version: 66.12
glider: 123
mission: 13
dive: 3
start: 11 5 114 21 4 9
data:
$ID,123
$MISSION,13
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,60
$D_ABORT,100
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$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,20
$T_MISSION,34
$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,51792
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0105
$HD_C,2.4000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,652.8006
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3500
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,10
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,2
$ROLL_MIN,300
$ROLL_MAX,3300
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$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_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$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,90
$AH0_10V,70
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-3.4555724
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043547689
$SEABIRD_T_H,0.00062576577
$SEABIRD_T_I,2.391554e-05
$SEABIRD_T_J,2.5780666e-06
$SEABIRD_C_G,-9.9836788
$SEABIRD_C_H,1.11155
$SEABIRD_C_I,-0.0018295855
$SEABIRD_C_J,0.00022378819
$GPS1,051114,205756,4743.419,-12223.806,10,2.6,30,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.6
$GPS2,051114,210333,4743.358,-12223.743,10,2.6,30,18.2
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,306.3,1587,-18.1,-10.000,-21.91,2183
$D_GRID,166
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-2.00,-146.6,400,1804,443,360,0.0,0.0,0,204,0.00,0.00,-185.02,0.000,16386,0.000,0.000,400,1805,3337,3289,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,207,-2.00,-146.6,400,1804,3289,3384,3.6,-8.6,31,233,14.05,2.67,-5.93,0.000,18948,0.171,0.084,2858,391,3598,3559,3638,0,0,0,0,0,0,24.48,24.53,24.92
$GC,322,-2.11,-146.6,2858,391,3560,3638,20.5,-9.6,52,328,0.00,2.38,0.00,0.000,1030,0.000,0.042,2859,1796,3599,3560,3638,0,0,0,0,0,0,28.83,24.73,28.83
$GC,510,-2.25,-146.6,2859,1797,3560,3638,39.5,-10.4,89,518,0.20,2.38,0.00,0.000,4356,0.071,0.041,2806,3190,3599,3559,3639,0,0,0,0,0,0,24.76,24.70,28.83
$GC,565,-2.25,-146.6,2806,3190,3560,3638,46.0,-12.2,99,572,0.00,2.38,0.00,0.000,1030,0.000,0.042,2806,1800,3599,3560,3638,0,0,0,0,0,0,28.83,24.70,28.83
$STATE,677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,677,begin apogee
$GC,681,-0.50,0.0,2806,1800,3559,3638,60.5,-13.0,109,811,1.85,0.00,125.55,0.539,10246,0.098,0.000,3186,1800,2999,3044,2955,0,0,0,0,0,0,24.66,28.83,23.82
$STATE,812,end apogee,CONTROL_FINISHED_OK
$STATE,813,begin climb
$GC,814,2.00,146.6,3186,1800,3035,2950,65.4,0.0,115,954,1.38,2.67,127.80,0.578,10756,0.051,0.074,3500,401,2394,2479,2309,0,0,0,0,0,0,24.35,24.18,23.80
$GC,969,2.13,247.7,3500,401,2477,2308,65.2,5.3,149,1069,0.00,2.40,90.35,0.529,13318,0.000,0.043,3500,1805,1983,2087,1880,0,0,0,0,0,0,28.83,24.45,23.83
$GC,1252,2.36,268.2,3500,1804,2074,1875,42.0,9.0,190,1276,0.00,0.00,18.20,0.544,10246,0.000,0.000,3500,1805,1901,2009,1794,0,0,0,0,0,0,28.83,28.83,23.87
$GC,1459,2.64,307.4,3499,1805,2002,1791,25.0,8.2,230,1500,0.00,2.65,34.03,0.551,10756,0.000,0.073,3500,394,1739,1856,1623,0,0,0,0,0,0,28.83,24.24,23.86
$GC,1542,2.88,307.4,3499,394,1852,1621,17.2,10.1,245,1550,0.00,2.40,0.00,0.000,5126,0.000,0.042,3499,1797,1736,1852,1621,0,0,0,0,0,0,28.83,24.55,28.83
$STATE,1700,end climb,SURFACE_DEPTH_REACHED
$STATE,1700,begin surface coast
$FINISH,0.3,1.010270
$STATE,1736,end surface coast,CONTROL_FINISHED_OK
$STATE,1737,begin surface
$SM_CCo,1757,152.88,0.050,0,0,399,637.78
$SM_CCo,1914,-0.25,0.000,0,0,401,637.78
$SM_CCo,1917,0.00,0.000,0,0,400,637.78
$SM_GC,0.98,13.68,0.00,0.00,0.047,0.000,0.000,400,1800,400,-13.30,0.00,637.78,0,0,0,0,0,0,24.53,28.83,28.83
$RAFOS_CLK,75
$RAFOS,1,1415222643,21.416666,21.400833,148,147,55,0,0,0,630,973,394,0,0,0
$RAFOS,0,1415221473,21.083334,21.075834,60,46,39,0,0,0,418,427,682,0,0,0
$RAFOS_FIX,4752.732910,-12145.655273,051114,212148,2,104,63.63
$IRIDIUM_FIX,4726.11,-12212.55,051114,205301
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.32
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,23.80,1.980
$10V_AH,10.11,4.882
$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,31.150,19.925,395.925,152.875,0.000,0.000,0.000,0.000,0.250,0.000,31.165,563.036,332.602,663.834,456.328,35.830,0.000,966.523,0.000,415.163,780.000,0.546,0.000
$DEVICE_MAMPS,171.360,84.150,578.340,50.490,0.000,0.000,0.000,0.000,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318308
$DATA_FILE_SIZE,10163,283
$CAP_FILE_SIZE,63503,0
$CFSIZE,260034560,254537728
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4915.47,0x23769e,7,5
$INTR,1,679.18,0x23769e,2,5
$INTR,2,1740.71,0x23769e,7,5
$INTR,3,1919.08,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.209,154.72,1
$GPS,051114,213730,4743.344,-12223.747,10,1.2,15,18.2