version: 66.12
glider: 123
mission: 18
dive: 4
start: 12 30 114 10 50 47
data:
$ID,123
$MISSION,18
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$D_FINISH,8
$D_PITCH,1.75
$D_SAFE,300
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,260
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.12
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,251
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02775
$MASS,52100
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0105
$HD_C,2.4000001e-05
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,0
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,-6625
$TGT_DEFAULT_LON,12015
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,2
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$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,2540
$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,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2550
$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,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,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,-1.4706271
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,25
$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
$GPS1,301214,104606,-6652.068,11830.897,126,2.0,127,-107.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-52.2
$GPS2,301214,105013,-6652.080,11830.882,32,1.9,32,-107.1
$SPEED_LIMITS,0.200,0.327
$TGT_NAME,WP1
$TGT_LATLONG,-6624.000,11836.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,111.3,52142,-15.6,-11.538,-19.45,3148
$D_GRID,900
$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,13,begin dive
$GC,15,-1.88,-244.2,400,2397,1500,1128,0.0,0.0,0,188,0.00,0.00,-169.55,0.000,16386,0.000,0.000,400,2397,2780,2721,2840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,191,-1.88,-244.2,400,2397,2721,2840,3.1,-5.8,31,238,10.10,1.65,-30.70,0.000,18692,0.185,0.084,2127,3291,3547,3499,3596,0,0,0,0,0,0,24.45,24.57,24.89
$GC,465,-1.88,-244.2,2127,3292,3499,3596,35.7,-11.7,84,472,0.00,1.52,0.00,0.000,1030,0.000,0.041,2128,2371,3547,3499,3596,0,0,0,0,0,0,28.83,24.71,28.83
$GC,654,-1.88,-244.2,2128,2370,3499,3596,57.5,-12.0,121,660,0.00,1.60,0.00,0.000,260,0.000,0.062,2128,3291,3547,3499,3595,0,0,0,0,0,0,28.83,24.65,28.83
$GC,732,-1.88,-244.2,2128,3291,3500,3596,67.0,-12.1,136,739,0.00,1.50,0.00,0.000,1030,0.000,0.041,2127,2384,3547,3500,3595,0,0,0,0,0,0,28.83,24.73,28.83
$GC,921,-1.88,-244.2,2127,2384,3499,3595,88.6,-11.4,173,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2384,3547,3499,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1110,-1.88,-244.2,2127,2384,3499,3595,109.6,-10.5,210,1116,0.00,2.45,0.00,0.000,516,0.000,0.065,2127,1011,3547,3500,3595,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1144,-1.88,-244.2,2127,1011,3499,3595,113.4,-11.2,216,1150,0.00,2.40,0.00,0.000,1030,0.000,0.046,2127,2402,3547,3500,3595,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1333,-1.88,-244.2,2127,2401,3500,3595,134.6,-11.3,253,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2402,3547,3500,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-1.88,-244.2,2127,2401,3500,3594,155.7,-11.1,290,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2401,3547,3500,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1709,-1.88,-244.2,2127,2401,3500,3594,176.6,-11.2,327,1716,0.00,2.47,0.00,0.000,516,0.000,0.063,2128,1014,3547,3500,3594,0,0,0,0,0,0,28.83,24.69,28.83
