version: 66.11
glider: 196
mission: 2
dive: 12
start: 5 2 113 2 51 39
data:
$ID,196
$MISSION,2
$DIVE,12
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,71
$T_MISSION,84
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,53140
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1724.6118
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2830
$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,60
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-76.015923
$PRESSURE_SLOPE,0.0001164176
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$DEEPGLIDERMB,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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020513,094349,4742.902,-12225.379,8,0.9,8,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-72.0
$GPS2,020513,095233,4742.843,-12225.151,32,1.0,33,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.179,0.169
$KALMAN_X,-4974.3,-420.0,-1.3,5124.4,-194.6
$KALMAN_Y,-6207.7,-594.3,80.3,7210.7,-26.0
$MHEAD_RNG_PITCHd_Wd,30.4,3247,-14.9,-8.498,-19.07,2610
$D_GRID,186
$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,15,begin dive
$GC,16,-0.75,-146.6,205,2339,1053,1160,0.0,0.0,0,107,0.00,0.00,-84.20,0.000,16390,0.000,0.000,205,2340,3428,3461,3395,0,0,0,0,0,0,28.83,28.83,14.68
$GC,109,-0.75,-146.6,205,2340,3461,3395,3.4,-10.4,16,128,11.90,2.45,0.00,0.000,2564,0.389,0.094,2769,937,3430,3464,3396,0,0,0,0,0,0,14.33,14.45,28.83
$GC,254,-0.75,-146.6,1736,937,3456,3391,34.2,-16.3,50,261,0.00,2.40,0.00,0.000,1030,0.000,0.088,2761,2343,3430,3466,3395,0,0,0,0,0,0,28.83,14.50,28.83
$GC,323,-0.75,-146.6,1744,2340,3456,3392,44.1,-13.5,66,330,0.00,2.45,0.00,0.000,260,0.000,0.099,2749,3755,3430,3466,3395,0,0,0,0,0,0,28.83,14.51,28.83
$GC,364,-0.75,-146.6,1744,3754,3457,3392,50.4,-15.9,75,371,0.00,2.33,0.00,0.000,1030,0.000,0.063,2749,2338,3430,3466,3395,0,0,0,0,0,0,28.83,14.57,28.83
$GC,493,-0.75,-146.6,1728,2336,3457,3392,69.5,-16.1,106,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2339,3431,3468,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,621,-0.75,-146.6,1712,2336,3456,3391,89.8,-13.8,137,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2338,3431,3467,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,749,-0.75,-146.6,1712,2336,3457,3392,105.7,-12.7,168,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2338,3431,3467,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,877,-0.75,-146.6,1712,2338,3457,3392,121.8,-11.7,199,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2339,3431,3467,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-0.75,-146.6,1728,2336,3457,3392,136.5,-11.5,230,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2338,3431,3467,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1133,-0.75,-146.6,1728,2335,3457,3392,151.2,-11.4,261,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2338,3431,3467,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.75,-146.6,1792,2336,3458,3392,167.2,-11.6,292,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2338,3431,3467,3395,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1369,begin apogee
$GC,1373,-0.19,0.0,2749,2282,3467,3395,181.1,-12.9,318,1501,0.73,0.00,121.03,2.273,10246,0.242,0.000,2946,2282,2831,2858,2804,0,0,0,0,0,0,14.63,28.83,13.31
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1504,0.75,146.6,2946,2282,2858,2805,186.7,0.0,341,1624,1.08,0.00,114.03,1.698,10246,0.173,0.000,3255,2281,2233,2252,2214,0,0,0,0,0,0,13.84,28.83,13.32
