version: 66.12
glider: 193
mission: 4
dive: 367
start: 2 7 115 16 15 3
data:
$ID,193
$MISSION,4
$DIVE,367
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,070215,134614,6715.112,-5632.060,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-35.0
$GPS2,070215,134614,6715.112,-5632.060,181,99.0,181,-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,239.9,25212,-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,-146.0,206,2555,524,465,0.0,0.0,0,184,0.00,0.00,-160.55,0.000,16386,0.000,0.000,206,2555,3433,3404,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,189,-1.60,-146.0,206,2555,3406,3462,4.2,-4.8,16,211,10.57,2.50,-2.72,0.000,18692,0.476,0.162,2183,3837,3550,3536,3564,0,0,0,0,0,0,14.07,14.35,14.72
$GC,409,-1.53,-146.0,2183,3837,3540,3565,43.6,-15.6,59,416,0.15,2.25,0.00,0.000,3078,0.308,0.064,2214,2537,3552,3540,3565,0,0,0,0,0,0,14.19,14.49,28.83
$GC,714,-1.51,-146.0,2214,2536,3541,3565,81.7,-11.3,75,719,0.00,2.45,0.00,0.000,516,0.000,0.098,2214,1141,3552,3541,3564,0,0,0,0,0,0,28.83,14.43,28.83
$GC,858,-1.51,-146.0,2214,1141,3541,3564,99.7,-12.0,103,863,0.00,2.60,0.00,0.000,1030,0.000,0.116,2207,2556,3552,3540,3564,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1181,-1.51,-146.0,2207,2556,3541,3562,136.3,-11.1,122,1186,0.00,2.45,0.00,0.000,260,0.000,0.138,2199,3839,3549,3536,3562,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1214,-1.48,-146.0,2199,3839,3541,3562,140.3,-12.2,128,1220,0.12,2.22,0.00,0.000,3078,0.311,0.062,2224,2547,3551,3541,3562,0,0,0,0,0,0,14.23,14.54,28.83
$STATE,1385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1385,begin apogee
$GC,1392,-0.38,0.0,2224,2398,3541,3562,159.8,-11.5,138,1587,0.90,0.00,188.07,1.069,10246,0.265,0.000,2463,2398,2944,2959,2929,0,0,0,0,0,0,14.23,28.83,13.54
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1593,1.60,146.0,2463,2398,2951,2922,168.7,0.0,148,1788,1.45,2.65,182.52,0.934,10756,0.187,0.109,2899,1002,2345,2383,2308,0,0,0,0,0,0,13.95,13.74,13.37
$GC,1800,1.60,146.0,2899,1003,2371,2298,154.4,10.4,190,1805,0.00,2.72,0.00,0.000,1030,0.000,0.115,2899,2406,2336,2375,2297,0,0,0,0,0,0,28.83,13.79,28.83
$GC,2113,1.60,146.0,2898,2406,2368,2287,122.5,10.2,207,2119,0.00,2.58,0.00,0.000,516,0.000,0.107,2906,998,2327,2368,2287,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2157,1.62,146.0,2906,999,2368,2287,118.1,10.1,215,2162,0.00,2.62,0.00,0.000,1030,0.000,0.116,2906,2400,2327,2368,2287,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2480,1.65,173.7,2906,2399,2368,2292,87.6,8.7,234,2500,0.00,2.83,14.60,0.344,8452,0.000,0.142,2906,3809,2243,2279,2207,0,0,0,0,0,0,28.83,14.32,14.07
$GC,2557,1.65,173.7,2906,3809,2280,2225,79.2,11.3,249,2565,0.00,2.47,1.83,0.190,9222,0.000,0.074,2914,2407,2240,2274,2207,0,0,0,0,0,0,28.83,14.40,14.28
$GC,2863,1.69,202.7,2914,2407,2279,2225,50.2,8.7,265,2892,0.00,2.58,20.70,0.281,8708,0.000,0.106,2923,998,2126,2160,2092,0,0,0,0,0,0,28.83,14.33,14.21
$GC,3041,1.74,216.2,2923,998,2161,2103,33.7,9.4,300,3057,0.00,2.58,10.43,0.231,9222,0.000,0.113,2923,2406,2068,2106,2031,0,0,0,0,0,0,28.83,14.40,14.26
$FREEZE,8.97,-1.600,-1.811,2,3,0
$FREEZE,7.95,-1.604,-1.810,2,3,0
$FREEZE,6.64,-1.601,-1.809,2,3,0
$FREEZE,5.62,-1.612,-1.808,2,3,0
$FREEZE,4.73,-1.610,-1.807,2,3,0
$FREEZE,3.60,-1.613,-1.806,2,3,0
$FREEZE,2.72,-1.616,-1.806,2,3,0
$STATE,3340,end climb,SURFACE_DEPTH_REACHED
$STATE,3340,begin surface coast
$FREEZE,1.93,-1.615,-1.805,2,3,0
$FREEZE,1.86,-1.632,-1.804,2,3,0
$FREEZE,1.74,-1.626,-1.803,2,3,0
$FINISH,1.7,1.026462
$STATE,3370,end surface coast,CONTROL_FINISHED_OK
$STATE,3370,begin surface
$SM_CCo,3437,224.85,0.154,0,0,497,601.23
$SM_GC,1.90,8.38,0.28,224.85,0.136,0.142,0.154,209,2552,497,-10.64,-0.51,601.23,0,0,0,0,0,0,14.56,14.46,14.30
$RAFOS_CLK,197
$RAFOS,6,1423327756,16.833334,16.821112,66,61,59,54,51,49,159,212,201,146,187,112
$RAFOS,5,1423327268,16.700001,16.685556,65,59,57,56,55,52,193,141,163,113,218,154
$RAFOS,4,1423326803,16.566668,16.556389,62,61,58,56,54,46,157,203,119,169,193,138
$RAFOS,3,1423326314,16.433332,16.420555,57,57,55,55,54,51,148,165,189,208,225,178
$RAFOS,2,1423325824,16.299999,16.284445,74,63,63,58,56,54,215,190,159,145,131,227
$RAFOS_FIX,6653.580566,-5743.373535,040215,121256,2,103,0.28
$IRIDIUM_FIX,6641.98,-5632.47,070215,133814
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.44
$INTERNAL_PRESSURE,8.32286
$TCM_TEMP,12.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.7,17.0
$SC_FREEKB,7652640
$24V_AH,13.37,90.769
$10V_AH,13.16,0.000
$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,21.575,36.025,418.150,224.850,0.000,0.000,0.000,122.800,3.500,0.000,183.851,623.646,1884.938,745.531,854.195,315.849,0.000,1216.863,0.000,498.107,1800.000,4.158,0.000
$DEVICE_MAMPS,475.830,162.180,1068.705,153.765,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3382.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.244,0.000,0.000,0.000
$MEM,271076
$DATA_FILE_SIZE,10150,332
$CAP_FILE_SIZE,60258,0
$CFSIZE,260034560,226238464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4509.60,0x23769e,7,5
$SOUNDSPEED,1451.4
$GPS,070215,134614,6715.112,-5632.060,181,99.0,181,-32.7