version: 66.12
glider: 193
mission: 4
dive: 74
start: 12 23 114 12 0 45
data:
$ID,193
$MISSION,4
$DIVE,74
$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,17
$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
$GPS1,231214,115404,6536.334,-5640.059,38,0.8,38,-31.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-58.0
$GPS2,231214,115944,6536.347,-5639.963,6,0.8,6,-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,19.3,44453,-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,-146.0,199,2651,1722,1718,0.0,0.0,0,102,0.00,0.00,-81.65,0.000,16386,0.000,0.000,197,2651,3194,3168,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.60,-146.0,197,2651,3168,3220,3.0,-1.6,8,138,10.07,2.55,-13.05,0.000,18948,0.466,0.125,2195,1241,3549,3545,3554,0,0,0,0,0,0,14.37,14.51,14.73
$GC,365,-1.58,-146.0,2195,1241,3551,3554,30.6,-11.3,59,371,0.00,2.60,0.00,0.000,1030,0.000,0.133,2189,2652,3552,3551,3554,0,0,0,0,0,0,28.83,14.57,28.83
$GC,670,-1.55,-146.0,2189,2652,3551,3554,63.0,-10.3,75,677,0.10,2.50,0.00,0.000,2564,0.363,0.104,2208,1238,3552,3551,3554,0,0,0,0,0,0,14.54,14.62,28.83
$GC,774,-1.55,-146.0,2208,1238,3551,3554,73.4,-9.1,95,780,0.00,2.60,0.00,0.000,1030,0.000,0.132,2203,2652,3552,3551,3554,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1097,-1.55,-146.0,2203,2652,3551,3553,105.1,-9.9,114,1103,0.00,2.47,0.00,0.000,516,0.000,0.103,2203,1234,3551,3551,3552,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1210,-1.55,-146.0,2203,1233,3551,3551,116.3,-9.7,136,1215,0.00,2.58,0.00,0.000,1030,0.000,0.132,2196,2649,3551,3551,3551,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1522,-1.55,-146.0,2196,2649,3551,3550,148.0,-10.4,153,1528,0.00,2.47,0.00,0.000,516,0.000,0.106,2196,1234,3550,3551,3549,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1599,-1.55,-146.0,2196,1233,3551,3549,156.6,-10.5,168,1607,0.10,2.58,0.00,0.000,3078,0.351,0.132,2209,2649,3550,3551,3549,0,0,0,0,0,0,14.59,14.68,28.83
$GC,1905,-1.55,-146.0,2209,2649,3551,3549,188.7,-10.5,184,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2649,3550,3551,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2206,-1.55,-146.0,2209,2649,3551,3549,218.1,-9.6,199,2212,0.00,2.47,0.00,0.000,516,0.000,0.106,2209,1233,3549,3550,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2323,-1.55,-146.0,2209,1233,3551,3549,230.0,-9.9,222,2330,0.00,2.58,0.00,0.000,1030,0.000,0.133,2204,2653,3549,3550,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2630,-1.55,-146.0,2204,2652,3551,3549,257.0,-8.8,237,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2653,3549,3550,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2929,-1.55,-146.0,2203,2653,3551,3549,280.8,-7.7,247,2935,0.00,2.47,0.00,0.000,516,0.000,0.106,2204,1235,3550,3551,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3136,-1.55,-146.0,2204,1234,3551,3549,297.8,-7.5,288,3142,0.00,2.58,0.00,0.000,1030,0.000,0.136,2198,2652,3549,3551,3548,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,3171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3171,begin apogee
$GC,3175,-0.38,0.0,2198,2381,3551,3549,300.5,-7.7,290,3343,0.95,0.00,162.70,1.051,10246,0.256,0.000,2463,2381,2949,2970,2929,0,0,0,0,0,0,14.66,28.83,13.74
$STATE,3344,end apogee,CONTROL_FINISHED_OK
$STATE,3344,begin climb
$GC,3346,1.60,146.0,2462,2381,2965,2924,302.6,0.0,295,3505,1.40,0.00,154.85,0.998,10246,0.161,0.000,2894,2380,2353,2397,2309,0,0,0,0,0,0,14.07,28.83,13.57
