version: 66.12
glider: 193
mission: 4
dive: 352
start: 2 6 115 17 51 15
data:
$ID,193
$MISSION,4
$DIVE,352
$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
$GPS1,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,16.6
$GPS2,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,99.0,43627,-18.4,-10.000,-20.87,2243
$D_GRID,731
$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,19,-1.60,-146.0,2911,2546,2238,2176,0.0,0.0,0,102,0.00,0.00,-79.45,0.000,16390,0.000,0.000,2911,2546,3548,3538,3559,0,0,0,0,0,0,28.83,28.83,14.83
$GC,106,-1.60,-146.0,2911,2546,3540,3558,2.7,-2.5,8,117,2.45,2.53,0.00,0.000,4356,0.227,0.142,2199,3832,3549,3540,3558,0,0,0,0,0,0,14.36,14.41,28.83
$GC,276,-1.53,-146.0,2199,3832,3541,3558,21.9,-17.8,41,283,0.00,2.20,0.00,0.000,1030,0.000,0.063,2199,2544,3549,3541,3558,0,0,0,0,0,0,28.83,14.58,28.83
$GC,581,-1.50,-146.0,2199,2544,3542,3558,60.3,-11.8,58,583,0.10,0.00,0.00,0.000,2054,0.319,0.000,2218,2542,3550,3542,3558,0,0,0,0,0,0,14.33,28.83,28.83
$GC,883,-1.50,-146.0,2218,2543,3541,3558,92.8,-10.8,73,889,0.00,2.42,0.00,0.000,516,0.000,0.097,2218,1144,3550,3543,3557,0,0,0,0,0,0,28.83,14.50,28.83
$GC,941,-1.50,-146.0,2219,1144,3543,3557,100.0,-11.7,84,947,0.00,2.58,0.00,0.000,1030,0.000,0.117,2211,2560,3549,3542,3556,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1246,-1.50,-146.0,2211,2560,3542,3554,132.7,-10.3,100,1252,0.00,2.47,0.00,0.000,516,0.000,0.096,2211,1140,3547,3543,3552,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1294,-1.50,-146.0,2211,1140,3542,3553,137.8,-10.8,109,1299,0.00,2.58,0.00,0.000,1030,0.000,0.117,2203,2558,3547,3542,3553,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1612,-1.50,-146.0,2203,2558,3542,3550,172.0,-10.7,127,1618,0.00,2.50,0.00,0.000,516,0.000,0.101,2203,1142,3546,3542,3551,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1700,-1.50,-146.0,2203,1142,3542,3550,182.0,-11.1,144,1706,0.12,2.58,0.00,0.000,3078,0.315,0.121,2221,2555,3546,3542,3550,0,0,0,0,0,0,14.26,14.47,28.83
$GC,2019,-1.74,-146.0,2221,2555,3542,3550,203.1,-0.0,162,2026,0.15,2.45,0.00,0.000,4356,0.137,0.139,2161,3837,3546,3542,3550,0,0,0,0,0,0,14.55,14.41,28.83
$STATE,2118,end dive,NO_VERTICAL_VELOCITY
$STATE,2118,begin apogee
$GC,2127,-0.38,0.0,2161,2399,3542,3550,203.2,0.0,181,2282,1.00,0.00,145.98,1.685,10246,0.164,0.000,2469,2399,2951,2970,2932,0,0,0,0,1,0,14.41,28.83,13.21
$STATE,2284,end apogee,CONTROL_FINISHED_OK
$STATE,2284,begin climb
$GC,2286,1.60,146.0,2469,2399,2970,2937,203.1,0.0,189,2453,1.40,2.72,150.62,1.775,10756,0.155,0.113,2906,1002,2357,2400,2315,0,0,0,0,1,0,13.88,13.40,12.76
$GC,2550,1.60,146.0,2906,1002,2399,2311,183.0,10.6,243,2555,0.00,2.70,0.00,0.000,1030,0.000,0.119,2906,2403,2355,2400,2311,0,0,0,0,0,0,28.83,13.76,28.83
$GC,2863,1.60,146.0,2906,2403,2397,2308,147.2,11.7,260,2869,0.00,2.78,0.00,0.000,260,0.000,0.144,2906,3817,2352,2396,2308,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2950,1.56,146.0,2906,3817,2398,2308,136.0,13.3,277,2957,0.12,2.50,0.00,0.000,5126,0.281,0.075,2888,2406,2353,2398,2308,0,0,0,0,0,0,14.13,14.29,28.83
$GC,3270,1.59,146.0,2889,2406,2398,2305,101.4,10.4,295,3275,0.00,2.75,0.00,0.000,260,0.000,0.143,2888,3816,2352,2398,2307,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3302,1.59,146.0,2887,3816,2397,2307,97.8,11.0,301,3308,0.00,2.50,0.00,0.000,1030,0.000,0.074,2898,2392,2355,2398,2313,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3616,1.62,146.0,2898,2392,2398,2307,66.5,10.2,318,3622,0.00,2.78,0.00,0.000,260,0.000,0.146,2898,3816,2352,2398,2307,0,0,0,0,0,0,28.83,14.39,28.83
$GC,3735,1.62,146.0,2898,3816,2398,2308,53.4,11.7,341,3741,0.00,2.47,0.00,0.000,1030,0.000,0.075,2907,2398,2353,2398,2308,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4040,1.68,173.5,2907,2398,2397,2308,26.0,8.7,357,4065,0.00,2.75,17.52,0.221,8452,0.000,0.145,2907,3808,2243,2284,2202,0,0,0,0,0,0,28.83,14.38,14.33
$GC,4123,1.68,173.5,2907,3807,2283,2203,16.3,11.6,373,4128,0.00,2.47,0.00,0.000,1030,0.000,0.076,2916,2393,2243,2283,2204,0,0,0,0,0,0,28.83,14.45,28.83
$FREEZE,8.31,-1.635,-1.810,2,87,0
$FREEZE,7.13,-1.636,-1.809,2,87,0
$FREEZE,6.04,-1.636,-1.809,2,87,0
$FREEZE,4.90,-1.631,-1.808,2,87,0
$FREEZE,3.79,-1.646,-1.807,2,87,0
$FREEZE,2.92,-1.506,-1.798,2,87,0
$STATE,4246,end climb,SURFACE_DEPTH_REACHED
$STATE,4246,begin surface coast
$FREEZE,3.11,-1.633,-1.805,2,87,0
$FREEZE,3.15,-1.651,-1.806,2,87,0
$FINISH,3.1,1.026496
$STATE,4266,end surface coast,CONTROL_FINISHED_OK
$STATE,4266,begin surface
$RAFOS_CLK,203
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.34
$INTERNAL_PRESSURE,8.48888
$TCM_TEMP,12.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,17.3
$SC_FREEKB,7657440
$24V_AH,12.76,88.074
$10V_AH,13.09,0.000
$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,5.350,51.550,314.125,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,784.337,2596.189,380.569,631.065,102.525,0.000,752.271,0.000,589.190,0.000,2.622,0.000
$DEVICE_MAMPS,319.005,146.880,1774.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4280.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.835,0.000,0.000,0.000
$MEM,271024
$DATA_FILE_SIZE,13454,388
$CAP_FILE_SIZE,58522,0
$CFSIZE,260034560,226889728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1456.2
$GPS,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6