version: 66.09
glider: 170
mission: 3
dive: 3
start: 3 17 111 17 47 14
data:
$ID,170
$MISSION,3
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,3
$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,50
$T_MISSION,60
$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,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51606
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11092.569
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3362
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-58.939865
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043652086
$SEABIRD_T_H,0.00063100836
$SEABIRD_T_I,2.5667814e-05
$SEABIRD_T_J,2.9083003e-06
$SEABIRD_C_G,-9.8859177
$SEABIRD_C_H,1.1208299
$SEABIRD_C_I,-0.0010195741
$SEABIRD_C_J,0.00016822568
$GPS1,170311,174331,4743.512,-12224.651,15,1.6,15,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.5
$GPS2,170311,174650,4743.524,-12224.679,13,1.6,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$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,245.3,403,-27.2,-10.000
$D_GRID,175
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.86,-63.1,0.0,0.0,0,162,0.00,0.00,-144.62,0.000,2,0.000,0.000,130,2214,3593,0,0,0,0,0,0
$GC,164,-0.86,-63.1,3.8,-16.6,22,180,9.50,2.35,-0.62,0.000,4,0.248,0.078,2551,783,3621,0,0,0,0,0,0
$GC,198,0.37,-63.1,15.9,-32.2,27,206,1.27,2.38,0.00,0.000,6,0.182,0.080,2940,2185,3621,0,0,0,0,0,0
$GC,517,-1.43,-100.6,36.9,-6.0,88,527,1.58,2.47,-1.65,0.000,4,0.096,0.103,2370,3625,3777,0,0,0,0,0,0
$GC,760,-0.47,-100.6,111.9,-38.1,134,769,1.02,2.35,0.00,0.000,6,0.208,0.066,2671,2191,3777,0,0,0,0,0,0
$GC,1081,-0.90,-102.1,146.6,-9.8,195,1089,0.32,2.42,0.00,0.000,4,0.071,0.090,2535,3625,3777,0,0,0,0,0,0
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1112,-0.23,0.0,150.3,13.2,199,1192,0.73,0.00,75.25,0.769,6,0.186,0.000,2748,1997,3362,0,0,0,0,0,0
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1194,0.90,102.1,156.8,0.0,211,1281,1.10,2.42,78.65,0.725,4,0.111,0.070,3125,587,2945,0,0,0,0,0,0
$GC,1376,0.60,102.1,143.2,11.4,242,1385,0.30,2.40,0.00,0.000,6,0.184,0.065,3030,2007,2939,0,0,0,0,0,0
$GC,1693,0.61,107.2,118.6,9.5,303,1709,0.00,2.38,4.57,0.540,4,0.000,0.079,3030,3409,2923,0,0,0,0,0,0
$GC,1778,0.50,107.2,109.5,10.8,318,1786,0.15,2.33,0.00,0.000,6,0.164,0.061,2984,1995,2924,0,0,0,0,0,0
$GC,2097,0.87,171.4,91.1,3.2,379,2159,0.32,2.38,51.92,0.724,4,0.068,0.072,3134,596,2662,0,0,0,0,0,0
$GC,2182,0.67,171.4,81.1,16.8,392,2190,0.25,2.38,0.00,0.000,6,0.169,0.067,3051,1999,2659,0,0,0,0,0,0
$GC,2500,0.84,171.4,36.4,13.5,453,2508,0.15,2.35,0.00,0.000,4,0.093,0.080,3116,3419,2653,0,0,0,0,0,0
$GC,2609,0.59,171.4,18.2,17.0,473,2617,0.32,2.33,0.00,0.000,6,0.180,0.060,3022,2004,2652,0,0,0,0,0,0
$STATE,2762,end climb,SURFACE_DEPTH_REACHED
$STATE,2762,begin surface coast
$FINISH,1.2,1.021400
$STATE,2794,end surface coast,CONTROL_FINISHED_OK
$STATE,2794,begin surface
$SM_CCo,2808,115.12,0.073,0,0,1526,450.13
$SM_GC,1.24,0.00,0.00,115.12,0.000,0.000,0.073,134,2209,1526,-8.43,0.25,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12223.37,170311,171717
$TT8_MAMPS,0.024717,0.024717
$HUMID,37.24
$INTERNAL_PRESSURE,8.52144
$TCM_TEMP,14.70
$XPDR_PINGS,3
$24V_AH,24.5,0.862
$10V_AH,10.5,1.126
$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,25.050,33.950,210.400,115.125,0.000,0.000,0.000,0.000,0.750,0.000,14.216,1122.205,221.932,419.058,1182.143,50.704,0.000,885.308,0.000,1192.561,0.000,0.540,0.000
$DEVICE_MAMPS,247.860,103.275,768.825,73.440,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.031,363.771,1076.455,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,26903,508
$CAP_FILE_SIZE,62458,0
$CFSIZE,260165632,252366848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170311,183644,4743.520,-12225.202,12,1.8,12,18.2