version: 66.12
glider: 193
mission: 4
dive: 371
start: 2 7 115 21 7 46
data:
$ID,193
$MISSION,4
$DIVE,371
$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
$GPS1,070215,134614,6715.112,-5632.060,181,99.0,181,-32.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-25.6
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.60,-146.0,204,2550,532,461,0.0,0.0,0,123,0.00,0.00,-100.80,0.000,16386,0.000,0.000,207,2551,2515,2497,2534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-1.60,-146.0,204,2551,2498,2537,3.1,-1.6,10,203,10.68,2.55,-55.22,0.000,18692,0.479,0.161,2185,3835,3548,3539,3558,0,0,0,0,0,0,14.10,14.33,14.72
$GC,256,-1.53,-146.0,2185,3835,3541,3559,11.0,-13.8,33,263,0.15,2.22,0.00,0.000,3078,0.311,0.061,2216,2542,3550,3542,3559,0,0,0,0,0,0,14.18,14.49,28.83
$GC,570,-1.53,-146.0,2215,2542,3543,3559,52.2,-12.9,55,576,0.00,2.45,0.00,0.000,516,0.000,0.098,2215,1145,3551,3544,3559,0,0,0,0,0,0,28.83,14.43,28.83
$GC,628,-1.53,-146.0,2215,1145,3544,3559,59.9,-13.1,66,634,0.00,2.60,0.00,0.000,1030,0.000,0.114,2210,2552,3551,3544,3559,0,0,0,0,0,0,28.83,14.42,28.83
$GC,936,-1.53,-146.0,2210,2552,3544,3559,97.9,-12.5,82,941,0.00,2.47,0.00,0.000,260,0.000,0.138,2201,3840,3551,3544,3559,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1064,-1.50,-146.0,2201,3840,3543,3558,116.9,-15.4,107,1070,0.10,2.25,0.00,0.000,3078,0.328,0.063,2219,2545,3551,3544,3558,0,0,0,0,0,0,14.26,14.54,28.83
$GC,1383,-1.50,-146.0,2219,2547,3543,3556,156.1,-11.6,125,1388,0.00,2.45,0.00,0.000,516,0.000,0.099,2219,1148,3550,3545,3556,0,0,0,0,0,0,28.83,14.46,28.83
$STATE,1408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1408,begin apogee
$GC,1417,-0.38,0.0,2214,2401,3544,3556,159.5,-12.0,130,1611,0.95,0.00,188.27,1.049,10246,0.284,0.000,2460,2401,2946,2962,2931,0,0,0,0,0,0,14.23,28.83,13.55
$STATE,1612,end apogee,CONTROL_FINISHED_OK
$STATE,1612,begin climb
$GC,1616,1.60,146.0,2460,2401,2954,2923,167.7,0.0,140,1800,1.50,2.90,167.77,1.062,10500,0.197,0.141,2897,3812,2357,2391,2323,0,0,0,0,1,0,13.95,13.68,13.05
$GC,1873,1.60,146.0,2897,3812,2391,2332,150.1,11.0,192,1879,0.00,2.58,0.00,0.000,1030,0.000,0.074,2905,2410,2361,2391,2332,0,0,0,0,0,0,28.83,13.90,28.83
$GC,2196,1.60,146.0,2905,2410,2391,2329,117.3,10.1,211,2202,0.00,2.55,0.00,0.000,516,0.000,0.106,2913,991,2359,2391,2328,0,0,0,0,0,0,28.83,14.20,28.83
$GC,2249,1.60,146.0,2913,991,2391,2328,111.5,11.2,221,2254,0.00,2.60,0.00,0.000,1030,0.000,0.116,2911,2400,2359,2391,2328,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2562,1.63,171.8,2913,2400,2391,2323,80.9,8.8,238,2586,0.00,2.75,17.55,0.368,8452,0.000,0.140,2913,3813,2254,2284,2225,0,0,0,0,0,0,28.83,14.31,14.07
$GC,2714,1.63,171.8,2913,3811,2284,2234,65.1,11.1,268,2726,0.00,2.50,1.70,0.195,9222,0.000,0.073,2922,2395,2250,2276,2225,0,0,0,0,0,0,28.83,14.42,14.29
$GC,3025,1.66,197.7,2921,2395,2280,2234,36.2,8.8,285,3049,0.00,2.72,18.10,0.247,8452,0.000,0.140,2921,3810,2144,2174,2114,0,0,0,0,0,0,28.83,14.37,14.23
$GC,3077,1.66,197.7,2921,3810,2174,2120,31.0,11.6,295,3082,0.00,2.47,0.00,0.000,1030,0.000,0.073,2930,2400,2147,2174,2121,0,0,0,0,0,0,28.83,14.46,28.83
$FREEZE,8.71,-1.633,-1.811,2,7,0
$FREEZE,7.72,-1.633,-1.810,2,7,0
$FREEZE,6.67,-1.637,-1.809,2,7,0
$FREEZE,5.57,-1.635,-1.808,2,7,0
$FREEZE,4.40,-1.630,-1.807,2,7,0
$FREEZE,3.41,-1.633,-1.807,2,7,0
$FREEZE,2.45,-1.648,-1.806,2,7,0
$STATE,3359,end climb,SURFACE_DEPTH_REACHED
$STATE,3359,begin surface coast
$FREEZE,1.91,-1.656,-1.805,2,7,0
$FREEZE,2.05,-1.641,-1.802,2,7,0
$FINISH,2.0,1.026441
$STATE,3382,end surface coast,CONTROL_FINISHED_OK
$STATE,3382,begin surface
$SM_CCo,3461,233.85,0.155,0,0,499,601.23
$SM_GC,2.08,8.48,0.32,233.85,0.143,0.160,0.155,207,2554,499,-10.66,-0.31,601.23,0,0,0,0,0,0,14.56,14.43,14.28
$RAFOS_CLK,201
$RAFOS,5,1423341667,20.700001,20.685278,62,60,60,51,50,48,210,173,225,137,128,156
$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,44.56
$INTERNAL_PRESSURE,8.32286
$TCM_TEMP,2.60
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.7,17.4
$SC_FREEKB,7651360
$24V_AH,13.05,91.433
$10V_AH,13.01,0.000
$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,21.850,40.750,393.400,233.850,0.000,0.000,0.000,122.825,5.750,0.000,181.812,613.004,1954.826,737.966,834.177,319.245,0.000,1203.854,0.000,503.208,0.000,2.622,0.000
$DEVICE_MAMPS,478.890,160.650,1061.820,155.295,0.000,0.000,0.000,51.255,420.000,0.000,30.000,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,6.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3394.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.250,0.000,0.000,0.000
$MEM,271088
$DATA_FILE_SIZE,10137,323
$CAP_FILE_SIZE,59561,0
$CFSIZE,260034560,226091008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4653.19,0x23769e,7,5
$SOUNDSPEED,1451.1
$GPS,070215,221057,6714.875,-5637.918,41,0.9,44,-32.7