version: 66.11
glider: 197
mission: 2
dive: 1
start: 5 1 113 23 0 29
data:
$ID,197
$MISSION,2
$DIVE,1
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,15
$T_MISSION,20
$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,53126
$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,400
$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,-2241.8049
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2595
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$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,20
$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,-65.571541
$PRESSURE_SLOPE,0.000117962
$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,120
$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,0.69999999
$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,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010513,225600,4742.606,-12224.930,8,1.2,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.7
$GPS2,010513,225925,4742.592,-12224.923,15,1.2,15,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,0.260
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,345.4,2427,-17.5,-10.000,-21.04,2225
$D_GRID,183
$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,-0.94,-146.6,172,2384,641,435,0.0,0.0,0,123,0.00,0.00,-103.93,0.000,16386,0.000,0.000,172,2384,3336,3393,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.94,-146.6,172,2384,3393,3279,3.7,-7.6,19,145,9.60,2.42,-2.50,0.000,18948,0.405,0.122,2286,943,3453,3529,3377,0,0,0,0,0,0,14.83,14.96,15.19
$GC,299,-0.94,-146.6,1344,941,3521,3371,33.8,-15.5,60,306,0.00,2.33,0.00,0.000,1030,0.000,0.093,2279,2336,3451,3529,3374,0,0,0,0,0,0,28.83,14.97,28.83
$GC,368,-0.94,-146.6,1360,2334,3519,3371,44.6,-16.5,76,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2336,3451,3529,3374,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,378,begin apogee
$GC,382,-0.22,0.0,2278,2280,3530,3373,46.3,-16.3,78,455,0.82,0.00,65.32,1.444,10246,0.243,0.000,2513,2279,2855,2962,2749,0,0,0,0,0,0,14.88,28.83,14.07
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,457,0.94,146.6,2513,2280,2962,2749,51.0,0.0,91,533,1.20,0.00,66.55,1.382,10246,0.161,0.000,2891,2280,2254,2349,2160,0,0,0,0,0,0,14.58,28.83,13.93
$GC,655,0.94,146.6,1824,2277,2305,2152,33.8,10.0,134,662,0.00,2.45,0.00,0.000,260,0.000,0.104,2891,3702,2254,2349,2160,0,0,0,0,0,0,28.83,14.73,28.83
$GC,888,0.94,146.6,1824,3701,2304,2153,4.2,10.4,191,895,0.00,2.30,0.00,0.000,1030,0.000,0.074,2901,2297,2254,2348,2160,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,912,end climb,SURFACE_DEPTH_REACHED
$STATE,912,begin surface coast
$FINISH,0.6,1.020797
$STATE,930,end surface coast,CONTROL_FINISHED_OK
$STATE,930,begin surface
$SM_CCo,944,100.90,0.156,0,0,1221,400.08
$SM_GC,1.66,7.75,0.10,100.90,0.076,0.197,0.156,171,2352,1221,-7.51,-0.74,400.08,0,0,0,0,0,0,14.92,14.89,14.83
$IRIDIUM_FIX,4722.92,-12226.07,010513,222245
$TT8_MAMPS,0.025466,0.025466
$HUMID,35.58
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,18.30
$XPDR_PINGS,4
$SC_FREEKB,3937824
$24V_AH,13.9,1.183
$10V_AH,13.9,0.000
$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,19.375,9.675,131.875,100.900,0.000,0.000,0.000,0.000,1.000,0.000,17.821,424.279,39.086,317.858,331.896,18.575,29.127,517.716,0.000,309.326,0.000,1.005,0.000
$DEVICE_MAMPS,405.450,214.200,1444.320,156.060,0.000,0.000,0.000,0.000,420.000,0.000,20.970,11.720,2.190,11.720,30.450,43.930,46.920,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,55.580,0.000,0.000,0.000
$MEM,323116
$DATA_FILE_SIZE,6802,200
$CAP_FILE_SIZE,64284,0
$CFSIZE,1024409600,1022214144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010513,231843,4742.679,-12224.945,11,1.7,11,18.2