version: 66.10
glider: 191
mission: 2
dive: 21
start: 3 1 112 17 50 3
data:
$ID,191
$MISSION,2
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,168
$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,60
$T_MISSION,65
$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,80
$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,300
$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,-1731.6833
$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,2480
$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,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,33
$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,0
$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
$GPS1,010312,174525,4742.599,-12225.095,12,1.6,12,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-63.1
$GPS2,010312,174906,4742.647,-12225.075,15,1.3,15,16.6
$SPEED_LIMITS,0.162,0.190
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,-0.147
$KALMAN_X,884.5,207.6,-782.6,-917.5,450.8
$KALMAN_Y,3123.0,328.7,-608.1,-4152.9,341.4
$MHEAD_RNG_PITCHd_Wd,188.3,357,-27.1,-9.333
$D_GRID,185
$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,-1.16,-56.9,0.0,0.0,0,78,0.00,0.00,-57.15,0.000,6,0.000,0.000,163,1713,2925,0,0,0,0,0,0,28.83,28.83,14.91
$GC,80,-1.18,-78.2,2.3,-5.3,8,98,10.43,1.83,-2.22,0.000,4,0.477,0.106,2083,2755,3014,0,0,0,0,0,0,14.52,14.71,14.88
$GC,174,-1.18,-78.2,14.6,-14.2,23,182,0.00,1.85,0.00,0.000,6,0.000,0.083,2086,1705,3016,0,0,0,0,0,0,28.83,14.68,28.83
$GC,252,-1.18,-78.2,26.4,-15.3,36,261,0.00,1.95,0.00,0.000,4,0.000,0.107,2087,641,3016,0,0,0,0,0,0,28.83,14.66,28.83
$GC,376,-1.18,-78.2,46.0,-16.1,57,383,0.00,1.80,0.00,0.000,6,0.000,0.066,2082,1697,3016,0,0,0,0,0,0,28.83,14.73,28.83
$GC,518,-1.18,-78.2,67.8,-14.8,82,527,0.00,1.92,0.00,0.000,4,0.000,0.105,2086,647,3016,0,0,0,0,0,0,28.83,14.69,28.83
$GC,532,-1.18,-78.2,69.9,-15.5,84,541,0.00,1.83,0.00,0.000,6,0.000,0.065,2081,1702,3016,0,0,0,0,0,0,28.83,14.71,28.83
$GC,679,-1.18,-78.2,89.1,-12.1,109,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1703,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-1.18,-78.2,108.1,-14.2,134,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1703,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,965,-1.18,-78.2,126.8,-13.6,159,972,0.00,1.77,0.00,0.000,4,0.000,0.076,2073,2759,3016,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1230,-1.18,-78.2,163.0,-13.5,205,1236,0.00,1.83,0.00,0.000,6,0.000,0.084,2073,1694,3016,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,1269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1269,begin apogee
$GC,1273,-0.20,0.0,168.5,-12.8,212,1353,1.38,0.00,73.55,1.105,6,0.333,0.000,2403,1497,2690,0,0,0,0,0,0,14.64,28.83,14.00
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1355,1.18,78.2,171.0,0.0,224,1436,1.52,0.00,73.18,1.033,6,0.187,0.000,2848,1496,2369,0,0,0,0,0,0,14.31,28.83,13.82
$GC,1573,1.18,78.2,143.8,14.5,260,1581,0.00,1.98,0.00,0.000,4,0.000,0.115,2857,448,2361,0,0,0,0,0,0,28.83,14.37,28.83
$GC,1662,1.18,78.2,129.8,16.1,275,1669,0.00,1.80,0.00,0.000,6,0.000,0.060,2857,1504,2361,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1805,1.18,78.2,108.5,14.4,300,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1505,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1951,1.18,78.2,87.8,15.6,325,1957,0.00,1.92,0.00,0.000,4,0.000,0.114,2865,442,2360,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2111,1.18,78.2,61.9,15.7,353,2118,0.00,1.80,0.00,0.000,6,0.000,0.060,2865,1511,2360,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2254,1.18,78.2,41.6,13.4,378,2262,0.00,1.98,0.00,0.000,4,0.000,0.115,2873,445,2360,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2480,1.18,78.2,8.9,15.5,417,2488,0.00,1.80,0.00,0.000,6,0.000,0.060,2873,1500,2359,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,2523,end climb,SURFACE_DEPTH_REACHED
$STATE,2523,begin surface coast
$FINISH,0.1,1.021822
$STATE,2548,end surface coast,CONTROL_FINISHED_OK
$STATE,2548,begin surface
$SM_CCo,2562,111.78,0.133,0,0,1468,300.00
$SM_GC,0.41,8.12,0.32,111.78,0.096,0.082,0.133,166,1704,1468,-7.19,-1.13,300.00,0,0,0,0,0,0,14.69,14.73,14.62
$IRIDIUM_FIX,4726.11,-12223.37,010312,171702
$TT8_MAMPS,0.023968,0.023968
$HUMID,30.07
$INTERNAL_PRESSURE,8.85258
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,13.8,2.338
$10V_AH,13.8,1.219
$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,21.450,26.725,146.725,111.775,0.000,0.000,0.000,0.000,0.000,0.000,17.112,976.686,268.229,320.920,1142.650,40.971,33.205,732.994,0.000,1137.587,0.000,0.543,0.000
$DEVICE_MAMPS,476.595,114.750,1105.425,133.110,0.000,0.000,0.000,0.000,420.000,0.000,20.220,14.210,2.190,14.210,33.690,40.430,50.920,12.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.406,893.661,844.982,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,50.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323548
$DATA_FILE_SIZE,30373,428
$CAP_FILE_SIZE,57661,0
$CFSIZE,259252224,256413696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010312,183532,4742.417,-12225.388,21,1.4,21,16.6