version: 66.11
glider: 150
mission: 10
dive: 11
start: 2 20 115 5 29 30
data:
$ID,150
$MISSION,10
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,3
$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,75
$T_MISSION,85
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,53682
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,34.5
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,30
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-91252.719
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,459
$PITCH_MAX,3719
$C_PITCH,2428
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,2161
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-84.104301
$PRESSURE_SLOPE,0.0001149594
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,39
$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
$SIM_PITCH,0
$SEABIRD_T_G,0.004369304
$SEABIRD_T_H,0.00063699199
$SEABIRD_T_I,2.5745603e-05
$SEABIRD_T_J,2.8393902e-06
$SEABIRD_C_G,-10.003755
$SEABIRD_C_H,1.1300429
$SEABIRD_C_I,-0.0011255401
$SEABIRD_C_J,0.0001769348
$GPS1,200215,052136,4744.740,-12224.688,6,2.0,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.7
$GPS2,200215,052835,4744.807,-12224.749,16,1.9,38,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.052,-0.194
$KALMAN_X,-1284.9,-5.1,140.9,486.1,262.1
$KALMAN_Y,-4793.9,-77.0,243.2,7953.9,556.0
$MHEAD_RNG_PITCHd_Wd,176.8,3361,-17.8,-8.000,-21.73,1853
$D_GRID,180
$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,16,-1.44,-97.2,450,1954,1017,898,0.0,0.0,0,62,0.00,0.00,-43.25,0.000,16386,0.000,0.000,451,1954,1970,2077,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-1.44,-97.2,451,1955,2078,1864,3.1,-6.5,8,102,9.02,2.55,-16.23,0.000,18948,0.164,0.080,2109,548,2550,2702,2398,0,0,0,0,0,0,24.09,24.16,24.50
$GC,216,-1.44,-97.2,1280,548,2652,2391,25.2,-18.0,36,223,0.00,2.33,0.00,0.000,1030,0.000,0.045,2110,1948,2552,2702,2402,0,0,0,0,0,0,28.83,24.28,28.83
$GC,346,-1.44,-97.2,2110,1948,2703,2402,42.0,-10.9,61,352,0.00,2.47,0.00,0.000,516,0.000,0.067,2110,542,2552,2702,2402,0,0,0,0,0,0,28.83,24.23,28.83
$GC,416,-1.44,-97.2,2110,541,2702,2402,50.6,-12.8,74,423,0.00,2.35,0.00,0.000,1030,0.000,0.040,2110,1960,2552,2702,2402,0,0,0,0,0,0,28.83,24.32,28.83
$GC,607,-1.44,-97.2,2110,1961,2702,2402,69.9,-9.1,111,614,0.00,2.50,0.00,0.000,516,0.000,0.067,2110,536,2552,2702,2402,0,0,0,0,0,0,28.83,24.27,28.83
$GC,698,-1.44,-97.2,2110,536,2702,2402,80.0,-12.5,128,704,0.00,2.35,0.00,0.000,1030,0.000,0.045,2110,1953,2552,2702,2403,0,0,0,0,0,0,28.83,24.34,28.83
$GC,888,-1.44,-97.2,1280,1951,2652,2391,102.1,-11.1,165,895,0.00,2.45,0.00,0.000,260,0.000,0.073,2110,3349,2552,2702,2402,0,0,0,0,0,0,28.83,24.29,28.83
$STATE,979,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,979,begin apogee
$GC,990,-0.37,0.0,2110,1945,2702,2402,110.4,-9.1,182,1078,1.08,0.00,80.70,0.717,10246,0.101,0.000,2339,1944,2160,2275,2046,0,0,0,0,0,0,24.30,28.83,23.37
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1082,1.44,97.2,2338,1944,2275,2045,114.4,0.0,198,1171,1.73,2.58,78.68,0.697,10500,0.062,0.070,2740,3354,1772,1862,1683,0,0,0,0,0,0,23.98,23.80,23.37
$GC,1220,1.44,97.2,1736,3353,1814,1674,105.2,9.5,223,1227,0.00,2.45,0.00,0.000,1030,0.000,0.055,2741,1946,1769,1858,1681,0,0,0,0,0,0,28.83,24.10,28.83
$GC,1412,1.44,97.2,2741,1946,1858,1677,85.8,10.5,260,1419,0.00,2.50,0.00,0.000,260,0.000,0.069,2741,3346,1767,1858,1677,0,0,0,0,0,0,28.83,24.16,28.83
$GC,1457,1.44,97.2,2741,3346,1858,1677,81.5,10.3,268,1464,0.00,2.42,0.00,0.000,1030,0.000,0.058,2741,1940,1767,1858,1676,0,0,0,0,0,0,28.83,24.22,28.83
$GC,1649,1.44,97.2,1736,1938,1813,1669,60.8,9.6,305,1656,0.00,2.47,0.00,0.000,516,0.000,0.070,2741,539,1767,1858,1676,0,0,0,0,0,0,28.83,24.21,28.83
$GC,1791,1.44,97.2,2741,539,1858,1675,48.3,10.7,332,1797,0.00,2.35,0.00,0.000,1030,0.000,0.040,2741,1959,1766,1858,1675,0,0,0,0,0,0,28.83,24.31,28.83
$GC,1923,1.44,98.6,1696,1957,1811,1667,37.4,7.9,357,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1959,1766,1858,1674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,1.55,183.5,2741,1959,1858,1674,31.3,3.3,382,2132,0.10,2.55,69.65,0.653,10756,0.099,0.067,2768,545,1429,1510,1349,0,0,0,0,0,0,24.38,23.86,23.43
$GC,2182,1.55,183.5,2767,545,1506,1346,22.3,10.9,405,2189,0.00,2.33,0.00,0.000,1030,0.000,0.039,2768,1955,1426,1506,1346,0,0,1,0,0,0,28.83,24.17,28.83
$GC,2314,1.57,201.6,2767,1955,1506,1342,11.9,7.0,430,2338,0.00,2.55,15.25,0.605,8708,0.000,0.067,2768,540,1357,1438,1276,0,0,0,0,0,0,28.83,23.96,23.55
$STATE,2449,end climb,SURFACE_DEPTH_REACHED
$STATE,2450,begin surface coast
$FINISH,0.4,1.009945
$STATE,2477,end surface coast,CONTROL_FINISHED_OK
$STATE,2477,begin surface
$SM_CCo,2500,86.25,0.578,1,0,965,300.18
$SM_GC,1.09,9.90,2.40,86.25,0.045,0.039,0.578,455,1945,965,-9.01,-1.07,300.18,0,0,0,0,1,0,24.26,24.27,23.43
$IRIDIUM_FIX,4726.11,-12224.09,200215,040446
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.01
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,19.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,110.4,11.0
$24V_AH,23.4,1.148
$10V_AH,10.5,0.757
$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,21.825,44.075,244.275,86.250,0.000,23.212,41.304,198.075,2.500,0.000,40.241,1000.858,465.515,405.831,971.467,171.958,33.225,802.909,0.000,675.713,0.000,7.040,0.000
$DEVICE_MAMPS,163.710,79.560,716.805,577.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.574,234.972,404.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323160
$DATA_FILE_SIZE,26968,461
$CAP_FILE_SIZE,49631,0
$CFSIZE,260165632,116375552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,200215,061405,4744.916,-12224.834,38,1.2,38,18.2