$GC,1746,0.75,146.6,2256,2279,2205,2203,166.1,10.9,392,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2281,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1874,0.75,146.6,2256,2279,2204,2203,151.4,10.9,423,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2281,2234,2253,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,0.75,146.6,2256,2279,2205,2203,137.7,10.8,454,2009,0.00,2.45,0.00,0.000,260,0.000,0.100,3255,3692,2233,2253,2214,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2043,0.75,146.6,2272,3691,2207,2204,132.9,12.2,463,2050,0.00,2.33,0.00,0.000,1030,0.000,0.065,3264,2288,2233,2253,2214,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2173,0.75,146.6,2304,2285,2207,2204,119.0,10.4,494,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2288,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2301,0.75,146.6,2272,2285,2205,2203,106.1,10.9,525,2308,0.00,2.40,0.00,0.000,516,0.000,0.098,3273,883,2233,2253,2214,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2370,0.75,146.6,2304,883,2206,2203,98.0,13.1,541,2377,0.00,2.38,0.00,0.000,1030,0.000,0.087,3272,2284,2233,2253,2214,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2499,0.75,146.6,2272,2281,2205,2203,82.2,11.3,572,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2284,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,0.75,146.6,2272,2282,2206,2202,68.4,9.4,603,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2284,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2755,0.75,146.6,2272,2282,2206,2203,56.8,9.8,634,2762,0.00,2.42,0.00,0.000,260,0.000,0.100,3273,3700,2234,2254,2214,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2820,0.75,146.6,2304,3699,2206,2203,49.0,13.2,649,2827,0.00,2.33,0.00,0.000,1030,0.000,0.065,3283,2286,2233,2253,2214,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2950,0.75,146.6,2304,2282,2206,2203,32.3,13.2,680,2956,0.00,2.42,0.00,0.000,260,0.000,0.098,3283,3706,2233,2253,2214,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3002,0.75,146.6,2304,3710,2207,2203,25.2,13.2,692,3010,0.12,2.35,0.00,0.000,5126,0.270,0.066,3267,2276,2233,2253,2214,0,0,0,0,0,0,14.59,14.66,28.83
$GC,3072,0.75,146.6,3267,2276,2253,2214,17.2,10.3,708,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2276,2233,2253,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3141,0.79,178.0,2272,2274,2206,2203,11.4,7.3,724,3160,0.00,2.47,13.52,1.242,8708,0.000,0.099,3276,882,2101,2115,2087,0,0,0,0,0,0,28.83,14.54,14.12
$GC,3202,0.79,178.0,2304,882,2072,2076,6.4,8.6,737,3209,0.00,2.40,0.00,0.000,1030,0.000,0.086,3276,2291,2101,2116,2086,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,3250,end climb,SURFACE_DEPTH_REACHED
$STATE,3250,begin surface coast
$FINISH,-0.1,1.021889
$STATE,3272,end surface coast,CONTROL_FINISHED_OK
$STATE,3272,begin surface
$SM_CCo,3288,106.22,1.142,0,0,1116,420.20
$SM_GC,0.29,9.18,0.10,106.22,0.083,0.179,1.142,199,2360,1116,-8.76,-0.51,420.20,0,0,0,0,0,0,14.59,14.58,13.78
$IRIDIUM_FIX,4726.11,-12227.78,020513,080856
$TT8_MAMPS,0.023968,0.023968
$HUMID,31.05
$INTERNAL_PRESSURE,8.86555
$TCM_TEMP,17.30
$XPDR_PINGS,5
$SC_FREEKB,3933600
$24V_AH,13.3,3.625
$10V_AH,13.4,0.000
$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,23.000,33.750,248.575,106.225,0.000,0.000,0.000,360.625,1.250,0.000,35.887,1613.047,174.038,472.933,1601.416,56.863,33.213,1438.604,0.000,1138.730,0.000,0.545,0.000
$DEVICE_MAMPS,388.620,194.310,2272.815,1142.145,0.000,0.000,0.000,172.890,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3303.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.241,0.000,0.000,0.000
$MEM,322912
$DATA_FILE_SIZE,23409,753
$CAP_FILE_SIZE,112466,0
$CFSIZE,2097872896,2093613056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,105047,4743.300,-12224.603,3,0.9,3,16.3