version: 66.12
glider: 193
mission: 4
dive: 363
start: 2 7 115 11 12 49
data:
$ID,193
$MISSION,4
$DIVE,363
$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
$GPS1,070215,100022,6715.177,-5629.684,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-46.2
$GPS2,070215,111219,6714.843,-5630.263,6,1.4,7,-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,243.0,25399,-18.4,-10.000,-20.87,2243
$D_GRID,159
$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,-146.0,207,2551,1529,1500,0.0,0.0,0,153,0.00,0.00,-124.20,0.000,16390,0.000,0.000,206,2552,3547,3530,3565,0,0,0,0,0,0,28.83,28.83,14.77
$GC,157,-1.60,-146.0,206,2552,3531,3565,2.2,-0.2,13,172,9.48,2.40,0.00,0.000,2308,0.423,0.127,2186,3838,3550,3535,3565,0,0,0,0,0,0,14.13,14.40,28.83
$GC,404,-1.53,-146.0,2186,3839,3538,3565,33.3,-14.8,61,410,0.12,2.22,0.00,0.000,3078,0.314,0.062,2211,2542,3551,3538,3565,0,0,0,0,0,0,14.21,14.52,28.83
$GC,729,-1.51,-146.0,2210,2541,3539,3564,75.3,-11.6,80,734,0.00,2.53,0.00,0.000,260,0.000,0.142,2208,3844,3551,3539,3564,0,0,0,0,0,0,28.83,14.39,28.83
$GC,962,-1.49,-146.0,2202,3844,3538,3563,106.4,-13.5,126,968,0.10,2.22,0.00,0.000,3078,0.321,0.063,2220,2552,3550,3538,3563,0,0,0,0,0,0,14.27,14.55,28.83
$GC,1276,-1.49,-146.0,2220,2552,3539,3562,143.2,-11.5,143,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2552,3550,3539,3562,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1433,begin apogee
$GC,1440,-0.38,0.0,2220,2389,3539,3561,160.1,-10.3,151,1601,0.93,0.00,151.45,1.733,10246,0.274,0.000,2465,2389,2952,2966,2938,0,0,0,0,1,0,14.22,28.83,13.17
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1603,begin climb
$GC,1606,1.60,146.0,2465,2389,2966,2940,165.7,0.0,159,1778,1.50,3.03,154.07,1.704,10500,0.187,0.145,2897,3808,2356,2396,2316,0,0,0,0,1,0,13.81,13.34,12.74
$GC,1821,1.58,146.0,2897,3808,2396,2316,152.4,11.2,182,1827,0.00,2.65,0.00,0.000,1030,0.000,0.074,2905,2399,2356,2396,2316,0,0,0,0,0,0,28.83,13.62,28.83
$GC,2145,1.58,146.0,2906,2399,2393,2311,119.1,10.4,201,2150,0.00,2.55,0.00,0.000,516,0.000,0.106,2914,992,2351,2393,2310,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2184,1.58,146.0,2914,993,2393,2310,115.0,10.5,208,2191,0.10,2.62,0.00,0.000,5126,0.292,0.115,2895,2402,2351,2393,2310,0,0,0,0,0,0,14.03,14.14,28.83
$GC,2488,1.60,164.6,2895,2401,2393,2310,85.7,9.1,224,2508,0.00,2.55,11.43,0.393,8708,0.000,0.105,2903,991,2283,2319,2247,0,0,0,0,0,0,28.83,14.32,14.04
$GC,2541,1.64,174.0,2903,990,2318,2247,80.7,9.6,234,2557,0.00,2.58,6.95,0.368,9222,0.000,0.113,2903,2400,2242,2279,2206,0,0,0,0,0,0,28.83,14.33,14.05
$GC,2876,1.71,201.1,2903,2400,2279,2205,51.4,8.8,255,2901,0.00,2.78,17.80,0.297,8452,0.000,0.143,2903,3816,2131,2170,2092,0,0,0,0,0,0,28.83,14.35,14.20
$GC,2924,1.72,209.8,2903,3816,2170,2092,47.0,9.6,264,2939,0.00,2.50,6.28,0.280,9222,0.000,0.073,2912,2395,2094,2135,2053,0,0,0,0,0,0,28.83,14.44,14.17
$GC,3240,1.75,209.8,2912,2395,2135,2054,15.1,10.8,286,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2394,2095,2135,2055,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.80,-1.593,-1.811,2,2,0
$FREEZE,7.88,-1.586,-1.810,2,2,0
$FREEZE,7.08,-1.592,-1.810,2,2,0
$FREEZE,6.74,-1.597,-1.809,2,2,0
$FREEZE,6.29,-1.597,-1.809,2,2,0
$FREEZE,5.85,-1.595,-1.808,2,2,0
$FREEZE,4.89,-1.595,-1.808,2,2,0
$FREEZE,3.66,-1.592,-1.807,2,2,0
$FREEZE,2.47,-1.595,-1.806,2,2,0
$STATE,3388,end climb,SURFACE_DEPTH_REACHED
$STATE,3388,begin surface coast
$FREEZE,2.10,-1.622,-1.807,2,2,0
$FREEZE,2.00,-1.637,-1.807,2,2,0
$FREEZE,1.94,-1.602,-1.805,2,2,0
$FINISH,1.9,1.026491
$STATE,3419,end surface coast,CONTROL_FINISHED_OK
$STATE,3419,begin surface
$SM_CCo,3438,226.82,0.154,0,0,497,601.23
$SM_GC,1.88,8.05,0.32,226.82,0.108,0.136,0.154,204,2557,497,-10.64,-0.34,601.23,0,0,0,0,0,0,14.59,14.45,14.29
$RAFOS_CLK,157
$RAFOS,0,1423310462,12.033333,12.017222,67,60,58,55,54,48,194,215,137,146,170,114
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5632.47,070215,095122
$TT8_MAMPS,0.028462,0.028462
$HUMID,44.80
$INTERNAL_PRESSURE,8.33263
$TCM_TEMP,12.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.4,16.7
$SC_FREEKB,7653920
$24V_AH,12.74,90.061
$10V_AH,12.77,0.000
$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,20.275,31.225,347.975,226.825,0.000,0.000,0.000,122.950,3.500,0.000,7.835,643.881,1963.891,702.851,636.739,306.775,0.000,1118.545,0.000,466.497,720.000,2.622,0.000
$DEVICE_MAMPS,423.045,144.585,1733.490,153.765,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3425.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.275,0.000,0.000,0.000
$MEM,271060
$DATA_FILE_SIZE,10143,304
$CAP_FILE_SIZE,58196,0
$CFSIZE,260034560,226390016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,4313.87,0x23769e,7,5
$SOUNDSPEED,1451.8
$GPS,070215,121521,6714.915,-5631.023,26,1.6,34,-32.7