version: 66.11
glider: 199
mission: 2
dive: 14
start: 5 2 113 11 33 23
data:
$ID,199
$MISSION,2
$DIVE,14
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,181
$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,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,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,360
$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,-20733.295
$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,33
$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,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,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,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
$GPS1,020513,112539,4744.299,-12223.360,3,0.8,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.7
$GPS2,020513,113225,4744.329,-12223.381,4,0.8,6,16.3
$SPEED_LIMITS,0.147,0.246
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.030,0.144
$KALMAN_X,-2799.3,-36.9,242.0,4044.7,-158.9
$KALMAN_Y,-7307.9,327.0,496.4,9602.1,-285.7
$MHEAD_RNG_PITCHd_Wd,355.4,281,-27.0,-8.498,-30.00,888
$D_GRID,153
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.14,-49.5,195,2328,1551,1441,0.0,0.0,0,90,0.00,0.00,-68.18,0.000,16390,0.000,0.000,195,2328,3172,3200,3145,0,0,0,0,0,0,28.83,28.83,14.73
$GC,92,-1.22,-115.7,195,2328,3200,3145,1.9,-0.9,13,117,9.10,0.00,-7.90,0.000,18950,0.414,0.000,2110,2327,3442,3480,3405,0,0,0,0,0,0,14.39,28.83,14.72
$GC,179,-1.22,-115.7,1288,2325,3472,3403,17.9,-20.2,32,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2327,3443,3480,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,248,-1.22,-115.7,1264,2325,3472,3403,31.2,-18.8,48,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2327,3442,3479,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,316,-1.22,-115.7,1256,2325,3472,3403,44.7,-20.6,64,322,0.00,2.50,0.00,0.000,260,0.000,0.111,2100,3762,3443,3480,3406,0,0,0,0,0,0,28.83,14.57,28.83
$GC,352,-1.22,-115.7,1280,3761,3472,3403,52.8,-22.9,72,359,0.00,2.35,0.00,0.000,1030,0.000,0.080,2101,2351,3443,3480,3406,0,0,0,0,0,0,28.83,14.61,28.83
$GC,481,-1.22,-115.7,1248,2349,3472,3403,77.7,-18.4,103,488,0.00,2.47,0.00,0.000,260,0.000,0.113,2090,3763,3443,3480,3406,0,0,0,0,0,0,28.83,14.60,28.83
$GC,582,-1.22,-115.7,1236,3762,3472,3403,102.7,-30.4,127,589,0.00,2.35,0.00,0.000,1030,0.000,0.078,2090,2343,3443,3480,3406,0,0,0,0,0,0,28.83,14.66,28.83
$GC,711,-1.26,-146.6,1232,2341,3472,3403,108.3,-0.4,158,719,0.00,2.50,-0.85,0.000,16644,0.000,0.136,2089,3766,3573,3624,3522,0,0,0,0,0,0,28.83,14.65,14.84
$STATE,744,end dive,NO_VERTICAL_VELOCITY
$STATE,745,begin apogee
$GC,750,-0.20,0.0,2090,2330,3624,3522,108.3,0.0,165,846,1.02,0.00,87.32,1.454,10246,0.070,0.000,2464,2330,2970,3045,2895,0,0,0,0,0,0,14.70,28.83,13.66
$STATE,847,end apogee,CONTROL_FINISHED_OK
$STATE,847,begin climb
$GC,848,1.26,146.6,2464,2330,3046,2894,108.4,0.0,182,947,1.33,2.47,88.90,1.398,10756,0.072,0.090,2934,937,2371,2450,2293,0,0,0,0,0,0,14.19,13.95,13.47
$GC,1177,1.26,146.6,1872,936,2406,2285,70.9,16.9,256,1184,0.00,2.40,0.00,0.000,1030,0.000,0.086,2934,2341,2371,2450,2293,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1306,1.26,146.6,1872,2339,2407,2285,49.4,15.8,287,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2341,2371,2450,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1434,1.26,146.6,1872,2339,2407,2285,29.9,15.9,318,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2341,2371,2450,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1503,1.26,146.6,1888,2339,2408,2285,19.3,16.0,334,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2341,2370,2450,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,1.26,146.6,1888,2339,2408,2285,8.3,16.2,350,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2342,2371,2450,2293,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1613,end climb,SURFACE_DEPTH_REACHED
$STATE,1613,begin surface coast
$FINISH,0.3,1.004148
$STATE,1627,end surface coast,CONTROL_FINISHED_OK
$STATE,1627,begin surface
$SM_CCo,1642,98.22,0.160,0,0,1501,360.10
$SM_GC,1.27,8.12,0.00,98.22,0.093,0.000,0.160,196,2342,1501,-7.18,-0.25,360.10,0,0,0,0,0,0,14.60,28.83,14.52
$IRIDIUM_FIX,4729.30,-12225.08,020513,101038
$TT8_MAMPS,0.025466,0.025466
$HUMID,29.68
$INTERNAL_PRESSURE,9.06122
$TCM_TEMP,16.70
$XPDR_PINGS,0
$SC_FREEKB,4015032
$24V_AH,13.5,5.130
$10V_AH,13.6,0.000
$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,19.575,19.500,176.225,98.225,0.000,0.000,0.000,300.875,0.000,0.000,6.926,782.651,77.971,357.906,904.029,39.591,33.238,982.941,0.000,554.038,0.000,0.542,0.000
$DEVICE_MAMPS,413.865,136.170,1453.500,159.885,0.000,0.000,0.000,173.655,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1648.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.722,0.000,0.000,0.000
$MEM,322888
$DATA_FILE_SIZE,10084,363
$CAP_FILE_SIZE,61645,0
$CFSIZE,2097872896,2093252608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,120302,4744.588,-12223.317,3,0.8,4,16.3