version: 66.11
glider: 144
mission: 20
dive: 5
start: 2 27 113 1 45 15
data:
$ID,144
$MISSION,20
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56256
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86631.023
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3920
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2026
$C_ROLL_CLIMB,2026
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2930
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,1
$DBDW,1
$PITCH_W_GAIN,1
$PITCH_W_DBAND,1
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-46.800083
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-10.038045
$SEABIRD_C_H,1.1273739
$SEABIRD_C_I,-0.0018486013
$SEABIRD_C_J,0.00022594928
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,013935,4744.130,-12223.516,3,1.5,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-76.2
$GPS2,270213,014416,4744.146,-12223.610,6,1.4,6,16.3
$SPEED_LIMITS,0.083,0.224
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,0.217
$KALMAN_X,110.6,69.8,22.9,1156.4,19.7
$KALMAN_Y,-589.7,-289.7,-102.1,-482.9,-142.6
$MHEAD_RNG_PITCHd_Wd,330.1,677,-16.5,-8.333,-20.43,2644
$D_GRID,150
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-146.0,37,2010,1617,1782,0.0,0.0,0,76,0.00,0.00,-51.40,0.000,16386,0.000,0.000,37,2009,2934,3006,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.77,-146.1,37,2010,3006,2864,2.1,-2.4,7,120,15.43,2.47,-14.35,0.000,18948,0.460,0.119,3025,616,3528,3642,3415,0,0,0,0,0,0,14.35,14.54,14.76
$GC,358,-0.69,-146.1,3025,615,3642,3418,41.2,-13.3,42,367,0.12,2.45,0.00,0.000,3078,0.343,0.077,3044,2030,3530,3642,3418,0,0,0,0,0,0,14.45,14.59,28.83
$GC,486,-0.65,-146.1,3044,2031,3641,3418,55.7,-10.1,55,492,0.00,2.53,0.00,0.000,516,0.000,0.099,3044,616,3529,3641,3418,0,0,0,0,0,0,28.83,14.58,28.83
$GC,732,-0.65,-146.1,3044,615,3641,3418,82.0,-12.6,78,738,0.00,2.45,0.00,0.000,1030,0.000,0.078,3044,2027,3529,3641,3418,0,0,0,0,0,0,28.83,14.63,28.83
$GC,867,-0.65,-146.1,3044,2027,3641,3418,97.3,-10.7,91,873,0.00,2.53,0.00,0.000,516,0.000,0.098,3044,610,3529,3641,3418,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1033,-0.65,-146.1,3044,608,3641,3418,115.7,-11.4,106,1039,0.00,2.45,0.00,0.000,1030,0.000,0.078,3044,2025,3529,3641,3418,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1169,-0.63,-146.1,3044,2027,3641,3418,131.0,-11.0,119,1175,0.08,2.47,0.00,0.000,2308,0.380,0.086,3057,3444,3529,3641,3418,0,0,0,0,0,0,14.52,14.64,28.83
$GC,1281,-0.67,-146.1,3057,3446,3638,3420,143.1,-10.9,129,1287,0.00,2.47,0.00,0.000,1030,0.000,0.089,3057,2029,3529,3638,3420,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,1353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1353,begin apogee
$GC,1359,-0.18,0.0,3057,2026,3639,3420,150.6,-10.1,136,1475,0.38,0.00,111.70,1.431,10246,0.269,0.000,3157,2026,2930,2967,2893,0,0,0,0,0,0,14.55,28.83,13.52
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1483,0.77,146.1,3158,2026,2967,2890,154.9,0.0,145,1605,0.75,2.65,114.07,1.386,10500,0.225,0.078,3367,3447,2333,2337,2329,0,0,0,0,0,0,14.02,13.95,13.42
$GC,1640,0.58,146.1,3365,3448,2331,2326,146.5,8.6,161,1649,0.20,2.62,0.00,0.000,5126,0.346,0.093,3329,2026,2327,2331,2323,0,0,0,0,0,0,14.01,14.12,28.83
$GC,1768,0.50,146.1,3329,2026,2331,2320,134.3,8.9,174,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2026,2325,2331,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,0.46,146.1,3328,2026,2334,2319,122.8,8.5,187,1906,0.12,0.00,0.00,0.000,4102,0.321,0.000,3302,2025,2324,2330,2319,0,0,0,0,0,0,14.36,28.83,28.83
