version: 66.12
glider: 193
mission: 4
dive: 78
start: 12 23 114 20 13 2
data:
$ID,193
$MISSION,4
$DIVE,78
$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,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
$GPS1,231214,200704,6540.168,-5641.419,25,1.7,25,-31.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-58.6
$GPS2,231214,201229,6540.112,-5641.354,5,1.7,5,-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,3.1,37403,-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,-146.0,202,2650,1717,1717,0.0,0.0,0,113,0.00,0.00,-92.07,0.000,16386,0.000,0.000,200,2651,3429,3407,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,200,2651,3408,3453,3.4,-2.2,9,132,10.00,0.00,-3.38,0.000,18438,0.461,0.000,2194,2651,3548,3541,3556,0,0,0,0,0,0,14.37,28.83,14.73
$GC,443,-1.58,-146.0,2193,2650,3550,3556,43.4,-11.1,34,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3552,3548,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,742,-1.58,-146.0,2194,2651,3548,3556,74.8,-10.4,49,748,0.00,2.47,0.00,0.000,516,0.000,0.107,2195,1235,3552,3548,3556,0,0,0,0,0,0,28.83,14.63,28.83
$GC,846,-1.58,-146.0,2194,1236,3548,3556,85.9,-10.1,69,852,0.00,2.58,0.00,0.000,1030,0.000,0.129,2189,2650,3551,3548,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1169,-1.58,-146.0,2189,2651,3548,3553,117.5,-9.3,88,1174,0.00,2.47,0.00,0.000,516,0.000,0.106,2189,1237,3551,3548,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1301,-1.58,-146.0,2187,1237,3548,3553,130.1,-9.4,114,1307,0.12,2.58,0.00,0.000,3078,0.317,0.132,2208,2650,3550,3548,3552,0,0,0,0,0,0,14.59,14.67,28.83
$GC,1614,-1.58,-146.0,2208,2650,3549,3551,156.9,-8.2,131,1620,0.00,2.47,0.00,0.000,516,0.000,0.106,2209,1232,3549,3549,3550,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1697,-1.58,-146.0,2209,1232,3548,3550,163.7,-8.1,147,1702,0.00,2.58,0.00,0.000,1030,0.000,0.132,2203,2650,3549,3548,3550,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2020,-1.58,-146.0,2203,2650,3548,3550,190.7,-8.6,166,2025,0.00,2.47,0.00,0.000,516,0.000,0.107,2203,1231,3549,3548,3550,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2124,-1.58,-146.0,2203,1231,3548,3549,200.2,-9.6,186,2130,0.00,2.58,0.00,0.000,1030,0.000,0.134,2196,2675,3549,3548,3550,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2447,-1.58,-146.0,2196,2675,3548,3550,231.7,-9.8,205,2453,0.00,2.53,0.00,0.000,516,0.000,0.110,2196,1230,3549,3548,3550,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2555,-1.58,-146.0,2196,1230,3548,3550,242.8,-10.3,226,2560,0.00,2.60,0.00,0.000,1030,0.000,0.137,2190,2654,3549,3548,3550,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2873,-1.58,-146.0,2190,2654,3548,3550,273.0,-9.1,240,2879,0.00,2.50,0.00,0.000,516,0.000,0.112,2190,1232,3549,3548,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2920,-1.58,-146.0,2190,1232,3548,3550,277.4,-8.9,249,2927,0.10,2.60,0.00,0.000,3078,0.324,0.138,2202,2656,3549,3549,3550,0,0,0,0,0,0,14.65,14.72,28.83
$GC,3241,-1.58,-146.0,2202,2656,3549,3550,301.5,-7.0,262,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2656,3549,3549,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-1.58,-146.0,2203,2656,3550,3550,319.5,-5.7,272,3545,0.00,2.47,0.00,0.000,516,0.000,0.112,2203,1237,3550,3550,3550,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3682,-1.60,-146.0,2204,1237,3551,3550,328.6,-6.3,300,3687,0.00,2.58,0.00,0.000,1030,0.000,0.138,2197,2650,3550,3551,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3995,-1.60,-146.0,2197,2650,3551,3550,350.3,-7.4,312,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4295,-1.60,-146.0,2197,2650,3551,3556,375.3,-8.7,322,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4595,-1.60,-146.0,2197,2650,3551,3550,401.8,-8.8,332,4600,0.00,2.47,0.00,0.000,516,0.000,0.114,2197,1232,3550,3551,3550,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4751,-1.60,-146.0,2197,1232,3551,3550,415.9,-9.0,363,4757,0.00,2.60,0.00,0.000,1030,0.000,0.143,2191,2653,3551,3551,3551,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5080,-1.60,-146.0,2190,2656,3551,3551,444.5,-8.8,378,5085,0.00,2.47,0.00,0.000,516,0.000,0.116,2190,1237,3551,3551,3551,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,5141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5141,begin apogee
$GC,5148,-0.38,0.0,2186,2412,3551,3552,450.3,-8.5,390,5302,1.00,0.00,150.98,1.235,10246,0.253,0.000,2467,2413,2950,2970,2930,0,0,0,0,0,0,14.69,28.83,13.62
$STATE,5304,end apogee,CONTROL_FINISHED_OK
$STATE,5304,begin climb
$GC,5305,1.60,146.0,2467,2412,2963,2922,453.8,0.0,395,5464,1.40,0.00,153.52,1.164,10246,0.156,0.000,2896,2413,2352,2397,2308,0,0,0,0,0,0,14.04,28.83,13.49
