version: 66.12
glider: 193
mission: 4
dive: 8
start: 12 11 114 11 12 24
data:
$ID,193
$MISSION,4
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,650
$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,180
$T_MISSION,220
$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,400
$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,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,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$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
$GPS1,111214,110706,6356.266,-5337.520,36,1.0,36,-28.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-54.8
$GPS2,111214,111151,6356.318,-5337.532,5,0.9,5,-28.8
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_1
$TGT_LATLONG,6400.000,-5400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,320.5,19474,-18.4,-10.000,-20.87,2243
$D_GRID,773
$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,-146.0,209,2503,1334,1313,0.0,0.0,0,132,0.00,0.00,-112.07,0.000,16386,0.000,0.000,209,2504,3547,3525,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.60,-146.0,209,2504,3526,3569,4.3,-5.0,11,152,9.38,2.60,0.00,0.000,2820,0.433,0.125,2197,1080,3550,3531,3570,0,0,0,0,0,0,14.40,14.52,28.83
$GC,159,-0.94,-146.0,2197,1080,3533,3569,11.7,-27.2,15,165,0.55,2.65,0.00,0.000,3078,0.250,0.145,2340,2502,3551,3534,3568,0,0,0,0,0,0,14.47,14.52,28.83
$GC,472,-1.08,-146.0,2340,2503,3537,3568,35.7,-7.0,40,478,0.10,2.60,0.00,0.000,4356,0.174,0.168,2291,3843,3552,3537,3567,0,0,0,0,0,0,14.66,14.56,28.83
$GC,705,-1.17,-146.0,2292,3843,3537,3566,55.3,-8.6,86,711,0.00,2.38,0.00,0.000,1030,0.000,0.086,2291,2493,3551,3537,3566,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1018,-1.27,-146.0,2291,2493,3538,3563,81.8,-8.0,103,1024,0.00,2.62,0.00,0.000,260,0.000,0.175,2282,3839,3550,3538,3563,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1250,-1.36,-146.0,2281,3839,3538,3563,99.4,-7.2,149,1257,0.10,2.35,0.00,0.000,5126,0.181,0.087,2239,2499,3551,3539,3563,0,0,0,0,0,0,14.71,14.71,28.83
$GC,1565,-1.40,-146.0,2238,2499,3538,3563,126.8,-8.9,166,1571,0.00,2.60,0.00,0.000,260,0.000,0.170,2229,3845,3550,3539,3562,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1722,-1.44,-146.0,2229,3845,3539,3562,143.5,-10.8,197,1729,0.00,2.35,0.00,0.000,1030,0.000,0.084,2229,2498,3550,3538,3562,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2028,-1.48,-146.0,2229,2497,3538,3562,172.8,-8.9,213,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2498,3550,3539,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2328,-1.53,-146.0,2229,2497,3538,3562,199.5,-9.2,228,2334,0.00,2.50,0.00,0.000,516,0.000,0.131,2229,1094,3550,3538,3562,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2412,-1.57,-146.0,2229,1094,3539,3561,207.5,-9.9,244,2417,0.00,2.62,0.00,0.000,1030,0.000,0.155,2221,2506,3550,3538,3562,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2734,-1.62,-146.0,2221,2506,3539,3561,238.6,-9.2,263,2736,0.10,0.00,0.00,0.000,4102,0.183,0.000,2181,2506,3550,3539,3562,0,0,0,0,0,0,14.78,28.83,28.83
$GC,3034,-1.62,-146.0,2182,2506,3539,3562,266.5,-8.8,275,3040,0.00,2.53,0.00,0.000,516,0.000,0.132,2182,1094,3551,3540,3562,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3136,-1.62,-146.0,2181,1093,3539,3562,276.0,-9.2,295,3142,0.10,2.62,0.00,0.000,3078,0.317,0.158,2193,2503,3550,3540,3561,0,0,0,0,0,0,14.68,14.73,28.83
