version: 66.12
glider: 193
mission: 3
dive: 4
start: 7 1 114 19 25 21
data:
$ID,193
$MISSION,3
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,180
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,55
$T_MISSION,67
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51838
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.09601
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-180083.59
$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,2615
$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,2070
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$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,4
$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,-49.919579
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$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,49
$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
$GPS1,010714,192029,4743.177,-12224.405,1,1.3,1,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-55.5
$GPS2,010714,192448,4743.159,-12224.417,3,1.8,3,16.3
$SPEED_LIMITS,0.084,0.263
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,287.0,962,-18.4,-10.000,-20.84,2244
$D_GRID,176
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.60,-146.6,218,2070,651,597,0.0,0.0,0,153,0.00,0.00,-133.00,0.000,16390,0.000,0.000,218,2071,3599,3580,3618,0,0,0,0,0,0,28.83,28.83,15.02
$GC,155,-1.60,-146.6,218,2071,3580,3618,2.8,-3.3,13,172,9.52,2.58,0.00,0.000,2308,0.426,0.129,2252,3479,3602,3586,3618,0,0,0,0,0,0,14.55,14.72,28.83
$GC,400,-1.57,-146.6,2252,3478,3589,3618,40.4,-12.3,61,406,0.00,2.40,0.00,0.000,1030,0.000,0.088,2252,2066,3603,3590,3617,0,0,0,0,0,0,28.83,14.80,28.83
$GC,592,-1.57,-146.6,2252,2065,3589,3619,63.9,-12.1,81,598,0.00,2.55,0.00,0.000,260,0.000,0.135,2241,3485,3604,3590,3618,0,0,0,0,0,0,28.83,14.78,28.83
$GC,715,-1.57,-146.6,2241,3485,3590,3618,79.6,-12.3,105,722,0.12,2.40,0.00,0.000,3078,0.287,0.086,2271,2064,3603,3589,3618,0,0,0,0,0,0,14.71,14.83,28.83
$GC,908,-1.57,-146.6,2271,2064,3590,3618,100.9,-11.3,125,915,0.00,2.55,0.00,0.000,260,0.000,0.135,2261,3484,3604,3590,3618,0,0,0,0,0,0,28.83,14.81,28.83
$GC,951,-1.57,-146.6,2260,3485,3590,3618,105.7,-11.4,133,957,0.00,2.40,0.00,0.000,1030,0.000,0.088,2261,2068,3604,3590,3618,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1144,-1.57,-146.6,2261,2068,3590,3618,127.6,-11.6,153,1150,0.00,2.55,0.00,0.000,260,0.000,0.136,2249,3488,3603,3589,3618,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1216,-1.57,-146.6,2250,3489,3590,3618,136.6,-12.5,167,1222,0.10,2.40,0.00,0.000,3078,0.289,0.086,2272,2068,3603,3590,3617,0,0,0,0,0,0,14.72,14.88,28.83
$GC,1409,-1.59,-146.6,2272,2067,3587,3618,156.8,-10.4,187,1415,0.00,2.55,0.00,0.000,260,0.000,0.135,2262,3490,3603,3590,3617,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1475,-1.59,-146.6,2262,3490,3590,3617,164.2,-10.8,200,1482,0.00,2.42,0.00,0.000,1030,0.000,0.090,2262,2060,3603,3589,3617,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,1491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1491,begin apogee
$GC,1494,-0.38,0.0,2262,2061,3590,3617,165.8,-10.7,202,1643,0.90,0.00,134.15,1.646,10246,0.223,0.000,2526,2061,3001,3012,2991,0,0,0,0,1,0,14.76,28.83,13.63
