,202,2650,1714,1720,0.0,0.0,0,113,0.00,0.00,-91.97,0.000,16386,0.000,0.000,202,2650,3415,3394,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,202,2650,3394,3437,3.1,-2.0,9,138,10.00,2.50,-4.05,0.000,18948,0.463,0.128,2195,1239,3548,3543,3554,0,0,0,0,0,0,14.38,14.53,14.74
$GC,240,-1.58,-146.0,2195,1239,3547,3554,19.0,-11.3,33,247,0.00,2.58,0.00,0.000,1030,0.000,0.129,2189,2649,3551,3548,3554,0,0,0,0,0,0,28.83,14.55,28.83
$GC,554,-1.55,-146.0,2189,2649,3548,3554,52.2,-10.3,52,560,0.10,2.47,0.00,0.000,2564,0.357,0.099,2209,1237,3551,3548,3554,0,0,0,0,0,0,14.54,14.62,28.83
$GC,612,-1.55,-146.0,2208,1237,3548,3554,58.6,-9.9,63,618,0.00,2.58,0.00,0.000,1030,0.000,0.129,2202,2655,3550,3546,3554,0,0,0,0,0,0,28.83,14.62,28.83
$GC,917,-1.55,-146.0,2201,2655,3548,3552,89.9,-10.6,79,922,0.00,2.47,0.00,0.000,516,0.000,0.103,2202,1237,3551,3548,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,979,-1.55,-146.0,2202,1238,3548,3553,96.4,-10.2,91,985,0.00,2.58,0.00,0.000,1030,0.000,0.131,2196,2650,3550,3548,3553,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1303,-1.55,-146.0,2196,2650,3548,3552,127.9,-9.3,110,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3552,3548,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-1.55,-146.0,2196,2650,3548,3550,157.9,-10.6,125,1609,0.00,2.47,0.00,0.000,516,0.000,0.108,2196,1238,3548,3548,3549,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1680,-1.55,-146.0,2196,1238,3548,3549,166.7,-10.5,140,1687,0.10,2.58,0.00,0.000,3078,0.341,0.133,2209,2652,3549,3548,3550,0,0,0,0,0,0,14.60,14.70,28.83
$GC,1986,-1.55,-146.0,2209,2654,3548,3549,197.9,-9.8,156,1991,0.00,2.47,0.00,0.000,516,0.000,0.107,2210,1233,3552,3555,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2059,-1.55,-146.0,2210,1234,3548,3549,204.8,-10.1,170,2064,0.00,2.58,0.00,0.000,1030,0.000,0.135,2204,2652,3548,3548,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2371,-1.55,-146.0,2204,2652,3548,3549,232.3,-8.3,187,2377,0.00,2.47,0.00,0.000,516,0.000,0.109,2204,1234,3548,3548,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2479,-1.55,-146.0,2204,1234,3548,3549,241.1,-8.5,208,2484,0.00,2.58,0.00,0.000,1030,0.000,0.136,2198,2651,3548,3548,3549,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2807,-1.55,-146.0,2198,2651,3545,3549,268.7,-8.7,223,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2650,3548,3548,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3107,-1.55,-146.0,2198,2650,3548,3549,294.1,-8.4,233,3113,0.00,2.45,0.00,0.000,516,0.000,0.109,2198,1241,3548,3548,3549,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3184,-1.55,-146.0,2198,1241,3548,3549,300.7,-8.3,248,3189,0.00,2.55,0.00,0.000,1030,0.000,0.137,2191,2652,3548,3548,3549,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3502,-1.55,-146.0,2192,2652,3549,3549,326.5,-7.9,261,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2652,3549,3549,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3802,-1.55,-146.0,2192,2652,3550,3549,349.3,-7.5,271,3808,0.10,2.47,0.00,0.000,2564,0.345,0.111,2211,1241,3549,3550,3549,0,0,0,0,0,0,14.69,14.76,28.83
$GC,3965,-1.58,-146.0,2210,1240,3551,3549,361.4,-7.4,303,3970,0.00,2.58,0.00,0.000,1030,0.000,0.139,2204,2657,3550,3551,3549,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4288,-1.58,-146.0,2204,2656,3551,3550,384.4,-7.2,317,4294,0.00,2.47,0.00,0.000,516,0.000,0.113,2204,1238,3553,3551,3555,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4420,-1.58,-146.0,2204,1238,3551,3549,394.4,-7.6,343,4426,0.00,2.58,0.00,0.000,1030,0.000,0.139,2198,2655,3552,3551,3554,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4743,-1.58,-146.0,2198,2655,3551,3549,418.5,-7.6,357,4750,0.00,2.47,0.00,0.000,516,0.000,0.114,2198,1240,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4852,-1.58,-146.0,2198,1239,3551,3550,426.8,-7.5,378,4858,0.00,2.58,0.00,0.000,1030,0.000,0.140,2191,2653,3550,3551,3550,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,5169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5169,begin apogee
$GC,5174,-0.38,0.0,2191,2391,3551,3550,450.1,-7.2,391,5329,0.95,0.00,151.80,1.229,10246,0.246,0.000,2460,2390,2950,2970,2930,0,0,0,0,0,0,14.69,28.83,13.62
$STATE,5331,end apogee,CONTROL_FINISHED_OK
$STATE,5331,begin climb
