version: 66.12
glider: 193
mission: 4
dive: 248
start: 1 20 115 1 0 48
data:
$ID,193
$MISSION,4
$DIVE,248
$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,21
$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
$GPS1,190115,195240,6707.846,-5701.091,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-50.4
$GPS2,190115,195240,6707.846,-5701.091,181,99.0,181,-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,166.2,13035,-18.4,-10.000,-20.87,2243
$D_GRID,446
$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,-146.0,204,2553,1521,1502,0.0,0.0,0,102,0.00,0.00,-81.25,0.000,16386,0.000,0.000,205,2553,2992,2966,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.60,-146.0,204,2553,2967,3020,3.0,-0.6,8,147,10.07,2.53,-21.42,0.000,18692,0.465,0.161,2183,3841,3549,3539,3559,0,0,0,0,0,0,14.32,14.50,14.82
$GC,260,-1.54,-146.0,2183,3840,3543,3560,22.2,-14.4,38,266,0.12,2.22,0.00,0.000,3078,0.304,0.061,2209,2535,3551,3543,3559,0,0,0,0,0,0,14.43,14.63,28.83
$GC,584,-1.54,-146.0,2209,2535,3544,3560,62.8,-12.2,56,589,0.00,2.50,0.00,0.000,260,0.000,0.142,2200,3840,3551,3544,3559,0,0,0,0,0,0,28.83,14.56,28.83
$GC,767,-1.52,-146.0,2201,3839,3544,3559,85.7,-12.8,92,773,0.00,2.17,0.00,0.000,1030,0.000,0.060,2200,2550,3551,3543,3559,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1091,-1.52,-146.0,2201,2549,3544,3557,120.3,-10.5,111,1096,0.00,2.42,0.00,0.000,516,0.000,0.099,2200,1148,3550,3544,3556,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1118,-1.52,-146.0,2201,1148,3543,3557,123.5,-10.4,116,1124,0.10,2.53,0.00,0.000,3078,0.332,0.116,2213,2550,3550,3543,3557,0,0,0,0,0,0,14.47,14.62,28.83
$GC,1437,-1.52,-146.0,2213,2550,3543,3554,156.1,-9.7,134,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2550,3549,3544,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-1.54,-146.0,2214,2550,3543,3553,184.6,-9.2,149,1744,0.00,2.45,0.00,0.000,516,0.000,0.103,2214,1148,3548,3544,3553,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1782,-1.57,-146.0,2213,1148,3543,3553,188.9,-9.2,157,1788,0.00,2.53,0.00,0.000,1030,0.000,0.116,2207,2550,3545,3539,3552,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2106,-1.57,-146.0,2207,2550,3543,3553,218.6,-8.8,176,2111,0.00,2.42,0.00,0.000,260,0.000,0.137,2198,3844,3548,3543,3553,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2133,-1.57,-146.0,2198,3844,3543,3553,221.3,-9.7,181,2139,0.00,2.20,0.00,0.000,1030,0.000,0.060,2198,2546,3548,3544,3553,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2451,-1.57,-146.0,2198,2546,3544,3553,249.7,-8.7,199,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2545,3548,3544,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,-1.57,-146.0,2198,2545,3544,3554,276.9,-8.3,210,2778,0.00,2.47,0.00,0.000,260,0.000,0.140,2189,3845,3549,3545,3554,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2825,-1.57,-146.0,2189,3845,3544,3553,281.7,-8.9,220,2830,0.00,2.20,0.00,0.000,1030,0.000,0.060,2189,2541,3549,3544,3554,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3140,-1.57,-146.0,2189,2540,3546,3553,308.4,-8.4,232,3145,0.00,2.45,0.00,0.000,260,0.000,0.136,2181,3842,3550,3546,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3188,-1.57,-146.0,2181,3842,3544,3549,313.0,-9.4,241,3194,0.12,2.17,0.00,0.000,3078,0.298,0.060,2207,2551,3550,3546,3554,0,0,0,0,0,0,14.54,14.76,28.83
