version: 66.12
glider: 193
mission: 4
dive: 2
start: 12 10 114 20 36 1
data:
$ID,193
$MISSION,4
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,67
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,1.0275
$MASS,52059
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,591.23029
$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,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,2590
$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,2070
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,11
$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,4
$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,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,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,49
$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
$GPS1,101214,203309,6353.832,-5324.137,9,1.8,10,-28.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-53.4
$GPS2,101214,203527,6353.652,-5324.178,11,1.0,11,-28.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_1
$TGT_LATLONG,6400.000,-5400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,291.9,31369,-18.4,-10.000,-20.87,2243
$D_GRID,875
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.60,-146.0,219,2062,576,507,0.0,0.0,0,181,0.00,0.00,-159.07,0.000,16390,0.000,0.000,219,2062,3548,3524,3572,0,0,0,0,0,0,28.83,28.83,14.82
$GC,183,-1.60,-146.0,219,2062,3525,3572,3.7,-4.8,16,200,9.57,2.72,0.00,0.000,2308,0.433,0.151,2226,3485,3551,3531,3571,0,0,0,0,0,0,14.38,14.48,28.83
$GC,428,-1.60,-146.0,2226,3485,3537,3571,36.3,-12.0,64,434,0.00,2.53,0.00,0.000,1030,0.000,0.103,2226,2061,3554,3537,3571,0,0,0,0,0,0,28.83,14.58,28.83
$GC,751,-1.62,-146.0,2226,2061,3538,3569,71.4,-11.2,83,756,0.00,2.70,0.00,0.000,260,0.000,0.161,2216,3483,3553,3538,3569,0,0,0,0,0,0,28.83,14.58,28.83
$GC,942,-1.65,-146.0,2216,3480,3538,3569,95.6,-13.6,121,949,0.00,2.50,0.00,0.000,1030,0.000,0.099,2216,2067,3553,3538,3569,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1256,-1.69,-146.0,2216,2067,3538,3568,133.4,-10.9,138,1261,0.00,2.67,0.00,0.000,260,0.000,0.160,2205,3482,3553,3538,3569,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,1418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1418,begin apogee
$GC,1424,-0.38,0.0,2205,2070,3537,3569,150.5,-10.4,170,1572,1.02,0.00,139.00,1.787,10246,0.224,0.000,2502,2070,2954,2968,2940,0,0,0,0,1,0,14.56,28.83,13.27
$STATE,1574,end apogee,CONTROL_FINISHED_OK
$STATE,1574,begin climb
$GC,1575,1.60,146.0,2502,2070,2967,2944,155.0,0.0,177,1735,1.38,2.92,143.18,1.741,10756,0.132,0.174,2947,661,2356,2384,2328,0,0,0,0,1,0,13.93,13.78,13.23
$GC,1812,1.54,146.0,2946,661,2383,2327,132.7,13.1,225,1817,0.00,2.72,0.00,0.000,1030,0.000,0.148,2946,2077,2354,2383,2326,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2134,1.50,146.0,2946,2077,2380,2321,92.2,11.7,244,2140,0.12,2.70,0.00,0.000,4356,0.309,0.157,2917,3487,2351,2381,2321,0,0,0,0,0,0,14.40,14.45,28.83
$GC,2238,1.46,146.0,2917,3487,2379,2321,81.2,10.4,264,2243,0.00,2.55,0.00,0.000,1030,0.000,0.109,2925,2073,2350,2379,2321,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2561,1.48,162.3,2925,2073,2379,2320,49.5,9.3,283,2575,0.00,2.67,9.38,0.304,8452,0.000,0.156,2926,3481,2290,2317,2263,0,0,0,0,0,0,28.83,14.57,14.47
$GC,2697,1.44,162.3,2926,3481,2318,2271,36.1,10.5,310,2705,0.15,2.55,0.00,0.000,5126,0.302,0.109,2903,2060,2291,2318,2265,0,0,0,0,0,0,14.54,14.62,28.83
$GC,3003,1.48,192.9,2903,2066,2318,2264,8.4,8.6,335,3029,0.00,2.62,19.15,0.184,8708,0.000,0.156,2913,655,2161,2188,2135,0,0,0,0,0,0,28.83,14.60,14.61
$GC,3035,1.48,192.9,2913,656,2189,2136,5.0,10.4,341,3041,0.00,2.60,0.00,0.000,1030,0.000,0.142,2913,2077,2162,2189,2136,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3056,end climb,SURFACE_DEPTH_REACHED
$STATE,3056,begin surface coast
$FINISH,0.6,1.014965
$STATE,3078,end surface coast,CONTROL_FINISHED_OK
$STATE,3078,begin surface
$SM_CCo,3092,226.88,0.162,0,0,538,591.42
$SM_GC,1.19,7.72,0.00,226.88,0.084,0.000,0.162,219,2077,538,-10.82,0.20,591.42,0,0,0,0,0,0,14.68,28.83,14.47
$RAFOS_CLK,130
$RAFOS,6,1418244542,20.833334,20.817223,67,59,56,55,51,50,193,180,224,793,136,124
$RAFOS,5,1418244067,20.700001,20.685278,66,62,61,59,59,54,191,203,173,148,216,160
$RAFOS,2,1418242623,20.299999,20.284166,62,59,53,52,49,48,147,179,219,201,1125,113
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6322.64,-5326.38,101214,202950
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.27
$INTERNAL_PRESSURE,8.44005
$TCM_TEMP,14.00
$XPDR_PINGS,17
$SC_FREEKB,7769280
$24V_AH,13.23,1.487
$10V_AH,13.10,0.000
$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,19.975,37.025,310.700,226.875,0.000,0.000,0.000,0.000,4.250,0.000,12.966,670.467,1479.900,675.226,560.623,22.129,0.000,998.968,0.000,515.660,720.000,0.540,0.000
$DEVICE_MAMPS,432.990,173.655,1787.040,162.180,0.000,0.000,0.000,0.000,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3063.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.287,0.000,0.000,0.000
$MEM,227152
$DATA_FILE_SIZE,10130,346
$CAP_FILE_SIZE,61794,0
$CFSIZE,260034560,253030400
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,2084.95,0x23769e,7,5
$INTR,1,3081.66,0x23769e,7,5
$SOUNDSPEED,1463.1
$CURRENT,0.232,351.31,1
$GPS,101214,213235,6354.142,-5325.064,30,1.7,30,-28.7