version: 66.12
glider: 193
mission: 4
dive: 238
start: 1 18 115 23 6 17
data:
$ID,193
$MISSION,4
$DIVE,238
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$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,2
$ICE_FREEZE_MARGIN,0.1
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,601.23029
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$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,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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,48
$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
$GPS1,180115,225404,6708.906,-5659.677,71,1.0,71,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-25.2
$GPS2,180115,225404,6708.906,-5659.677,181,99.0,181,-32.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,175.1,13811,-18.4,-10.000,-20.87,2243
$D_GRID,428
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.60,-146.0,200,2542,1531,1491,0.0,0.0,0,142,0.00,0.00,-115.72,0.000,16390,0.000,0.000,199,2542,3548,3533,3564,0,0,0,0,0,0,28.83,28.83,14.84
$GC,146,-1.60,-146.0,199,2543,3534,3564,2.6,0.2,12,162,8.52,2.53,0.00,0.000,2308,0.376,0.144,2187,3834,3551,3538,3564,0,0,0,0,0,0,14.39,14.52,28.83
$GC,381,-1.56,-146.0,2187,3833,3540,3564,29.7,-14.3,58,387,0.10,2.20,0.00,0.000,3078,0.320,0.060,2206,2537,3552,3540,3564,0,0,0,0,0,0,14.45,14.64,28.83
$GC,694,-1.56,-146.0,2207,2537,3540,3563,68.5,-11.0,75,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2537,3553,3542,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,996,-1.56,-146.0,2207,2537,3540,3561,101.8,-10.6,90,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2537,3550,3539,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1296,-1.56,-146.0,2206,2537,3540,3559,134.2,-10.0,105,1301,0.00,2.40,0.00,0.000,516,0.000,0.099,2207,1146,3549,3540,3559,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1370,-1.56,-146.0,2207,1145,3540,3559,141.8,-10.4,119,1375,0.00,2.53,0.00,0.000,1030,0.000,0.112,2200,2558,3549,3540,3559,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1682,-1.56,-146.0,2200,2558,3540,3559,173.3,-10.3,136,1688,0.00,2.45,0.00,0.000,516,0.000,0.098,2202,1144,3549,3540,3559,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1761,-1.56,-146.0,2201,1144,3540,3559,181.3,-10.7,151,1768,0.00,2.53,0.00,0.000,1030,0.000,0.113,2193,2555,3549,3540,3558,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2065,-1.56,-146.0,2193,2555,3540,3558,212.4,-10.3,167,2071,0.00,2.45,0.00,0.000,516,0.000,0.099,2193,1142,3549,3540,3558,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2153,-1.56,-146.0,2193,1143,3540,3557,221.4,-9.8,184,2159,0.10,2.53,0.00,0.000,3078,0.340,0.116,2205,2551,3548,3540,3557,0,0,0,0,0,0,14.52,14.65,28.83
$GC,2472,-1.56,-146.0,2206,2551,3540,3558,249.4,-8.2,202,2478,0.00,2.45,0.00,0.000,516,0.000,0.103,2206,1143,3549,3541,3558,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2586,-1.58,-146.0,2206,1142,3540,3558,259.3,-8.7,224,2592,0.00,2.53,0.00,0.000,1030,0.000,0.115,2200,2555,3549,3540,3558,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2901,-1.58,-146.0,2200,2555,3542,3558,284.5,-7.9,236,2907,0.00,2.45,0.00,0.000,516,0.000,0.103,2200,1143,3550,3542,3558,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2958,-1.58,-146.0,2200,1143,3541,3559,289.4,-7.9,247,2965,0.00,2.53,0.00,0.000,1030,0.000,0.116,2194,2551,3550,3542,3559,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