$GC,3509,-1.59,-146.0,2207,2550,3547,3554,339.3,-8.3,254,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2550,3551,3548,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3808,-1.61,-146.0,2207,2550,3549,3554,363.1,-7.8,264,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2550,3551,3549,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,-1.64,-146.0,2207,2550,3550,3555,387.0,-7.9,274,4113,0.00,2.42,0.00,0.000,260,0.000,0.139,2199,3836,3552,3550,3555,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4165,-1.64,-146.0,2199,3836,3550,3555,391.8,-8.9,285,4171,0.00,2.17,0.00,0.000,1030,0.000,0.060,2198,2543,3552,3549,3555,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4472,-1.64,-146.0,2198,2543,3551,3557,417.5,-8.6,296,4477,0.00,2.45,0.00,0.000,260,0.000,0.138,2190,3846,3553,3551,3556,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4500,-1.64,-146.0,2190,3846,3551,3556,420.3,-9.7,301,4506,0.00,2.17,0.00,0.000,1030,0.000,0.060,2190,2553,3553,3551,3556,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4807,-1.82,-146.0,2190,2552,3551,3558,438.7,-1.1,312,4809,0.12,0.00,0.00,0.000,4102,0.165,0.000,2136,2552,3554,3551,3558,0,0,0,0,0,0,14.73,28.83,28.83
$STATE,4953,end dive,NO_VERTICAL_VELOCITY
$STATE,4953,begin apogee
$GC,4959,-0.38,0.0,2136,2401,3551,3558,438.7,0.0,317,5123,1.08,0.00,160.02,1.260,10246,0.176,0.000,2468,2401,2951,2969,2933,0,0,0,0,0,0,14.63,28.83,13.62
$STATE,5124,end apogee,CONTROL_FINISHED_OK
$STATE,5124,begin climb
$GC,5127,1.60,146.0,2468,2401,2960,2922,438.5,0.0,322,5301,1.38,2.85,163.20,1.148,10500,0.155,0.142,2895,3808,2344,2385,2304,0,0,0,0,0,0,14.06,13.88,13.49
$GC,5319,1.57,146.0,2896,3804,2373,2295,419.7,13.7,344,5325,0.00,2.55,0.00,0.000,1030,0.000,0.076,2905,2410,2333,2373,2294,0,0,0,0,0,0,28.83,14.01,28.83
$GC,5654,1.57,146.0,2905,2410,2369,2283,375.7,13.3,360,5660,0.00,2.58,0.00,0.000,516,0.000,0.116,2915,985,2326,2368,2284,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5706,1.57,146.0,2914,985,2368,2282,368.4,13.5,370,5713,0.12,2.60,0.00,0.000,5126,0.288,0.116,2888,2403,2325,2368,2283,0,0,0,0,0,0,14.30,14.38,28.83
$GC,6021,1.57,146.0,2888,2400,2368,2282,328.6,12.7,382,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2400,2325,2368,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6321,1.57,146.0,2888,2400,2368,2282,289.5,13.0,392,6326,0.00,2.53,0.00,0.000,516,0.000,0.112,2898,984,2324,2368,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6354,1.57,146.0,2897,983,2368,2281,285.1,12.9,398,6360,0.00,2.55,0.00,0.000,1030,0.000,0.113,2897,2397,2328,2368,2288,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6669,1.57,146.0,2897,2397,2368,2281,244.4,13.0,414,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2397,2324,2368,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6968,1.57,146.0,2897,2397,2368,2281,205.2,13.1,429