version: 66.12
glider: 193
mission: 4
dive: 243
start: 1 19 115 11 49 57
data:
$ID,193
$MISSION,4
$DIVE,243
$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,22
$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
$GPS1,190115,065047,6709.011,-5659.442,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-42.0
$GPS2,190115,065047,6709.011,-5659.442,181,99.0,181,-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,176.1,13863,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.60,-146.0,202,2558,1532,1493,0.0,0.0,0,142,0.00,0.00,-118.40,0.000,16390,0.000,0.000,202,2558,3546,3528,3565,0,0,0,0,0,0,28.83,28.83,14.85
$GC,145,-1.60,-146.0,202,2558,3528,3565,2.5,0.0,12,161,9.77,2.45,0.00,0.000,2308,0.451,0.138,2185,3839,3548,3532,3565,0,0,0,0,0,0,14.31,14.55,28.83
$GC,334,-1.49,-146.0,2185,3838,3537,3565,8.0,-11.5,49,342,0.15,2.20,0.00,0.000,3078,0.295,0.058,2219,2540,3551,3538,3565,0,0,0,0,0,0,14.45,14.64,28.83
$GC,650,-1.49,-146.0,2220,2541,3540,3563,49.5,-13.0,72,655,0.00,2.45,0.00,0.000,260,0.000,0.137,2211,3837,3551,3539,3563,0,0,0,0,0,0,28.83,14.58,28.83
$GC,848,-1.46,-146.0,2211,3837,3539,3563,74.9,-11.5,111,855,0.00,2.17,0.00,0.000,1030,0.000,0.057,2211,2552,3550,3538,3562,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1156,-1.46,-146.0,2211,2551,3539,3559,110.9,-12.4,127,1161,0.00,2.45,0.00,0.000,260,0.000,0.141,2202,3846,3549,3539,3560,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1319,-1.46,-146.0,2202,3846,3539,3559,132.6,-13.4,159,1325,0.12,2.20,0.00,0.000,3078,0.301,0.060,2228,2548,3548,3539,3558,0,0,0,0,0,0,14.49,14.69,28.83
$GC,1646,-1.50,-146.0,2228,2548,3539,3558,168.5,-10.7,178,1651,0.00,2.45,0.00,0.000,260,0.000,0.141,2220,3842,3548,3539,3558,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1680,-1.50,-146.0,2219,3841,3539,3558,172.5,-11.4,184,1685,0.00,2.20,0.00,0.000,1030,0.000,0.060,2219,2542,3548,3539,3558,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1993,-1.52,-146.0,2219,2542,3539,3556,204.6,-9.9,201,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2542,3548,3539,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-1.55,-146.0,2219,2542,3539,3556,232.6,-9.1,216,2298,0.00,2.42,0.00,0.000,516,0.000,0.105,2219,1147,3547,3539,3555,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2326,-1.58,-146.0,2219,1147,3539,3555,235.6,-9.5,222,2331,0.00,2.55,0.00,0.000,1030,0.000,0.117,2213,2556,3547,3539,3555,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2649,-1.60,-146.0,2213,2556,3539,3555,263.3,-8.5,237,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2556,3547,3539,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-1.63,-146.0,2213,2556,3536,3555,288.5,-8.2,247,2955,0.00,2.45,0.00,0.000,516,0.000,0.106,2211,1123,3551,3547,3555,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2988,-1.65,-146.0,2213,1123,3540,3555,291.9,-8.9,254,2993,0.00,2.60,0.00,0.000,1030,0.000,0.118,2205,2560,3547,3540,3555,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3318,-1.67,-146.0,2206,2560,3543,3556,320.1,-8.6,269,3324,0.00,2.40,0.00,0.000,260,0.000,0.139,2197,3837,3549,3542,3556,