version: 66.13
glider: 196
mission: 19
dive: 2
start: 7 19 119 16 55 32
data:
$ID,196
$MISSION,19
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,2
$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,50
$T_MISSION,65
$T_ABORT,720
$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,53521
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.10039e-05
$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,640.04498
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2755
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,2029
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.10918
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,190719,165105,4743.9810,-12224.0322,6,1.3,28,16.3,0.3,16.5,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.5
$GPS2,190719,165455,4744.0142,-12224.0176,7,1.1,17,16.3,0.0,0.0,7,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,171.3,1878,-17.5,-10.000,-21.06,2223
$D_GRID,172
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.97,-146.6,250,2108,563,613,0.0,0.0,0,182,0.00,0.00,-172.62,0.003,16386,0.000,0.000,250,2107,3798,3832,3764,0,0,0,0,0,0,14.97,28.83,15.00
$GC,184,-0.97,-146.6,250,2108,3833,3765,5.0,-8.2,17,201,10.55,2.35,0.00,0.000,2852,0.405,0.073,2437,707,3799,3834,3765,0,0,0,0,0,0,14.58,14.71,14.81
$GC,433,-0.76,-146.6,2438,708,3834,3765,56.7,-17.7,65,439,0.25,2.28,0.00,0.000,3206,0.259,0.079,2504,2035,3799,3834,3765,0,0,0,0,0,0,14.62,14.73,14.75
$GC,623,-0.76,-146.6,2505,2036,3835,3766,82.4,-13.4,85,629,0.00,2.42,0.00,0.000,260,0.000,0.092,2504,3442,3799,3834,3765,0,0,0,0,0,0,14.92,14.73,14.96
$GC,853,-0.76,-146.6,2504,3443,3835,3766,114.8,-14.4,131,859,0.00,2.20,0.00,0.000,1030,0.000,0.054,2500,2112,3799,3834,3765,0,0,0,0,0,0,14.80,14.75,14.83
$GC,1043,-0.76,-146.6,2504,2112,3835,3766,139.6,-12.4,151,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2111,3799,3834,3765,0,0,0,0,0,0,14.96,14.97,14.97
$STATE,1132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1132,begin apogee
$GC,1134,-0.19,0.0,2507,2112,3835,3766,151.0,-12.7,160,1259,0.68,0.00,122.22,1.294,10246,0.222,0.000,2689,2110,3201,3285,3118,0,0,0,0,0,0,14.66,14.29,13.74
$STATE,1261,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1262,0.97,146.6,2690,2111,3283,3119,156.2,0.0,172,1387,1.23,0.00,122.12,1.266,10502,0.145,0.000,3056,2110,2603,2698,2508,0,0,0,0,0,0,14.25,14.21,13.69
$GC,1563,0.76,146.6,3060,2110,2690,2496,132.6,11.5,206,1570,0.25,2.45,0.00,0.000,4740,0.239,0.090,3000,708,2593,2689,2498,0,0,0,0,0,0,14.50,14.58,14.65
$GC,1604,0.78,178.1,2999,709,2684,2498,128.8,8.6,214,1638,0.00,2.28,26.77,1.187,9382,0.000,0.078,2999,2026,2472,2572,2372,0,0,0,0,0,0,14.65,14.59,13.94
$GC,1814,0.77,197.2,2999,2027,2568,2364,109.4,9.1,238,1836,0.00,0.00,16.70,1.151,8358,0.000,0.000,2999,2026,2394,2500,2288,0,0,0,0,0,0,14.81,14.42,14.02
$GC,2014,0.73,197.2,2999,2027,2494,2284,89.9,10.5,258,2020,0.00,2.45,0.00,0.000,388,0.000,0.092,2999,3436,2388,2493,2283,0,0,0,0,0,0,14.85,14.62,14.86
$GC,2124,0.65,197.2,3000,3437,2496,2283,76.9,11.4,280,2130,0.10,2.22,0.00,0.000,5254,0.224,0.061,2970,2113,2388,2493,2283,0,0,0,0,0,0,14.61,14.68,14.71
$GC,2315,0.78,240.2,2970,2114,2491,2282,60.8,8.0,300,2357,0.12,0.00,36.30,1.167,10406,0.130,0.000,3020,2113,2218,2323,2113,0,0,0,0,0,0,14.72,14.41,14.02
$GC,2535,0.78,243.2,3021,2114,2319,2109,37.7,9.9,322,2541,0.00,2.30,0.00,0.000,292,0.000,0.092,3020,3436,2213,2318,2108,0,0,0,0,0,0,14.82,14.64,14.85
$GC,2565,0.69,243.2,3021,3436,2318,2108,34.4,11.1,328,2571,0.12,2.22,0.00,0.000,5254,0.223,0.061,2986,2113,2213,2318,2108,0,0,0,0,0,0,14.57,14.66,14.65
$GC,2755,0.77,253.9,2986,2114,2316,2107,16.8,9.5,348,2773,0.00,2.30,11.73,1.030,8612,0.000,0.093,2986,3446,2163,2268,2059,0,0,0,0,0,0,14.86,14.55,14.13
$STATE,2891,end climb,SURFACE_DEPTH_REACHED
$STATE,2891,begin surface coast
$FINISH,0.5,1.022335
$STATE,2911,end surface coast,CONTROL_FINISHED_OK
$STATE,2911,begin surface
$SM_CCo,2925,350.20,0.978,1,0,590,640.23
$SM_GC,0.97,8.02,2.25,350.20,0.075,0.058,0.978,258,2111,590,-7.72,3.28,640.23,0,0,0,0,1,0,14.69,14.69,13.76
$RAFOS_CLK,57
$MODEM,7,1563554365,46.50000,-122.50000,263.664,393568.2
$RAFOS_FIX,4743.686035,-12224.273438,190719,171700,0,1,0.23
$IRIDIUM_FIX,4745.56,-12242.77,190719,164843
$TT8_MAMPS,0.077147,0.950481
$HUMID,52.20
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,19.20
$XPDR_PINGS,57
$SC_FREEKB,3877600
$24V_AH,13.69,3.273
$10V_AH,13.18,0.000
$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,21.325,27.725,335.850,350.200,0.000,0.000,0.000,0.000,14.250,0.000,28.365,0.000,1671.296,854.329,826.296,19.560,0.000,1182.817,0.000,578.391,3054.000,0.541,0.000
$DEVICE_MAMPS,405.450,92.565,1293.615,977.670,0.000,0.000,0.000,0.000,420.000,0.000,21.720,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2908.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,40.432,0.000,0.000,0.000
$MEM,302412
$DATA_FILE_SIZE,13465,379
$CAP_FILE_SIZE,60459,0
$CFSIZE,1047117824,1045594112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1492.5
$CURRENT,0.183,359.49,1
$GPS,190719,175055,4744.014,-12224.188,3,1.2,13,16.3,0.0,14.8,7,9.5