version: 66.11
glider: 144
mission: 20
dive: 1
start: 10 9 113 18 54 38
data:
$ID,144
$MISSION,20
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,59412
$MASS_COMP,4370
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$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,590
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56328.719
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3501
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26.946545
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2294
$C_ROLL_CLIMB,2294
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-50.408302
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,20
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,091013,184925,4743.092,-12224.257,3,0.9,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.4
$GPS2,091013,185341,4743.127,-12224.250,6,0.9,7,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,0.252
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,357.5,2618,-17.5,-10.000,-21.09,2221
$D_GRID,45
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.83,-146.6,105,2322,587,447,0.0,0.0,0,112,0.00,0.00,-95.15,0.000,16386,0.000,0.000,105,2324,3348,3296,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.83,-146.6,105,2324,3298,3401,2.4,-5.1,17,140,13.98,2.33,-4.28,0.000,19204,0.390,0.086,3223,3719,3530,3446,3615,0,0,0,0,0,0,14.51,14.75,14.95
$GC,347,-0.83,-146.6,3223,3719,3451,3616,19.8,-7.3,62,353,0.00,2.38,0.00,0.000,1030,0.000,0.043,3223,2258,3533,3451,3616,0,0,0,0,0,0,28.83,14.80,28.83
$GC,412,-0.83,-146.6,3223,2258,3451,3616,24.3,-7.0,69,413,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2258,3533,3451,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,533,-0.83,-146.6,3223,2258,3451,3616,32.1,-5.9,81,542,0.00,2.42,0.00,0.000,260,0.000,0.066,3223,3719,3533,3451,3616,0,0,0,0,0,0,28.83,14.69,28.83
$GC,627,-0.83,-146.6,3223,3719,3451,3615,37.1,-5.7,90,634,0.00,2.35,0.00,0.000,1030,0.000,0.042,3223,2260,3532,3450,3615,0,0,0,0,0,0,28.83,14.83,28.83
$GC,754,-0.83,-146.6,3223,2260,3451,3615,44.9,-7.2,103,755,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2260,3533,3451,3616,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,766,-0.19,0.0,3223,2318,3451,3615,45.5,-7.0,104,884,0.68,0.00,109.62,1.209,10246,0.177,0.000,3434,2318,2929,2888,2970,0,0,0,0,0,0,14.69,28.83,13.69
$STATE,885,end apogee,CONTROL_FINISHED_OK
$STATE,885,begin climb
$GC,887,0.83,146.6,3434,2318,2887,2971,46.8,0.0,116,1009,0.95,2.55,114.10,1.165,10756,0.076,0.064,3784,873,2330,2322,2339,0,0,0,0,0,0,14.30,14.20,13.50
$GC,1043,0.83,146.6,3120,873,2253,2324,28.9,20.8,131,1051,0.00,2.45,0.00,0.000,1030,0.000,0.045,3784,2308,2326,2317,2335,0,0,0,0,0,0,28.83,14.33,28.83
$STATE,1166,end climb,SURFACE_DEPTH_REACHED
$STATE,1166,begin surface coast
$FINISH,0.5,1.022247
$STATE,1179,end surface coast,CONTROL_FINISHED_OK
$STATE,1179,begin surface
$SM_CCo,1196,364.90,1.084,7,0,524,590.19
$SM_GC,0.99,10.70,0.00,364.90,0.087,0.000,1.084,115,2308,524,-10.53,0.40,590.19,0,0,0,0,7,0,14.55,28.83,13.48
$IRIDIUM_FIX,4726.11,-12225.08,091013,181826
$TT8_MAMPS,0.02247,0.02247
$HUMID,56.37
$INTERNAL_PRESSURE,8.61626
$TCM_TEMP,20.50
$XPDR_PINGS,8
$ALTIM_TOP_PING,17.8,17.0
$24V_AH,13.5,0.796
$10V_AH,13.3,0.353
$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,26.300,14.600,223.725,364.900,0.000,0.000,0.000,0.000,2.250,0.000,7.899,338.822,327.211,683.677,287.763,17.257,29.127,897.605,0.000,287.863,0.000,2.642,0.000
$DEVICE_MAMPS,390.150,206.550,1208.700,1084.005,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,105.158,185.734,155.774,108.134,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345768
$DATA_FILE_SIZE,6982,153
$CAP_FILE_SIZE,61041,0
$CFSIZE,260165632,218984448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,091013,192202,4743.338,-12224.107,22,0.9,22,16.3