$GC,5332,1.60,146.0,2460,2391,2962,2922,451.2,0.0,396,5495,1.40,2.97,152.68,1.158,10500,0.155,0.155,2896,3813,2346,2393,2299,0,0,0,0,0,0,14.04,13.86,13.49
$GC,5552,1.55,146.0,2895,3813,2380,2293,425.7,15.5,441,5558,0.00,2.55,0.00,0.000,1030,0.000,0.086,2905,2413,2336,2380,2293,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5875,1.53,146.0,2905,2413,2377,2288,379.3,14.7,454,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2413,2332,2377,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6171,1.51,146.0,2905,2413,2375,2287,336.6,13.9,464,6177,0.12,2.58,0.00,0.000,4612,0.305,0.129,2883,986,2328,2370,2287,0,0,0,0,0,0,14.45,14.51,28.83
$GC,6254,1.51,146.0,2883,986,2374,2287,326.0,12.4,480,6259,0.00,2.60,0.00,0.000,1030,0.000,0.131,2879,2410,2330,2374,2287,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6566,1.51,146.0,2883,2409,2373,2286,286.3,12.8,492,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2410,2330,2374,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6867,1.51,146.0,2883,2410,2374,2285,246.9,13.3,502,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2408,2329,2374,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7167,1.51,146.0,2883,2410,2374,2285,209.4,11.9,517,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2410,2329,2374,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7467,1.51,146.0,2883,2410,2374,2284,176.3,10.4,532,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2410,2329,2374,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7767,1.51,146.0,2883,2410,2374,2284,145.0,10.1,547,7772,0.00,2.65,0.00,0.000,260,0.000,0.148,2883,3815,2329,2374,2284,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7879,1.51,146.0,2883,3816,2372,2287,132.2,11.6,569,7885,0.00,2.47,0.00,0.000,1030,0.000,0.084,2893,2392,2329,2372,2287,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8193,1.51,146.0,2893,2392,2373,2288,99.5,10.5,586,8198,0.00,2.70,0.00,0.000,260,0.000,0.154,2893,3810,2329,2372,2287,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8245,1.49,146.0,2893,3815,2372,2288,93.1,12.6,596,8251,0.12,2.45,0.00,0.000,5126,0.311,0.083,2876,2396,2330,2372,2288,0,0,0,0,0,0,14.64,14.73,28.83
$GC,8559,1.52,146.0,2876,2396,2372,2288,60.8,10.1,613,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2396,2330,2373,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,1.56,152.0,2876,2396,2372,2288,30.7,9.7,628,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2396,2330,2372,2288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9137,end climb,SURFACE_DEPTH_REACHED
$STATE,9137,begin surface coast
$FINISH,1.6,1.014968
$STATE,9158,end surface coast,CONTROL_FINISHED_OK
$STATE,9158,begin surface
$SM_CCo,9173,80.53,0.158,0,0,1726,300.00
$SM_GC,2.13,7.38,0.50,80.53,0.060,0.155,0.158,209,2650,1726,-10.65,-0.51,300.00,0,0,0,0,0,0,14.80,14.73,14.64
$RAFOS_CLK,382
$RAFOS,6,1419382169,0.833333,0.824722,68,63,57,57,55,54,204,170,193,136,1558,181
$RAFOS,5,1419381689,0.700000,0.691389,62,58,52,52,48,48,211,195,127,181,159,142
$RAFOS,4,1419381203,0.566667,0.556389,64,58,57,56,54,54,193,212,1026,169,159,137
$RAFOS,3,1419380702,0.433333,0.417222,85,60,57,56,55,50,984,112,144,213,180,161
$RAFOS,2,1419380232,0.300000,0.286667,62,57,54,53,49,49,219,193,161,142,115,171
$RAFOS,1,1419379743,0.166667,0.150833,61,59,58,53,52,51,221,212,203,242,167,150
$RAFOS,0,1419379261,0.033333,0.016944,65,60,53,49,49,48,212,159,128,187,105,146
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6512.01,-5640.36,231214,200906
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.86
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,13.60
$XPDR_PINGS,0
$SC_FREEKB,7744640
$24V_AH,13.49,18.800
$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,20.275,72.400,304.475,80.525,0.000,0.000,0.000,210.575,0.000,0.000,6.860,1437.629,6295.677,508.305,1264.231,93.302,0.000,1270.899,0.000,973.889,2520.000,0.538,0.000
$DEVICE_MAMPS,462.825,155.295,1228.590,157.590,0.000,0.000,0.000,148.410,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9171.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.321,0.000,0.000,0.000
$MEM,313548
$DATA_FILE_SIZE,23370,655
$CAP_FILE_SIZE,103209,0
$CFSIZE,260034560,247021568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9751.01,0x23769e,7,5
$SOUNDSPEED,1470.0
$CURRENT,0.057,126.10,1
$GPS,241214,013105,6541.126,-5642.648,29,1.4,29,-31.1