version: 66.12
glider: 193
mission: 4
dive: 255
start: 1 20 115 20 53 6
data:
$ID,193
$MISSION,4
$DIVE,255
$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,350
$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
$GPS1,200115,204035,6703.229,-5644.984,25,1.9,25,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-51.2
$GPS2,200115,205236,6703.150,-5644.850,8,1.8,8,-32.5
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,290.1,165627,-18.4,-10.000,-20.87,2243
$D_GRID,467
$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,-146.0,209,2560,513,476,0.0,0.0,0,162,0.00,0.00,-140.98,0.000,16386,0.000,0.000,209,2560,3101,3068,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,165,-1.60,-146.0,209,2560,3069,3138,3.6,-3.3,14,197,10.55,2.53,-13.60,0.000,18948,0.477,0.117,2193,1141,3548,3538,3559,0,0,0,0,0,0,14.15,14.38,14.65
$GC,254,-1.56,-146.0,2193,1141,3541,3558,16.8,-15.2,31,262,0.10,2.62,0.00,0.000,3078,0.356,0.116,2205,2553,3549,3540,3559,0,0,0,0,0,0,14.26,14.40,28.83
$GC,560,-1.54,-146.0,2205,2553,3543,3559,58.1,-12.9,50,566,0.00,2.45,0.00,0.000,260,0.000,0.141,2196,3839,3551,3543,3560,0,0,0,0,0,0,28.83,14.47,28.83
$GC,692,-1.50,-146.0,2196,3839,3543,3559,75.6,-12.4,76,698,0.12,2.22,0.00,0.000,3078,0.309,0.060,2221,2536,3551,3543,3559,0,0,0,0,0,0,14.35,14.56,28.83
$GC,1006,-1.50,-146.0,2221,2538,3543,3560,106.2,-9.6,93,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2536,3551,3543,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1308,-1.50,-146.0,2221,2533,3543,3558,133.9,-9.3,108,1314,0.00,2.47,0.00,0.000,260,0.000,0.140,2213,3842,3550,3543,3558,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1395,-1.50,-146.0,2212,3841,3543,3559,143.3,-10.5,125,1400,0.00,2.20,0.00,0.000,1030,0.000,0.060,2212,2553,3550,3542,3558,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1713,-1.50,-146.0,2212,2552,3543,3554,173.5,-9.1,143,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2552,3548,3543,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2015,-1.50,-146.0,2212,2552,3543,3554,199.9,-8.7,158,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2552,3548,3543,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-1.53,-146.0,2212,2552,3543,3554,228.9,-10.1,173,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2552,3548,3543,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-1.55,-146.0,2212,2552,3543,3554,259.4,-9.5,187,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2552,3548,3543,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2924,-1.57,-146.0,2213,2552,3544,3554,286.8,-9.2,197,2929,0.00,2.42,0.00,0.000,516,0.000,0.099,2212,1144,3549,3545,3554,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2957,-1.60,-146.0,2212,1144,3545,3554,289.9,-8.9,203,2963,0.00,2.53,0.00,0.000,1030,0.000,0.115,2205,2554,3549,3545,3554,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3293,-1.62,-146.0,2205,2554,3546,3554,320.6,-9.0,219,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2553,3550,3546,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-1.64,-146.0,2204,2554,3547,3556,347.6,-8.6,229,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2554,