version: 66.11
glider: 169
mission: 7
dive: 3
start: 1 15 113 19 11 12
data:
$ID,169
$MISSION,7
$DIVE,3
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$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,55
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51728
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19364.156
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3142
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.04405
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150113,190439,4743.591,-12224.022,8,2.7,27,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.6
$GPS2,150113,191045,4743.620,-12223.942,11,2.7,30,18.2
$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,197.2,1336,-18.2,-10.000,-21.02,2236
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.70,-146.0,138,2599,1411,1197,0.0,0.0,0,129,0.00,0.00,-101.85,0.000,16386,0.000,0.000,139,2600,3634,3478,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-0.70,-146.0,138,2600,3478,3792,3.8,-4.5,9,152,8.12,1.95,-2.08,0.000,18692,0.247,0.054,2158,3848,3740,3562,3919,0,0,0,0,0,0,25.91,26.29,26.53
$GC,291,-0.07,-146.0,2158,3848,3564,3919,51.9,-24.3,23,299,0.70,1.95,0.00,0.000,3078,0.159,0.033,2373,2578,3742,3565,3919,0,0,0,0,0,0,26.10,26.34,28.83
$GC,601,-1.42,-146.0,2372,2576,3565,3916,77.4,-10.7,54,608,1.12,2.05,0.00,0.000,4356,0.067,0.054,1944,3830,3742,3565,3919,0,0,0,0,0,0,26.39,26.40,28.83
$GC,681,0.47,-146.0,1944,3831,3565,3919,104.0,-43.4,61,689,2.17,1.92,0.00,0.000,3078,0.212,0.031,2543,2574,3742,3565,3919,0,0,0,0,0,0,26.12,26.48,28.83
$STATE,866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,866,begin apogee
$GC,872,-0.14,0.0,2542,2725,3565,3918,120.3,-5.1,79,1097,0.52,0.10,215.57,0.422,12294,0.097,0.082,2355,2661,3145,3090,3200,0,0,0,0,0,0,26.36,25.28,24.86
$STATE,1099,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1102,0.70,146.0,2355,2661,3092,3201,127.2,0.0,97,1373,0.77,2.80,260.15,0.423,10756,0.096,0.043,2631,1266,2549,2597,2502,0,0,0,0,0,0,25.31,25.20,24.79
$GC,1406,0.41,146.0,2632,1266,2598,2503,115.2,11.2,121,1412,0.35,2.85,0.00,0.000,5126,0.171,0.044,2538,2717,2550,2597,2503,0,0,0,0,0,0,25.31,25.46,28.83
$GC,1723,0.81,248.8,2538,2716,2595,2501,97.6,5.3,152,1838,0.30,1.75,105.05,0.327,10500,0.053,0.055,2670,3821,2127,2219,2035,0,0,0,0,0,0,26.15,25.58,25.25
$GC,1941,0.33,248.8,2671,3821,2218,2039,55.5,25.1,170,1950,0.60,1.75,0.00,0.000,5126,0.178,0.033,2512,2676,2128,2217,2039,0,0,0,0,0,0,25.68,25.91,28.83
$GC,2251,1.69,316.1,2512,2674,2218,2031,30.7,6.9,201,2306,1.12,2.70,40.28,0.193,11012,0.057,0.046,2957,1273,1852,1945,1760,0,0,0,0,0,0,26.20,26.04,25.86
$GC,2314,0.11,316.1,2957,1274,1945,1760,17.1,32.0,206,2324,2.05,2.78,0.00,0.000,5126,0.240,0.045,2439,2718,1852,1945,1759,0,0,0,0,0,0,25.82,26.06,28.83
$STATE,2341,end climb,SURFACE_DEPTH_REACHED
$STATE,2341,begin surface coast
$FINISH,1.7,1.021995
$STATE,2354,end surface coast,CONTROL_FINISHED_OK
$STATE,2354,begin surface
$SM_CCo,2371,64.82,0.140,0,0,1304,450.13
$SM_GC,1.02,5.93,0.28,64.82,0.036,0.047,0.140,129,2577,1304,-7.01,0.37,450.13,0,0,0,0,0,0,26.13,26.16,25.82
$IRIDIUM_FIX,4735.69,-12129.73,150113,191918
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.73
$INTERNAL_PRESSURE,9.06641
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,4018752
$24V_AH,24.8,0.317
$10V_AH,9.7,0.293
$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,23.775,23.225,621.050,64.825,0.000,0.000,0.000,0.000,0.000,0.000,32.431,624.611,606.795,657.463,508.392,126.908,0.000,1026.389,0.000,472.594,0.000,0.539,0.000
$DEVICE_MAMPS,247.095,81.855,423.045,139.995,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2327.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.940,0.000,0.000,0.000
$MEM,323164
$DATA_FILE_SIZE,6801,210
$CAP_FILE_SIZE,116629,0
$CFSIZE,260034560,256389120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212, 44.2,1
$GPS,150113,195237,4743.651,-12224.078,15,1.9,15,18.2