$GC,5743,1.60,146.0,2897,2412,2378,2285,407.6,11.8,410,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2412,2331,2378,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6042,1.60,146.0,2897,2413,2376,2284,373.4,11.4,420,6047,0.00,2.60,0.00,0.000,516,0.000,0.134,2906,990,2330,2376,2284,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6079,1.60,146.0,2906,990,2375,2284,369.1,11.4,427,6084,0.00,2.60,0.00,0.000,1030,0.000,0.132,2906,2406,2329,2375,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6408,1.58,146.0,2906,2407,2374,2283,329.1,12.7,442,6414,0.00,2.67,0.00,0.000,260,0.000,0.151,2906,3814,2328,2374,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6481,1.52,146.0,2906,3814,2373,2285,318.3,15.4,456,6487,0.15,2.50,0.00,0.000,5126,0.311,0.086,2883,2390,2329,2373,2285,0,0,0,0,0,0,14.52,14.62,28.83
$GC,6805,1.52,146.0,2883,2390,2373,2284,278.6,11.9,470,6811,0.00,2.50,0.00,0.000,516,0.000,0.126,2892,989,2328,2373,2284,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6862,1.52,146.0,2892,989,2372,2283,272.0,10.9,481,6869,0.00,2.55,0.00,0.000,1030,0.000,0.128,2892,2402,2328,2372,2284,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7179,1.52,146.0,2892,2402,2372,2283,234.5,12.0,494,7185,0.00,2.67,0.00,0.000,260,0.000,0.153,2892,3816,2327,2372,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7225,1.48,146.0,2892,3815,2372,2284,228.1,14.1,503,7232,0.12,2.47,0.00,0.000,5126,0.321,0.085,2875,2394,2328,2372,2284,0,0,0,0,0,0,14.61,14.70,28.83
$GC,7543,1.48,146.0,2875,2395,2372,2283,189.4,12.4,521,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2395,2328,2372,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7844,1.48,146.0,2875,2394,2372,2284,154.2,11.5,536,7849,0.00,2.47,0.00,0.000,516,0.000,0.119,2884,989,2327,2372,2283,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7897,1.50,146.0,2884,989,2372,2283,147.5,12.4,546,7902,0.00,2.53,0.00,0.000,1030,0.000,0.125,2884,2402,2327,2372,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8209,1.50,146.0,2884,2401,2367,2284,108.2,11.7,563,8215,0.00,2.67,0.00,0.000,260,0.000,0.151,2884,3812,2327,2372,2283,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8261,1.50,146.0,2884,3812,2372,2284,101.7,12.2,573,8267,0.00,2.45,0.00,0.000,1030,0.000,0.083,2894,2396,2328,2372,2284,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8574,1.50,146.0,2894,2396,2372,2285,68.5,10.9,590,8580,0.00,2.67,0.00,0.000,260,0.000,0.152,2900,3810,2328,2372,2285,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8637,1.50,146.0,2894,3810,2372,2290,60.8,13.3,602,8643,0.12,2.45,0.00,0.000,5126,0.308,0.084,2877,2393,2328,2372,2285,0,0,0,0,0,0,14.66,14.75,28.83
$GC,8961,1.53,146.0,2877,2393,2372,2286,27.0,10.5,621,8967,0.00,2.47,0.00,0.000,516,0.000,0.119,2887,986,2329,2372,2286,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9004,1.57,146.0,2885,984,2372,2286,22.4,10.8,629,9011,0.00,2.53,0.00,0.000,1030,0.000,0.125,2886,2399,2329,2372,2286,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,9186,end climb,SURFACE_DEPTH_REACHED
$STATE,9186,begin surface coast
$FINISH,1.6,1.015052
$STATE,9208,end surface coast,CONTROL_FINISHED_OK
$STATE,9208,begin surface
$SM_CCo,9224,80.22,0.157,0,0,1726,300.00
$SM_GC,2.26,7.78,0.47,80.22,0.103,0.149,0.157,205,2649,1726,-10.66,-0.54,300.00,0,0,0,0,0,0,14.78,14.73,14.64
$RAFOS_CLK,382
$RAFOS,6,1419367747,20.833334,20.818611,65,61,58,57,50,49,196,158,208,231,167,182
$RAFOS,5,1419367266,20.700001,20.684999,66,64,61,55,54,54,152,185,200,213,173,118
$RAFOS,4,1419366786,20.566668,20.551666,61,61,60,59,59,56,134,204,170,184,152,221
$RAFOS,3,1419366302,20.433332,20.417223,63,63,56,56,51,49,202,214,131,190,160,176
$RAFOS,2,1419365822,20.299999,20.283890,67,65,58,58,57,57,158,189,116,147,175,214
$RAFOS,0,1419364865,20.033333,20.018055,65,52,51,50,48,47,204,171,221,195,148,158
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6506.88,-5641.74,231214,172500
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.64
$INTERNAL_PRESSURE,8.52795
$TCM_TEMP,13.80
$XPDR_PINGS,1
$SC_FREEKB,7744960
$24V_AH,13.49,18.635
$10V_AH,13.73,0.000
$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,20.800,86.525,304.500,80.225,0.000,0.000,0.000,210.525,0.250,0.000,6.802,1468.185,6268.217,565.414,1255.781,92.744,0.000,1306.368,0.000,968.013,1800.000,0.539,0.000
$DEVICE_MAMPS,460.530,153.000,1235.475,156.825,0.000,0.000,0.000,151.470,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.265,0.000,0.000,0.000
$MEM,313492
$DATA_FILE_SIZE,23401,650
$CAP_FILE_SIZE,105586,0
$CFSIZE,260034560,247083008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9875.28,0x23769e,7,5
$SOUNDSPEED,1471.4
$CURRENT,0.218,154.83,1
$GPS,231214,224935,6540.190,-5641.820,40,1.0,40,-31.1