version: 66.10
glider: 191
mission: 2
dive: 2
start: 2 29 112 20 1 31
data:
$ID,191
$MISSION,2
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,44
$D_BOOST,100
$T_BOOST,2
$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,80
$T_ABORT,1440
$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,52000
$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,650
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-1602.9196
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2694
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-43.015984
$PRESSURE_SLOPE,0.0001171456
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$GPS1,290212,195749,4744.091,-12224.332,13,1.0,13,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-43.2
$GPS2,290212,200036,4744.151,-12224.309,20,1.3,20,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,-0.249
$KALMAN_X,98.1,98.1,98.1,37.6,243.4
$KALMAN_Y,304.8,304.8,304.8,530.8,756.3
$MHEAD_RNG_PITCHd_Wd,180.5,769,-17.5,-10.000
$D_GRID,174
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-146.6,0.0,0.0,0,131,0.00,0.00,-114.07,0.000,2,0.000,0.000,170,1608,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-0.88,-146.6,2.2,-6.5,15,151,11.02,0.00,-1.20,0.000,6,0.478,0.000,2192,1608,3293,1,0,0,0,0,0,14.48,28.83,14.91
$GC,221,-0.88,-146.6,14.2,-10.5,29,229,0.00,1.83,0.00,0.000,4,0.000,0.077,2187,2654,3294,0,0,0,0,0,0,28.83,14.71,28.83
$GC,333,-0.88,-146.6,27.0,-12.0,48,342,0.00,1.88,0.00,0.000,6,0.000,0.088,2187,1597,3294,0,0,0,0,0,0,28.83,14.71,28.83
$GC,412,-0.88,-146.6,36.8,-12.8,61,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1597,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,487,-0.88,-146.6,46.8,-12.9,74,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1596,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,634,-0.88,-146.6,64.4,-12.3,99,640,0.00,1.80,0.00,0.000,4,0.000,0.076,2180,2651,3294,0,0,0,0,0,0,28.83,14.76,28.83
$GC,796,-0.88,-146.6,86.2,-13.5,127,803,0.00,1.85,0.00,0.000,6,0.000,0.088,2180,1589,3294,0,0,0,0,0,0,28.83,14.78,28.83
$GC,939,-0.88,-146.6,106.3,-13.5,152,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1589,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1090,-0.88,-146.6,126.0,-13.1,177,1096,0.00,1.83,0.00,0.000,4,0.000,0.077,2173,2655,3294,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1151,-0.88,-146.6,133.9,-12.9,187,1158,0.15,1.83,0.00,0.000,6,0.318,0.090,2202,1594,3294,0,0,0,0,0,0,14.67,14.79,28.83
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1295,-0.20,0.0,150.2,-11.4,211,1434,0.80,0.00,133.20,1.065,6,0.269,0.000,2414,1594,2691,0,0,0,0,0,0,14.69,28.83,13.88
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1436,0.88,146.6,153.4,0.0,232,1583,1.20,2.00,136.60,0.962,4,0.180,0.112,2772,546,2088,0,0,0,0,0,0,14.16,14.11,13.78
$GC,1793,0.88,146.6,109.7,14.6,291,1800,0.00,1.80,0.00,0.000,6,0.000,0.063,2772,1606,2077,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1935,0.88,146.6,89.2,15.0,316,1944,0.00,1.98,0.00,0.000,4,0.000,0.114,2780,548,2076,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2107,0.88,146.6,62.1,15.5,346,2116,0.00,1.83,0.00,0.000,6,0.000,0.064,2780,1601,2075,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2254,0.88,146.6,41.4,14.2,371,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1602,2075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2398,0.88,146.6,21.5,14.2,396,2407,0.00,1.95,0.00,0.000,4,0.000,0.116,2788,549,2075,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2466,0.88,146.6,11.1,15.5,407,2475,0.00,1.83,0.00,0.000,6,0.000,0.067,2788,1603,2074,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,2515,end climb,SURFACE_DEPTH_REACHED
$STATE,2515,begin surface coast
$FINISH,0.3,1.021655
$STATE,2535,end surface coast,CONTROL_FINISHED_OK
$STATE,2535,begin surface
$SM_CCo,2548,199.70,0.135,0,0,497,538.19
$SM_CCo,2750,-0.15,0.000,0,0,502,538.19
$SM_CCo,2753,0.32,0.352,0,0,497,538.19
$SM_GC,-0.09,7.97,0.00,0.32,0.109,0.000,0.352,165,1605,497,-7.22,0.14,538.19,0,0,0,0,0,0,14.71,28.83,14.61
$IRIDIUM_FIX,4729.30,-12224.09,290212,191912
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.50
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,136.0,51.7
$24V_AH,13.8,0.250
$10V_AH,13.3,0.119
$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,21.150,22.375,269.800,200.025,0.000,0.000,0.000,0.000,2.750,0.000,22.018,902.406,233.482,513.771,1146.858,36.202,30.075,971.613,0.000,1122.816,0.000,19.485,0.000
$DEVICE_MAMPS,478.125,116.280,1064.880,351.900,0.000,0.000,0.000,0.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.491,894.701,848.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323544
$DATA_FILE_SIZE,30480,418
$CAP_FILE_SIZE,81219,0
$CFSIZE,259252224,257179648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,290212,204834,4744.131,-12224.397,29,1.3,36,16.6