version: 66.12
glider: 193
mission: 4
dive: 3
start: 12 10 114 21 44 17
data:
$ID,193
$MISSION,4
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$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,120
$T_MISSION,145
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,591.23029
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,2570
$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,2070
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,13
$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
$GPS1,101214,214011,6354.227,-5325.061,2,1.4,2,-28.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-52.8
$GPS2,101214,214348,6354.248,-5325.047,4,1.2,4,-28.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_1
$TGT_LATLONG,6400.000,-5400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,274.3,30311,-18.4,-10.000,-20.87,2243
$D_GRID,707
$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,-146.0,217,2078,573,505,0.0,0.0,0,180,0.00,0.00,-155.80,0.000,16390,0.000,0.000,217,2078,3548,3527,3570,0,0,0,0,0,0,28.83,28.83,14.82
$GC,183,-1.60,-146.0,217,2078,3527,3570,4.5,-6.4,16,198,9.45,2.72,0.00,0.000,2308,0.431,0.150,2209,3482,3551,3533,3570,0,0,0,0,0,0,14.40,14.52,28.83
$GC,314,-1.60,-146.0,2209,3482,3537,3570,27.0,-12.7,41,321,0.00,2.50,0.00,0.000,1030,0.000,0.096,2209,2062,3553,3537,3569,0,0,0,0,0,0,28.83,14.58,28.83
$GC,637,-1.60,-146.0,2209,2062,3538,3569,60.9,-10.5,60,643,0.00,2.67,0.00,0.000,260,0.000,0.159,2199,3481,3553,3539,3568,0,0,0,0,0,0,28.83,14.60,28.83
$GC,749,-1.60,-146.0,2199,3481,3538,3568,72.8,-11.2,82,755,0.10,2.47,0.00,0.000,3078,0.300,0.094,2219,2067,3553,3538,3568,0,0,0,0,0,0,14.56,14.65,28.83
$GC,1063,-1.63,-146.0,2220,2067,3538,3568,101.7,-9.5,99,1068,0.00,2.65,0.00,0.000,260,0.000,0.158,2210,3480,3553,3538,3568,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1159,-1.63,-146.0,2210,3480,3539,3568,112.0,-10.5,118,1166,0.00,2.47,0.00,0.000,1030,0.000,0.093,2209,2062,3553,3539,3567,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1466,-1.65,-146.0,2210,2062,3538,3568,141.1,-9.3,134,1471,0.00,2.67,0.00,0.000,260,0.000,0.156,2199,3489,3553,3538,3568,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1578,-1.67,-146.0,2199,3489,3538,3568,152.6,-9.1,156,1584,0.00,2.47,0.00,0.000,1030,0.000,0.091,2199,2070,3553,3538,3568,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1891,-1.69,-146.0,2199,2064,3539,3568,182.9,-10.1,173,1897,0.00,2.65,0.00,0.000,260,0.000,0.152,2189,3487,3553,3539,3568,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2043,-1.69,-146.0,2189,3487,3539,3568,198.0,-9.9,203,2048,0.00,2.47,0.00,0.000,1030,0.000,0.088,2194,2055,3553,3539,3568,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2355,-1.69,-146.0,2189,2055,3540,3569,229.7,-10.6,220,2360,0.00,2.65,0.00,0.000,260,0.000,0.152,2179,3480,3554,3540,3568,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2487,-1.69,-146.0,2179,3480,3540,3568,244.3,-10.4,246,2493,0.10,2.45,0.00,0.000,3078,0.289,0.089,2206,2066,3554,3540,3568,0,0,0,0,0,0,14.64,14.73,28.83
$GC,2801,-1.72,-146.0,2200,2068,3541,3567,274.1,-9.5,259,2806,0.00,2.65,0.00,0.000,260,0.000,0.154,2190,3488,3554,3541,3567,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2947,-1.72,-146.0,2190,3487,3541,3568,288.4,-9.5,288,2954,0.00,2.45,0.00,0.000,1030,0.000,0.086,2190,2063,3554,3541,3568,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3254,-1.74,-146.0,2190,2064,3543,3568,317.8,-10.2,299,3259,0.00,2.62,0.00,0.000,260,0.000,0.151,2180,3479,3555,3543,3568,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3410,-1.74,-146.0,2180,3479,3543,3568,334.6,-10.3,330,3416,0.00,2.42,0.00,0.000,1030,0.000,0.089,2180,2072,3556,3544,3568,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,3676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3676,begin apogee
