version: 66.12
glider: 193
mission: 4
dive: 80
start: 12 24 114 1 39 9
data:
$ID,193
$MISSION,4
$DIVE,80
$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,6
$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,19
$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
$GPS1,241214,013105,6541.126,-5642.648,29,1.4,29,-31.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-59.2
$GPS2,241214,013831,6541.137,-5642.667,5,1.3,5,-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,13.3,35368,-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,-146.0,207,2650,1716,1718,0.0,0.0,0,113,0.00,0.00,-92.35,0.000,16386,0.000,0.000,206,2651,3409,3384,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,207,2651,3386,3434,3.3,-2.1,9,138,9.80,2.33,-4.18,0.000,18692,0.454,0.180,2190,3832,3549,3544,3554,0,0,0,0,0,0,14.38,14.49,14.73
$GC,281,-1.56,-146.0,2190,3832,3547,3554,25.1,-13.0,41,287,0.00,2.03,0.00,0.000,1030,0.000,0.063,2190,2634,3551,3548,3554,0,0,0,0,0,0,28.83,14.62,28.83
$GC,604,-1.53,-146.0,2190,2634,3548,3554,62.6,-11.3,60,610,0.12,2.40,0.00,0.000,2564,0.316,0.101,2220,1256,3551,3548,3554,0,0,0,0,0,0,14.52,14.62,28.83
$GC,651,-1.53,-146.0,2220,1256,3548,3554,67.7,-10.3,69,657,0.00,2.55,0.00,0.000,1030,0.000,0.129,2214,2656,3551,3548,3554,0,0,0,0,0,0,28.83,14.62,28.83
$GC,969,-1.53,-146.0,2215,2656,3548,3554,99.3,-10.0,87,975,0.00,2.47,0.00,0.000,516,0.000,0.105,2214,1246,3551,3548,3554,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1052,-1.53,-146.0,2215,1246,3548,3554,107.5,-9.7,103,1058,0.00,2.55,0.00,0.000,1030,0.000,0.131,2206,2651,3551,3548,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1376,-1.53,-146.0,2207,2651,3548,3553,137.4,-8.6,122,1381,0.00,2.45,0.00,0.000,516,0.000,0.110,2206,1253,3550,3548,3552,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1422,-1.53,-146.0,2207,1253,3548,3552,141.9,-9.1,131,1427,0.00,2.55,0.00,0.000,1030,0.000,0.135,2200,2652,3550,3548,3552,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1740,-1.53,-146.0,2200,2652,3548,3550,167.6,-7.4,149,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2652,3549,3548,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2040,-1.53,-146.0,2200,2652,3548,3550,189.8,-7.3,164,2046,0.00,2.45,0.00,0.000,516,0.000,0.112,2200,1255,3548,3548,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2149,-1.53,-146.0,2200,1254,3548,3549,198.4,-8.1,185,2155,0.10,2.55,0.00,0.000,3078,0.334,0.137,2212,2650,3551,3554,3549,0,0,0,0,0,0,14.62,14.70,28.83
$GC,2468,-1.56,-146.0,2212,2650,3548,3549,221.8,-8.0,203,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2651,3548,3547,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2769,-1.58,-146.0,2212,2651,3548,3549,246.0,-8.3,218,2774,0.00,2.45,0.00,0.000,516,0.000,0.109,2213,1247,3549,3549,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2893,-1.61,-146.0,2212,1246,3548,3549,257.2,-9.5,242,2899,0.00,2.55,0.00,0.000,1030,0.000,0.137,2206,2650,3548,3548,3549,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3227,-1.63,-146.0,2206,2650,3548,3549,291.8,-10.7,258,3233,0.00,2.45,0.00,0.000,516,0.000,0.110,2206,1248,3548,3547,3549,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3300,-1.63,-146.0,2206,1248,3548,3550,300.1,-11.5,272,3306,0.00,2.55,0.00,0.000,1030,0.000,0.138,2199,2651,3549,3548,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3624,-1.63,-146.0,2199,2650,3549,3550,335.6,-10.8,286,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2655,3549,3549,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3923,-1.63,-146.0,2199,2651,3551,3550,365.2,-9.6,296,3929,0.00,2.45,0.00,0.000,516,0.000,0.112,2199,1246,3548,3551,3545,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4106,-1.63,-146.0,2199,1246,3551,3550,383.0,-9.0,332,4111,0.00,2.55,0.00,0.000,1030,0.000,0.141,2193,2649,3551,3551,3551,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4440,-1.63,-146.0,2193,2650,3551,3550,412.0,-8.6,348,4445,0.00,2.45,0.00,0.000,516,0.000,0.114,2192,1249,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4542,-1.63,-146.0,2193,1250,3551,3550,420.9,-8.6,368,4547,0.00,2.55,0.00,0.000,1030,0.000,0.142,2187,2651,3551,3551,3551,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4866,-1.63,-146.0,2187,2656,3551,3551,447.5,-8.2,382,4871,0.00,2.45,0.00,0.000,516,0.000,0.115,2189,1250,3551,3551,3551,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,4897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4897,begin apogee
