version: 66.12
glider: 123
mission: 14
dive: 5
start: 11 7 114 20 42 50
data:
$ID,123
$MISSION,14
$DIVE,5
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,20
$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,50
$T_MISSION,67
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51913
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0105
$HD_C,2.4000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,653.7818
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3500
$C_PITCH,2630
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,10
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,2
$ROLL_MIN,300
$ROLL_MAX,3300
$ROLL_DEG,20
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0013
$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,90
$AH0_10V,70
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-3.6531274
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043547689
$SEABIRD_T_H,0.00062576577
$SEABIRD_T_I,2.391554e-05
$SEABIRD_T_J,2.5780666e-06
$SEABIRD_C_G,-9.9836788
$SEABIRD_C_H,1.11155
$SEABIRD_C_I,-0.0018295855
$SEABIRD_C_J,0.00022378819
$GPS1,071114,203835,4743.692,-12224.083,30,1.8,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-50.2
$GPS2,071114,204213,4743.658,-12224.061,12,1.7,12,18.2
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,249.5,1206,-18.1,-10.000,-21.91,2183
$D_GRID,173
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-2.00,-146.6,399,1794,445,352,0.0,0.0,0,162,0.00,0.00,-143.07,0.000,16386,0.000,0.000,399,1794,2856,2806,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-2.00,-146.6,399,1795,2807,2906,3.6,-8.7,24,185,9.82,1.12,-3.80,0.000,18692,0.156,0.060,2192,2487,2998,2965,3031,0,0,0,0,0,0,24.49,24.64,24.89
$GC,412,-2.00,-146.6,2192,2486,2966,3032,33.2,-11.1,72,419,0.00,1.20,0.00,0.000,1030,0.000,0.045,2192,1796,2999,2966,3032,0,0,0,0,0,0,28.83,24.69,28.83
$GC,601,-2.00,-146.6,2192,1796,2966,3032,54.5,-11.1,103,604,0.00,1.15,0.00,0.000,260,0.000,0.036,2192,2487,2999,2966,3032,0,0,0,0,0,0,28.83,24.75,28.83
$GC,829,-2.00,-146.6,2192,2487,2967,3032,81.5,-11.8,149,834,0.00,1.20,0.00,0.000,1030,0.000,0.043,2192,1797,2999,2966,3032,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1022,-2.00,-146.6,2192,1797,2966,3032,101.3,-10.0,160,1025,0.00,1.15,0.00,0.000,260,0.000,0.036,2192,2488,2999,2966,3032,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1252,-2.00,-146.6,2192,2489,2966,3032,123.8,-10.2,206,1256,0.00,1.20,0.00,0.000,1030,0.000,0.044,2192,1796,2999,2966,3032,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1443,-2.00,-146.6,2192,1796,2966,3032,143.0,-9.8,217,1448,0.00,1.15,0.00,0.000,260,0.000,0.036,2192,2482,2999,2966,3032,0,0,0,0,0,0,28.83,24.82,28.83
$STATE,1518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1518,begin apogee
$GC,1523,-0.50,0.0,2192,2170,2966,3032,150.1,-9.3,232,1659,1.60,0.00,127.15,0.594,10246,0.102,0.000,2519,2166,2395,2464,2327,0,0,0,0,0,0,24.72,28.83,23.82
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1662,2.00,146.6,2519,2166,2462,2327,153.9,0.0,239,1802,2.45,1.20,130.52,0.561,10756,0.067,0.054,3069,1518,1797,1930,1664,0,0,0,0,0,0,24.37,24.22,23.81
$GC,2027,2.00,146.6,3069,1518,1919,1655,120.0,12.1,312,2032,0.00,1.12,0.00,0.000,1030,0.000,0.034,3069,2188,1787,1919,1655,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2224,2.00,146.6,3069,2188,1916,1655,98.5,10.0,324,2228,0.00,1.17,0.00,0.000,516,0.000,0.053,3070,1525,1785,1915,1655,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2454,2.00,146.6,3069,1525,1915,1655,72.8,11.8,370,2457,0.00,1.12,0.00,0.000,1030,0.000,0.034,3069,2194,1784,1915,1654,0,0,0,0,0,0,28.83,24.66,28.83
$GC,2645,2.00,146.6,3069,2194,1913,1654,51.9,10.3,381,2650,0.00,1.20,0.00,0.000,516,0.000,0.052,3069,1516,1784,1914,1655,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2877,2.00,150.9,3069,1516,1914,1654,31.2,9.8,427,2884,0.00,1.15,0.00,0.000,1030,0.000,0.034,3069,2199,1784,1914,1655,0,0,0,0,0,0,28.83,24.72,28.83
$GC,3066,2.00,150.9,3069,2199,1913,1655,12.3,11.6,464,3072,0.00,1.17,0.00,0.000,260,0.000,0.047,3069,2893,1783,1913,1654,0,0,0,0,0,0,28.83,24.71,28.83
$GC,3129,2.00,150.9,3069,2893,1912,1654,5.0,11.3,476,3136,0.00,1.15,0.00,0.000,1030,0.000,0.035,3069,2207,1783,1912,1655,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,0.2,1.021194
$STATE,3178,end surface coast,CONTROL_FINISHED_OK
$STATE,3178,begin surface
$SM_CCo,3198,158.05,0.053,0,0,399,490.60
$SM_CCo,3359,-0.32,0.000,0,0,400,490.60
$SM_CCo,3363,0.00,0.000,0,0,400,490.60
$SM_GC,0.93,11.70,0.70,0.00,0.046,0.057,0.000,392,1808,400,-10.23,1.02,490.60,0,0,0,0,0,0,24.72,24.70,28.83
$RAFOS_CLK,118
$RAFOS,1,1415395453,21.416666,21.403610,41,41,39,0,0,0,729,1998,616,0,0,0
$RAFOS,0,1415394251,21.083334,21.069723,42,41,41,0,0,0,750,112,1486,0,0,0
$RAFOS,2,1415393041,20.750000,20.733612,42,41,41,0,0,0,397,833,2542,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12222.38,071114,193832
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.25
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.81,2.602
$10V_AH,10.18,5.120
$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,25.575,18.675,257.675,158.050,0.000,0.000,0.000,144.950,0.000,0.000,13.390,848.424,1292.562,537.220,870.209,60.750,0.000,1089.620,0.000,701.754,1260.000,0.546,0.000
$DEVICE_MAMPS,156.060,59.670,593.640,52.785,0.000,0.000,0.000,117.045,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,203.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318328
$DATA_FILE_SIZE,20135,485
$CAP_FILE_SIZE,51050,0
$CFSIZE,260034560,254472192
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3651.40,0x23769e,7,5
$INTR,1,3364.31,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.123,151.31,1
$GPS,071114,214005,4743.700,-12224.217,15,2.0,31,18.2