3265,-1.58,-146.0,2194,2551,3544,3558,314.4,-8.3,258,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2551,3551,3544,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-1.58,-146.0,2194,2551,3545,3559,342.0,-9.1,268,3570,0.00,2.45,0.00,0.000,516,0.000,0.106,2194,1146,3552,3545,3559,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3673,-1.58,-146.0,2194,1146,3546,3558,351.6,-9.2,289,3679,0.00,2.55,0.00,0.000,1030,0.000,0.119,2187,2557,3553,3547,3559,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3993,-1.58,-146.0,2187,2556,3548,3559,380.9,-8.8,302,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2557,3553,3547,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4292,-1.58,-146.0,2187,2556,3549,3559,405.4,-9.0,312,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2557,3553,3549,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4592,-1.85,-146.0,2187,2557,3551,3559,419.7,0.1,322,4594,0.15,0.00,0.00,0.000,4102,0.147,0.000,2133,2557,3555,3551,3560,0,0,0,0,0,0,14.73,28.83,28.83
$STATE,4680,end dive,NO_VERTICAL_VELOCITY
$STATE,4680,begin apogee
$GC,4686,-0.38,0.0,2133,2401,3552,3559,419.8,0.0,325,4850,1.05,0.00,160.70,1.248,10246,0.148,0.000,2470,2405,2951,2969,2934,0,0,0,0,0,0,14.68,28.83,13.62
$STATE,4852,end apogee,CONTROL_FINISHED_OK
$STATE,4852,begin climb
$GC,4854,1.60,146.0,2470,2401,2960,2923,419.3,0.0,330,5036,1.38,2.70,165.00,1.101,10756,0.153,0.116,2907,998,2352,2393,2311,0,0,0,0,1,0,14.06,13.92,13.53
$GC,5104,1.60,146.0,2907,997,2392,2310,391.5,15.0,384,5110,0.00,2.60,0.00,0.000,1030,0.000,0.116,2913,2403,2351,2392,2310,0,0,0,0,0,0,28.83,14.10,28.83
$GC,5438,1.57,146.0,2907,2402,2392,2305,347.3,12.2,400,5443,0.00,2.72,0.00,0.000,260,0.000,0.140,2907,3819,2349,2392,2306,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5548,1.51,146.0,2905,3819,2389,2307,332.8,13.1,421,5554,0.17,2.47,0.00,0.000,5126,0.288,0.075,2877,2406,2347,2389,2306,0,0,0,0,0,0,14.35,14.48,28.83
$GC,5866,1.51,146.0,2877,2406,2389,2305,294.4,12.4,434,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2406,2347,2389,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6168,1.51,146.0,2877,2405,2389,2305,258.3,11.7,444,6173,0.00,2.70,0.00,0.000,260,0.000,0.143,2877,3817,2347,2389,2305,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6226,1.48,146.0,2877,3817,2389,2305,250.8,13.0,455,6233,0.00,2.45,0.00,0.000,1030,0.000,0.075,2886,2399,2347,2389,2305,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6531,1.48,146.0,2886,2399,2389,2305,214.8,11.4,471,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2399,2347,2389,2305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6832,1.48,146.0,2886,2399,2389,2305,179.8,11.7,486,6838,0.00,2.47,0.00,0.000,516,0.000,0.106,2896,983,2346,2389,2304,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6859,1.48,146.0,2896,983,2389,2305,176.2,11.9,491,6866,0.10,2.55,0.00,0.000,5126,0.301,0.112,2876,2406,2347,2389,2305,0,0,0,0,0,0,14.55,14.64,28.83
$GC,7178,1.50,146.0,2876,2406,2389,2305,140.7,10.8,509,7184,0.00,2.67,0.00,0.000,260,0.000,0.142,2876,3819,2347,2389,2305,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7226,1.50,146.0,2876,3819,2389,2306,134.8,13.2,518,7231,0.00,2.45,0.00,0.000,1030,0.000,0.075,2885,2397,2346,2387,2305,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7544,1.50,146.0,2884,2398,2389,2306,100.5,10.1,536,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2398,2347,2389,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7845,1.53,146.0,2885,2398,2389,2306,68.2,11.4,551,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2398,2347,2389,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8146,1.61,184.7,2884,2398,2389,2306,40.3,8.2,566,8178,0.00,2.75,23.55,0.253,8452,0.000,0.142,2884,3812,2198,2235,2162,0,0,0,0,0,0,28.83,14.61,14.53
