version: 66.11
glider: 108
mission: 24
dive: 3
start: 8 30 113 18 34 1
data:
$ID,108
$MISSION,24
$DIVE,3
$N_DIVES,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$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,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,51643
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,714.86151
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-193128.47
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3230
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3250
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.327888
$PRESSURE_SLOPE,0.0001161151
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,86
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042902208
$SEABIRD_T_H,0.00062879291
$SEABIRD_T_I,2.3436274e-05
$SEABIRD_T_J,2.4509632e-06
$SEABIRD_C_G,-9.8955164
$SEABIRD_C_H,1.1345812
$SEABIRD_C_I,-0.0014690319
$SEABIRD_C_J,0.0002024868
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$GPS1,300813,183032,4743.723,-12224.721,16,1.4,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.4
$GPS2,300813,183337,4743.749,-12224.719,17,1.4,17,16.6
$SPEED_LIMITS,0.173,0.259
$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,200.6,579,-25.0,-10.000,-27.39,1212
$D_GRID,175
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.93,-79.1,335,2162,517,393,0.0,0.0,0,138,0.00,0.00,-107.20,0.000,16390,0.000,0.000,336,2160,3576,3552,3600,0,0,0,0,0,0,28.83,28.83,26.82
$GC,142,-1.01,-145.4,336,2162,3551,3605,2.5,-4.4,20,168,9.82,2.15,-5.47,0.000,18948,0.237,0.050,2911,754,3849,3773,3926,0,0,0,0,0,0,26.20,26.48,26.76
$GC,207,-1.06,-145.4,2910,754,3774,3935,16.8,-15.4,31,216,0.00,2.08,0.00,0.000,1030,0.000,0.034,2903,2147,3854,3773,3935,0,0,0,0,0,0,28.83,26.53,28.83
$GC,399,-1.13,-145.4,2903,2147,3774,3943,46.6,-14.9,54,406,0.12,2.08,0.00,0.000,4356,0.088,0.043,2823,3565,3858,3774,3942,0,0,0,0,0,0,26.64,26.58,28.83
$GC,550,-1.06,-145.4,2822,3564,3774,3944,76.2,-20.9,62,558,0.22,2.03,0.00,0.000,3078,0.164,0.030,2886,2135,3859,3774,3944,0,0,0,0,0,0,26.46,26.68,28.83
$GC,811,-1.11,-145.4,2886,2135,3774,3944,116.1,-13.8,75,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2135,3859,3774,3944,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1049,begin apogee
$GC,1055,-0.17,0.0,2887,1938,3774,3944,151.8,-15.3,87,1187,0.85,0.00,118.20,0.776,10246,0.138,0.000,3167,1938,3250,3295,3205,0,0,0,0,1,0,26.56,28.83,24.69
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1192,1.01,145.4,3167,1938,3297,3205,158.0,0.0,93,1354,1.08,2.30,142.18,0.645,11012,0.073,0.041,3553,3348,2657,2761,2553,0,0,0,0,1,0,25.47,25.25,24.60
$GC,1381,1.01,145.4,2736,3347,2705,2543,145.9,10.6,103,1388,0.00,2.12,0.00,0.000,1030,0.000,0.029,3563,1959,2656,2760,2553,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1643,1.05,145.4,3563,1959,2761,2551,108.9,13.4,116,1649,0.00,2.15,0.00,0.000,516,0.000,0.038,3573,540,2655,2760,2551,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1878,1.10,145.4,3573,541,2759,2550,76.2,13.9,127,1884,0.00,2.15,0.00,0.000,1030,0.000,0.034,3573,1955,2654,2759,2550,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2133,1.14,145.4,3573,1955,2758,2550,39.7,13.6,143,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1955,2654,2758,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,1.18,145.4,3573,1955,2757,2550,18.1,13.0,166,2324,0.12,2.05,0.00,0.000,2308,0.099,0.045,3632,3343,2653,2757,2550,0,0,0,0,0,0,26.65,26.60,28.83
$STATE,2395,end climb,SURFACE_DEPTH_REACHED
$STATE,2396,begin surface coast
$FINISH,0.4,1.021913
$STATE,2417,end surface coast,CONTROL_FINISHED_OK
$STATE,2417,begin surface
$SM_CCo,2443,224.90,0.054,0,0,447,687.33
$SM_CCo,2672,-0.35,0.000,0,0,448,687.33
$SM_CCo,2676,0.10,0.119,0,0,448,687.33
$SM_GC,1.22,8.52,1.80,0.10,0.044,0.031,0.119,338,2142,448,-8.96,1.61,687.33,0,0,0,0,0,0,26.65,26.70,26.46
$IRIDIUM_FIX,4726.11,-12223.37,300813,181854
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.37
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3937056
$PM_FREEKB,7837968
$24V_AH,24.6,0.802
$10V_AH,10.3,7.112
$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,20.750,21.125,260.375,225.000,0.000,0.000,0.000,0.000,0.000,0.000,18.434,516.466,1119.478,547.651,501.867,74.913,0.000,866.919,0.000,439.678,0.000,0.539,0.000
$DEVICE_MAMPS,237.150,54.315,775.710,118.575,0.000,0.000,0.000,0.000,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2390.000,2398.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.897,1000.000,0.000,0.000
$MEM,281948
$DATA_FILE_SIZE,6795,185
$CAP_FILE_SIZE,60841,0
$CFSIZE,260034560,242327552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,300813,192004,4743.284,-12225.107,19,2.3,40,16.6