version: 66.13
glider: 197
mission: 3
dive: 66
start: 10 10 119 21 2 30
data:
$ID,197
$MISSION,3
$DIVE,66
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1010
$D_NO_BLEED,200
$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,60
$T_MISSION,82
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53840
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00316228
$HD_B,0.011885
$HD_C,5.7000002e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3855
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,100
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,347
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.6981
$PRESSURE_SLOPE,0.00010952644
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.40000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043204976
$SEABIRD_T_H,0.00062365097
$SEABIRD_T_I,2.30554e-05
$SEABIRD_T_J,2.4080823e-06
$SEABIRD_C_G,-10.102139
$SEABIRD_C_H,1.1491261
$SEABIRD_C_I,-0.0020350928
$SEABIRD_C_J,0.00023971152
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,101019,205702,7414.1665,-14615.4199,2,1.2,5,17.7,0.5,132.0,7,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-67.0
$GPS2,101019,210153,7414.1597,-14615.5195,3,1.2,4,17.7,0.7,347.2,7,6.4
$SPEED_LIMITS,0.173,0.199
$TGT_NAME,a
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,167.7,153039,-23.3,-10.000,-26.71,1494
$D_GRID,180
$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,7,-0.93,-97.3,192,1758,1072,881,0.0,0.0,0,105,0.00,0.00,-95.95,0.002,16386,0.000,0.000,189,1758,2714,2789,2640,0,0,0,0,0,0,14.33,28.83,14.37
$GC,107,-0.93,-97.3,189,1759,2790,2642,5.1,-9.5,9,144,9.95,2.58,-16.30,0.008,18692,0.450,0.135,2092,3151,3499,3594,3404,0,0,0,0,0,0,13.96,13.30,14.15
$GC,367,-0.93,-97.3,2092,3151,3595,3405,82.2,-20.2,60,378,0.00,2.40,0.00,0.000,1030,0.000,0.065,2092,1760,3499,3594,3405,0,0,0,0,0,0,14.34,14.28,14.36
$GC,553,-0.93,-97.3,2093,1760,3595,3405,116.0,-17.4,79,559,0.00,2.53,0.00,0.000,260,0.000,0.109,2083,3153,3499,3594,3405,0,0,0,0,0,0,14.54,14.31,14.57
$GC,753,-0.93,-97.3,2083,3154,3595,3405,148.9,-16.2,119,759,0.00,2.40,0.00,0.000,1030,0.000,0.065,2083,1748,3499,3594,3405,0,0,0,0,0,0,14.45,14.40,14.48
$GC,943,-0.93,-97.3,2083,1748,3595,3405,178.4,-14.9,139,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,1747,3500,3595,3405,0,0,0,0,0,0,14.65,14.69,14.68
$STATE,962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,962,begin apogee
$GC,965,-0.18,0.0,2081,2156,3595,3405,181.3,-14.7,141,1060,1.00,0.00,82.68,1.445,10246,0.268,0.000,2344,2156,3098,3230,2967,0,0,0,0,0,0,14.34,13.98,13.36
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1062,0.93,97.3,2344,2156,3231,2968,186.2,0.0,150,1166,1.17,0.00,85.47,1.379,10502,0.162,0.000,2698,2156,2700,2857,2543,0,0,0,0,0,0,13.94,13.65,13.19
$GC,1341,1.02,182.1,2698,2156,2855,2539,178.3,4.2,173,1416,0.12,0.00,72.82,1.364,10278,0.139,0.000,2749,2156,2356,2516,2197,0,0,0,0,0,0,14.12,13.64,13.19
$GC,1591,1.05,182.1,2749,2156,2511,2189,159.4,8.2,198,1593,0.00,0.00,0.00,0.000,70,0.000,0.000,2750,2155,2350,2511,2189,0,0,0,0,0,0,14.25,14.28,14.28
