version: 66.12
glider: 193
mission: 4
dive: 364
start: 2 7 115 12 33 32
data:
$ID,193
$MISSION,4
$DIVE,364
$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,350
$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
$GPS1,070215,121521,6714.915,-5631.023,26,1.6,34,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-38.1
$GPS2,070215,123302,6714.774,-5630.404,9,1.6,10,-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,242.9,25237,-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,-146.0,202,2558,525,460,0.0,0.0,0,202,0.00,0.00,-175.88,0.000,16390,0.000,0.000,203,2560,3547,3523,3572,0,0,0,0,0,0,28.83,28.83,14.64
$GC,208,-1.60,-146.0,203,2560,3524,3572,4.3,-5.4,18,224,10.62,2.47,0.00,0.000,2308,0.474,0.135,2183,3837,3549,3528,3570,0,0,0,0,0,0,14.01,14.30,28.83
$GC,458,-1.52,-146.0,2183,3837,3535,3569,47.0,-15.6,66,464,0.15,2.25,0.00,0.000,3078,0.310,0.063,2214,2538,3552,3535,3570,0,0,0,0,0,0,14.14,14.44,28.83
$GC,782,-1.52,-146.0,2213,2538,3538,3566,89.9,-12.5,85,787,0.00,2.50,0.00,0.000,260,0.000,0.140,2205,3842,3551,3538,3565,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1000,-1.50,-146.0,2205,3842,3538,3564,117.9,-12.6,128,1007,0.00,2.22,0.00,0.000,1030,0.000,0.063,2205,2553,3551,3538,3565,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1306,-1.50,-146.0,2205,2553,3538,3563,153.6,-10.9,144,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2553,3550,3538,3563,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1363,begin apogee
$GC,1370,-0.38,0.0,2205,2391,3538,3563,160.5,-11.4,147,1565,0.98,0.00,186.95,1.069,10246,0.272,0.000,2461,2391,2941,2956,2927,0,0,0,0,0,0,14.24,28.83,13.56
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1571,1.60,146.0,2461,2391,2951,2923,167.4,0.0,157,1727,1.48,0.00,142.50,1.664,10758,0.185,0.000,2898,2391,2355,2393,2318,0,0,0,0,1,0,13.97,28.83,12.88
$GC,2028,1.60,149.6,2898,2390,2392,2319,130.4,9.8,195,2039,0.00,2.90,2.45,0.623,8452,0.000,0.144,2898,3803,2344,2376,2312,0,0,0,0,0,0,28.83,14.05,13.22
$GC,2142,1.60,149.6,2898,3803,2376,2319,116.9,12.3,217,2147,0.00,2.50,0.00,0.000,1030,0.000,0.075,2906,2408,2347,2376,2319,0,0,0,0,0,0,28.83,14.22,28.83
$GC,2455,1.61,152.8,2906,2408,2376,2320,83.9,9.9,234,2466,0.00,2.55,3.33,0.315,8708,0.000,0.106,2915,988,2330,2359,2302,0,0,0,0,0,0,28.83,14.31,14.05
$GC,2513,1.62,161.2,2915,989,2359,2309,78.4,9.6,245,2529,0.00,2.60,7.00,0.347,9222,0.000,0.114,2915,2400,2294,2323,2266,0,0,0,0,0,0,28.83,14.34,14.07
$GC,2842,1.67,186.7,2915,2400,2323,2271,46.0,8.8,265,2861,0.00,0.00,17.30,0.278,8198,0.000,0.000,2915,2400,2189,2222,2157,0,0,0,0,0,0,28.83,28.83,14.23
$GC,3162,1.71,186.7,2915,2400,2222,2162,18.4,10.9,284,3167,0.00,2.50,0.00,0.000,516,0.000,0.105,2923,990,2191,2221,2162,0,0,0,0,0,0,28.83,14.44,28.83
$GC,3190,1.74,199.1,2923,990,2222,2162,15.7,9.4,289,3207,0.00,2.60,8.60,0.191,9222,0.000,0.115,2923,2400,2137,2169,2106,0,0,0,0,0,0,28.83,14.43,14.33
$FREEZE,8.99,-1.578,-1.811,2,1,0
$FREEZE,8.07,-1.582,-1.810,2,1,0
$FREEZE,6.93,-1.584,-1.810,2,1,0
$FREEZE,5.89,-1.590,-1.809,2,1,0
$FREEZE,5.15,-1.592,-1.808,2,1,0
$FREEZE,4.20,-1.597,-1.808,2,1,0
$FREEZE,3.26,-1.596,-1.807,2,1,0
$FREEZE,2.29,-1.608,-1.806,2,1,0
$STATE,3324,end climb,SURFACE_DEPTH_REACHED
$STATE,3324,begin surface coast
$FREEZE,2.19,-1.615,-1.806,2,1,0
$FREEZE,2.15,-1.605,-1.806,2,1,0
$FREEZE,2.09,-1.612,-1.806,2,1,0
$FINISH,2.1,1.026503
$STATE,3355,end surface coast,CONTROL_FINISHED_OK
$STATE,3355,begin surface
$SM_CCo,3452,88.18,0.153,0,0,1520,350.04
$SM_GC,2.28,8.30,0.30,88.18,0.130,0.146,0.153,206,2554,1520,-10.65,-0.42,350.04,0,0,0,0,0,0,14.58,14.47,14.38
$RAFOS_CLK,149
$RAFOS,6,1423313344,12.833333,12.817778,62,58,55,52,48,45,208,193,152,178,166,136
$RAFOS,5,1423312863,12.700000,12.684167,69,60,54,54,50,49,208,164,131,143,217,387
$RAFOS,1,1423310945,12.166667,12.151389,59,57,55,55,52,51,208,222,144,188,1933,157
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5617.05,070215,122118
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.98
$INTERNAL_PRESSURE,8.42052
$TCM_TEMP,12.70
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.5,17.2
$SC_FREEKB,7653600
$24V_AH,12.88,90.254
$10V_AH,13.00,0.000
$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,21.525,25.675,368.125,88.175,0.000,0.000,0.000,695.375,3.000,0.000,10.818,628.015,1941.179,611.097,1164.507,276.113,0.000,1614.351,0.000,470.175,720.000,2.625,0.000
$DEVICE_MAMPS,474.300,146.115,1663.875,153.000,0.000,0.000,0.000,169.830,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3366.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.277,0.000,0.000,0.000
$MEM,270856
$DATA_FILE_SIZE,10129,307
$CAP_FILE_SIZE,59816,0
$CFSIZE,260034560,226353152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4842.06,0x23769e,7,5
$SOUNDSPEED,1453.6
$GPS,070215,133403,6715.123,-5631.957,39,1.7,39,-32.7