$GC,4903,-0.38,0.0,2182,2402,3551,3551,450.4,-8.3,388,5061,1.00,0.00,153.62,1.227,10246,0.252,0.000,2462,2402,2950,2970,2930,0,0,0,0,0,0,14.67,28.83,13.61
$STATE,5062,end apogee,CONTROL_FINISHED_OK
$STATE,5062,begin climb
$GC,5064,1.60,146.0,2462,2402,2962,2922,452.9,0.0,393,5230,1.42,0.00,155.30,1.164,10246,0.155,0.000,2899,2401,2343,2389,2297,0,0,0,0,0,0,14.04,28.83,13.47
$GC,5529,1.60,146.0,2898,2402,2378,2286,398.8,12.7,409,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2401,2332,2378,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5829,1.60,146.0,2899,2402,2377,2284,360.3,13.1,419,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2402,2330,2377,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6128,1.60,146.0,2899,2402,2375,2284,318.9,14.1,429,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2401,2330,2376,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6429,1.60,146.0,2899,2401,2375,2284,277.5,13.7,439,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2401,2329,2376,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6739,1.60,146.0,2895,2402,2376,2283,234.6,13.7,451,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2402,2329,2376,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7040,1.60,146.0,2899,2401,2376,2282,193.6,13.9,466,7046,0.00,2.65,0.00,0.000,260,0.000,0.151,2898,3809,2329,2376,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7083,1.55,146.0,2899,3809,2373,2285,186.8,15.7,474,7090,0.00,2.42,0.00,0.000,1030,0.000,0.085,2908,2412,2329,2373,2285,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7406,1.55,146.0,2908,2412,2373,2285,143.5,12.5,493,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2412,2329,2373,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,1.55,146.0,2908,2412,2373,2285,107.6,11.4,508,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2412,2329,2373,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8008,1.55,146.0,2908,2412,2373,2287,74.4,11.0,523,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2411,2329,2373,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8307,1.55,146.0,2908,2412,2373,2287,40.2,11.9,538,8313,0.00,2.53,0.00,0.000,516,0.000,0.123,2919,982,2330,2373,2288,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8371,1.55,146.0,2918,982,2375,2288,32.4,12.2,550,8377,0.12,2.53,0.00,0.000,5126,0.313,0.125,2891,2400,2330,2373,2288,0,0,0,0,0,0,14.66,14.73,28.83
$STATE,8653,end climb,SURFACE_DEPTH_REACHED
$STATE,8653,begin surface coast
$FINISH,1.6,1.025599
$STATE,8675,end surface coast,CONTROL_FINISHED_OK
$STATE,8675,begin surface
$SM_CCo,8692,79.95,0.158,0,0,1726,300.00
$SM_GC,2.25,7.60,0.47,79.95,0.082,0.155,0.158,211,2646,1726,-10.64,-0.54,300.00,0,0,0,0,0,0,14.78,14.72,14.64
$RAFOS_CLK,364
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6512.01,-5638.87,241214,013304
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.47
$INTERNAL_PRESSURE,8.51818
$TCM_TEMP,13.80
$XPDR_PINGS,3
$SC_FREEKB,7744320
$24V_AH,13.47,18.966
$10V_AH,13.72,0.000
$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,20.175,59.525,308.925,79.950,0.000,0.000,0.000,270.700,0.750,0.000,6.818,1352.195,6041.926,551.307,1201.195,96.267,0.000,1291.170,0.000,866.401,360.000,0.539,0.000
$DEVICE_MAMPS,453.645,179.775,1227.060,158.355,0.000,0.000,0.000,151.470,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8678.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.325,0.000,0.000,0.000
$MEM,272244
$DATA_FILE_SIZE,20042,579
$CAP_FILE_SIZE,94041,0
$CFSIZE,260034560,246972416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9813.60,0x23769e,7,5
$SOUNDSPEED,1468.8
$CURRENT,0.079,50.42,1
$GPS,241214,040635,6542.538,-5643.117,28,1.1,28,-31.1