,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2397,2324,2368,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7269,1.57,146.0,2897,2397,2368,2281,168.5,11.5,444,7274,0.00,2.47,0.00,0.000,516,0.000,0.109,2907,992,2324,2368,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7356,1.57,146.0,2907,991,2367,2281,157.8,12.6,461,7362,0.00,2.53,0.00,0.000,1030,0.000,0.113,2907,2401,2324,2368,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7674,1.57,146.0,2907,2400,2368,2281,117.7,12.9,479,7680,0.00,2.67,0.00,0.000,260,0.000,0.141,2907,3810,2325,2368,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7718,1.53,146.0,2907,3810,2368,2282,112.1,13.5,487,7724,0.15,2.45,0.00,0.000,5126,0.285,0.076,2882,2392,2325,2369,2282,0,0,0,0,0,0,14.55,14.69,28.83
$GC,8043,1.59,165.7,2883,2392,2368,2283,80.4,9.1,506,8057,0.00,2.45,8.82,0.295,8708,0.000,0.106,2892,993,2277,2313,2241,0,0,0,0,0,0,28.83,14.64,14.41
$GC,8105,1.62,167.1,2892,993,2317,2258,74.5,9.9,518,8115,0.00,2.53,3.42,0.227,9222,0.000,0.114,2892,2400,2270,2304,2237,0,0,0,0,0,0,28.83,14.64,14.43
$GC,8429,1.68,188.2,2892,2400,2314,2257,45.6,9.0,537,8453,0.10,2.75,16.45,0.265,10500,0.168,0.140,2934,3815,2184,2217,2152,0,0,0,0,0,0,14.72,14.58,14.47
$GC,8545,1.64,188.2,2933,3816,2221,2166,31.7,12.3,560,8554,0.15,2.45,2.00,0.183,13318,0.291,0.076,2909,2399,2181,2213,2149,0,0,0,0,0,0,14.51,14.66,14.58
$FREEZE,8.20,-1.541,-1.790,0,3,0
$FREEZE,7.34,-1.539,-1.790,0,3,0
$FREEZE,6.47,-1.551,-1.789,0,3,0
$FREEZE,5.45,-1.549,-1.788,0,3,0
$FREEZE,4.51,-1.556,-1.788,0,3,0
$FREEZE,3.56,-1.573,-1.787,0,3,0
$FREEZE,2.66,-1.563,-1.786,0,3,0
$STATE,8842,end climb,SURFACE_DEPTH_REACHED
$STATE,8842,begin surface coast
$FREEZE,2.55,-1.538,-1.783,0,3,0
$FREEZE,2.59,-1.569,-1.783,0,3,0
$FREEZE,2.65,-1.564,-1.783,0,3,0
$FINISH,2.7,1.026169
$STATE,8871,end surface coast,CONTROL_FINISHED_OK
$STATE,8871,begin surface
$SM_CCo,8990,230.48,0.158,0,0,498,601.23
$SM_GC,2.25,7.85,0.32,230.48,0.099,0.148,0.158,204,2560,498,-10.65,-0.25,601.23,0,0,0,0,0,0,14.73,14.65,14.45
$RAFOS_CLK,426
$RAFOS,5,1421714462,0.700000,0.683889,64,60,55,55,55,48,213,186,169,135,156,111
$RAFOS_FIX,6709.966797,-5710.528320,190115,202044,3,116,2.56
$IRIDIUM_FIX,6636.54,-5658.57,190115,194358
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.85
$INTERNAL_PRESSURE,8.37169
$TCM_TEMP,12.90
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.1,16.7
$SC_FREEKB,7690720
$24V_AH,13.49,60.565
$10V_AH,13.39,0.000
$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,21.375,79.025,353.925,230.475,0.000,0.000,0.000,120.875,4.250,0.000,181.768,1309.057,6343.360,729.893,1243.319,301.862,0.000,1376.291,0.000,883.921,0.000,3.880,0.000
$DEVICE_MAMPS,465.120,161.415,1259.955,158.355,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8887.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.202,0.000,0.000,0.000
$MEM,270964
$DATA_FILE_SIZE,20083,589
$CAP_FILE_SIZE,109833,0
$CFSIZE,260034560,234676224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9717.72,0x23769e,7,5
$SOUNDSPEED,1464.0
$GPS,200115,033559,6707.248,-5655.423,40,1.0,40,-32.6