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3336,-1.67,-146.0,2197,3837,3542,3555,321.8,-8.6,272,3341,0.00,2.17,0.00,0.000,1030,0.000,0.059,2197,2548,3548,3542,3555,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3655,-1.67,-146.0,2196,2547,3544,3556,350.1,-9.0,285,3660,0.00,2.45,0.00,0.000,516,0.000,0.109,2196,1141,3550,3544,3556,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3689,-1.67,-146.0,2197,1141,3543,3556,353.2,-9.5,291,3694,0.00,2.55,0.00,0.000,1030,0.000,0.121,2190,2550,3550,3544,3556,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4023,-1.67,-146.0,2190,2551,3546,3556,383.2,-9.0,307,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2551,3551,3546,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4323,-1.67,-146.0,2190,2551,3547,3557,408.9,-7.9,317,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2552,3551,3547,3556,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4560,begin apogee
$GC,4566,-0.38,0.0,2190,2393,3549,3558,430.8,-9.0,325,4731,0.98,0.00,161.60,1.254,10246,0.243,0.000,2464,2393,2950,2968,2933,0,0,0,0,0,0,14.57,28.83,13.62
$STATE,4733,end apogee,CONTROL_FINISHED_OK
$STATE,4733,begin climb
$GC,4735,1.60,146.0,2464,2393,2959,2922,435.7,0.0,330,4913,1.38,2.95,163.88,1.138,11012,0.151,0.145,2895,3809,2341,2382,2301,0,0,0,0,0,0,14.05,13.87,13.50
$GC,4965,1.55,146.0,2895,3809,2370,2291,413.4,13.4,370,4970,0.00,2.55,0.00,0.000,1030,0.000,0.078,2904,2408,2330,2370,2290,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5289,1.55,146.0,2904,2408,2369,2284,370.8,13.1,384,5295,0.00,2.58,0.00,0.000,516,0.000,0.115,2913,982,2326,2369,2284,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5336,1.55,146.0,2914,982,2367,2284,364.3,12.9,393,5342,0.12,2.62,0.00,0.000,5126,0.288,0.116,2887,2407,2325,2368,2283,0,0,0,0,0,0,14.31,14.40,28.83
$GC,5657,1.55,146.0,2887,2407,2368,2282,324.1,12.9,406,5662,0.00,2.55,0.00,0.000,516,0.000,0.112,2897,982,2325,2368,2282,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5704,1.55,146.0,2897,982,2368,2283,317.6,12.5,415,5709,0.00,2.58,0.00,0.000,1030,0.000,0.116,2897,2400,2325,2368,2282,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6022,1.55,146.0,2897,2399,2368,2282,275.9,13.0,428,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2399,2325,2368,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6332,1.55,146.0,2892,2397,2368,2282,235.9,12.8,440,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2400,2325,2368,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6634,1.55,146.0,2896,2400,2368,2282,199.3,12.4,455,6640,0.00,2.50,0.00,0.000,516,0.000,0.111,2906,987,2325,2368,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6677,1.55,146.0,2906,987,2368,2282,193.5,12.6,463,6683,0.00,2.55,0.00,0.000,1030,0.000,0.114,2906,2401,2325,2368,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7000,1.55,146.0,2906,2401,2368,2283,150.7,13.3,482,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2401,2325,2368,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7301,1.55,146.0,2906,2401,2368,2283,113.8,11.3,497,7307,0.00,2.50,0.00,0.000,516,0.000,0.109,2915,983,2327,2368,2287,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7329,1.55,146.0,2915,983,2368,2283,110.5,11.1,502,7335,0.12,2.55,0.00,0.000,5126,0.288,0.114,2888,2400,2325,2368,2283,0,0,0,0,0,0,14.57,14.66,28.83
