version: 66.12
glider: 193
mission: 4
dive: 389
start: 2 9 115 0 0 59
data:
$ID,193
$MISSION,4
$DIVE,389
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,080215,173929,6713.542,-5646.049,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-48.0
$GPS2,080215,173929,6713.542,-5646.049,181,99.0,181,-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,216.8,19574,-18.4,-10.000,-20.87,2243
$D_GRID,265
$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,20,-1.60,-146.0,202,2568,1520,1510,0.0,0.0,0,93,0.00,0.00,-70.82,0.000,16386,0.000,0.000,208,2568,2800,2781,2819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.60,-146.0,207,2568,2783,2819,3.0,-0.9,7,147,10.45,2.45,-31.80,0.000,18692,0.468,0.161,2188,3830,3548,3539,3557,0,0,0,0,0,0,14.13,14.38,14.75
$GC,376,-1.54,-146.0,2188,3830,3543,3558,36.3,-14.5,62,383,0.12,2.22,0.00,0.000,3078,0.317,0.063,2213,2538,3550,3543,3558,0,0,0,0,0,0,14.19,14.50,28.83
$GC,682,-1.54,-146.0,2213,2538,3544,3558,74.2,-12.2,78,687,0.00,2.42,0.00,0.000,516,0.000,0.096,2213,1148,3551,3544,3558,0,0,0,0,0,0,28.83,14.40,28.83
$GC,765,-1.54,-146.0,2213,1148,3544,3557,84.0,-11.7,94,771,0.00,2.55,0.00,0.000,1030,0.000,0.113,2207,2542,3550,3543,3558,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1089,-1.54,-146.0,2207,2542,3544,3554,120.0,-10.8,113,1094,0.00,2.50,0.00,0.000,260,0.000,0.138,2198,3842,3548,3543,3554,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1217,-1.52,-146.0,2198,3843,3544,3554,135.2,-11.4,138,1223,0.00,2.22,0.00,0.000,1030,0.000,0.063,2198,2553,3548,3543,3554,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1536,-1.52,-146.0,2198,2551,3543,3553,169.6,-10.9,156,1541,0.00,2.50,0.00,0.000,260,0.000,0.138,2190,3846,3548,3543,3553,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1589,-1.49,-146.0,2190,3846,3543,3553,175.8,-12.1,166,1595,0.15,2.22,0.00,0.000,3078,0.295,0.061,2221,2548,3548,3544,3553,0,0,0,0,0,0,14.21,14.56,28.83
$GC,1903,-1.49,-146.0,2222,2548,3548,3553,207.2,-9.7,183,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2547,3548,3544,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,-1.52,-146.0,2221,2547,3544,3553,236.8,-10.1,198,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2547,3548,3544,3553,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2523,begin apogee
$GC,2529,-0.38,0.0,2222,2398,3544,3554,267.3,-9.5,211,2709,0.90,0.00,174.55,1.113,10246,0.261,0.000,2461,2398,2948,2965,2931,0,0,0,0,0,0,14.25,28.83,13.58
$STATE,2710,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin climb
$GC,2713,1.60,146.0,2461,2397,2955,2921,271.9,0.0,217,2889,1.45,2.70,156.45,1.299,10756,0.176,0.109,2906,1003,2358,2396,2321,0,0,0,0,1,0,14.01,13.68,13.05
$GC,2911,1.60,146.0,2906,1003,2396,2327,256.8,10.6,258,2918,0.00,2.70,0.00,0.000,1030,0.000,0.112,2906,2401,2362,2397,2328,0,0,0,0,0,0,28.83,13.78,28.83
$GC,3218,1.60,146.0,2907,2401,2396,2328,221.3,11.4,273,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2401,2362,2396,2328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,1.60,146.0,2906,2402,2396,2328,185.8,11.8,288,3524,0.00,2.50,0.00,0.000,516,0.000,0.103,2914,1000,2361,2396,2327,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3566,1.60,146.0,2915,999,2397,2327,180.1,11.2,297,3572,0.00,2.60,0.00,0.000,1030,0.000,0.112,2915,2405,2361,2396,2327,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3884,1.60,146.0,2915,2407,2396,2327,144.7,10.9,315,3890,0.00,2.72,0.00,0.000,260,0.000,0.140,2915,3818,2362,2396,2328,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3918,1.54,146.0,2915,3818,2397,2328,140.8,11.9,321,3924,0.17,2.47,0.00,0.000,5126,0.282,0.072,2884,2403,2362,2396,2328,0,0,0,0,0,0,14.26,14.49,28.83
