version: 66.11
glider: 199
mission: 2
dive: 10
start: 5 2 113 7 25 7
data:
$ID,199
$MISSION,2
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,78
$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,0
$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,53051
$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,350
$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,-20728.08
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2512
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$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,-64.539497
$PRESSURE_SLOPE,0.0001159754
$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,15
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020513,071304,4743.108,-12225.246,37,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.7
$GPS2,020513,072409,4743.037,-12225.251,6,0.9,6,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,0.206
$KALMAN_X,-1923.0,-125.8,-271.1,1440.1,-268.3
$KALMAN_Y,-5241.1,-652.5,-441.2,7055.7,-607.1
$MHEAD_RNG_PITCHd_Wd,16.8,3066,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,17,-0.78,-146.6,190,2340,1593,1482,0.0,0.0,0,97,0.00,0.00,-77.10,0.000,16386,0.000,0.000,190,2341,3517,3542,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.78,-146.6,190,2341,3542,3493,3.5,-7.5,14,118,9.88,2.38,-1.10,0.000,18948,0.418,0.117,2254,938,3570,3614,3526,0,0,0,0,0,0,14.40,14.52,14.70
$GC,177,-0.78,-146.6,1376,937,3610,3525,19.3,-15.6,31,183,0.00,2.40,0.00,0.000,1030,0.000,0.092,2246,2349,3573,3614,3532,0,0,0,0,0,0,28.83,14.53,28.83
$GC,246,-0.78,-146.6,1344,2346,3610,3524,30.8,-16.9,47,252,0.00,2.45,0.00,0.000,260,0.000,0.119,2238,3758,3570,3614,3527,0,0,0,0,0,0,28.83,14.56,28.83
$GC,326,-0.78,-146.6,1344,3758,3609,3525,45.0,-17.4,66,333,0.00,2.35,0.00,0.000,1030,0.000,0.083,2238,2354,3571,3615,3527,0,0,0,0,0,0,28.83,14.59,28.83
$GC,455,-0.78,-146.6,1328,2350,3609,3524,64.9,-15.7,97,462,0.00,2.40,0.00,0.000,516,0.000,0.094,2238,938,3571,3615,3527,0,0,0,0,0,0,28.83,14.63,28.83
$GC,617,-0.78,-146.6,1328,937,3609,3525,89.2,-14.8,136,624,0.12,2.40,0.00,0.000,3078,0.303,0.092,2253,2356,3571,3615,3527,0,0,0,0,0,0,14.57,14.66,28.83
$GC,746,-0.78,-146.6,1344,2353,3610,3524,107.0,-12.7,167,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2356,3570,3615,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,877,-0.78,-146.6,1328,2353,3610,3524,123.6,-12.9,198,884,0.00,2.40,0.00,0.000,260,0.000,0.116,2244,3758,3570,3615,3526,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1054,-0.78,-146.6,1328,3757,3608,3524,149.0,-14.8,241,1061,0.00,2.33,0.00,0.000,1030,0.000,0.082,2244,2347,3570,3615,3526,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1183,-0.78,-146.6,1344,2345,3610,3524,166.3,-14.1,272,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2347,3571,3615,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.78,-146.6,1344,2345,3610,3524,183.5,-13.4,303,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2347,3571,3615,3527,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1346,begin apogee
$GC,1349,-0.20,0.0,2240,2347,3615,3526,188.1,-12.7,311,1526,0.70,0.00,163.43,1.639,10246,0.239,0.000,2440,2346,2971,3047,2895,0,0,0,0,1,0,14.67,28.83,13.41
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1530,0.78,146.6,2440,2347,3047,2895,194.8,0.0,343,1699,1.08,0.00,163.30,1.609,10758,0.166,0.000,2756,2347,2373,2455,2291,0,0,0,0,0,0,13.97,28.83,13.34
$GC,1821,0.78,146.6,1728,2345,2412,2285,173.0,9.9,403,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2347,2374,2455,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1950,0.78,146.6,1712,2344,2412,2285,160.2,9.4,434,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2346,2374,2455,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,0.78,146.6,1712,2344,2412,2285,148.1,9.9,465,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2346,2374,2455,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2206,0.78,146.6,1712,2344,2412,2284,137.3,9.6,496,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2347,2374,2455,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2334,0.78,146.6,1712,2344,2408,2285,125.2,9.1,527,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2346,2374,2455,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,0.82,177.1,1712,2344,2412,2285,114.3,7.3,558,2486,0.00,0.00,18.30,1.443,8198,0.000,0.000,2756,2347,2247,2332,2163,0,0,0,0,0,0,28.83,28.83,14.02
$GC,2609,0.85,204.8,1712,2344,2288,2154,103.7,7.5,592,2627,0.00,0.00,16.12,1.355,8198,0.000,0.000,2756,2347,2131,2224,2039,0,0,0,0,0,0,28.83,28.83,14.00
$GC,2750,0.90,242.6,1712,2345,2182,2037,92.8,7.1,625,2779,0.12,0.00,21.77,1.313,10246,0.147,0.000,2812,2347,1979,2081,1878,0,0,0,0,0,0,14.57,28.83,13.97
$GC,2901,0.90,242.6,1760,2345,2040,1872,76.0,12.0,660,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2347,1980,2081,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,0.90,242.6,1760,2344,2040,1872,60.0,13.8,691,3036,0.00,2.38,0.00,0.000,516,0.000,0.093,2823,935,1980,2081,1879,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3183,0.90,242.6,1768,934,2039,1872,38.2,14.0,728,3189,0.00,2.38,0.00,0.000,1030,0.000,0.087,2823,2343,1979,2081,1878,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3252,0.90,242.6,1792,2340,2042,1872,27.8,15.5,744,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2343,1980,2081,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,0.90,242.6,1792,2340,2040,1872,17.7,14.8,760,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2342,1979,2080,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3388,0.90,242.6,1792,2340,2040,1872,7.9,15.1,776,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2342,1979,2081,1878,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3422,end climb,SURFACE_DEPTH_REACHED
$STATE,3422,begin surface coast
$FINISH,0.6,1.021705
$STATE,3433,end surface coast,CONTROL_FINISHED_OK
$STATE,3433,begin surface
$SM_CCo,3447,49.12,0.164,0,0,1542,350.04
$SM_GC,1.28,7.57,0.00,49.12,0.072,0.000,0.164,196,2343,1542,-7.18,-0.23,350.04,0,0,0,0,0,0,14.66,28.83,14.58
$IRIDIUM_FIX,4722.92,-12226.07,020513,060601
$TT8_MAMPS,0.025466,0.025466
$HUMID,31.13
$INTERNAL_PRESSURE,9.06122
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,82.6
$SC_FREEKB,4015424
$24V_AH,13.3,4.356
$10V_AH,13.0,0.000
$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,19.475,23.850,382.925,49.125,0.000,0.000,0.000,390.778,0.500,0.000,6.711,1633.244,229.888,498.116,1730.877,64.785,33.218,1608.101,0.000,1184.798,0.000,5.657,0.000
$DEVICE_MAMPS,417.690,118.575,1638.630,163.710,0.000,0.000,0.000,223.000,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.127,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,26726,786
$CAP_FILE_SIZE,115689,0
$CFSIZE,2097872896,2093842432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,020513,082402,4743.398,-12224.816,3,0.9,3,16.3