$GC,3460,-1.64,-146.0,2193,2503,3540,3562,303.4,-8.4,309,3466,0.00,2.53,0.00,0.000,516,0.000,0.132,2194,1092,3551,3540,3562,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3553,-1.64,-146.0,2194,1092,3540,3562,311.3,-8.2,327,3559,0.00,2.65,0.00,0.000,1030,0.000,0.160,2186,2506,3551,3540,3562,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3887,-1.64,-146.0,2185,2506,3540,3562,339.5,-8.7,343,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2506,3551,3541,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-1.64,-146.0,2186,2506,3541,3565,367.0,-9.3,353,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2506,3552,3542,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,-1.64,-146.0,2187,2506,3543,3561,392.1,-8.1,363,4491,0.00,2.55,0.00,0.000,516,0.000,0.135,2187,1087,3552,3543,3561,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4557,-1.64,-146.0,2186,1085,3543,3562,398.3,-8.9,377,4563,0.00,2.65,0.00,0.000,1030,0.000,0.158,2179,2509,3553,3544,3562,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4881,-1.64,-146.0,2179,2509,3543,3562,424.5,-8.3,391,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2509,3553,3544,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5180,-1.64,-146.0,2179,2509,3544,3561,452.0,-9.6,401,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2509,3553,3544,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5480,-1.64,-146.0,2179,2508,3545,3562,481.5,-9.9,411,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2509,3553,3545,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,-1.64,-146.0,2179,2509,3546,3562,509.9,-9.3,421,5787,0.00,2.58,0.00,0.000,516,0.000,0.142,2179,1090,3551,3545,3558,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5874,-1.64,-146.0,2179,1090,3545,3562,519.1,-10.0,439,5880,0.10,2.65,0.00,0.000,3078,0.315,0.165,2191,2506,3554,3546,3563,0,0,0,0,0,0,14.71,14.76,28.83
$STATE,6085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6085,begin apogee
$GC,6089,-0.38,0.0,2191,2398,3546,3562,540.4,-10.2,451,6251,0.93,0.00,153.18,1.968,10246,0.226,0.000,2461,2397,2951,2969,2933,0,0,0,0,1,0,14.72,28.83,13.06
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6254,1.60,146.0,2462,2397,2969,2940,546.1,0.0,456,6419,1.42,0.00,153.95,2.092,10246,0.137,0.000,2900,2397,2357,2393,2322,0,0,0,0,1,0,13.80,28.83,13.00
$GC,6717,1.57,146.0,2900,2397,2393,2320,502.5,11.7,472,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2397,2356,2393,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,1.55,146.0,2900,2397,2392,2318,467.4,11.5,482,7023,0.00,2.80,0.00,0.000,260,0.000,0.175,2900,3814,2355,2393,2318,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7069,1.49,146.0,2900,3814,2393,2318,460.3,13.9,492,7076,0.15,2.58,0.00,0.000,5126,0.306,0.105,2877,2399,2355,2393,2318,0,0,0,0,0,0,14.45,14.52,28.83
$GC,7382,1.49,146.0,2877,2399,2393,2317,423.9,11.5,504,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2399,2355,2393,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7683,1.49,146.0,2877,2399,2393,2316,387.0,12.5,514,7688,0.00,2.60,0.00,0.000,516,0.000,0.154,2887,989,2354,2393,2316,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7729,1.49,146.0,2885,989,2393,2316,380.9,12.6,523,7735,0.00,2.65,0.00,0.000,1030,0.000,0.156,2886,2402,2354,2393,2316,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8047,1.49,146.0,2886,2402,2393,2315,339.7,12.9,536,8052,0.00,2.70,0.00,0.000,260,0.000,0.168,2886,3812,2354,2393,2316,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8083,1.45,146.0,2886,3811,2393,2316,334.6,13.8,543,8089,0.15,2.55,0.00,0.000,5126,0.296,0.105,2862,2393,2354,2393,2316,0,0,0,0,0,0,14.62,14.69,28.83
$GC,8412,1.45,146.0,2862,2393,2393,2315,296.3,11.5,558,8417,0.00,2.53,0.00,0.000,516,0.000,0.146,2872,979,2354,2393,2315,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8454,1.47,146.0,2872,977,2392,2315,291.3,11.3,566,8459,0.00,2.65,0.00,0.000,1030,0.000,0.155,2872,2407,2354,2393,2315,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8776,1.47,146.0,2872,2406,2393,2315,254.2,11.4,580,8782,0.00,2.70,0.00,0.000,260,0.000,0.171,2872,3816,2357,2400,2315,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8818,1.44,146.0,2872,3816,2393,2315,248.9,13.1,588,8824,0.00,2.53,0.00,0.000,1030,0.000,0.104,2881,2398,2354,2393,2316,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9141,1.44,146.0,2881,2398,2393,2315,210.3,11.8,607,9146,0.00,2.55,0.00,0.000,516,0.000,0.139,2892,981,2354,2393,2315,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9218,1.44,146.0,2892,981,2393,2316,200.9,12.3,622,9225,0.12,2.60,0.00,0.000,5126,0.299,0.148,2864,2400,2353,2393,2314,0,0,0,0,0,0,14.68,14.73,28.83
