version: 66.11
glider: 144
mission: 20
dive: 7
start: 2 27 113 4 22 18
data:
$ID,144
$MISSION,20
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56256
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86633.625
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3920
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2026
$C_ROLL_CLIMB,2026
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2930
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,1
$DBDW,1
$PITCH_W_GAIN,1
$PITCH_W_DBAND,1
$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,-46.800083
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-10.038045
$SEABIRD_C_H,1.1273739
$SEABIRD_C_I,-0.0018486013
$SEABIRD_C_J,0.00022594928
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,041000,4744.272,-12223.874,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-78.4
$GPS2,270213,042115,4744.192,-12223.660,12,1.0,12,16.3
$SPEED_LIMITS,0.083,0.224
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.018,-0.223
$KALMAN_X,222.1,78.3,38.2,961.6,26.3
$KALMAN_Y,-613.2,-298.2,-55.0,-436.6,43.3
$MHEAD_RNG_PITCHd_Wd,168.3,2211,-16.5,-8.333,-20.39,2655
$D_GRID,150
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-146.6,44,2018,1609,1786,0.0,0.0,0,75,0.00,0.00,-50.72,0.000,16386,0.000,0.000,44,2018,2930,2995,2866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.77,-146.6,44,2019,2995,2868,2.3,-3.4,7,118,16.10,0.00,-14.43,0.000,18438,0.474,0.000,3019,2017,3531,3636,3426,0,0,0,0,0,0,14.26,28.83,14.66
$GC,186,-0.62,-146.6,3019,2017,3636,3429,17.3,-15.5,24,194,0.17,0.00,0.00,0.000,2054,0.356,0.000,3059,2017,3532,3636,3429,0,0,0,0,0,0,14.36,28.83,28.83
$GC,259,-0.59,-146.6,3064,2017,3636,3429,26.7,-11.8,32,265,0.00,2.47,0.00,0.000,260,0.000,0.085,3059,3433,3532,3636,3429,0,0,0,0,0,0,28.83,14.49,28.83
$GC,299,-0.59,-146.6,3059,3433,3635,3431,30.9,-11.6,35,307,0.00,2.47,0.00,0.000,1030,0.000,0.081,3059,2023,3535,3635,3436,0,0,0,0,0,0,28.83,14.46,28.83
$GC,426,-0.59,-146.6,3059,2020,3635,3431,44.1,-9.3,48,432,0.00,2.47,0.00,0.000,260,0.000,0.083,3060,3440,3533,3635,3431,0,0,0,0,0,0,28.83,14.54,28.83
$GC,617,-0.59,-146.6,3059,3440,3634,3432,63.0,-10.3,66,623,0.00,2.47,0.00,0.000,1030,0.000,0.081,3059,2024,3533,3634,3432,0,0,0,0,0,0,28.83,14.57,28.83
$GC,751,-0.59,-146.6,3059,2021,3634,3432,77.7,-12.1,79,757,0.00,2.45,0.00,0.000,260,0.000,0.084,3060,3433,3533,3634,3432,0,0,0,0,0,0,28.83,14.57,28.83
$GC,841,-0.63,-146.6,3060,3434,3634,3432,86.8,-9.3,87,847,0.00,2.45,0.00,0.000,1030,0.000,0.082,3059,2026,3533,3634,3432,0,0,0,0,0,0,28.83,14.59,28.83
$GC,977,-0.63,-146.6,3061,2023,3634,3431,100.0,-9.4,100,984,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2024,3533,3634,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1106,-0.63,-146.6,3059,2024,3634,3432,112.9,-11.2,113,1112,0.00,2.45,0.00,0.000,260,0.000,0.083,3059,3434,3533,3634,3432,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1239,-0.70,-146.6,3059,3434,3634,3432,127.6,-10.3,125,1246,0.00,2.47,0.00,0.000,1030,0.000,0.081,3059,2021,3533,3634,3432,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1375,-0.73,-146.6,3060,2018,3634,3432,141.9,-10.0,138,1381,0.00,2.45,0.00,0.000,260,0.000,0.085,3059,3434,3532,3634,3431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1435,-0.78,-146.6,3059,3434,3634,3432,146.8,-8.2,143,1442,0.12,2.45,0.00,0.000,5126,0.182,0.080,3022,2025,3533,3634,3432,0,0,0,0,0,0,14.63,14.64,28.83
$STATE,1473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1473,begin apogee
$GC,1479,-0.18,0.0,3022,2022,3634,3432,150.5,-9.6,146,1601,0.50,0.00,112.25,1.431,10246,0.290,0.000,3152,2022,2928,2962,2895,0,0,0,0,0,0,14.53,28.83,13.50
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1608,0.77,146.6,3152,2021,2962,2894,156.3,0.0,156,1734,0.75,2.60,114.35,1.388,10756,0.230,0.098,3364,613,2331,2330,2332,0,0,1,0,0,0,14.02,13.92,13.41
$GC,1784,0.67,146.6,3364,612,2325,2333,145.0,10.0,171,1792,0.00,2.50,0.00,0.000,1030,0.000,0.069,3364,2026,2328,2325,2331,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1911,0.52,146.6,3364,2028,2325,2326,130.0,12.2,184,1920,0.22,0.00,0.00,0.000,4102,0.299,0.000,3314,2028,2325,2325,2326,0,0,0,0,0,0,14.26,28.83,28.83
