version: 66.12
glider: 193
mission: 4
dive: 355
start: 2 6 115 21 47 30
data:
$ID,193
$MISSION,4
$DIVE,355
$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,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
$GPS1,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-32.0
$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,20,-1.60,-146.0,202,2552,523,474,0.0,0.0,0,153,0.00,0.00,-130.62,0.000,16386,0.000,0.000,202,2552,3017,2992,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,157,-1.60,-146.0,202,2552,2993,3042,3.1,-1.0,13,198,10.20,2.55,-20.90,0.000,18948,0.457,0.119,2193,1140,3549,3540,3559,0,0,0,0,0,0,14.12,14.42,14.74
$GC,232,-1.54,-146.0,2193,1140,3543,3560,9.0,-11.4,27,238,0.12,2.60,0.00,0.000,3078,0.330,0.112,2208,2558,3551,3543,3560,0,0,0,0,0,0,14.17,14.38,28.83
$GC,547,-1.52,-146.0,2209,2558,3545,3560,47.3,-12.4,50,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2558,3552,3545,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,849,-1.49,-146.0,2209,2558,3545,3560,83.5,-12.0,65,854,0.00,2.50,0.00,0.000,516,0.000,0.098,2209,1137,3552,3545,3560,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1006,-1.49,-146.0,2209,1137,3545,3560,102.9,-12.2,96,1013,0.10,2.58,0.00,0.000,3078,0.337,0.116,2220,2550,3552,3546,3559,0,0,0,0,0,0,14.24,14.45,28.83
$GC,1312,-1.49,-146.0,2220,2549,3545,3558,136.9,-11.0,112,1317,0.00,2.47,0.00,0.000,516,0.000,0.097,2220,1138,3551,3545,3558,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1399,-1.49,-146.0,2220,1138,3546,3557,146.7,-11.4,129,1405,0.00,2.58,0.00,0.000,1030,0.000,0.116,2213,2550,3551,3545,3557,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1717,-1.49,-146.0,2213,2550,3545,3557,180.7,-10.9,147,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2549,3551,3545,3557,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1997,end dive,NO_VERTICAL_VELOCITY
$STATE,1997,begin apogee
$GC,2003,-0.38,0.0,2213,2396,3545,3557,189.2,0.0,161,2157,0.85,0.00,143.62,1.789,10246,0.184,0.000,2466,2395,2953,2968,2939,0,0,0,0,1,0,14.38,28.83,13.16
$STATE,2159,end apogee,CONTROL_FINISHED_OK
$STATE,2159,begin climb
$GC,2161,1.60,146.0,2466,2396,2967,2944,189.0,0.0,169,2331,1.42,3.08,152.38,1.743,11012,0.168,0.143,2893,3809,2359,2397,2321,0,0,0,0,1,0,13.84,13.35,12.74
$GC,2561,1.60,146.0,2889,3809,2396,2319,151.9,11.1,249,2567,0.00,2.58,0.00,0.000,1030,0.000,0.075,2902,2396,2357,2397,2318,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2885,1.61,157.2,2902,2396,2397,2315,118.7,9.5,268,2910,0.00,2.83,16.17,1.118,8452,0.000,0.145,2902,3799,2300,2339,2262,0,0,0,0,0,0,28.83,14.21,13.80
$GC,2957,1.61,157.2,2902,3799,2333,2258,110.8,12.1,282,2963,0.00,2.50,0.00,0.000,1030,0.000,0.076,2912,2395,2295,2334,2257,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3271,1.64,180.6,2912,2395,2333,2254,80.9,8.9,299,3290,0.00,0.00,13.35,0.369,8198,0.000,0.000,2911,2395,2215,2252,2178,0,0,0,0,0,0,28.83,28.83,14.09
$GC,3591,1.71,209.2,2911,2395,2251,2182,51.7,8.7,315,3612,0.00,0.00,19.27,0.295,8198,0.000,0.000,2911,2395,2096,2137,2056,0,0,0,0,0,0,28.83,28.83,14.19
$GC,3913,1.74,209.2,2912,2395,2139,2062,19.7,11.1,333,3919,0.00,2.78,0.00,0.000,260,0.000,0.145,2911,3810,2099,2137,2062,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3957,1.74,209.2,2911,3811,2145,2062,14.1,12.0,341,3962,0.00,2.47,0.00,0.000,1030,0.000,0.073,2920,2396,2100,2138,2062,0,0,0,0,0,0,28.83,14.50,28.83
$FREEZE,8.11,-1.636,-1.810,2,90,2
$FREEZE,6.62,-1.647,-1.809,2,90,2
$FREEZE,5.54,-1.650,-1.808,2,90,2
$FREEZE,4.66,-1.650,-1.807,2,90,2
$FREEZE,3.84,-1.652,-1.807,2,90,2
$FREEZE,2.83,-1.652,-1.806,2,90,2
$STATE,4060,end climb,SURFACE_DEPTH_REACHED
$STATE,4060,begin surface coast
$FREEZE,2.26,-1.461,-1.794,2,90,2
$FREEZE,2.30,-1.647,-1.805,2,90,2
$FREEZE,2.32,-1.592,-1.802,2,90,2
$FINISH,2.3,1.026435
$STATE,4089,end surface coast,CONTROL_FINISHED_OK
$STATE,4090,begin surface
$SM_CCo,4219,233.62,0.169,1,0,497,601.23
$SM_GC,2.14,10.40,0.32,233.62,0.294,0.147,0.169,224,2553,497,-10.67,-0.40,601.23,0,0,0,0,1,0,14.32,14.47,13.71
$RAFOS_CLK,234
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.88
$INTERNAL_PRESSURE,8.33263
$TCM_TEMP,12.50
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.7,15.3
$SC_FREEKB,7656480
$24V_AH,12.74,88.557
$10V_AH,13.05,0.000
$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,23.100,32.100,344.800,233.625,0.000,0.000,0.000,122.275,6.000,0.000,181.767,714.923,2595.525,706.109,884.512,320.638,0.000,1184.996,0.000,539.283,0.000,2.620,0.000
$DEVICE_MAMPS,456.705,146.880,1789.335,169.065,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4104.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.317,0.000,0.000,0.000
$MEM,271024
$DATA_FILE_SIZE,10140,355
$CAP_FILE_SIZE,64175,0
$CFSIZE,260034560,226766848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,5427.50,0x23769e,7,5
$SOUNDSPEED,1456.5
$GPS,040215,124656,6653.581,-5743.374,181,99.0,181,-32.6