version: 66.13
glider: 189
mission: 31
dive: 3
start: 2 7 117 19 36 16
data:
$ID,189
$MISSION,31
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,90
$D_ABORT,135
$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,30
$T_MISSION,42
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53221
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,692.04858
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,125
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1967
$C_ROLL_CLIMB,1967
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,0
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.12788
$PRESSURE_SLOPE,0.00010724171
$AD7714Ch0Gain,1
$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,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044184052
$SEABIRD_T_H,0.00064843823
$SEABIRD_T_I,2.703744e-05
$SEABIRD_T_J,3.4046161e-06
$SEABIRD_C_G,-9.8009434
$SEABIRD_C_H,1.1236035
$SEABIRD_C_I,-0.0016777924
$SEABIRD_C_J,0.00020399806
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,070217,193042,4742.8926,-12225.3184,17,0.8,20,16.6,0.4,201.5,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-54.7
$GPS2,070217,193557,4742.8462,-12225.3525,21,1.0,26,16.6,0.0,234.1,8,9.7
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,19.7,1288,-17.5,-10.000,-21.08,2221
$D_GRID,189
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,89,1963,581,423,0.0,0.0,0,171,0.00,0.00,-147.88,0.000,16386,0.000,0.000,88,1963,3446,3544,3349,0,0,0,0,0,0,14.83,28.83,14.87
$GC,173,-1.22,-146.6,89,1964,3545,3349,2.3,-2.1,25,202,10.38,3.72,-6.72,0.000,18980,0.471,2.456,2103,550,3698,3816,3581,0,0,0,0,0,0,14.46,13.81,14.71
$GC,227,-1.07,-146.6,2103,552,3817,3581,12.3,-14.9,34,237,0.20,3.58,0.00,0.000,3206,0.317,0.352,2153,1969,3698,3816,3581,0,0,0,0,0,0,14.47,14.42,14.65
$GC,418,-1.02,-146.6,2152,1969,3817,3581,33.6,-10.0,71,428,0.00,3.50,0.00,0.000,420,0.000,0.353,2153,3380,3696,3814,3578,0,0,0,0,0,0,14.85,14.50,14.85
$GC,654,-1.09,-146.6,2148,3381,3817,3581,58.3,-9.8,117,664,0.00,3.38,0.00,0.000,1190,0.000,0.325,2153,1963,3698,3815,3581,0,0,0,0,0,0,14.75,14.52,14.77
$GC,844,-1.09,-146.6,2153,1962,3817,3581,76.3,-9.1,154,853,0.00,3.55,0.00,0.000,292,0.000,0.359,2153,3382,3698,3816,3580,0,0,0,0,0,0,14.90,14.54,14.92
$STATE,983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,983,begin apogee
$GC,990,-0.29,0.0,2154,1965,3816,3581,90.4,-9.5,181,1078,0.90,0.00,79.53,0.451,10246,0.269,0.000,2403,1963,3098,3203,2994,0,0,0,0,0,0,14.59,14.61,14.35
$STATE,1083,end apogee,CONTROL_FINISHED_OK
$STATE,1083,begin climb
$GC,1085,1.22,146.6,2404,1964,3205,2995,92.3,0.0,195,1189,1.40,3.67,82.78,0.444,10500,0.106,0.360,2892,3383,2500,2568,2432,0,0,0,0,0,0,14.55,14.28,14.26
$GC,1194,-0.47,146.6,2893,3383,2568,2432,79.9,27.7,209,1210,2.58,3.72,0.00,0.000,5254,0.424,0.372,2358,1968,2499,2568,2430,0,0,0,0,0,0,14.26,14.27,14.44
$GC,1390,0.15,253.7,2357,1962,2575,2421,64.5,5.1,247,1467,0.52,3.75,62.30,0.347,10660,0.111,0.375,2551,3379,2062,2159,1966,0,0,0,0,0,0,14.59,14.33,14.37
$GC,1562,-0.22,253.7,2551,3378,2152,1965,33.7,19.5,278,1572,0.50,3.55,0.00,0.000,5254,0.311,0.353,2433,1967,2058,2152,1964,0,0,0,0,0,0,14.43,14.38,14.63
$GC,1753,0.08,286.5,2433,1966,2152,1956,16.5,8.5,315,1782,0.25,3.65,18.95,0.204,10660,0.120,0.372,2531,3381,1931,2019,1844,0,0,0,0,0,0,14.63,14.42,14.52
$STATE,1836,end climb,SURFACE_DEPTH_REACHED
$STATE,1836,begin surface coast
$FINISH,0.4,1.022299
$STATE,1845,end surface coast,CONTROL_FINISHED_OK
$STATE,1845,begin surface
$SM_CCo,1875,219.68,0.160,0,0,497,637.78
$SM_CCo,2097,-0.15,0.000,0,0,501,637.78
$SM_CCo,2100,0.38,0.357,0,0,497,637.78
$SM_GC,1.09,7.35,3.42,0.38,0.116,0.322,0.357,83,1967,497,-7.51,0.14,637.78,0,0,0,0,0,0,14.62,14.47,14.51
$IRIDIUM_FIX,4726.11,-12219.67,070217,192523
$TT8_MAMPS,0.038948,0.326564
$HUMID,36.45
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.60
$XPDR_PINGS,0
$SC_FREEKB,3909440
$TM_FREEKB,7833312
$PM_FREEKB,62311360
$24V_AH,13.76,0.804
$10V_AH,14.06,0.000
$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,24.075,42.950,243.550,220.050,0.000,0.000,0.000,0.000,0.000,0.000,27.373,0.000,577.628,573.252,993.665,45.207,0.000,949.341,0.000,703.593,0.000,0.531,0.000
$DEVICE_MAMPS,471.240,2455.650,450.585,357.255,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,10.270,29.000,34.990,0.000,10.700,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1825.000,1836.000,1823.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.477,17.862,4.158,0.000
$MEM,193420
$DATA_FILE_SIZE,10122,332
$CAP_FILE_SIZE,54799,0
$CFSIZE,260165632,256561152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162,206.41,1
$GPS,070217,201221,4742.757,-12225.372,21,0.9,27,16.6,0.4,198.3,7,9.5