$GC,2041,0.52,146.6,3314,2028,2325,2323,119.4,6.7,197,2047,0.00,2.55,0.00,0.000,516,0.000,0.098,3315,609,2324,2325,2323,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2110,0.58,146.7,3315,608,2329,2323,114.9,7.0,203,2116,0.00,2.45,0.00,0.000,1030,0.000,0.070,3315,2027,2323,2324,2323,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2245,0.58,146.7,3315,2027,2325,2322,104.7,7.8,216,2251,0.00,2.45,0.00,0.000,260,0.000,0.080,3313,3443,2322,2324,2321,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2343,0.54,146.7,3315,3442,2318,2320,96.0,8.6,225,2349,0.00,2.50,0.00,0.000,1030,0.000,0.090,3315,2027,2321,2323,2320,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2478,0.54,146.7,3315,2026,2323,2320,86.5,6.7,238,2484,0.00,2.50,0.00,0.000,516,0.000,0.098,3315,604,2321,2322,2320,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2519,0.58,146.7,3315,603,2322,2320,84.3,6.4,241,2528,0.00,2.42,0.00,0.000,1030,0.000,0.069,3315,2029,2321,2322,2320,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2647,0.58,146.7,3315,2029,2322,2320,76.7,5.8,254,2653,0.00,2.42,0.00,0.000,260,0.000,0.077,3315,3437,2321,2322,2320,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2708,0.55,146.7,3315,3438,2322,2320,72.7,7.2,259,2716,0.00,2.47,0.00,0.000,1030,0.000,0.089,3315,2025,2320,2322,2319,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2835,0.55,146.8,3315,2024,2322,2320,65.8,4.9,272,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2024,2321,2322,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,0.55,146.8,3315,2024,2322,2319,60.3,4.3,284,2964,0.00,2.42,0.00,0.000,260,0.000,0.076,3315,3437,2320,2322,2319,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3046,0.52,146.8,3315,3438,2322,2320,55.4,5.8,292,3052,0.00,2.47,0.00,0.000,1030,0.000,0.087,3315,2024,2320,2321,2319,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3182,0.52,146.9,3315,2024,2322,2319,48.1,5.6,305,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2024,2321,2322,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,0.52,146.9,3315,2024,2322,2319,40.1,6.1,318,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2025,2320,2322,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,0.52,146.9,3315,2024,2322,2319,31.7,7.2,331,3447,0.00,2.42,0.00,0.000,260,0.000,0.076,3315,3437,2320,2322,2319,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3482,0.52,146.9,3315,3438,2321,2318,29.2,6.9,334,3490,0.00,2.50,0.00,0.000,1030,0.000,0.091,3315,2024,2322,2325,2319,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3610,0.55,146.9,3313,2024,2318,2319,21.4,4.9,347,3615,0.00,2.47,0.00,0.000,516,0.000,0.097,3315,613,2320,2321,2320,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3668,0.67,147.0,3315,609,2321,2319,19.1,3.5,354,3676,0.12,2.42,0.00,0.000,3078,0.185,0.069,3355,2027,2320,2321,2319,0,0,0,0,0,0,14.57,14.60,28.83
$GC,3744,0.60,147.0,3356,2027,2321,2319,13.9,8.3,367,3753,0.12,2.42,0.00,0.000,4356,0.292,0.077,3325,3436,2320,2322,2319,0,0,0,0,0,0,14.47,14.58,28.83
$STATE,3891,end climb,SURFACE_DEPTH_REACHED
$STATE,3892,begin surface coast
$FINISH,0.4,1.011375
$STATE,3921,end surface coast,CONTROL_FINISHED_OK
$STATE,3921,begin surface
$SM_CCo,3946,82.10,1.269,0,0,1706,300.00
$SM_GC,1.32,9.65,2.50,82.10,0.095,0.081,1.269,44,2024,1706,-14.45,0.57,300.00,0,0,1,0,0,0,14.59,14.59,13.72
$IRIDIUM_FIX,4729.30,-12226.80,270213,020212
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.27
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,22.8
$ALTIM_BOTTOM_PING,150.5,27.6
$SC_FREEKB,4017376
$TM_FREEKB,7846880
$24V_AH,13.4,10.370
$10V_AH,13.6,0.000
$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,27.775,69.150,226.600,82.100,0.000,28.856,33.309,332.498,5.000,0.000,14.034,1398.886,1169.839,446.721,1316.305,376.069,33.235,928.287,0.000,791.871,0.000,40.289,0.000
$DEVICE_MAMPS,474.300,97.920,1430.550,1269.135,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3947.000,3945.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1596.886,21.732,0.000,0.000
$MEM,322660
$DATA_FILE_SIZE,13456,399
$CAP_FILE_SIZE,201478,0
$CFSIZE,260165632,252968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,270213,053052,4744.327,-12224.050,39,1.1,39,16.3