3551,3547,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3891,-1.66,-146.0,2205,2554,3549,3557,372.9,-8.2,239,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2554,3553,3549,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4191,-1.68,-146.0,2205,2554,3551,3559,397.5,-8.3,249,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2553,3554,3551,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4491,-1.71,-146.0,2205,2554,3551,3559,421.9,-8.3,259,4493,0.10,0.00,0.00,0.000,4102,0.177,0.000,2162,2554,3555,3551,3559,0,0,0,0,0,0,14.74,28.83,28.83
$GC,4791,-1.71,-146.0,2163,2554,3552,3560,450.3,-9.6,269,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2554,3556,3552,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-1.92,-146.0,2162,2554,3552,3560,460.4,-0.0,279,5097,0.12,2.47,0.00,0.000,4612,0.154,0.107,2103,1145,3555,3551,3560,0,0,0,0,0,0,14.73,14.68,28.83
$STATE,5147,end dive,NO_VERTICAL_VELOCITY
$STATE,5147,begin apogee
$GC,5154,-0.38,0.0,2103,2403,3552,3560,460.4,0.0,290,5320,1.20,0.00,161.40,1.291,10246,0.189,0.000,2466,2403,2950,2967,2933,0,0,0,0,0,0,14.61,28.83,13.58
$STATE,5321,end apogee,CONTROL_FINISHED_OK
$STATE,5321,begin climb
$GC,5324,1.60,146.0,2466,2403,2958,2922,459.9,0.0,295,5497,1.40,2.65,162.38,1.182,10756,0.161,0.114,2906,1002,2347,2385,2309,0,0,0,0,0,0,14.04,13.85,13.45
$GC,5549,1.60,146.0,2906,1002,2373,2289,436.9,13.0,344,5555,0.00,2.65,0.00,0.000,1030,0.000,0.119,2906,2404,2331,2373,2289,0,0,0,0,0,0,28.83,14.02,28.83
$GC,5879,1.60,146.0,2906,2404,2369,2284,393.9,12.9,359,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2404,2326,2369,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6178,1.58,146.0,2906,2404,2369,2282,354.3,13.6,369,6184,0.00,2.50,0.00,0.000,516,0.000,0.112,2916,1001,2327,2369,2286,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6207,1.58,146.0,2916,1000,2369,2282,350.5,13.4,374,6214,0.10,2.55,0.00,0.000,5126,0.298,0.116,2896,2407,2325,2369,2282,0,0,0,0,0,0,14.40,14.49,28.83
$GC,6513,1.58,146.0,2896,2407,2369,2282,310.5,12.8,385,6518,0.00,2.50,0.00,0.000,516,0.000,0.109,2905,997,2325,2369,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6540,1.58,146.0,2905,997,2369,2282,306.7,12.6,390,6547,0.00,2.55,0.00,0.000,1030,0.000,0.115,2905,2406,2325,2369,2282,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6846,1.58,146.0,2904,2407,2369,2282,265.3,13.9,401,6851,0.00,2.65,0.00,0.000,260,0.000,0.140,2905,3809,2325,2369,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6864,1.55,146.0,2905,3809,2369,2282,262.6,14.1,404,6870,0.12,2.42,0.00,0.000,5126,0.298,0.074,2887,2406,2325,2369,2282,0,0,0,0,0,0,14.50,14.63,28.83
$GC,7172,1.55,146.0,2887,2406,2369,2282,222.2,13.2,420,7178,0.00,2.47,0.00,0.000,516,0.000,0.106,2897,991,2325,2369,2282,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7220,1.55,146.0,2897,991,2369,2282,215.8,13.3,429,7225,0.00,2.53,0.00,0.000,1030,0.000,0.114,2897,2403,2325,2369,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7538,1.55,146.0,2897,2402,2369,2282,173.9,13.0,447,7543,0.00,2.50,0.00,0.000,516,0.000,0.107,2906,989,2325,2369,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