version: 66.11
glider: 141
mission: 17
dive: 5
start: 8 15 113 20 22 12
data:
$ID,141
$MISSION,17
$DIVE,5
$N_DIVES,5
$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,500
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51618
$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,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-517751.09
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,4044
$C_PITCH,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,361
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,1650
$C_ROLL_CLIMB,1200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,4040
$C_VBD,3150
$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,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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.066193
$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,50
$ALTIM_PING_DELTA,50
$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
$DEEPGLIDERMB,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043264292
$SEABIRD_T_H,0.00064045092
$SEABIRD_T_I,2.353942e-05
$SEABIRD_T_J,2.3043724e-06
$SEABIRD_C_G,-10.221929
$SEABIRD_C_H,1.1771696
$SEABIRD_C_I,-0.0034952678
$SEABIRD_C_J,0.00028950538
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150813,201505,4743.259,-12225.123,41,0.8,47,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.1
$GPS2,150813,202131,4743.306,-12225.114,9,1.6,9,18.2
$SPEED_LIMITS,0.173,0.260
$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,3.4,387,-27.2,-10.000,-30.00,962
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-1.21,-63.1,91,1665,1133,1069,0.0,0.0,0,118,0.00,0.00,-88.30,0.000,16390,0.000,0.000,92,1666,3408,3222,3595,0,0,0,0,0,0,28.83,28.83,14.96
$GC,127,-1.30,-131.9,88,1665,3221,3595,2.6,-2.7,16,153,13.93,2.33,-4.93,0.000,19204,0.474,0.090,2747,3048,3690,3518,3862,0,0,0,0,0,0,14.54,14.73,14.92
$GC,388,-1.25,-131.9,2746,3049,3520,3861,61.6,-21.0,46,394,0.12,2.38,0.00,0.000,3078,0.355,0.090,2768,1646,3691,3520,3862,0,0,0,0,0,0,14.65,14.78,28.83
$GC,650,-1.20,-131.9,2768,1649,3518,3858,116.8,-20.4,59,655,0.00,2.25,0.00,0.000,260,0.000,0.067,2761,3043,3690,3522,3858,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,834,begin apogee
$GC,846,-0.21,0.0,2761,1194,3522,3858,152.4,-19.1,68,944,1.40,0.00,91.75,0.872,10246,0.344,0.000,3104,1194,3149,3075,3223,0,0,0,0,0,0,14.72,28.83,14.19
$STATE,950,end apogee,CONTROL_FINISHED_OK
$STATE,950,begin climb
$GC,954,1.30,131.9,3104,1194,3075,3223,159.7,0.0,73,1060,1.60,1.48,92.78,0.851,10756,0.187,0.119,3595,367,2610,2599,2622,0,0,0,0,0,0,14.49,14.33,14.04
$GC,1069,1.15,155.9,3595,367,2599,2622,154.0,7.5,79,1093,0.12,1.38,18.10,0.835,13318,0.367,0.064,3558,1213,2513,2514,2512,0,0,0,0,0,0,14.27,14.46,14.07
$GC,1349,1.10,155.9,3557,1213,2514,2512,106.5,16.2,93,1355,0.00,2.22,0.00,0.000,260,0.000,0.060,3557,2612,2513,2514,2512,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1375,1.07,155.9,3557,2613,2514,2512,102.3,16.1,94,1381,0.17,2.42,0.00,0.000,5126,0.366,0.095,3531,1199,2512,2513,2512,0,0,0,0,0,0,14.58,14.73,28.83
$GC,1642,1.07,155.9,3531,1199,2514,2512,64.2,14.2,107,1647,0.00,1.45,0.00,0.000,516,0.000,0.127,3535,374,2512,2513,2512,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1800,1.02,155.9,3535,374,2513,2511,41.4,15.2,117,1805,0.00,1.30,0.00,0.000,1030,0.000,0.066,3535,1203,2512,2513,2511,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1993,1.02,155.9,3535,1204,2514,2511,16.8,11.2,142,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1204,2512,2514,2511,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2118,end climb,SURFACE_DEPTH_REACHED
$STATE,2118,begin surface coast
$FINISH,0.5,1.021690
$STATE,2145,end surface coast,CONTROL_FINISHED_OK
$STATE,2145,begin surface
$SM_CCo,2171,145.65,0.075,0,0,1110,500.17
$SM_GC,1.48,10.15,0.68,145.65,0.112,0.070,0.075,92,1630,1110,-9.61,-1.75,500.17,0,0,0,0,0,0,14.83,14.88,14.84
$RAFOS_CLK,78
$RAFOS,2,1376599457,20.750000,20.738056,75,59,54,54,52,51,217,118,183,142,196,205
$RAFOS,1,1376598241,20.416666,20.400278,69,60,54,53,51,51,192,156,216,143,116,225
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,150813,191949
$TT8_MAMPS,0.023219,0.023219
$HUMID,52.16
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,4018528
$24V_AH,14.0,2.277
$10V_AH,14.2,0.000
$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,27.500,21.150,202.625,145.650,0.000,0.000,0.000,190.850,0.750,0.000,12.045,546.406,892.295,400.922,661.913,219.532,0.000,878.266,0.000,440.583,960.000,8.781,0.000
$DEVICE_MAMPS,473.535,139.995,872.100,74.970,0.000,0.000,0.000,233.325,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2163.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.825,0.000,0.000,0.000
$MEM,280616
$DATA_FILE_SIZE,3485,171
$CAP_FILE_SIZE,45973,0
$CFSIZE,260034560,254164992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150813,210212,4743.436,-12224.896,10,1.5,27,18.2