$GC,2029,0.49,146.1,3305,2025,2331,2318,114.0,6.2,200,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2025,2324,2331,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2159,0.52,146.1,3302,2025,2331,2317,105.9,6.3,213,2165,0.00,2.47,0.00,0.000,260,0.000,0.078,3306,3451,2323,2331,2316,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2221,0.52,146.2,3302,3452,2330,2316,102.3,6.5,218,2229,0.00,2.53,0.00,0.000,1030,0.000,0.094,3302,2024,2322,2329,2315,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2348,0.55,146.2,3302,2025,2329,2315,95.2,5.4,231,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2024,2322,2329,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2478,0.58,146.2,3302,2025,2329,2315,87.9,5.3,244,2487,0.10,0.00,0.00,0.000,2054,0.203,0.000,3331,2027,2322,2330,2314,0,0,0,0,0,0,14.62,28.83,28.83
$GC,2608,0.54,146.2,3330,2024,2329,2316,78.2,7.9,257,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2024,2322,2329,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,0.51,146.2,3331,2024,2329,2315,68.3,7.7,270,2744,0.00,2.42,0.00,0.000,260,0.000,0.073,3331,3446,2322,2329,2315,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2809,0.43,146.2,3328,3447,2328,2314,62.2,9.5,276,2818,0.17,2.50,0.00,0.000,5126,0.327,0.093,3297,2026,2321,2328,2315,0,0,0,0,0,0,14.53,14.62,28.83
$GC,2937,0.49,146.2,3297,2030,2328,2315,54.1,5.7,289,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2026,2321,2328,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3068,0.55,146.3,3297,2025,2328,2314,47.6,4.5,302,3076,0.10,0.00,0.00,0.000,2054,0.201,0.000,3328,2025,2321,2328,2314,0,0,0,0,0,0,14.63,28.83,28.83
$GC,3197,0.55,146.3,3328,2025,2329,2314,40.0,6.4,315,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2025,2321,2328,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3320,0.55,146.3,3332,2025,2333,2315,34.3,4.8,327,3325,0.00,2.45,0.00,0.000,260,0.000,0.077,3330,3450,2320,2328,2313,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3400,0.50,146.4,3327,3451,2327,2314,29.2,6.7,334,3406,0.00,2.53,0.00,0.000,1030,0.000,0.093,3328,2026,2321,2328,2314,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3535,0.50,146.4,3327,2026,2328,2314,22.0,5.6,347,3541,0.00,2.53,0.00,0.000,516,0.000,0.106,3327,606,2321,2328,2314,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3611,0.59,146.4,3328,606,2327,2315,18.2,3.3,357,3619,0.00,2.45,0.00,0.000,1030,0.000,0.070,3328,2030,2321,2327,2315,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3687,0.59,146.5,3328,2031,2327,2314,14.4,4.8,370,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2032,2320,2327,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3762,0.59,146.5,2336,2028,2279,2305,10.0,4.6,383,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2031,2319,2323,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,0.63,146.5,2336,2031,2278,2305,5.5,5.2,396,3846,0.00,2.42,0.00,0.000,260,0.000,0.080,3328,3440,2320,2327,2314,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3877,0.63,146.5,3328,3441,2327,2314,3.0,6.2,402,3885,0.00,2.53,0.00,0.000,1030,0.000,0.097,3328,2023,2320,2327,2314,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,3890,end climb,SURFACE_DEPTH_REACHED
$STATE,3891,begin surface coast
$FINISH,0.3,1.022579
$STATE,3924,end surface coast,CONTROL_FINISHED_OK
$STATE,3924,begin surface
$SM_CCo,3948,81.43,1.271,0,0,1707,300.00
$SM_GC,1.31,9.70,0.00,81.43,0.099,0.000,1.271,49,2019,1707,-14.44,-0.23,300.00,0,0,0,0,0,0,14.57,28.83,13.72
$IRIDIUM_FIX,4726.11,-12222.38,270213,010132
$TT8_MAMPS,0.027713,0.027713
$HUMID,34.48
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,130.0,45.2
$SC_FREEKB,4018272
$TM_FREEKB,7868896
$24V_AH,13.4,6.567
$10V_AH,13.5,0.000
$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,27.150,49.925,225.775,81.425,0.000,0.000,0.000,0.000,4.000,0.000,6.920,1396.234,1174.649,441.021,833.695,257.439,32.218,908.830,0.000,795.901,0.000,29.346,0.000
$DEVICE_MAMPS,459.765,118.575,1430.550,1271.430,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3901.000,3901.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1598.234,21.953,0.000,0.000
$MEM,322684
$DATA_FILE_SIZE,13432,410
$CAP_FILE_SIZE,232214,0
$CFSIZE,260165632,253149184
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270213,025334,4744.395,-12223.856,23,0.8,23,16.3