version: 66.12
glider: 123
mission: 14
dive: 4
start: 11 7 114 19 41 58
data:
$ID,123
$MISSION,14
$DIVE,4
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,67
$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,51913
$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,653.7818
$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,2630
$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,20
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2600
$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,-3.6531274
$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
$GPS1,071114,193721,4743.628,-12223.916,14,2.2,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-50.5
$GPS2,071114,194121,4743.610,-12223.872,15,2.1,35,18.2
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,252.7,1420,-18.1,-10.000,-21.91,2183
$D_GRID,170
$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,-146.6,399,1788,442,352,0.0,0.0,0,168,0.00,0.00,-149.55,0.000,16386,0.000,0.000,399,1789,2948,2899,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,171,-2.00,-146.6,400,1789,2900,2997,3.5,-8.4,25,191,9.80,1.27,-6.47,0.000,18948,0.157,0.084,2189,1094,3198,3168,3228,0,0,0,0,0,0,24.51,24.60,24.92
$GC,228,-1.90,-146.6,2189,1094,3170,3227,13.1,-11.4,35,235,0.10,1.17,0.00,0.000,3078,0.106,0.035,2211,1806,3199,3170,3229,0,0,0,0,0,0,24.60,24.73,28.83
$GC,419,-1.90,-146.6,2211,1807,3170,3229,35.8,-11.6,72,425,0.00,1.12,0.00,0.000,260,0.000,0.037,2211,2485,3199,3170,3229,0,0,0,0,0,0,28.83,24.73,28.83
$GC,651,-1.90,-146.6,2211,2485,3170,3229,61.7,-10.5,118,654,0.00,1.20,0.00,0.000,1030,0.000,0.045,2211,1795,3199,3170,3229,0,0,0,0,0,0,28.83,24.73,28.83
$GC,842,-1.90,-146.6,2211,1795,3170,3228,82.0,-11.2,129,849,0.00,1.15,0.00,0.000,260,0.000,0.037,2212,2491,3199,3170,3228,0,0,0,0,0,0,28.83,24.78,28.83
$GC,1074,-1.90,-146.6,2211,2491,3170,3229,110.9,-12.4,175,1078,0.00,1.20,0.00,0.000,1030,0.000,0.044,2212,1800,3199,3170,3228,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1267,-1.90,-146.6,2211,1800,3170,3229,133.3,-11.3,186,1270,0.00,1.15,0.00,0.000,260,0.000,0.036,2211,2490,3199,3170,3229,0,0,0,0,0,0,28.83,24.82,28.83
$STATE,1410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1410,begin apogee
$GC,1415,-0.50,0.0,2211,1792,3170,3229,150.2,-11.0,215,1546,1.50,0.00,125.47,0.596,10246,0.099,0.000,2520,1791,2597,2648,2547,0,0,0,0,0,0,24.72,28.83,23.83
$STATE,1547,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1549,2.00,146.6,2519,1790,2646,2545,153.4,0.0,221,1688,2.45,1.27,129.38,0.577,10756,0.063,0.062,3065,1103,1996,2105,1887,0,0,0,0,0,0,24.36,24.20,23.80
$GC,1916,2.03,172.1,3065,1102,2092,1882,126.9,8.8,297,1944,0.00,1.15,22.48,0.588,9222,0.000,0.036,3065,1795,1893,2007,1780,0,0,0,0,0,0,28.83,24.59,23.87
$GC,2136,2.03,172.1,3065,1795,1999,1777,105.4,10.8,314,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1795,1888,1999,1777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2317,2.04,178.2,3065,1798,1997,1777,87.2,9.7,323,2325,0.00,1.20,3.97,0.491,8452,0.000,0.039,3065,2489,1872,1984,1761,0,0,0,0,0,0,28.83,24.56,24.00
$GC,2345,2.04,181.2,3065,2489,1984,1762,84.2,9.9,329,2356,0.00,1.20,5.62,0.549,9222,0.000,0.044,3065,1803,1859,1972,1747,0,0,0,0,0,0,28.83,24.56,24.03
$GC,2553,2.04,181.2,3065,1804,1969,1746,62.9,10.1,343,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1803,1858,1970,1747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2733,2.04,181.2,3065,1803,1969,1746,43.0,12.0,358,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1803,1857,1969,1746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,2.07,199.0,3065,1803,1969,1746,23.3,9.2,395,2946,0.00,1.20,14.77,0.546,8452,0.000,0.037,3065,2486,1783,1902,1665,0,0,0,0,0,0,28.83,24.47,24.01
$STATE,3128,end climb,SURFACE_DEPTH_REACHED
$STATE,3128,begin surface coast
$FINISH,1.8,1.021399
$STATE,3139,end surface coast,CONTROL_FINISHED_OK
$STATE,3139,begin surface
$SM_CCo,3159,157.75,0.053,0,0,398,539.66
$SM_CCo,3321,-0.32,0.000,0,0,401,539.66
$SM_CCo,3324,0.03,0.261,0,0,400,539.66
$SM_GC,0.90,11.93,1.23,0.03,0.057,0.046,0.261,399,1798,400,-10.21,0.65,539.66,0,0,0,0,0,0,24.65,24.66,24.63
$RAFOS_CLK,113
$RAFOS,1,1415391849,20.416666,20.402500,43,41,39,0,0,0,411,543,2499,0,0,0
$RAFOS,0,1415390643,20.083334,20.067499,41,39,39,0,0,0,1408,226,1540,0,0,0
$RAFOS,2,1415389442,19.750000,19.733889,59,50,42,0,0,0,483,567,756,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4719.74,-12332.53,071114,183853
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.33
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.80,2.553
$10V_AH,10.04,5.092
$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,25.775,16.750,301.700,157.775,0.000,0.000,0.000,143.425,0.000,0.000,36.004,781.344,1359.391,569.813,822.687,60.380,0.000,1101.857,0.000,633.997,1260.000,0.547,0.000
$DEVICE_MAMPS,156.825,84.150,595.935,260.865,0.000,0.000,0.000,116.280,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,193.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318340
$DATA_FILE_SIZE,16773,437
$CAP_FILE_SIZE,49776,0
$CFSIZE,260034560,254504960
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3577.21,0x23769e,7,5
$INTR,1,842.96,0x2342f8,0,24
$SOUNDSPEED,1465.0
$CURRENT,0.061,131.96,1
$GPS,071114,203835,4743.692,-12224.083,30,1.8,30,18.2