version: 66.13
glider: 189
mission: 31
dive: 5
start: 2 7 117 21 43 19
data:
$ID,189
$MISSION,31
$DIVE,5
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53221
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,692.04858
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,125
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,2
$R_STBD_OVSHOOT,4
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.12788
$PRESSURE_SLOPE,0.00010724171
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,070217,213944,4742.5918,-12225.5918,13,1.4,29,16.6,0.0,215.8,6,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.9
$GPS2,070217,214300,4742.5825,-12225.6094,18,1.2,32,16.6,0.2,188.5,7,9.8
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,22.1,1861,-17.5,-10.000,-21.08,2221
$D_GRID,189
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,79,2705,562,439,0.0,0.0,0,167,0.00,0.00,-144.55,0.000,16386,0.000,0.000,79,2705,3391,3499,3283,0,0,0,0,0,0,14.84,28.83,14.86
$GC,170,-1.22,-146.6,81,2707,3499,3289,2.2,-1.9,25,198,10.00,3.65,-8.48,0.000,18980,0.493,2.448,1922,1282,3696,3819,3573,0,0,0,0,0,0,14.42,13.80,14.69
$GC,234,-0.14,-146.6,1923,1283,3820,3573,16.6,-25.5,36,245,1.58,3.70,0.00,0.000,3206,0.410,0.373,2268,2699,3695,3819,3572,0,0,0,0,0,0,14.39,14.41,14.62
$GC,425,-0.95,-146.6,2269,2698,3824,3569,27.9,-4.3,73,436,0.77,3.45,0.00,0.000,4772,0.174,0.336,2018,1276,3695,3823,3568,0,0,0,0,0,0,14.57,14.44,14.63
$GC,481,-0.33,-146.6,2024,1280,3824,3568,35.6,-17.4,83,492,0.80,3.62,0.00,0.000,3206,0.348,0.366,2211,2697,3695,3823,3568,0,0,0,0,0,0,14.48,14.46,14.67
$GC,672,-0.63,-146.6,2211,2697,3822,3568,50.5,-6.3,120,682,0.25,3.45,0.00,0.000,4772,0.125,0.341,2112,1282,3695,3823,3568,0,0,0,0,0,0,14.64,14.48,14.69
$GC,804,-0.49,-146.6,2113,1283,3823,3569,66.1,-11.9,145,814,0.20,3.62,0.00,0.000,3206,0.291,0.366,2164,2701,3695,3823,3567,0,0,0,0,0,0,14.57,14.50,14.72
$GC,995,-0.57,-146.6,2164,2700,3824,3568,85.4,-9.3,182,1005,0.00,3.40,0.00,0.000,676,0.000,0.330,2164,1284,3695,3823,3568,0,0,0,0,0,0,14.87,14.51,14.88
$GC,1075,-0.70,-146.6,2165,1283,3824,3568,92.6,-8.9,197,1086,0.22,3.60,0.00,0.000,5286,0.125,0.362,2079,2705,3695,3823,3567,0,0,0,0,0,0,14.68,14.50,14.76
$GC,1267,-0.28,-146.6,2079,2705,3824,3568,121.8,-17.2,234,1276,0.55,3.40,0.00,0.000,2692,0.302,0.330,2225,1284,3695,3823,3567,0,0,0,0,0,0,14.55,14.51,14.69
$GC,1342,-0.80,-146.6,2226,1283,3825,3568,127.5,-5.3,248,1352,0.50,3.58,0.00,0.000,5286,0.112,0.362,2051,2700,3695,3823,3567,0,0,0,0,0,0,14.67,14.51,14.76
$STATE,1477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1477,begin apogee
$GC,1482,-0.29,0.0,2052,2197,3824,3569,150.7,-19.6,274,1637,0.65,0.00,139.25,1.513,10246,0.320,0.000,2213,2196,3102,3215,2990,0,0,0,0,1,0,14.54,13.89,13.32
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1643,1.22,146.6,2219,2197,3216,2991,162.1,0.0,299,1790,1.77,0.00,123.32,2.057,10758,0.246,0.000,2706,2196,2504,2583,2425,0,0,0,0,1,0,14.04,13.91,13.24
$GC,1970,0.02,146.6,2706,2197,2578,2425,93.9,30.5,355,1979,1.67,0.00,0.00,0.000,4230,0.394,0.000,2323,2196,2500,2577,2424,0,0,0,0,0,0,14.26,14.48,14.46
$GC,2159,1.05,250.0,2324,2197,2582,2419,83.2,5.2,392,2236,1.02,3.72,62.15,0.402,10660,0.165,0.367,2653,3612,2080,2174,1986,0,0,1,0,0,0,14.50,14.30,14.30
$GC,2287,0.22,250.0,2653,3613,2169,1987,52.1,30.7,414,2298,1.10,3.60,0.00,0.000,5254,0.339,0.362,2396,2205,2076,2167,1985,0,0,0,0,0,0,14.36,14.33,14.54
$GC,2478,0.79,344.1,2396,2204,2168,1978,36.9,5.7,451,2548,0.50,3.72,59.10,0.258,10660,0.109,0.382,2580,3613,1696,1792,1600,0,0,0,0,0,0,14.57,14.37,14.43
$GC,2585,0.47,344.1,2581,3615,1788,1605,15.7,23.2,469,2595,0.43,3.60,0.00,0.000,5254,0.290,0.356,2475,2200,1692,1786,1599,0,0,0,0,0,0,14.43,14.37,14.59
$STATE,2678,end climb,SURFACE_DEPTH_REACHED
$STATE,2678,begin surface coast
$FINISH,0.7,1.022598
$STATE,2699,end surface coast,CONTROL_FINISHED_OK
$STATE,2699,begin surface
$SM_CCo,2727,186.82,0.158,0,0,498,637.78
$SM_CCo,2917,-0.17,0.000,0,0,501,637.78
$SM_CCo,2919,0.43,0.334,0,0,499,637.78
$SM_GC,1.09,7.38,1.23,0.43,0.135,0.321,0.334,83,2699,499,-6.95,-0.31,637.78,0,0,0,0,0,0,14.57,14.47,14.49
$IRIDIUM_FIX,4722.92,-12225.08,070217,213545
$TT8_MAMPS,0.038948,0.340046
$HUMID,35.54
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,15.60
$XPDR_PINGS,0
$SC_FREEKB,3908672
$TM_FREEKB,7815072
$PM_FREEKB,62270912
$24V_AH,13.24,1.304
$10V_AH,13.18,0.000
$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,29.400,52.525,383.825,187.250,0.000,0.000,0.000,0.000,0.000,0.000,33.209,0.000,877.094,662.323,1414.775,61.774,0.000,1194.527,0.000,1035.080,0.000,0.531,0.000
$DEVICE_MAMPS,493.425,2448.000,2057.085,334.305,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,10.270,29.000,34.990,0.000,10.700,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2679.000,2691.000,2677.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.630,18.013,4.133,0.000
$MEM,193420
$DATA_FILE_SIZE,16768,491
$CAP_FILE_SIZE,78044,0
$CFSIZE,260165632,256331776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,1,0
$CURRENT,0.098,181.76,1
$GPS,070217,223307,4742.828,-12225.327,14,1.1,29,16.6,0.0,178.6,7,9.7