$GC,8408,1.65,214.6,2885,3812,2235,2178,14.4,8.6,618,8434,0.00,2.45,19.67,0.183,9222,0.000,0.076,2894,2396,2074,2113,2036,0,0,0,0,0,0,28.83,14.69,14.57
$FREEZE,8.27,-1.327,-1.794,0,2,0
$FREEZE,7.22,-1.327,-1.793,0,2,0
$FREEZE,6.52,-1.347,-1.793,0,2,0
$FREEZE,5.62,-1.352,-1.792,0,2,0
$FREEZE,4.68,-1.355,-1.791,0,2,0
$FREEZE,3.85,-1.365,-1.790,0,2,0
$FREEZE,3.01,-1.377,-1.790,0,2,0
$FREEZE,3.06,-1.362,-1.776,0,2,0
$FREEZE,3.09,-1.368,-1.778,0,2,0
$FREEZE,3.12,-1.360,-1.778,0,2,0
$FREEZE,2.67,-1.393,-1.780,0,2,0
$STATE,8560,end climb,SURFACE_DEPTH_REACHED
$STATE,8560,begin surface coast
$FREEZE,2.32,-1.391,-1.780,0,2,0
$FREEZE,2.05,-1.374,-1.780,0,2,0
$FREEZE,1.85,-1.361,-1.779,0,2,0
$FREEZE,1.90,-1.396,-1.781,0,2,0
$FREEZE,1.87,-1.389,-1.780,0,2,0
$FREEZE,1.81,-1.386,-1.780,0,2,0
$FREEZE,1.89,-1.390,-1.781,0,2,0
$FREEZE,1.77,-1.405,-1.781,0,2,0
$FREEZE,1.80,-1.385,-1.777,0,2,0
$FREEZE,1.93,-1.403,-1.776,0,2,0
$FREEZE,1.79,-1.448,-1.778,0,2,0
$FREEZE,1.88,-1.450,-1.776,0,2,0
$FREEZE,1.77,-1.489,-1.777,0,2,0
$FREEZE,1.86,-1.466,-1.776,0,2,0
$FREEZE,1.79,-1.449,-1.773,0,2,0
$FREEZE,1.88,-1.502,-1.775,0,2,0
$FREEZE,1.86,-1.421,-1.769,0,2,0
$FREEZE,1.79,-1.371,-1.765,0,2,0
$FINISH,1.8,1.025913
$STATE,8741,end surface coast,NO_VERTICAL_VELOCITY
$STATE,8742,begin surface
$SM_CCo,8819,216.77,0.156,0,0,498,601.23
$SM_GC,2.25,7.88,0.32,216.77,0.108,0.143,0.156,208,2559,498,-10.64,-0.25,601.23,0,0,0,0,0,0,14.73,14.65,14.47
$RAFOS_CLK,403
$RAFOS,6,1421628541,0.833333,0.816944,100,65,62,58,53,52,798,216,197,170,183,153
$RAFOS,5,1421628061,0.700000,0.683611,61,61,58,58,57,51,194,203,162,661,174,220
$RAFOS,4,1421627602,0.566667,0.556111,63,62,57,57,52,52,777,205,220,139,229,1150
$RAFOS,3,1421627116,0.433333,0.421111,57,56,55,53,52,50,220,208,148,185,114,175
$RAFOS,2,1421626636,0.300000,0.287778,64,61,60,55,51,50,197,214,166,145,154,123
$RAFOS,1,1421626156,0.166667,0.154444,66,61,55,50,50,49,151,206,173,215,226,188
$RAFOS,0,1421625669,0.033333,0.019167,66,64,59,55,55,52,217,152,207,135,121,188
$RAFOS_FIX,6718.200684,-5716.177734,190115,000044,2,82,3.17
$IRIDIUM_FIX,6636.54,-5706.23,180115,225739
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.77
$INTERNAL_PRESSURE,8.37169
$TCM_TEMP,12.90
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,17.7
$SC_FREEKB,7693920
$24V_AH,13.53,58.531
$10V_AH,13.37,0.000
$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,19.450,66.150,368.925,216.775,0.000,0.000,0.000,192.975,1.750,0.000,181.866,1368.416,6029.367,699.674,1416.412,249.305,0.000,1466.768,0.000,980.032,2520.000,2.630,0.000
$DEVICE_MAMPS,376.380,143.820,1247.715,156.060,0.000,0.000,0.000,74.970,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8757.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.360,0.000,0.000,0.000
$MEM,270952
$DATA_FILE_SIZE,23389,654
$CAP_FILE_SIZE,108081,0
$CFSIZE,260034560,235220992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,10024.22,0x23769e,7,5
$SOUNDSPEED,1464.7
$GPS,180115,225739,6636.539,-5706.233,0,9999.0,0,-32.7