$GC,4232,1.57,153.4,2884,2402,2396,2328,109.3,9.7,338,4253,0.00,2.58,14.52,1.078,8708,0.000,0.106,2893,985,2319,2355,2283,0,0,0,0,0,0,28.83,14.50,14.02
$GC,4302,1.61,158.4,2892,985,2347,2274,102.6,9.8,351,4308,0.00,2.60,0.00,0.000,1030,0.000,0.112,2892,2407,2310,2348,2273,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4621,1.66,176.4,2893,2409,2347,2272,71.9,9.2,369,4641,0.00,2.70,13.23,0.340,8452,0.000,0.135,2893,3812,2235,2270,2200,0,0,0,0,0,0,28.83,14.41,14.21
$GC,4712,1.66,176.4,2892,3813,2268,2208,62.5,10.8,386,4717,0.00,2.47,0.00,0.000,1030,0.000,0.071,2902,2396,2238,2268,2208,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5031,1.73,202.1,2902,2395,2268,2208,33.1,8.8,404,5056,0.10,2.50,18.38,0.234,10756,0.168,0.105,2951,987,2126,2161,2091,0,0,0,0,0,0,14.57,14.46,14.29
$GC,5135,1.73,202.1,2951,987,2162,2101,22.4,10.4,424,5142,0.12,2.60,0.00,0.000,5126,0.284,0.113,2925,2403,2130,2159,2101,0,0,0,0,0,0,14.29,14.42,28.83
$FREEZE,8.77,-1.655,-1.811,2,5,0
$FREEZE,7.73,-1.657,-1.811,2,5,0
$FREEZE,6.74,-1.659,-1.810,2,5,0
$FREEZE,5.65,-1.660,-1.809,2,5,0
$FREEZE,4.69,-1.660,-1.808,2,5,0
$FREEZE,3.69,-1.663,-1.808,2,5,0
$FREEZE,2.62,-1.661,-1.807,2,5,0
$STATE,5328,end climb,SURFACE_DEPTH_REACHED
$STATE,5328,begin surface coast
$FREEZE,2.43,-1.672,-1.807,2,5,0
$FREEZE,2.36,-1.683,-1.807,2,5,0
$FINISH,2.4,1.026518
$STATE,5352,end surface coast,CONTROL_FINISHED_OK
$STATE,5352,begin surface
$SM_CCo,5407,233.10,0.151,0,0,497,601.23
$SM_GC,2.21,8.12,0.30,233.10,0.112,0.144,0.151,203,2556,497,-10.66,-0.34,601.23,0,0,0,0,0,0,14.59,14.47,14.32
$RAFOS_CLK,279
$RAFOS,6,1423442943,0.833333,0.817500,57,54,52,49,48,47,218,196,182,162,124,150
$RAFOS,5,1423442489,0.700000,0.691389,60,58,58,58,53,51,206,173,151,224,234,184
$RAFOS,4,1423441999,0.566667,0.555278,64,60,57,57,53,49,139,222,192,116,175,156
$RAFOS,3,1423441514,0.433333,0.420556,60,57,56,54,52,52,185,129,120,162,175,206
$RAFOS,2,1423441025,0.300000,0.284722,62,55,51,50,50,48,205,91,191,158,169,126
$RAFOS,1,1423440558,0.166667,0.155000,69,62,54,54,53,52,217,178,203,115,189,139
$RAFOS,0,1423440093,0.033333,0.025833,63,63,59,57,57,53,197,215,159,170,182,140
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5652.51,080215,173153
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.05
$INTERNAL_PRESSURE,8.35216
$TCM_TEMP,12.90
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.2,17.0
$SC_FREEKB,7645600
$24V_AH,13.05,94.550
$10V_AH,13.21,0.000
$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,21.600,50.800,377.125,233.100,0.000,0.000,0.000,122.750,3.250,0.000,181.817,908.987,3421.051,688.018,1034.774,376.458,0.000,1236.566,0.000,676.979,2520.000,2.625,0.000
$DEVICE_MAMPS,468.180,161.415,1298.970,150.705,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5368.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.129,0.000,0.000,0.000
$MEM,270912
$DATA_FILE_SIZE,13453,446
$CAP_FILE_SIZE,80378,0
$CFSIZE,260034560,225325056
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6512.51,0x23769e,7,5
$INTR,1,2545.67,0x2342f8,2,24
$SOUNDSPEED,1458.3
$GPS,090215,013634,6710.508,-5650.744,39,1.4,39,-32.7