version: 66.13
glider: 189
mission: 31
dive: 4
start: 2 7 117 20 29 30
data:
$ID,189
$MISSION,31
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,170
$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,50
$T_MISSION,65
$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,2350
$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,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,4
$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
$GPS1,070217,202558,4742.6304,-12225.4971,17,0.9,18,16.6,0.0,0.0,8,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.6
$GPS2,070217,202911,4742.6064,-12225.5254,20,0.9,21,16.6,0.0,0.0,8,6.5
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,8.0,1780,-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,-146.6,89,2502,548,455,0.0,0.0,0,169,0.00,0.00,-146.60,0.000,16386,0.000,0.000,88,2502,3412,3517,3307,0,0,0,0,0,0,14.85,28.83,14.88
$GC,171,-1.22,-146.6,89,2503,3517,3310,2.2,-1.8,25,200,9.88,3.70,-8.00,0.000,18980,0.483,2.445,1953,1087,3700,3820,3580,0,0,1,0,0,0,14.42,13.71,14.71
$GC,211,0.14,-146.6,1956,1086,3819,3580,10.2,-18.9,31,222,2.00,3.62,0.00,0.000,3206,0.402,0.363,2392,2500,3699,3819,3579,0,0,0,0,0,0,14.38,14.40,14.62
$GC,403,-1.21,-146.6,2391,2500,3824,3577,21.0,-6.7,68,413,1.45,3.45,0.00,0.000,4772,0.230,0.338,1966,1083,3699,3823,3576,0,0,0,0,0,0,14.52,14.46,14.64
$GC,613,-0.44,-146.6,1966,1083,3824,3576,64.7,-22.4,109,623,1.02,3.55,0.00,0.000,3206,0.369,0.358,2207,2499,3699,3823,3576,0,0,0,0,0,0,14.50,14.49,14.71
$GC,804,-0.75,-146.6,2207,2499,3824,3576,80.9,-6.6,146,814,0.28,3.25,0.00,0.000,4516,0.120,0.353,2100,3809,3696,3821,3572,0,0,0,0,0,0,14.66,14.50,14.72
$GC,844,-0.59,-146.6,2100,3809,3824,3576,85.2,-12.3,153,854,0.22,3.10,0.00,0.000,3206,0.281,0.318,2158,2499,3699,3824,3574,0,0,0,0,0,0,14.56,14.50,14.73
$GC,1034,-0.59,-146.6,2158,2498,3824,3576,103.4,-9.2,190,1044,0.00,3.38,0.00,0.000,548,0.000,0.331,2159,1085,3699,3823,3575,0,0,0,0,0,0,14.87,14.51,14.90
$GC,1129,-0.75,-146.6,2159,1084,3825,3576,111.1,-7.5,208,1139,0.15,3.50,0.00,0.000,5286,0.146,0.350,2101,2500,3699,3824,3575,0,0,0,0,0,0,14.69,14.52,14.76
$GC,1320,-0.49,-146.6,2101,2500,3824,3575,135.1,-13.9,245,1330,0.30,3.35,0.00,0.000,2436,0.284,0.376,2184,3808,3704,3833,3575,0,0,0,0,0,0,14.56,14.50,14.69
$GC,1412,-0.92,-146.6,2184,3808,3823,3575,142.0,-6.9,262,1421,0.40,3.08,0.00,0.000,5286,0.114,0.314,2042,2498,3697,3824,3570,0,0,0,0,0,0,14.69,14.52,14.77
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1474,-0.29,0.0,2043,2499,3824,3575,150.6,-18.1,273,1611,0.82,0.00,122.55,2.084,10246,0.324,0.000,2261,2498,3100,3209,2991,0,0,0,0,1,0,14.53,14.00,13.28
