version: 66.12
glider: 193
mission: 4
dive: 82
start: 12 24 114 6 47 46
data:
$ID,193
$MISSION,4
$DIVE,82
$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,21
$R_STBD_OVSHOOT,12
$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
$GPS1,241214,064204,6543.516,-5643.275,36,0.8,36,-31.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-58.0
$GPS2,241214,064703,6543.489,-5643.219,6,0.9,6,-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,360.0,31001,-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,-146.0,209,2649,1720,1717,0.0,0.0,0,113,0.00,0.00,-92.20,0.000,16386,0.000,0.000,209,2649,3417,3394,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.60,-146.0,209,2649,3396,3442,3.2,-2.3,9,134,9.90,0.00,-3.83,0.000,18694,0.461,0.000,2194,2649,3548,3542,3555,0,0,0,0,0,0,14.38,28.83,14.74
$GC,432,-1.60,-146.0,2195,2649,3548,3555,41.1,-11.0,35,437,0.00,2.25,0.00,0.000,260,0.000,0.156,2187,3838,3551,3548,3555,0,0,0,0,0,0,28.83,14.57,28.83
$GC,498,-1.56,-146.0,2187,3838,3548,3555,49.0,-12.1,48,504,0.10,2.03,0.00,0.000,3078,0.330,0.061,2206,2634,3551,3548,3555,0,0,0,0,0,0,14.52,14.66,28.83
$GC,817,-1.56,-146.0,2206,2634,3548,3554,87.0,-12.6,66,822,0.00,2.40,0.00,0.000,516,0.000,0.104,2207,1252,3551,3548,3555,0,0,0,0,0,0,28.83,14.64,28.83
$GC,900,-1.56,-146.0,2206,1250,3548,3554,97.9,-12.7,82,905,0.00,2.53,0.00,0.000,1030,0.000,0.128,2201,2652,3551,3548,3555,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1223,-1.56,-146.0,2200,2652,3548,3554,132.6,-8.2,101,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2652,3551,3549,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1523,-1.56,-146.0,2200,2652,3548,3551,161.6,-9.9,116,1529,0.00,2.45,0.00,0.000,516,0.000,0.106,2200,1253,3550,3549,3551,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1641,-1.56,-146.0,2200,1254,3548,3552,174.7,-11.5,139,1648,0.00,2.53,0.00,0.000,1030,0.000,0.132,2194,2649,3549,3548,3550,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1946,-1.56,-146.0,2194,2649,3548,3549,209.1,-10.9,155,1951,0.00,2.45,0.00,0.000,516,0.000,0.109,2194,1248,3548,3548,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2032,-1.56,-146.0,2194,1249,3548,3549,218.0,-10.9,172,2038,0.10,2.55,0.00,0.000,3078,0.347,0.135,2205,2650,3548,3548,3549,0,0,0,0,0,0,14.62,14.70,28.83
$GC,2351,-1.56,-146.0,2205,2650,3548,3549,243.1,-7.6,190,2356,0.00,2.45,0.00,0.000,516,0.000,0.109,2206,1246,3548,3548,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2424,-1.56,-146.0,2206,1248,3548,3549,248.9,-7.2,204,2429,0.00,2.55,0.00,0.000,1030,0.000,0.136,2200,2651,3548,3548,3549,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2757,-1.56,-146.0,2200,2651,3548,3549,274.9,-7.9,217,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2651,3548,3548,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-1.56,-146.0,2200,2651,3548,3549,300.2,-8.2,227,3062,0.00,2.42,0.00,0.000,516,0.000,0.110,2200,1256,3549,3548,3550,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3214,-1.56,-146.0,2200,1256,3548,3550,312.9,-7.5,258,3219,0.00,2.55,0.00,0.000,1030,0.000,0.138,2194,2658,3549,3548,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3542,-1.56,-146.0,2194,2658,3549,3550,337.6,-7.6,273,3549,0.00,2.45,0.00,0.000,516,0.000,0.111,2194,1252,3549,3549,3550,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3661,-1.56,-146.0,2194,1252,3549,3550,347.2,-8.7,296,3668,0.10,2.55,0.00,0.000,3078,0.338,0.139,2207,2650,3553,3549,3557,0,0,0,0,0,0,14.66,14.73,28.83