$GC,3680,-0.38,0.0,2180,2072,3544,3568,361.5,-9.9,343,3845,1.05,0.00,161.88,1.106,10246,0.217,0.000,2489,2071,2951,2968,2934,0,0,0,0,0,0,14.68,28.83,13.68
$STATE,3847,end apogee,CONTROL_FINISHED_OK
$STATE,3847,begin climb
$GC,3848,1.60,146.0,2489,2071,2959,2924,365.0,0.0,348,4024,1.33,2.83,164.62,0.978,10756,0.129,0.168,2926,665,2348,2380,2316,0,0,0,0,0,0,14.07,13.90,13.62
$GC,4052,1.56,146.0,2925,665,2369,2305,347.0,12.7,390,4057,0.00,2.72,0.00,0.000,1030,0.000,0.145,2926,2077,2336,2369,2303,0,0,0,0,0,0,28.83,14.05,28.83
$GC,4385,1.53,146.0,2926,2077,2365,2294,299.9,14.3,406,4391,0.12,2.67,0.00,0.000,4356,0.322,0.148,2894,3486,2330,2366,2294,0,0,0,0,0,0,14.36,14.42,28.83
$GC,4552,1.49,146.0,2896,3485,2363,2294,276.4,13.9,439,4558,0.00,2.53,0.00,0.000,1030,0.000,0.103,2906,2074,2328,2363,2294,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4860,1.49,146.0,2906,2074,2362,2293,236.2,13.1,453,4866,0.00,2.65,0.00,0.000,260,0.000,0.151,2906,3480,2328,2363,2293,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4983,1.45,146.0,2906,3480,2362,2293,219.0,14.3,477,4990,0.12,2.50,0.00,0.000,5126,0.311,0.102,2889,2070,2327,2362,2293,0,0,0,0,0,0,14.54,14.63,28.83
$GC,5306,1.45,146.0,2888,2070,2362,2293,181.3,10.4,496,5312,0.00,2.65,0.00,0.000,260,0.000,0.151,2888,3482,2327,2362,2293,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5432,1.45,146.0,2888,3481,2362,2293,167.0,10.8,521,5439,0.00,2.50,0.00,0.000,1030,0.000,0.102,2898,2066,2327,2361,2293,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5750,1.45,146.0,2897,2066,2362,2293,135.2,10.1,539,5756,0.00,2.65,0.00,0.000,260,0.000,0.149,2897,3487,2327,2362,2293,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5853,1.42,146.0,2897,3487,2362,2293,123.8,11.4,559,5859,0.12,2.50,0.00,0.000,5126,0.311,0.103,2880,2070,2327,2362,2293,0,0,0,0,0,0,14.62,14.71,28.83
$GC,6176,1.45,156.0,2880,2070,2362,2292,93.5,9.5,578,6187,0.00,2.65,4.80,0.161,8452,0.000,0.150,2880,3483,2314,2346,2282,0,0,0,0,0,0,28.83,14.69,14.69
$GC,6273,1.45,156.0,2880,3482,2346,2296,83.1,10.8,597,6281,0.00,2.50,0.00,0.000,1030,0.000,0.102,2889,2063,2322,2347,2297,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6579,1.48,156.0,2889,2062,2346,2299,51.0,10.2,613,6585,0.00,2.62,0.00,0.000,260,0.000,0.150,2889,3480,2324,2349,2299,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6671,1.48,156.0,2889,3480,2344,2300,40.4,11.7,631,6677,0.00,2.50,0.00,0.000,1030,0.000,0.104,2899,2062,2323,2346,2300,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6984,1.53,176.0,2899,2063,2346,2300,9.1,9.1,656,7006,0.00,2.65,15.18,0.182,8452,0.000,0.151,2899,3481,2231,2258,2205,0,0,0,0,0,0,28.83,14.69,14.67
$STATE,7040,end climb,SURFACE_DEPTH_REACHED
$STATE,7040,begin surface coast
$FINISH,1.7,1.026204
$STATE,7052,end surface coast,CONTROL_FINISHED_OK
$STATE,7052,begin surface
$SM_CCo,7069,236.23,0.163,0,0,538,591.42
$SM_GC,1.36,7.75,2.55,236.23,0.094,0.101,0.163,217,2069,538,-10.74,0.48,591.42,0,0,0,0,0,0,14.74,14.73,14.50
$RAFOS_CLK,294
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6327.46,-5326.38,101214,213700
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.44
$INTERNAL_PRESSURE,8.44005
$TCM_TEMP,14.70
$XPDR_PINGS,18
$SC_FREEKB,7768960
$24V_AH,13.62,1.654
$10V_AH,13.32,0.000
$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,20.150,82.700,346.475,236.225,0.000,0.000,0.000,0.000,4.500,0.000,5.053,1344.816,4208.126,758.150,1030.896,39.756,0.000,1318.884,0.000,985.554,0.000,0.540,0.000
$DEVICE_MAMPS,431.460,168.300,1106.190,162.945,0.000,0.000,0.000,0.000,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.574,0.000,0.000,0.000
$MEM,227204
$DATA_FILE_SIZE,23370,669
$CAP_FILE_SIZE,103798,0
$CFSIZE,260034560,252932096
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4094.76,0x23769e,7,5
$INTR,1,3678.24,0x23769e,2,5
$SOUNDSPEED,1470.7
$CURRENT,0.104,86.32,1
$GPS,101214,234729,6353.994,-5325.241,42,1.1,42,-28.7