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1619,1.22,146.6,2254,2499,3210,2991,157.0,0.0,295,1771,1.67,3.60,124.80,2.038,10500,0.208,0.364,2738,3809,2500,2576,2425,0,0,1,0,1,0,14.08,13.79,13.29
$GC,1801,-0.18,146.6,2739,3809,2571,2425,127.5,32.1,322,1811,2.10,3.33,0.00,0.000,5254,0.392,0.331,2298,2502,2496,2569,2424,0,0,0,0,0,0,14.03,14.03,14.23
$GC,1992,0.64,207.5,2298,2501,2578,2413,115.2,7.2,359,2057,0.77,3.67,45.72,1.488,10916,0.156,0.349,2558,1091,2251,2338,2164,0,0,0,0,1,0,14.43,14.07,13.62
$GC,2123,0.27,207.5,2559,1091,2331,2164,94.5,19.2,382,2132,0.47,3.65,0.00,0.000,5254,0.301,0.359,2438,2499,2247,2330,2164,0,0,0,0,0,0,14.26,14.22,14.43
$GC,2313,0.36,207.5,2439,2499,2333,2160,72.8,10.3,419,2322,0.00,3.55,0.00,0.000,644,0.000,0.350,2439,1084,2246,2333,2159,0,0,0,0,0,0,14.72,14.38,14.74
$GC,2368,0.68,241.8,2438,1083,2333,2159,67.9,8.4,429,2402,0.40,3.60,20.55,0.366,11430,0.109,0.358,2581,2501,2114,2207,2021,0,0,0,0,0,0,14.56,14.40,14.36
$GC,2582,0.14,241.8,2581,2501,2204,2017,23.8,23.4,470,2592,0.70,3.58,0.00,0.000,4740,0.317,0.355,2404,1083,2109,2203,2016,0,0,0,0,0,0,14.47,14.45,14.61
$GC,2603,-0.07,241.8,2404,1083,2204,2015,20.2,19.0,473,2613,0.25,3.60,0.00,0.000,5254,0.205,0.359,2329,2498,2108,2202,2015,0,0,0,0,0,0,14.53,14.44,14.66
$GC,2793,0.84,280.3,2329,2499,2204,2009,8.3,8.2,510,2828,0.88,3.60,23.92,0.175,10916,0.162,0.366,2621,1085,1952,2042,1862,0,0,0,0,0,0,14.59,14.45,14.57
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.3,1.011769
$STATE,2846,end surface coast,CONTROL_FINISHED_OK
$STATE,2846,begin surface
$SM_CCo,2879,225.32,0.156,0,0,499,637.78
$SM_CCo,3107,-0.17,0.000,0,0,501,637.78
$SM_CCo,3110,0.28,0.431,0,0,499,637.78
$SM_GC,1.11,7.65,3.62,0.28,0.119,0.358,0.431,87,2500,499,-7.03,-0.25,637.78,0,0,0,0,0,0,14.61,14.47,14.50
$IRIDIUM_FIX,4722.92,-12225.08,070217,202149
$TT8_MAMPS,0.038948,0.328062
$HUMID,35.78
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,15.50
$XPDR_PINGS,0
$SC_FREEKB,3909056
$TM_FREEKB,7823968
$PM_FREEKB,62291392
$24V_AH,13.28,1.064
$10V_AH,13.45,0.000
$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,31.425,69.775,337.550,225.600,0.000,0.000,0.000,0.000,0.000,0.000,21.981,0.000,940.921,687.506,1496.460,69.616,0.000,1246.578,0.000,1100.991,0.000,0.531,0.000
$DEVICE_MAMPS,482.715,2444.940,2083.860,430.695,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,10.270,29.000,34.990,0.000,10.700,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2826.000,2838.000,2827.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.470,18.033,4.008,0.000
$MEM,193416
$DATA_FILE_SIZE,16754,519
$CAP_FILE_SIZE,82215,0
$CFSIZE,260165632,256434176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,3,1,0
$INTR,0,1472.20,0x213b0c,2,24
$CURRENT,0.204,222.75,1
$GPS,070217,212216,4742.663,-12225.496,15,1.0,16,16.6,0.0,190.7,7,9.4