version: 66.13
glider: 113
mission: 7
dive: 4
start: 5 12 116 19 15 18
data:
$ID,113
$MISSION,7
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,3
$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,40
$T_MISSION,60
$T_ABORT,120
$T_TURN,300
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$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,69731
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,701.8606
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4050
$C_PITCH,3410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,9
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,175
$ROLL_MAX,3770
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,150
$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_LP_IGNORE,0
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0015
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,130
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.54515
$PRESSURE_SLOPE,0.00013638999
$AD7714Ch0Gain,32
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042820652
$SEABIRD_T_H,0.00061994675
$SEABIRD_T_I,2.2283011e-05
$SEABIRD_T_J,2.2891047e-06
$SEABIRD_C_G,-9.8354025
$SEABIRD_C_H,1.1052274
$SEABIRD_C_I,-0.0016599905
$SEABIRD_C_J,0.00020897669
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,120516,191228,4743.6128,-12223.8184,1,1.9,3,15.9,0.3,0.0,6,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-51.6
$GPS2,120516,191443,4743.6230,-12223.8252,2,1.9,4,15.9,0.4,309.5,6,8.8
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,245.2,1481,-17.7,-10.000,-20.74,2219
$D_GRID,171
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10,-2.19,-146.6,107,2000,426,374,0.0,0.0,0,122,0.00,0.00,-108.40,0.000,16390,0.000,0.000,108,2002,3598,3558,3638,0,0,0,0,0,0,15.20,12.92,15.16
$GC,124,-2.19,-146.6,111,2002,3558,3639,3.5,-8.0,20,166,32.70,2.50,0.00,0.000,2308,0.369,0.068,2923,3413,3600,3569,3631,0,0,0,0,0,0,14.47,14.78,14.81
$GC,173,-1.11,-146.6,2923,3413,3569,3631,18.0,-26.5,28,180,2.35,2.35,0.00,0.000,3078,0.267,0.037,3156,1971,3599,3570,3628,0,0,0,0,0,0,14.42,14.90,14.76
$GC,362,-1.59,-146.6,3159,1971,3576,3622,32.8,-7.4,65,370,0.75,2.33,0.00,0.000,4612,0.155,0.059,3069,624,3600,3577,3623,0,0,0,0,0,0,14.48,14.69,14.60
$GC,667,-1.90,-146.6,3069,618,3583,3622,60.6,-7.7,125,674,0.57,2.35,0.00,0.000,5126,0.165,0.040,3001,2034,3599,3578,3621,0,0,0,0,0,0,14.50,14.88,14.76
$GC,857,-2.09,-146.6,3001,2034,3578,3621,78.7,-10.3,162,864,0.35,2.38,0.00,0.000,4356,0.190,0.068,2958,3396,3599,3578,3621,0,0,0,0,0,0,14.39,14.68,14.55
$GC,1166,-2.18,-146.6,2958,3396,3578,3621,113.9,-11.6,223,1173,0.22,2.30,0.00,0.000,5126,0.207,0.037,2939,1988,3599,3578,3621,0,0,0,0,0,0,14.38,14.83,14.65
$STATE,1219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1223,-0.56,0.0,2939,1988,3577,3621,120.1,-11.1,233,1335,3.42,0.00,96.75,1.606,10246,0.283,0.000,3280,1987,3002,3025,2979,0,0,0,0,1,0,14.42,14.23,13.05
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1338,2.19,146.6,3280,1987,3030,2979,125.3,0.0,253,1458,5.55,2.55,102.03,1.591,10756,0.216,0.066,3881,614,2401,2441,2362,0,0,0,0,1,0,14.28,14.09,12.92
$GC,1760,2.48,230.4,3881,614,2443,2362,105.9,6.1,334,1840,0.57,2.33,62.62,1.385,11270,0.229,0.044,3943,1992,2058,2101,2016,0,0,0,0,1,0,14.48,14.85,13.28
$GC,2023,2.66,256.7,3943,1992,2101,2016,84.2,8.8,384,2047,0.32,2.53,14.68,0.430,10500,0.224,0.080,3979,3391,1953,1996,1910,0,0,0,0,0,0,14.46,14.66,14.24
$GC,2179,2.66,256.7,3979,3391,1997,1906,67.5,10.3,414,2185,0.00,2.28,0.00,0.000,1030,0.000,0.037,3983,2002,1953,1997,1910,0,0,0,0,0,0,14.95,14.89,14.97
$GC,2367,2.80,260.6,3983,2002,1996,1910,49.1,9.8,451,2375,0.25,2.47,2.33,0.282,10756,0.230,0.069,4013,614,1937,1980,1894,0,0,0,0,0,0,14.45,14.81,14.34
$GC,2647,2.87,260.6,4013,614,1989,1895,20.0,10.1,506,2653,0.00,2.35,0.00,0.000,1030,0.000,0.047,4013,2005,1939,1989,1890,0,0,0,0,0,0,14.97,14.90,15.01
$STATE,2824,end climb,SURFACE_DEPTH_REACHED
$STATE,2824,begin surface coast
$FINISH,0.2,1.021096
$STATE,2845,end surface coast,CONTROL_FINISHED_OK
$STATE,2846,begin surface
$SM_CCo,2889,214.43,0.176,0,0,397,637.78
$SM_CCo,3106,-0.20,0.000,0,0,402,637.78
$SM_CCo,3109,0.60,0.304,0,0,398,637.78
$SM_GC,1.11,37.53,0.00,0.60,0.255,0.000,0.304,106,2005,398,-15.19,0.14,637.78,0,0,0,0,0,0,14.49,15.30,14.60
$IRIDIUM_FIX,4722.92,-12225.08,120516,190927
$TT8_MAMPS,0.020972,0.277879
$HUMID,45.31
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,19.50
$XPDR_PINGS,8
$SC_FREEKB,4019072
$24V_AH,12.92,5.637
$10V_AH,12.77,0.000
$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,84.600,28.700,278.400,215.025,0.000,0.000,0.000,0.000,2.000,0.000,6.067,1123.425,543.956,626.471,850.772,40.217,0.000,1086.556,0.000,820.468,0.000,0.534,0.000
$DEVICE_MAMPS,368.730,80.325,1605.735,303.705,0.000,0.000,0.000,0.000,420.000,0.000,15.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2836.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.810,0.000,0.000,0.000
$MEM,312636
$DATA_FILE_SIZE,16724,545
$CAP_FILE_SIZE,108927,0
$CFSIZE,260157440,258129920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,2849.00,0x2139c0,7,24
$GPS,120516,200801,4743.912,-12224.062,18,1.4,18,15.9,0.3,0.0,8,8.2