$GC,3967,-1.58,-146.0,2207,2650,3550,3549,370.0,-7.5,307,3973,0.00,2.45,0.00,0.000,516,0.000,0.113,2207,1249,3550,3550,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4045,-1.60,-146.0,2207,1249,3550,3550,376.2,-7.8,322,4051,0.00,2.58,0.00,0.000,1030,0.000,0.139,2200,2653,3550,3550,3550,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4364,-1.60,-146.0,2201,2653,3551,3550,400.4,-7.4,335,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2653,3550,3551,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4663,-1.60,-146.0,2201,2653,3551,3550,423.3,-7.9,345,4669,0.00,2.45,0.00,0.000,516,0.000,0.114,2201,1251,3550,3551,3550,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4772,-1.60,-146.0,2201,1255,3548,3552,432.2,-7.9,366,4778,0.00,2.58,0.00,0.000,1030,0.000,0.140,2195,2661,3551,3551,3551,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,4999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4999,begin apogee
$GC,5004,-0.38,0.0,2195,2399,3551,3551,451.6,-8.5,376,5161,0.95,0.00,153.73,1.234,10246,0.244,0.000,2464,2401,2949,2969,2930,0,0,0,0,0,0,14.67,28.83,13.60
$STATE,5163,end apogee,CONTROL_FINISHED_OK
$STATE,5163,begin climb
$GC,5165,1.60,146.0,2464,2397,2962,2921,454.8,0.0,381,5330,1.42,0.00,155.77,1.160,10246,0.157,0.000,2899,2397,2343,2389,2298,0,0,0,0,0,0,14.02,28.83,13.47
$GC,5630,1.60,146.0,2899,2398,2377,2284,402.5,13.0,397,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2398,2330,2377,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,1.60,146.0,2899,2397,2376,2278,363.2,13.3,407,5936,0.00,2.72,0.00,0.000,260,0.000,0.153,2899,3808,2329,2376,2282,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5988,1.55,146.0,2899,3809,2373,2284,354.8,15.2,418,5996,0.10,2.47,0.00,0.000,5126,0.329,0.084,2889,2406,2329,2373,2286,0,0,0,0,0,0,14.42,14.52,28.83
$GC,6294,1.55,146.0,2889,2406,2373,2283,316.5,12.4,429,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2406,2328,2373,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6594,1.55,146.0,2895,2406,2373,2282,280.4,12.0,439,6599,0.00,2.53,0.00,0.000,516,0.000,0.125,2899,992,2327,2373,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6665,1.55,146.0,2899,994,2372,2283,271.2,12.9,453,6671,0.00,2.55,0.00,0.000,1030,0.000,0.129,2899,2399,2327,2372,2283,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6977,1.55,146.0,2899,2400,2372,2283,228.4,14.1,469,6983,0.00,2.67,0.00,0.000,260,0.000,0.149,2899,3809,2327,2372,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7030,1.50,146.0,2899,3809,2371,2283,220.1,15.9,479,7036,0.15,2.45,0.00,0.000,5126,0.309,0.083,2876,2401,2327,2371,2283,0,0,0,0,0,0,14.58,14.68,28.83