$GC,1744,-1.88,-244.2,2127,1014,3500,3594,180.3,-11.3,333,1751,0.00,2.40,0.00,0.000,1030,0.000,0.045,2128,2408,3547,3500,3594,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1934,-1.88,-244.2,2128,2408,3500,3594,200.8,-11.0,370,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2408,3547,3500,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2122,-1.88,-244.2,2127,2408,3500,3594,222.1,-12.1,407,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2408,3547,3500,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2310,-1.88,-244.2,2127,2408,3500,3594,244.0,-11.4,444,2317,0.00,2.50,0.00,0.000,516,0.000,0.063,2128,1008,3547,3500,3594,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2349,-1.88,-244.2,2127,1008,3500,3594,248.5,-11.6,451,2355,0.00,2.40,0.00,0.000,1030,0.000,0.044,2128,2402,3547,3500,3594,0,0,0,0,0,0,28.83,24.75,28.83
$GC,2543,-1.88,-244.2,2128,2402,3500,3594,270.9,-11.5,462,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2402,3547,3501,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-1.88,-244.2,2127,2402,3500,3594,291.4,-11.1,471,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2402,3547,3500,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,-1.88,-244.2,2127,2402,3500,3594,310.8,-10.8,480,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2402,3547,3500,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3083,-1.88,-244.2,2127,2402,3500,3594,329.8,-10.7,489,3089,0.00,2.47,0.00,0.000,516,0.000,0.063,2128,1014,3547,3500,3594,0,0,0,0,0,0,28.83,24.71,28.83
$GC,3123,-1.88,-244.2,2127,1014,3500,3594,334.2,-11.3,497,3129,0.00,2.38,0.00,0.000,1030,0.000,0.044,2127,2400,3547,3500,3594,0,0,0,0,0,0,28.83,24.77,28.83
$STATE,3161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3161,begin apogee
$GC,3166,-0.50,0.0,2128,1723,3500,3594,338.6,-10.9,502,3555,1.52,0.00,383.15,0.673,10246,0.116,0.000,2426,1723,2549,2664,2434,0,0,0,0,0,0,24.65,28.83,23.58
$STATE,3556,end apogee,CONTROL_FINISHED_OK
$STATE,3556,begin climb
$GC,3558,1.88,244.2,2426,1723,2659,2429,360.9,0.0,521,3956,2.45,2.83,382.02,0.648,10756,0.086,0.089,2948,308,1548,1748,1348,0,0,0,0,0,0,24.12,23.98,23.58
$GC,4103,1.88,246.2,2948,308,1744,1340,319.4,11.5,633,4109,0.00,2.47,0.00,0.000,1030,0.000,0.050,2948,1722,1542,1744,1340,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4303,1.91,273.8,2948,1724,1742,1340,298.2,10.6,646,4355,0.00,2.53,44.30,0.649,8452,0.000,0.054,2948,3091,1430,1644,1216,0,0,0,0,0,0,28.83,24.08,23.64
$GC,4385,1.91,273.8,2948,3090,1642,1215,288.9,11.6,663,4390,0.00,2.47,0.00,0.000,1030,0.000,0.050,2948,1701,1428,1642,1215,0,0,0,0,0,0,28.83,24.32,28.83
$GC,4583,1.91,273.8,2948,1701,1642,1213,266.8,11.6,675,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1701,1427,1641,1213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4763,1.95,303.4,2948,1701,1640,1213,246.5,10.6,687,4814,0.00,0.00,48.08,0.652,8454,0.000,0.000,2948,1701,1313,1539,1087,0,0,0,0,0,0,28.83,28.83,23.64
$GC,4996,1.95,303.4,2948,1701,1532,1081,220.0,11.7,732,5003,0.00,2.45,0.00,0.000,260,0.000,0.053,2948,3094,1307,1533,1081,0,0,0,0,0,0,28.83,24.50,28.83