$GC,9523,1.44,146.0,2864,2400,2393,2315,167.1,10.3,638,9529,0.00,2.70,0.00,0.000,260,0.000,0.166,2864,3816,2354,2393,2315,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9589,1.44,146.0,2864,3816,2393,2316,159.1,11.4,651,9595,0.00,2.53,0.00,0.000,1030,0.000,0.103,2873,2400,2354,2393,2316,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9907,1.44,146.0,2873,2400,2393,2316,123.8,11.9,669,9913,0.00,2.53,0.00,0.000,516,0.000,0.138,2883,990,2354,2393,2316,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9950,1.46,146.0,2884,990,2391,2316,118.6,12.4,677,9956,0.00,2.60,0.00,0.000,1030,0.000,0.148,2883,2404,2354,2393,2316,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10273,1.46,146.0,2883,2404,2393,2316,82.2,10.9,696,10279,0.00,2.70,0.00,0.000,260,0.000,0.168,2883,3818,2354,2393,2316,0,0,0,0,0,0,28.83,14.72,28.83
$GC,10330,1.46,146.0,2883,3818,2393,2317,75.1,12.5,707,10337,0.12,2.53,0.00,0.000,5126,0.310,0.099,2866,2393,2354,2393,2315,0,0,0,0,0,0,14.69,14.77,28.83
$GC,10636,1.53,172.3,2866,2393,2393,2316,46.4,8.8,723,10661,0.00,2.83,15.98,0.289,8452,0.000,0.171,2866,3812,2250,2284,2217,0,0,0,0,0,0,28.83,14.71,14.65
$GC,10688,1.53,172.3,2866,3812,2284,2221,41.5,10.2,730,10693,0.00,2.53,0.00,0.000,1030,0.000,0.102,2875,2395,2253,2284,2222,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11001,1.59,188.2,2875,2394,2284,2219,13.8,9.3,753,11013,0.00,0.00,10.45,0.200,8198,0.000,0.000,2875,2395,2181,2214,2148,0,0,0,0,0,0,28.83,28.83,14.69
$STATE,11109,end climb,SURFACE_DEPTH_REACHED
$STATE,11109,begin surface coast
$FINISH,1.1,1.014009
$STATE,11131,end surface coast,CONTROL_FINISHED_OK
$STATE,11131,begin surface
$SM_CCo,11145,120.30,0.159,0,0,1317,400.08
$SM_GC,1.79,7.53,0.22,120.30,0.076,0.194,0.159,215,2500,1317,-10.66,-0.45,400.08,0,0,0,0,0,0,14.76,14.72,14.61
$RAFOS_CLK,461
$RAFOS,6,1418302145,12.833333,12.818055,65,62,59,54,54,53,135,174,158,117,192,219
$RAFOS,5,1418301673,12.700000,12.686944,74,61,55,54,54,54,221,197,155,122,211,177
$RAFOS,4,1418301193,12.566667,12.553611,69,59,53,53,50,46,210,185,144,222,134,123
$RAFOS,3,1418300708,12.433333,12.418889,60,60,57,57,55,55,157,199,135,217,170,231
$RAFOS,2,1418300228,12.300000,12.285556,63,60,56,55,52,50,188,173,132,224,210,235
$RAFOS,1,1418299772,12.166667,12.158889,58,56,56,56,54,52,208,177,193,123,221,151
$RAFOS,0,1418299286,12.033333,12.023889,64,59,52,50,48,47,214,186,134,166,227,156
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6327.46,-5331.33,111214,081005
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.07
$INTERNAL_PRESSURE,8.49865
$TCM_TEMP,14.10
$XPDR_PINGS,2
$SC_FREEKB,7767360
$24V_AH,13.00,2.712
$10V_AH,13.36,0.000
$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,20.850,98.800,333.550,120.300,0.000,0.000,0.000,182.775,0.500,0.000,6.877,1741.143,7686.132,670.680,1406.539,65.988,0.000,1474.050,0.000,1136.979,2520.000,0.539,0.000
$DEVICE_MAMPS,432.990,194.310,2091.510,159.120,0.000,0.000,0.000,154.530,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11132.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.121,0.000,0.000,0.000
$MEM,227220
$DATA_FILE_SIZE,26728,766
$CAP_FILE_SIZE,125883,0
$CFSIZE,260034560,252563456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,10711.96,0x23769e,7,5
$SOUNDSPEED,1471.6
$CURRENT,0.041,228.19,1
$GPS,111214,142134,6356.707,-5340.845,38,0.9,38,-28.8