$GC,7343,1.50,146.0,2875,2400,2371,2283,182.1,10.4,496,7349,0.00,2.47,0.00,0.000,516,0.000,0.117,2885,993,2331,2379,2283,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7401,1.50,147.3,2885,993,2371,2283,176.3,9.9,507,7407,0.00,2.53,0.00,0.000,1030,0.000,0.122,2885,2407,2327,2371,2283,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7706,1.50,147.3,2885,2407,2371,2283,140.9,12.5,523,7711,0.00,2.62,0.00,0.000,260,0.000,0.150,2885,3809,2327,2371,2283,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7738,1.47,147.3,2885,3809,2371,2284,136.7,12.5,529,7744,0.12,2.45,0.00,0.000,5126,0.320,0.083,2868,2396,2327,2371,2283,0,0,0,0,0,0,14.62,14.71,28.83
$GC,8052,1.51,147.3,2868,2396,2371,2284,103.2,10.2,546,8058,0.00,2.67,0.00,0.000,260,0.000,0.154,2868,3809,2327,2370,2284,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8125,1.51,147.3,2866,3808,2371,2284,94.7,11.3,560,8130,0.00,2.45,0.00,0.000,1030,0.000,0.082,2877,2393,2327,2371,2284,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8438,1.55,155.9,2877,2393,2371,2285,62.9,9.6,577,8449,0.00,2.50,2.17,0.182,8708,0.000,0.119,2887,1000,2317,2355,2279,0,0,0,0,0,0,28.83,14.69,14.68
$GC,8505,1.61,177.2,2887,1000,2358,2291,56.4,9.0,590,8526,0.00,2.50,14.88,0.298,9222,0.000,0.125,2887,2399,2228,2268,2188,0,0,0,0,0,0,28.83,14.70,14.57
$GC,8834,1.64,177.2,2887,2399,2269,2207,20.7,11.8,613,8840,0.00,2.58,1.55,0.200,8708,0.000,0.119,2896,987,2227,2261,2194,0,0,0,0,0,0,28.83,14.69,14.67
$GC,8871,1.68,177.2,2896,988,2263,2201,16.1,11.2,620,8878,0.00,2.53,0.00,0.000,1030,0.000,0.122,2892,2403,2233,2263,2203,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,8986,end climb,SURFACE_DEPTH_REACHED
$STATE,8986,begin surface coast
$FINISH,1.5,1.026757
$STATE,9007,end surface coast,CONTROL_FINISHED_OK
$STATE,9007,begin surface
$SM_CCo,9022,67.85,0.158,0,0,1726,300.00
$SM_GC,2.35,7.47,0.47,67.85,0.063,0.142,0.158,207,2653,1726,-10.64,-0.40,300.00,0,0,0,0,0,0,14.76,14.71,14.62
$RAFOS_CLK,377
$RAFOS,6,1419410947,8.833333,8.818611,61,57,57,56,56,55,200,151,213,226,1188,167
$RAFOS,5,1419410472,8.700000,8.686666,61,54,54,51,50,50,221,212,188,177,154,202
$RAFOS,4,1419409988,8.566667,8.552222,64,58,58,56,54,53,161,119,215,174,193,140
$RAFOS,3,1419409504,8.433333,8.417778,70,58,54,54,52,49,209,200,161,176,120,960
$RAFOS,2,1419409024,8.300000,8.284445,61,56,55,54,53,52,192,215,206,135,225,118
$RAFOS,1,1419408544,8.166667,8.151111,67,63,58,54,50,50,215,203,169,153,137,194
$RAFOS,0,1419408087,8.033334,8.024167,69,69,64,59,59,53,176,217,205,157,143,188
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6512.01,-5643.23,241214,040834
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.19
$INTERNAL_PRESSURE,8.50842
$TCM_TEMP,13.60
$XPDR_PINGS,2
$SC_FREEKB,7743680
$24V_AH,13.47,19.299
$10V_AH,13.71,0.000
$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,20.425,85.825,328.100,67.850,0.000,0.000,0.000,183.200,0.500,0.000,6.918,1453.491,6084.376,577.385,1206.545,97.201,0.000,1288.157,0.000,943.621,2520.000,0.539,0.000
$DEVICE_MAMPS,460.530,156.060,1233.945,157.590,0.000,0.000,0.000,156.060,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.194,0.000,0.000,0.000
$MEM,313556
$DATA_FILE_SIZE,20146,634
$CAP_FILE_SIZE,105837,0
$CFSIZE,260034560,246829056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9291.59,0x23769e,7,5
$SOUNDSPEED,1468.4
$CURRENT,0.158,139.32,1
$GPS,241214,092034,6543.935,-5643.738,29,1.4,29,-31.1