version: 66.13
glider: 128
mission: 4
dive: 3
start: 1 15 118 9 11 41
data:
$ID,128
$MISSION,4
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,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,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2908
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$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
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,150118,090716,-340.3536,5535.0288,14,1.1,18,-4.8,0.6,148.1,7,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-68.1
$GPS2,150118,091104,-340.3762,5535.0977,19,1.3,23,-4.8,0.7,155.9,7,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,319.7,74777,-17.5,-10.000,-21.06,2227
$D_GRID,1000
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-0.68,-146.0,236,1937,467,370,0.0,0.0,0,113,0.00,0.00,-101.88,0.003,16390,0.000,0.000,231,1939,3505,3486,3525,0,0,0,0,0,0,15.17,13.84,15.15
$GC,115,-0.68,-146.0,231,1939,3486,3525,4.1,-10.3,17,136,11.95,2.33,0.00,0.000,2308,0.441,0.065,2621,3372,3506,3490,3522,0,0,0,0,0,0,14.65,14.91,14.93
$GC,188,-0.53,-146.0,2621,3371,3496,3516,28.4,-19.9,30,196,0.25,2.28,0.00,0.000,3206,0.281,0.056,2681,1946,3507,3499,3515,0,0,0,0,0,0,14.76,14.93,14.96
$GC,499,-0.65,-146.0,2681,1943,3505,3510,69.7,-10.6,77,503,0.00,2.33,0.00,0.000,388,0.000,0.078,2681,3361,3507,3505,3510,0,0,0,0,0,0,15.23,14.95,15.25
$GC,641,-0.91,-146.0,2681,3360,3505,3510,77.5,-4.1,105,651,0.32,2.22,0.00,0.000,5286,0.101,0.051,2563,1941,3507,3505,3510,0,0,0,0,0,0,14.99,15.01,15.07
$GC,950,-0.82,-146.0,2563,1941,3507,3510,104.6,-11.1,137,960,0.12,2.35,0.00,0.000,2436,0.287,0.080,2594,3366,3508,3507,3510,0,0,0,0,0,0,14.83,14.97,15.00
$GC,1032,-0.82,-146.0,2593,3366,3507,3510,113.5,-11.2,153,1036,0.00,2.25,0.00,0.000,1030,0.000,0.053,2594,1946,3508,3507,3510,0,0,0,0,0,0,15.09,15.02,15.11
$GC,1343,-0.82,-146.0,2594,1944,3507,3507,146.7,-9.0,185,1347,0.00,2.33,0.00,0.000,292,0.000,0.080,2594,3359,3507,3507,3507,0,0,0,0,0,0,15.28,14.99,15.30
$GC,1428,-0.85,-146.0,2594,3359,3507,3507,154.6,-9.5,202,1434,0.00,2.22,0.00,0.000,1190,0.000,0.054,2594,1949,3507,3507,3507,0,0,0,0,0,0,15.10,15.03,15.12
$STATE,1713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1713,begin apogee
$GC,1716,-0.14,0.0,2594,1948,3507,3505,180.5,-8.6,231,1827,0.73,0.00,107.28,1.071,10246,0.230,0.000,2806,1945,2906,2929,2884,0,0,0,0,0,0,14.87,14.61,14.11
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1829,0.68,146.0,2805,1945,2918,2872,181.7,0.0,242,1946,0.80,2.33,105.57,1.041,10756,0.128,0.077,3073,544,2298,2340,2256,0,0,0,0,0,0,14.57,14.46,14.02
$GC,2051,0.57,146.0,3072,544,2325,2249,152.5,15.1,287,2060,0.12,2.28,0.00,0.000,5254,0.283,0.058,3046,1951,2286,2325,2248,0,0,0,0,0,0,14.62,14.74,14.81
$GC,2358,0.49,146.0,3046,1951,2319,2244,111.8,12.1,318,2362,0.00,2.30,0.00,0.000,644,0.000,0.077,3047,552,2281,2319,2244,0,0,0,0,0,0,15.15,14.89,15.17
$GC,2472,0.45,146.0,3046,552,2318,2244,98.9,10.6,341,2480,0.15,2.25,0.00,0.000,5254,0.259,0.061,3009,1962,2280,2317,2244,0,0,0,0,0,0,14.81,14.92,15.00
$GC,2780,0.53,169.4,3009,1962,2315,2240,70.7,8.9,372,2804,0.00,2.30,18.17,0.916,8868,0.000,0.075,3009,552,2212,2250,2175,0,0,0,0,0,0,15.22,14.88,14.45
$GC,2912,0.94,322.5,3009,552,2239,2169,63.2,2.9,398,3044,0.45,2.22,120.22,0.940,11430,0.096,0.061,3173,1950,1576,1620,1532,0,0,0,0,0,0,14.93,14.92,14.12
$STATE,3306,end climb,SURFACE_DEPTH_REACHED
$STATE,3306,begin surface coast
$FINISH,-0.3,1.022588
$STATE,3322,end surface coast,CONTROL_FINISHED_OK
$STATE,3322,begin surface
$SM_CCo,3336,98.70,0.086,0,0,664,550.20
$SM_GC,0.65,8.57,0.00,98.70,0.105,0.000,0.086,247,1957,664,-8.13,0.20,550.20,0,0,0,0,0,0,14.79,15.11,14.82
$IRIDIUM_FIX,-341.61,5537.84,150118,090452
$TT8_MAMPS,0.018725,0.155792
$HUMID,50.70
$INTERNAL_PRESSURE,8.55115
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.84,2.875
$10V_AH,13.33,0.000
$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,23.475,31.975,351.250,98.700,0.000,0.000,0.000,0.000,0.000,0.000,23.573,995.269,1279.716,510.885,713.915,26.929,0.000,928.325,0.000,691.530,0.000,0.551,0.000
$DEVICE_MAMPS,441.405,80.325,1071.000,85.680,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304696
$DATA_FILE_SIZE,20114,479
$CAP_FILE_SIZE,60440,0
$CFSIZE,260034560,258494464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2931.54,0x234cba,1,24
$CURRENT,0.358,108.64,1
$GPS,150118,101007,-340.396,5535.625,36,0.9,38,-4.8,0.9,130.0,9,9.8