$GC,1771,1.09,217.3,2750,2156,2510,2187,145.4,7.6,216,1806,0.00,0.00,30.23,1.333,8230,0.000,0.000,2749,2156,2213,2379,2047,0,0,0,0,0,0,14.38,13.91,13.45
$GC,1981,1.11,217.3,2749,2156,2376,2041,127.9,8.6,237,1982,0.00,0.00,0.00,0.000,70,0.000,0.000,2749,2155,2208,2375,2041,0,0,0,0,0,0,14.36,14.40,14.39
$GC,2161,1.15,249.9,2750,2156,2375,2039,113.1,7.8,255,2200,0.00,2.58,28.90,1.317,8484,0.000,0.115,2750,3551,2079,2253,1906,0,0,0,0,0,0,14.45,14.06,13.53
$GC,2234,1.16,249.9,2750,3551,2250,1906,106.9,9.3,268,2244,0.00,2.42,0.00,0.000,1094,0.000,0.060,2758,2137,2077,2249,1906,0,0,0,0,0,0,14.18,14.14,14.20
$GC,2419,1.20,286.6,2758,2137,2249,1903,92.1,7.5,287,2458,0.12,2.45,34.15,1.295,10788,0.137,0.090,2820,754,1929,2100,1759,0,0,0,0,0,0,14.26,13.96,13.51
$GC,2497,1.20,286.6,2820,754,2096,1757,84.8,10.4,301,2504,0.00,2.47,0.00,0.000,1030,0.000,0.078,2820,2142,1926,2096,1757,0,0,0,0,0,0,14.13,14.07,14.16
$GC,2688,1.23,286.6,2820,2142,2094,1754,67.9,8.2,321,2689,0.00,0.00,0.00,0.000,70,0.000,0.000,2820,2142,1923,2093,1754,0,0,0,0,0,0,14.40,14.43,14.43
$GC,2868,1.30,357.7,2820,2142,2093,1754,57.6,5.1,339,2943,0.00,0.00,70.75,1.255,8486,0.000,0.000,2820,2142,1639,1787,1491,0,0,0,0,0,0,14.47,13.84,13.42
$GC,3118,1.37,420.7,2820,2142,1775,1491,41.8,5.7,365,3193,0.00,0.00,66.03,1.218,8230,0.000,0.000,2820,2142,1382,1505,1259,0,0,0,0,0,0,14.33,13.76,13.35
$GC,3368,1.44,489.2,2820,2142,1501,1257,26.0,5.3,390,3454,0.15,2.55,77.93,1.187,10788,0.123,0.091,2895,761,1104,1222,986,0,0,0,0,0,0,14.14,13.73,13.32
$GC,3523,1.44,489.2,2895,761,1218,986,13.9,9.5,418,3530,0.00,2.50,0.00,0.000,1030,0.000,0.077,2895,2148,1102,1219,985,0,0,0,0,0,0,13.99,13.93,14.02
$STATE,3652,end climb,SURFACE_DEPTH_REACHED
$STATE,3652,begin surface coast
$FINISH,0.2,1.021505
$STATE,3673,end surface coast,CONTROL_FINISHED_OK
$STATE,3673,begin surface
$SM_CCo,3687,56.70,0.371,1,0,1061,500.17
$SM_GC,0.58,8.20,0.68,56.70,0.095,0.080,0.371,199,1758,1061,-6.85,1.24,500.17,0,0,0,0,1,0,14.14,14.13,13.54
$RAFOS_CLK,164
$RAFOS_FIX,7413.855957,-14615.370117,101019,222240,0,1,0.15
$IRIDIUM_FIX,7416.31,-14623.00,101019,195101
$TT8_MAMPS,0.041944,0.699566
$HUMID,52.71
$INTERNAL_PRESSURE,8.1542
$TCM_TEMP,11.40
$XPDR_PINGS,0
$SC_FREEKB,3837664
$24V_AH,13.19,36.907
$10V_AH,12.90,0.000
$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,20.725,26.275,548.950,56.700,0.000,0.000,0.000,192.700,0.000,0.000,16.685,0.000,2140.370,293.289,1569.317,49.610,0.000,1309.558,0.000,1027.573,0.000,0.532,0.000
$DEVICE_MAMPS,449.820,135.405,1445.085,371.025,0.000,0.000,0.000,172.125,420.000,0.000,20.970,0.000,2.310,11.820,29.040,41.030,0.000,12.900,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3585.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.217,0.000,0.000,0.000
$MEM,334620
$DATA_FILE_SIZE,13437,434
$CAP_FILE_SIZE,62121,0
$CFSIZE,1024409600,1012695040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.068,304.05,1
$GPS,101019,220555,7413.935,-14616.400,29,0.9,30,17.7,0.4,121.6,10,3.9