$GC,5035,1.95,303.4,2948,3094,1532,1081,215.3,12.2,739,5041,0.00,2.45,0.00,0.000,1030,0.000,0.050,2948,1698,1306,1531,1081,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5223,1.95,303.4,2948,1698,1531,1081,193.0,11.9,776,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1698,1305,1530,1081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5411,1.95,303.4,2948,1698,1530,1081,171.4,11.6,813,5418,0.00,2.45,0.00,0.000,260,0.000,0.053,2948,3091,1305,1530,1081,0,0,0,0,0,0,28.83,24.57,28.83
$GC,5444,1.95,303.4,2948,3091,1530,1080,167.6,11.7,819,5451,0.00,2.45,0.00,0.000,1030,0.000,0.050,2948,1697,1305,1530,1081,0,0,0,0,0,0,28.83,24.56,28.83
$GC,5633,1.95,303.4,2948,1696,1529,1081,145.5,11.6,856,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1697,1304,1529,1080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,1.95,303.4,2948,1696,1528,1080,123.4,11.8,893,5829,0.00,2.45,0.00,0.000,260,0.000,0.052,2948,3094,1304,1528,1080,0,0,0,0,0,0,28.83,24.59,28.83
$GC,5856,1.95,303.4,2948,3093,1528,1080,119.3,12.0,899,5862,0.00,2.45,0.00,0.000,1030,0.000,0.051,2949,1700,1304,1528,1081,0,0,0,0,0,0,28.83,24.58,28.83
$GC,6045,1.96,312.1,2948,1700,1527,1081,98.0,11.3,936,6062,0.00,0.00,13.10,0.657,8454,0.000,0.000,2948,1700,1276,1500,1052,0,0,0,0,0,0,28.83,28.83,23.91
$GC,6244,1.97,316.0,2948,1700,1498,1051,75.4,11.4,975,6257,0.00,2.47,6.05,0.649,8452,0.000,0.050,2948,3099,1259,1483,1035,0,0,0,0,0,0,28.83,24.43,23.98
$GC,6289,1.97,316.0,2948,3100,1482,1036,70.0,12.0,983,6296,0.00,2.47,0.00,0.000,1030,0.000,0.051,2948,1700,1259,1482,1036,0,0,0,0,0,0,28.83,24.49,28.83
$GC,6479,1.98,323.3,2948,1700,1480,1035,48.1,11.3,1020,6503,0.10,2.53,13.77,0.642,10500,0.115,0.051,2971,3088,1231,1454,1008,0,0,0,0,0,0,24.63,24.30,23.89
$GC,6520,1.98,323.3,2970,3088,1453,1008,43.3,11.7,1027,6527,0.00,2.47,0.00,0.000,1030,0.000,0.052,2970,1695,1230,1453,1008,0,0,0,0,0,0,28.83,24.40,28.83
$GC,6710,1.98,323.3,2970,1695,1450,1008,19.7,12.6,1064,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1695,1229,1450,1008,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,7.41,-1.272,-1.812,2,1,0
$FREEZE,6.85,-1.270,-1.811,2,1,0
$FREEZE,6.19,-1.258,-1.809,2,1,0
$FREEZE,5.57,-1.253,-1.808,2,1,0
$FREEZE,4.99,-1.254,-1.808,2,1,0
$FREEZE,4.34,-1.236,-1.807,2,1,0
$FREEZE,3.72,-1.235,-1.807,2,1,0
$FREEZE,3.01,-1.217,-1.806,2,1,0
$FREEZE,2.37,-1.203,-1.806,2,1,0
$STATE,6847,end climb,SURFACE_DEPTH_REACHED
$STATE,6847,begin surface coast
$FREEZE,1.84,-1.166,-1.805,2,1,0
$FREEZE,1.81,-1.183,-1.732,2,1,0
$FREEZE,1.78,-1.168,-1.731,2,1,0
$FREEZE,1.80,-1.164,-1.731,2,1,0
$FINISH,1.8,1.025416
$STATE,6869,end surface coast,CONTROL_FINISHED_OK
$STATE,6869,begin surface
$RAFOS_CLK,397
$RAFOS,1,1419941148,12.100000,12.096666,62,58,54,0,0,0,196,175,143,0,0,0
$RAFOS,0,1419940868,12.033333,12.018888,68,60,58,0,0,0,175,203,228,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6620.33,11829.19,301214,091106
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,302.1,61.2
$24V_AH,23.58,7.545
$10V_AH,9.98,7.621
$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,14.175,61.925,890.475,0.000,0.000,0.000,0.000,145.000,1.000,0.000,33.558,2210.011,2179.866,986.515,1764.469,111.472,0.000,2067.778,0.000,1562.382,480.000,7.225,0.000
$DEVICE_MAMPS,185.130,88.740,673.200,0.000,0.000,0.000,0.000,121.635,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300372
$DATA_FILE_SIZE,43477,1095
$CAP_FILE_SIZE,103409,0
$CFSIZE,260034560,254033920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5755.13,0x23769e,7,5
$SOUNDSPEED,1465.0
$GPS,301214,105013,-6652.080,11830.882,32,1.9,32,-107.1