version: 66.13
glider: 113
mission: 9
dive: 3
start: 6 9 116 17 46 57
data:
$ID,113
$MISSION,9
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,3
$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,65
$T_ABORT,120
$T_TURN,300
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$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,69677
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,627.77997
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4050
$C_PITCH,3580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,9
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,175
$ROLL_MAX,3770
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,150
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,130
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.70145
$PRESSURE_SLOPE,0.00013638999
$AD7714Ch0Gain,32
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,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,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042820652
$SEABIRD_T_H,0.00061994675
$SEABIRD_T_I,2.2283011e-05
$SEABIRD_T_J,2.2891047e-06
$SEABIRD_C_G,-9.8354025
$SEABIRD_C_H,1.1052274
$SEABIRD_C_I,-0.0016599905
$SEABIRD_C_J,0.00020897669
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,090616,174301,4743.8018,-12223.9443,1,1.1,2,15.9,0.3,34.6,5,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.2
$GPS2,090616,174622,4743.8325,-12223.9043,3,1.2,5,15.9,0.3,0.0,5,9.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,229.8,1497,-17.7,-10.000,-20.74,2219
$D_GRID,171
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9,-2.19,-146.6,107,1995,447,431,0.0,0.0,0,116,0.00,0.00,-104.25,0.000,16386,0.000,0.000,107,1996,3591,3541,3641,0,0,0,0,0,0,15.33,28.83,15.33
$GC,119,-2.19,-146.6,107,1996,3542,3641,3.7,-7.9,19,160,38.70,0.00,0.00,0.000,2598,0.416,0.000,3095,1994,3593,3553,3634,0,0,0,0,0,0,14.42,14.92,14.85
$GC,342,-1.89,-146.6,3096,1994,3564,3623,56.7,-16.3,62,350,0.68,2.47,0.00,0.000,2436,0.309,0.071,3156,3399,3594,3565,3623,0,0,0,0,0,0,14.14,14.59,14.43
$GC,477,-1.73,-146.6,3156,3399,3565,3622,77.8,-15.8,88,484,0.43,2.33,0.00,0.000,3206,0.308,0.036,3194,1974,3593,3565,3622,0,0,0,0,0,0,14.17,14.86,14.63
$GC,666,-1.73,-146.6,3194,1974,3568,3620,102.7,-12.9,125,673,0.00,2.53,0.00,0.000,260,0.000,0.073,3191,3400,3593,3567,3620,0,0,0,0,0,0,15.31,14.66,15.32
$GC,974,-1.73,-146.6,3190,3399,3567,3620,143.4,-11.8,186,981,0.00,2.30,0.00,0.000,1030,0.000,0.036,3191,1997,3594,3568,3620,0,0,0,0,0,0,14.95,14.88,14.97
$STATE,1031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1032,begin apogee
$GC,1035,-0.56,0.0,3191,1996,3570,3618,150.2,-11.3,197,1174,2.67,0.00,123.07,1.823,10246,0.292,0.000,3451,1995,3003,3027,2979,0,0,0,0,1,0,14.41,13.78,12.64
$STATE,1175,end apogee,CONTROL_FINISHED_OK
$STATE,1175,begin climb
$GC,1177,2.19,146.6,3452,1995,3032,2980,156.5,0.0,222,1329,5.55,2.60,131.60,1.808,10756,0.216,0.071,4049,625,2403,2441,2366,0,0,0,0,1,0,14.14,13.96,12.53
$GC,1392,2.04,176.0,4049,625,2447,2371,146.8,8.6,261,1433,0.25,2.38,29.67,1.413,13478,0.334,0.045,4028,2002,2281,2319,2243,0,0,0,0,1,0,14.12,14.53,12.90
$GC,1615,1.97,187.8,4028,2002,2328,2243,125.4,9.5,304,1638,0.00,0.00,14.68,0.964,8358,0.000,0.000,4028,2002,2233,2272,2195,0,0,0,0,1,0,15.13,14.77,13.78
$GC,1820,1.91,187.8,4028,2003,2277,2199,106.2,10.0,344,1828,0.32,2.45,0.00,0.000,4484,0.353,0.076,3998,3397,2238,2281,2195,0,0,0,0,0,0,14.30,14.73,14.59
$GC,1900,1.85,194.5,3998,3397,2280,2195,98.4,9.7,359,1913,0.00,2.30,5.28,0.389,9382,0.000,0.036,4001,1984,2206,2247,2166,0,0,0,0,0,0,14.94,14.88,14.18
$GC,2095,1.87,203.4,4001,1983,2258,2169,82.5,9.6,397,2108,0.00,2.58,7.00,0.381,8484,0.000,0.077,4001,3402,2169,2209,2130,0,0,0,0,0,0,15.31,14.81,14.31
$GC,2160,1.89,219.5,4000,3402,2221,2132,76.4,9.3,409,2178,0.00,2.30,10.82,0.383,9254,0.000,0.037,4003,1992,2104,2146,2063,0,0,0,0,0,0,14.96,14.88,14.35
$GC,2360,2.01,242.6,4003,1992,2156,2063,58.8,8.9,448,2384,0.00,2.55,15.10,0.339,8612,0.000,0.079,3999,3401,2010,2056,1965,0,0,0,0,0,0,15.30,14.76,14.44
$GC,2492,2.09,258.7,4002,3401,2061,1966,46.5,9.3,473,2511,0.20,2.30,10.65,0.299,11430,0.216,0.037,4027,1991,1944,1990,1899,0,0,0,0,0,0,14.47,14.93,14.46
$GC,2693,2.20,269.2,4027,1991,1996,1899,27.1,9.5,512,2707,0.15,2.58,7.03,0.244,10660,0.239,0.080,4044,3398,1903,1947,1859,0,0,0,0,0,0,14.51,14.78,14.47
$GC,2804,2.20,269.2,4044,3398,1955,1860,15.0,11.2,533,2810,0.00,2.30,0.00,0.000,1030,0.000,0.038,4047,2006,1907,1955,1860,0,0,0,0,0,0,15.00,14.92,15.04
$STATE,2921,end climb,SURFACE_DEPTH_REACHED
$STATE,2921,begin surface coast
$FINISH,0.3,1.021592
$STATE,2937,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2980,219.68,0.168,0,0,439,627.97
$SM_GC,1.20,36.65,0.00,219.68,0.232,0.000,0.168,107,2000,439,-15.97,0.03,627.97,0,0,0,0,0,0,14.42,15.33,14.58
$IRIDIUM_FIX,4722.92,-12222.38,090616,174015
$TT8_MAMPS,0.020223,0.277879
$HUMID,55.35
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,19.80
$XPDR_PINGS,4
$SC_FREEKB,4019328
$24V_AH,12.53,6.732
$10V_AH,11.34,0.000
$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,85.600,33.950,354.900,219.675,0.000,0.000,0.000,0.000,1.000,0.000,6.380,1127.203,543.071,695.494,872.958,36.476,0.000,1185.425,0.000,842.475,0.000,0.534,0.000
$DEVICE_MAMPS,416.160,80.325,1822.995,168.300,0.000,0.000,0.000,0.000,420.000,0.000,15.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.231,0.000,0.000,0.000
$MEM,312616
$DATA_FILE_SIZE,16767,559
$CAP_FILE_SIZE,99000,0
$CFSIZE,260157440,257597440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,090616,184110,4744.025,-12224.383,17,1.5,18,15.9,0.4,29.3,5,7.7