$GC,3801,1.60,146.0,2895,2380,2377,2285,249.1,12.9,311,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2380,2331,2378,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4102,1.60,146.0,2894,2380,2376,2288,212.1,12.2,326,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2380,2330,2376,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4402,1.60,146.0,2894,2381,2376,2284,174.3,12.7,341,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2381,2330,2376,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4703,1.60,146.0,2894,2381,2375,2284,136.5,13.4,356,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2381,2330,2376,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5002,1.60,146.0,2895,2381,2376,2285,98.0,12.4,371,5008,0.00,2.75,0.00,0.000,260,0.000,0.155,2894,3817,2330,2376,2284,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5070,1.57,146.0,2894,3817,2374,2286,88.9,13.3,384,5075,0.00,2.47,0.00,0.000,1030,0.000,0.086,2904,2400,2330,2374,2286,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5388,1.57,146.0,2904,2401,2374,2287,52.9,10.9,402,5393,0.00,2.53,0.00,0.000,516,0.000,0.123,2914,984,2330,2374,2287,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5434,1.57,146.0,2914,984,2373,2287,47.6,11.3,411,5440,0.10,2.55,0.00,0.000,5126,0.328,0.125,2894,2404,2330,2374,2287,0,0,0,0,0,0,14.59,14.67,28.83
$GC,5742,1.57,146.5,2894,2404,2374,2288,16.9,10.0,432,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2404,2331,2374,2288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5881,end climb,SURFACE_DEPTH_REACHED
$STATE,5881,begin surface coast
$FINISH,1.5,1.026099
$STATE,5902,end surface coast,CONTROL_FINISHED_OK
$STATE,5902,begin surface
$SM_CCo,5918,80.60,0.156,0,0,1727,300.00
$SM_GC,2.14,7.70,0.47,80.60,0.090,0.148,0.156,204,2653,1727,-10.65,-0.42,300.00,0,0,0,0,0,0,14.76,14.71,14.62
$RAFOS_CLK,1425
$RAFOS,6,1419338942,12.833333,12.817223,60,60,54,54,53,50,141,219,178,122,196,159
$RAFOS,5,1419338472,12.700000,12.686666,68,61,60,57,56,51,175,187,210,230,127,145
$RAFOS,4,1419337989,12.566667,12.552500,60,59,52,52,52,50,207,167,182,120,220,146
$RAFOS,3,1419337506,12.433333,12.418333,66,61,58,57,56,52,212,227,124,152,170,141
$RAFOS,2,1419337040,12.300000,12.288889,62,57,56,55,54,53,148,194,176,116,221,128
$RAFOS,1,1419336554,12.166667,12.153889,58,57,57,57,56,55,166,124,176,196,205,224
$RAFOS,0,1419336077,12.033333,12.021389,62,60,59,55,55,55,185,161,221,142,207,122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6506.88,-5633.03,231214,080442
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.95
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,13.90
$XPDR_PINGS,0
$SC_FREEKB,7746240
$24V_AH,13.57,18.018
$10V_AH,13.79,0.000
$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,20.425,41.700,317.550,80.600,0.000,0.000,0.000,219.050,0.000,0.000,12.956,1035.286,3762.646,529.773,962.243,90.362,0.000,1121.183,0.000,676.897,2520.000,0.539,0.000
$DEVICE_MAMPS,465.885,154.530,1051.110,156.060,0.000,0.000,0.000,159.120,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.799,0.000,0.000,0.000
$MEM,313380
$DATA_FILE_SIZE,13472,448
$CAP_FILE_SIZE,73846,1
$CFSIZE,260034560,247341056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13905.04,0x23769e,7,5
$SOUNDSPEED,1466.8
$CURRENT,0.170,354.59,1
$GPS,231214,134205,6537.690,-5640.729,34,1.1,34,-31.0