7570,1.55,146.0,2906,988,2369,2282,169.6,12.3,453,7576,0.00,2.53,0.00,0.000,1030,0.000,0.114,2906,2402,2325,2369,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7883,1.55,146.0,2906,2402,2369,2283,131.3,12.2,470,7889,0.00,2.65,0.00,0.000,260,0.000,0.141,2906,3810,2325,2369,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7921,1.50,146.0,2906,3810,2369,2282,126.3,13.5,477,7929,0.17,2.45,0.00,0.000,5126,0.277,0.074,2875,2391,2325,2368,2282,0,0,0,0,0,0,14.54,14.69,28.83
$GC,8227,1.54,146.0,2874,2390,2369,2282,93.8,10.3,493,8232,0.00,2.45,0.00,0.000,516,0.000,0.107,2884,987,2325,2369,2282,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8270,1.56,146.0,2885,988,2369,2282,89.6,10.1,501,8276,0.00,2.53,0.00,0.000,1030,0.000,0.114,2884,2400,2325,2369,2282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8594,1.66,193.0,2884,2400,2369,2284,61.3,7.8,520,8628,0.10,2.53,25.70,0.305,10756,0.169,0.109,2935,997,2167,2201,2134,0,0,0,0,0,0,14.72,14.59,14.43
$GC,8650,1.68,206.7,2935,997,2203,2144,56.1,9.4,531,8666,0.00,2.53,10.50,0.288,9222,0.000,0.114,2935,2400,2107,2146,2068,0,0,0,0,0,0,28.83,14.61,14.41
$GC,8970,1.68,206.7,2935,2403,2147,2086,20.9,11.6,552,8976,0.00,2.47,0.00,0.000,516,0.000,0.109,2944,995,2116,2147,2086,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8999,1.68,206.7,2944,995,2147,2086,17.9,10.4,557,9007,0.12,2.53,1.55,0.190,13318,0.287,0.113,2917,2403,2106,2139,2073,0,0,0,0,0,0,14.50,14.61,14.55
$FREEZE,8.26,-1.577,-1.791,0,1,0
$FREEZE,7.28,-1.579,-1.791,0,1,0
$FREEZE,6.27,-1.582,-1.790,0,1,0
$FREEZE,5.29,-1.579,-1.789,0,1,0
$FREEZE,4.14,-1.571,-1.788,0,1,0
$FREEZE,3.12,-1.577,-1.788,0,1,0
$FREEZE,2.09,-1.577,-1.787,0,1,0
$STATE,9153,end climb,SURFACE_DEPTH_REACHED
$STATE,9153,begin surface coast
$FREEZE,1.76,-1.528,-1.616,0,1,0
$FREEZE,1.81,-1.685,-1.626,0,1,0
$FINISH,1.8,1.023927
$STATE,9175,end surface coast,CONTROL_FINISHED_OK
$STATE,9175,begin surface
$SM_CCo,9193,81.35,0.152,0,0,1521,350.04
$SM_GC,2.55,7.93,0.30,81.35,0.102,0.151,0.152,203,2557,1521,-10.67,-0.28,350.04,0,0,0,0,0,0,14.70,14.62,14.53
$RAFOS_CLK,362
$RAFOS,4,1421785984,20.566668,20.551111,58,57,56,53,51,49,144,186,212,162,231,131
$RAFOS_FIX,6709.784180,-5702.631836,200115,161644,2,90,0.68
$IRIDIUM_FIX,6636.54,-5652.31,200115,111442
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.99
$INTERNAL_PRESSURE,8.45959
$TCM_TEMP,13.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.8
$SC_FREEKB,7688480
$24V_AH,13.45,62.032
$10V_AH,13.35,0.000
$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,22.150,75.175,361.525,81.350,0.000,0.000,0.000,498.625,0.500,0.000,9.826,1224.757,6520.058,597.130,1388.357,279.107,0.000,1624.872,0.000,865.317,0.000,2.629,0.000
$DEVICE_MAMPS,477.360,150.705,1291.320,152.235,0.000,0.000,0.000,176.715,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9191.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.231,0.000,0.000,0.000
$MEM,270824
$DATA_FILE_SIZE,20129,575
$CAP_FILE_SIZE,110550,0
$CFSIZE,260034560,234213376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9380.71,0x23769e,7,5
$SOUNDSPEED,1464.8
$GPS,200115,232906,6703.375,-5645.879,37,0.9,37,-32.5