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1645,1.60,146.6,2526,2060,3012,2991,169.6,0.0,217,1795,1.35,0.00,138.82,1.631,10758,0.135,0.000,2961,2060,2402,2428,2377,0,0,0,0,1,0,14.23,28.83,13.57
$GC,1972,1.52,146.6,2962,2060,2435,2376,133.0,14.8,254,1978,0.00,2.53,0.00,0.000,516,0.000,0.142,2972,664,2401,2427,2376,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1995,1.43,146.6,2972,663,2428,2374,129.8,13.8,258,2002,0.20,2.55,0.00,0.000,5126,0.269,0.129,2925,2082,2401,2428,2375,0,0,0,0,0,0,14.52,14.58,28.83
$GC,2189,1.39,146.6,2924,2082,2428,2373,106.0,11.9,278,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2082,2400,2428,2373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2369,1.35,146.6,2924,2082,2428,2372,84.0,12.6,296,2375,0.00,2.53,0.00,0.000,516,0.000,0.138,2933,662,2398,2426,2371,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2396,1.31,146.6,2933,662,2428,2371,80.5,13.0,301,2403,0.15,2.50,0.00,0.000,5126,0.285,0.126,2899,2075,2399,2428,2370,0,0,0,0,0,0,14.69,14.76,28.83
$GC,2581,1.31,146.6,2899,2076,2428,2370,59.4,10.8,320,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2075,2398,2427,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2761,1.31,146.6,2898,2075,2428,2370,41.5,10.2,338,2768,0.00,2.50,0.00,0.000,516,0.000,0.135,2909,658,2398,2427,2370,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2814,1.31,146.6,2908,658,2427,2369,36.1,10.5,348,2820,0.00,2.47,0.00,0.000,1030,0.000,0.125,2909,2077,2399,2429,2369,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3006,1.36,185.3,2909,2071,2433,2369,17.9,8.2,368,3037,0.00,0.00,23.38,0.202,8198,0.000,0.000,2909,2071,2243,2269,2217,0,0,0,0,0,0,28.83,28.83,14.77
$STATE,3156,end climb,SURFACE_DEPTH_REACHED
$STATE,3156,begin surface coast
$FINISH,0.7,1.021124
$STATE,3176,end surface coast,CONTROL_FINISHED_OK
$STATE,3177,begin surface
$SM_CCo,3190,204.70,0.153,0,0,719,559.28
$SM_GC,1.14,7.55,0.00,204.70,0.079,0.000,0.153,203,2071,719,-10.98,0.03,559.28,0,0,0,0,0,0,14.89,28.83,14.69
$RAFOS_CLK,107
$RAFOS,0,1404245049,20.083334,20.069166,63,61,58,57,55,52,185,219,163,205,229,130
$RAFOS,2,1404243843,19.750000,19.734167,64,59,58,55,53,52,194,152,211,220,162,185
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12229.50,040921,055018
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.75
$INTERNAL_PRESSURE,8.7428
$TCM_TEMP,17.70
$XPDR_PINGS,0
$SC_FREEKB,7574848
$24V_AH,13.57,0.599
$10V_AH,13.83,0.000
$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,19.900,39.875,296.350,204.700,0.000,0.000,0.000,0.000,0.000,0.000,5.079,856.485,1327.990,650.768,616.423,23.838,0.000,998.055,0.000,580.805,780.000,0.543,0.000
$DEVICE_MAMPS,426.105,142.290,1645.515,153.000,0.000,0.000,0.000,0.000,420.000,0.000,0.750,11.470,2.310,11.470,30.940,36.190,0.000,11.000,0.000,0.750,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3160.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.244,0.000,0.000,0.000
$MEM,318284
$DATA_FILE_SIZE,13436,385
$CAP_FILE_SIZE,86825,0
$CFSIZE,260034560,258822144
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,3515.59,0x23790a,7,5
$INTR,1,1492.75,0x23790a,2,5
$INTR,2,3180.29,0x23790a,7,5
$SOUNDSPEED,1487.6
$CURRENT,0.053, 62.3,1
$GPS,010714,202321,4743.502,-12224.806,41,1.1,41,16.3