$GC,7647,1.55,146.0,2888,2400,2368,2284,75.1,11.4,520,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2400,2326,2368,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7950,1.62,179.7,2888,2400,2368,2285,45.1,8.5,535,7974,0.00,2.70,17.73,0.258,8452,0.000,0.143,2888,3810,2221,2258,2185,0,0,0,0,0,0,28.83,14.63,14.51
$GC,8107,1.62,179.7,2888,3810,2259,2200,29.7,10.1,566,8115,0.00,2.47,2.05,0.184,9222,0.000,0.077,2897,2386,2217,2250,2184,0,0,0,0,0,0,28.83,14.66,14.60
$FREEZE,8.88,-1.406,-1.791,0,3,0
$FREEZE,7.99,-1.408,-1.790,0,3,0
$FREEZE,7.35,-1.411,-1.790,0,3,0
$FREEZE,6.62,-1.414,-1.789,0,3,0
$FREEZE,5.77,-1.409,-1.789,0,3,0
$FREEZE,4.76,-1.414,-1.788,0,3,0
$FREEZE,3.80,-1.414,-1.787,0,3,0
$FREEZE,2.90,-1.414,-1.787,0,3,0
$GC,8415,1.69,202.4,2898,2386,2256,2200,3.8,9.0,594,8423,0.00,0.00,5.43,0.167,8450,0.000,0.000,2897,2386,2192,2225,2159,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8424,end climb,SURFACE_DEPTH_REACHED
$STATE,8424,begin surface coast
$FREEZE,2.42,-1.432,-1.786,0,3,0
$FREEZE,2.29,-1.442,-1.787,0,3,0
$FREEZE,2.36,-1.440,-1.787,0,3,0
$FREEZE,2.30,-1.443,-1.787,0,3,0
$FINISH,2.3,1.026218
$STATE,8461,end surface coast,CONTROL_FINISHED_OK
$STATE,8461,begin surface
$SM_CCo,8575,233.43,0.155,0,0,499,601.23
$SM_GC,2.27,7.78,0.32,233.43,0.094,0.145,0.155,207,2549,499,-10.68,-0.59,601.23,0,0,0,0,0,0,14.73,14.66,14.46
$RAFOS_CLK,406
$RAFOS,6,1421671758,12.833333,12.821667,67,60,58,55,53,51,220,151,187,205,169,126
$RAFOS,5,1421671270,12.700000,12.686111,130,71,64,56,56,53,604,205,183,157,146,122
$RAFOS,4,1421670783,12.566667,12.550834,58,58,57,53,52,51,164,194,179,225,863,147
$RAFOS,3,1421670307,12.433333,12.418612,67,66,65,58,53,53,207,170,151,137,115,292
$RAFOS,2,1421669838,12.300000,12.288333,66,59,55,53,51,49,170,194,136,216,1319,237
$RAFOS,1,1421669348,12.166667,12.152223,70,63,59,56,52,52,220,184,199,153,164,115
$RAFOS,0,1421668862,12.033333,12.017222,70,58,57,54,54,54,211,153,195,172,140,126
$RAFOS_FIX,6710.515137,-5712.852539,190115,040400,2,88,1.00
$IRIDIUM_FIX,6636.54,-5703.22,190115,064140
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.21
$INTERNAL_PRESSURE,8.37169
$TCM_TEMP,13.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,16.9
$SC_FREEKB,7692320
$24V_AH,13.50,59.534
$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,20.425,69.875,350.675,233.425,0.000,0.000,0.000,121.800,0.750,0.000,181.770,1280.294,5944.572,722.091,1268.640,303.374,0.000,1373.298,0.000,893.824,2520.000,2.626,0.000
$DEVICE_MAMPS,450.585,145.350,1253.835,154.530,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8477.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.311,0.000,0.000,0.000
$MEM,270976
$DATA_FILE_SIZE,20092,599
$CAP_FILE_SIZE,106351,0
$CFSIZE,260034560,234983424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9552.80,0x23769e,7,5
$SOUNDSPEED,1462.3
$GPS,190115,141804,6709.662,-5702.435,28,0.9,28,-32.7