version: 66.12
glider: 141
mission: 22
dive: 3
start: 3 13 115 18 41 12
data:
$ID,141
$MISSION,22
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,5
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$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,50
$T_MISSION,64
$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,51831
$MASS_COMP,0
$NAV_MODE,0
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$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,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$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,-33.527248
$PRESSURE_SLOPE,0.0001160265
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,130315,183641,4742.9434,-12224.8311,9,1.7,19,18.2,0.0,0.0,6,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.5
$GPS2,130315,184042,4742.9512,-12224.8379,11,1.8,28,18.2,0.2,0.0,6,8.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,330.6,1036,-17.5,-10.000,-21.04,2225
$D_GRID,178
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.68,-146.6,51,2592,1096,1143,0.0,0.0,0,128,0.00,0.00,-97.65,0.000,16390,0.000,0.000,51,2593,3621,3703,3539,0,0,0,0,0,0,14.93,13.71,14.95
$GC,134,-0.68,-146.6,51,2593,3704,3534,2.9,-3.1,10,155,13.50,2.47,0.00,0.000,2308,0.481,0.120,2564,3992,3619,3697,3542,0,0,0,0,0,0,14.47,14.66,14.75
$GC,284,-0.58,-146.6,2563,3992,3688,3553,37.6,-17.7,38,290,0.20,2.33,0.00,0.000,3078,0.320,0.071,2605,2598,3620,3684,3557,0,0,0,0,0,0,14.57,14.73,14.78
$GC,480,-0.55,-146.6,2605,2598,3676,3566,63.5,-11.7,58,486,0.00,2.35,0.00,0.000,516,0.000,0.095,2605,1193,3620,3675,3566,0,0,0,0,0,0,14.99,14.76,15.02
$GC,584,-0.54,-146.6,2605,1193,3676,3566,74.8,-11.2,77,591,0.00,2.38,0.00,0.000,1030,0.000,0.099,2601,2584,3620,3674,3566,0,0,0,0,0,0,14.87,14.74,14.89
$GC,771,-0.51,-146.6,2601,2583,3674,3566,98.3,-13.2,96,778,0.15,0.00,0.00,0.000,2054,0.318,0.000,2632,2583,3620,3674,3566,0,0,0,0,0,0,14.66,14.90,14.87
$GC,962,-0.53,-146.6,2634,2584,3674,3567,120.4,-11.0,115,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2583,3620,3674,3567,0,0,0,0,0,0,15.05,15.09,15.09
$GC,1152,-0.56,-146.6,2632,2584,3673,3567,140.4,-10.8,134,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2583,3620,3674,3567,0,0,0,0,0,0,15.07,15.11,15.10
$STATE,1247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1247,begin apogee
$GC,1257,-0.14,0.0,2632,2419,3674,3567,150.2,-9.0,144,1370,0.40,0.00,109.55,0.855,10246,0.248,0.000,2744,2418,3018,2990,3047,0,0,0,0,0,0,14.70,14.52,14.10
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1379,0.68,146.6,2744,2418,2986,3041,155.8,0.0,156,1501,0.90,0.00,109.18,0.836,10502,0.203,0.000,3010,2418,2415,2375,2455,0,0,0,0,0,0,14.41,14.35,13.95
$GC,1682,0.68,173.4,3010,2418,2374,2455,133.8,8.8,194,1713,0.00,2.62,20.80,0.799,8452,0.000,0.136,3010,3822,2305,2264,2347,0,0,0,0,0,0,14.80,14.45,14.15
$GC,1775,0.63,173.4,3010,3823,2263,2341,124.1,11.4,211,1781,0.00,2.38,0.00,0.000,1030,0.000,0.085,3018,2434,2302,2263,2341,0,0,0,0,0,0,14.68,14.57,14.71
$GC,1962,0.59,173.4,3018,2434,2263,2340,103.3,11.2,230,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2434,2301,2263,2340,0,0,0,0,0,0,14.90,14.94,14.93
$GC,2152,0.56,173.4,3017,2434,2263,2340,82.0,11.0,249,2159,0.15,0.00,0.00,0.000,4102,0.316,0.000,2988,2433,2302,2263,2341,0,0,0,0,0,0,14.62,14.85,14.83
$GC,2342,0.59,199.5,2987,2434,2263,2341,64.6,8.8,268,2368,0.00,0.00,19.67,0.745,8198,0.000,0.000,2987,2434,2200,2153,2248,0,0,0,0,0,0,15.00,14.76,14.37
$GC,2553,0.63,213.0,2987,2434,2150,2247,45.6,9.4,289,2569,0.00,0.00,10.43,0.728,8198,0.000,0.000,2985,2434,2149,2096,2202,0,0,0,0,0,0,14.95,14.66,14.38
$GC,2752,0.71,252.0,2987,2434,2094,2202,28.2,8.2,309,2788,0.12,2.50,27.38,0.705,10756,0.154,0.116,3048,1009,1987,1925,2049,0,0,0,0,0,0,14.76,14.63,14.35
$GC,2831,0.71,252.0,3048,1008,1926,2046,20.5,10.4,323,2837,0.00,2.45,0.00,0.000,1030,0.000,0.099,3048,2424,1986,1927,2046,0,0,0,0,0,0,14.75,14.63,14.77
$STATE,2983,end climb,SURFACE_DEPTH_REACHED
$STATE,2983,begin surface coast
$FINISH,0.5,1.009642
$STATE,3004,end surface coast,CONTROL_FINISHED_OK
$STATE,3004,begin surface
$SM_CCo,3029,85.40,0.059,0,0,1184,450.13
$SM_GC,1.63,8.75,0.32,85.40,0.093,0.135,0.059,51,2614,1184,-8.55,-0.42,450.13,0,0,0,0,0,0,14.71,14.73,14.76
$IRIDIUM_FIX,4722.92,-12222.38,130315,183252
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.44
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,4019136
$24V_AH,13.71,5.147
$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,24.175,20.150,297.000,85.400,0.000,0.000,0.000,0.000,0.750,0.000,31.033,703.857,1303.675,478.575,560.738,168.471,0.000,798.661,0.000,521.505,0.000,5.714,0.000
$DEVICE_MAMPS,481.185,175.950,855.270,58.905,0.000,0.000,0.000,0.000,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.907,0.000,0.000,0.000
$MEM,312732
$DATA_FILE_SIZE,10139,341
$CAP_FILE_SIZE,68268,0
$CFSIZE,260034560,252203008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130315,193435,4743.354,-12225.129,30,1.5,40,18.2,0.2,69.4,6,6.0