version: 66.11
glider: 141
mission: 17
dive: 4
start: 8 15 113 19 25 2
data:
$ID,141
$MISSION,17
$DIVE,4
$N_DIVES,4
$D_SURF,3
$D_FLARE,5
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,500
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,50
$T_MISSION,64
$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,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51618
$MASS_COMP,0
$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,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$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,-517749.84
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,4044
$C_PITCH,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,361
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,4040
$C_VBD,3150
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-34.066193
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$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,2
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043264292
$SEABIRD_T_H,0.00064045092
$SEABIRD_T_I,2.353942e-05
$SEABIRD_T_J,2.3043724e-06
$SEABIRD_C_G,-10.221929
$SEABIRD_C_H,1.1771696
$SEABIRD_C_I,-0.0034952678
$SEABIRD_C_J,0.00028950538
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150813,191507,4743.022,-12225.297,11,1.0,11,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.5
$GPS2,150813,192418,4743.057,-12225.320,9,1.6,14,18.2
$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,7.7,913,-17.5,-10.000,-21.04,2225
$D_GRID,186
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.91,-146.6,91,1607,1131,1070,0.0,0.0,0,128,0.00,0.00,-98.68,0.000,16390,0.000,0.000,91,1607,3750,3550,3950,0,0,0,0,0,0,28.83,28.83,14.97
$GC,137,-0.91,-146.6,90,1607,3550,3945,4.2,-10.0,18,157,14.62,2.38,0.00,0.000,2308,0.474,0.071,2871,3017,3748,3552,3945,0,0,0,0,0,0,14.53,14.73,28.83
$GC,390,-0.84,-146.6,2871,3017,3570,3931,52.4,-13.6,45,396,0.15,2.42,0.00,0.000,3078,0.304,0.090,2902,1589,3750,3572,3929,0,0,0,0,0,0,14.69,14.79,28.83
$GC,650,-0.78,-146.6,2902,1589,3577,3923,84.9,-11.7,58,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1589,3750,3577,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-0.72,-146.6,2902,1589,3577,3923,114.5,-12.8,70,896,0.15,2.12,0.00,0.000,2564,0.331,0.122,2780,357,3746,3575,3918,0,0,0,0,0,0,14.78,14.85,28.83
$GC,990,-0.67,-146.6,510,357,3580,3917,125.7,-12.3,74,996,0.12,1.98,0.00,0.000,3078,0.329,0.060,2962,1616,3749,3581,3917,0,0,0,0,0,0,14.81,14.97,28.83
$STATE,1227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1227,begin apogee
$GC,1237,-0.21,0.0,2962,1284,3581,3916,150.7,-9.9,86,1345,0.50,0.00,100.70,0.866,10246,0.259,0.000,3102,1284,3149,3079,3220,0,0,0,0,0,0,14.83,28.83,14.21
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1354,0.91,146.6,3102,1284,3079,3220,155.8,0.0,92,1466,1.20,2.42,103.12,0.842,11012,0.188,0.062,3466,2712,2550,2559,2542,0,0,0,0,0,0,14.50,14.42,14.06
$GC,1489,0.84,249.3,3466,2712,2558,2542,151.5,5.3,98,1573,0.00,2.45,73.55,0.826,9222,0.000,0.098,3474,1308,2130,2159,2101,0,0,0,0,0,0,28.83,14.44,14.05
$GC,1815,0.75,249.3,3474,1308,2158,2105,103.5,13.7,115,1821,0.20,1.62,0.00,0.000,4612,0.326,0.122,3431,362,2128,2158,2098,0,0,0,0,0,0,14.60,14.67,28.83
$GC,1870,0.68,249.3,3431,362,2158,2098,97.9,12.7,117,1876,0.15,1.50,0.00,0.000,5126,0.288,0.064,3399,1322,2128,2158,2098,0,0,0,0,0,0,14.64,14.80,28.83
$GC,2127,0.75,260.2,3400,1322,2157,2098,72.5,9.5,130,2141,0.00,1.65,8.40,0.782,8708,0.000,0.122,3399,360,2086,2114,2059,0,0,0,0,0,0,28.83,14.76,14.50
$GC,2247,0.83,273.2,3399,359,2114,2060,62.8,9.4,135,2264,0.10,1.50,10.45,0.780,11270,0.105,0.063,3445,1314,2035,2062,2008,0,0,0,0,0,0,14.83,14.88,14.49
$GC,2509,0.83,273.2,3447,1309,2062,2005,31.3,12.1,156,2514,0.00,1.62,0.00,0.000,516,0.000,0.122,3450,354,2033,2062,2005,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2603,0.79,273.2,3450,354,2062,2004,19.8,13.1,168,2610,0.00,1.50,0.00,0.000,1030,0.000,0.065,3450,1309,2033,2062,2004,0,0,0,0,0,0,28.83,14.89,28.83
$STATE,2748,end climb,SURFACE_DEPTH_REACHED
$STATE,2748,begin surface coast
$FINISH,0.4,1.007980
$STATE,2777,end surface coast,CONTROL_FINISHED_OK
$STATE,2777,begin surface
$SM_CCo,2803,97.62,0.076,0,0,1110,500.17
$SM_GC,1.43,9.85,0.45,97.62,0.107,0.080,0.076,92,1588,1110,-9.61,-1.33,500.17,0,0,0,0,0,0,14.83,14.89,14.85
$RAFOS_CLK,104
$RAFOS,0,1376597057,20.083334,20.071388,62,56,56,55,54,53,163,194,226,145,136,204
$RAFOS,2,1376595844,19.750000,19.734444,61,58,57,57,55,53,117,198,189,211,158,225
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12227.78,150813,191918
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.01
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,4018848
$24V_AH,14.1,2.184
$10V_AH,14.2,0.000
$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,27.050,24.200,296.225,97.625,0.000,0.000,0.000,287.800,0.750,0.000,16.354,610.518,1364.341,434.273,798.889,263.845,0.000,1046.935,0.000,491.923,780.000,5.562,0.000
$DEVICE_MAMPS,474.300,122.400,865.980,75.735,0.000,0.000,0.000,236.385,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2787.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.598,0.000,0.000,0.000
$MEM,280576
$DATA_FILE_SIZE,6795,201
$CAP_FILE_SIZE,55491,0
$CFSIZE,260034560,254197760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150813,201505,4743.259,-12225.123,41,0.8,47,18.2