version: 66.12
glider: 204
mission: 15
dive: 5
start: 3 2 115 3 42 18
data:
$ID,204
$MISSION,15
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,100
$T_MISSION,135
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$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,4736
$TGT_DEFAULT_LON,-12218
$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,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,020315,033618,1311.5085,14433.9971,5,0.9,5,1.1,0.0,0.0,8,34.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.1
$GPS2,020315,034202,1311.5403,14433.8916,5,0.8,5,1.1,0.0,0.0,9,81.4
$SPEED_LIMITS,0.208,0.292
$TGT_NAME,N1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,92.1,22621,-19.3,-12.000,-22.36,2106
$D_GRID,1443
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.97,-165.5,195,2200,520,455,0.0,0.0,0,88,0.00,0.00,-74.43,0.000,16386,0.000,0.000,194,2199,2517,2469,2566,0,0,0,0,0,0,27.27,28.83,27.34
$GC,90,-0.97,-165.5,195,2201,2470,2567,3.6,-6.1,12,124,11.57,0.00,-18.50,0.000,18694,0.241,0.000,3007,2198,3515,3485,3546,0,0,0,0,0,0,26.64,25.79,26.79
$GC,428,-0.97,-165.5,3007,2200,3486,3547,92.1,-25.7,63,432,0.00,2.10,0.00,0.000,260,0.000,0.044,2997,3598,3516,3485,3547,0,0,0,0,0,0,27.37,27.06,27.43
$GC,568,-0.97,-165.5,2997,3597,3486,3546,129.7,-25.3,77,572,0.00,2.00,0.00,0.000,1030,0.000,0.023,3005,2195,3515,3485,3546,0,0,0,0,0,0,27.21,27.19,27.22
$GC,878,-0.97,-165.5,3005,2190,3486,3546,185.9,-14.0,108,882,0.00,2.12,0.00,0.000,260,0.000,0.047,2996,3594,3516,3485,3547,0,0,0,0,0,0,27.43,27.10,27.49
$GC,912,-0.97,-165.5,2996,3595,3486,3548,190.5,-15.2,111,921,0.00,2.03,0.00,0.000,1030,0.000,0.024,3004,2172,3515,3485,3546,0,0,0,0,0,0,27.23,27.21,27.25
$GC,1218,-0.97,-165.5,3005,2170,3488,3548,238.6,-15.6,126,1222,0.00,2.15,0.00,0.000,260,0.000,0.047,2996,3592,3516,3487,3546,0,0,0,0,0,0,27.44,27.11,27.50
$GC,1387,-0.97,-165.5,2995,3591,3488,3546,260.7,-14.3,131,1392,0.00,2.03,0.00,0.000,1030,0.000,0.024,3002,2183,3516,3486,3546,0,0,0,0,0,0,27.27,27.22,27.29
$GC,1698,-0.97,-165.5,3002,2181,3487,3547,305.2,-12.6,142,1702,0.00,2.15,0.00,0.000,260,0.000,0.047,2992,3600,3516,3486,3546,0,0,0,0,0,0,27.44,27.11,27.51
$GC,1833,-0.97,-165.5,2992,3601,3487,3544,319.9,-12.3,146,1838,0.00,2.00,0.00,0.000,1030,0.000,0.024,2994,2195,3515,3486,3544,0,0,0,0,0,0,27.26,27.24,27.28
$STATE,2147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2147,begin apogee
$GC,2150,-0.20,0.0,2995,2403,3486,3541,360.3,-13.8,157,2301,0.90,0.00,141.38,1.059,10246,0.164,0.000,3257,2402,2844,2825,2864,0,0,0,0,1,0,26.73,25.61,24.87
$STATE,2301,end apogee,CONTROL_FINISHED_OK
$STATE,2302,begin climb
$GC,2302,0.97,165.5,3258,2403,2829,2867,371.7,0.0,162,2438,1.17,2.05,128.23,0.840,11012,0.107,0.048,3635,3676,2159,2156,2162,0,0,0,0,0,0,25.79,25.77,25.19
$GC,2663,1.11,273.1,3636,3675,2149,2153,365.3,6.7,174,2751,0.10,1.85,80.95,0.823,11270,0.113,0.028,3685,2407,1718,1720,1716,0,0,0,0,0,0,26.66,26.83,25.29
$GC,3048,1.11,273.1,3685,2407,1710,1700,318.5,13.7,187,3052,0.00,1.98,0.00,0.000,260,0.000,0.047,3685,3680,1705,1709,1701,0,0,0,0,0,0,27.07,26.82,27.14
$GC,3247,1.11,273.1,3685,3681,1708,1701,290.2,15.4,193,3252,0.00,1.88,0.00,0.000,1030,0.000,0.028,3693,2400,1704,1707,1701,0,0,0,0,0,0,27.06,27.02,27.08
$GC,3558,1.11,273.1,3694,2401,1704,1699,238.4,15.7,204,3562,0.00,2.05,0.00,0.000,516,0.000,0.034,3704,1015,1700,1703,1697,0,0,0,0,0,0,27.29,27.08,27.36
$GC,3683,1.11,273.1,3704,1014,1702,1696,222.8,13.0,208,3687,0.00,2.08,0.00,0.000,1030,0.000,0.034,3704,2396,1698,1700,1696,0,0,0,0,0,0,27.12,27.09,27.14
$GC,3988,1.12,280.4,3705,2397,1700,1696,188.6,11.6,223,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,3704,2396,1697,1699,1695,0,0,0,0,0,0,27.36,27.43,27.43
$GC,4288,1.20,348.1,3704,2396,1698,1693,158.6,8.7,253,4350,0.00,2.08,56.38,0.835,8708,0.000,0.032,3714,1012,1410,1420,1400,0,0,0,0,0,0,27.39,26.02,25.61
$GC,4529,1.20,348.1,3714,1012,1415,1384,131.3,12.6,277,4533,0.00,2.10,0.00,0.000,1030,0.000,0.033,3714,2396,1399,1414,1384,0,0,0,0,0,0,26.79,26.77,26.82
$GC,4839,1.32,450.7,3714,2397,1412,1381,103.4,7.0,308,4925,0.12,2.03,80.72,0.780,10500,0.138,0.048,3739,3692,992,1018,966,0,0,0,0,0,0,26.90,25.94,25.36
$GC,5029,1.32,450.7,3739,3692,1013,954,78.2,16.8,327,5033,0.00,1.90,0.00,0.000,1030,0.000,0.026,3748,2398,982,1011,954,0,0,0,0,0,0,26.63,26.60,26.64
$GC,5334,1.32,450.7,3748,2398,1012,953,29.5,15.7,370,5341,0.00,2.00,0.00,0.000,260,0.000,0.047,3739,3692,981,1011,951,0,0,0,0,0,0,27.14,26.86,27.20
$GC,5390,1.32,450.7,3739,3693,1012,952,19.8,18.3,381,5397,0.00,1.88,0.00,0.000,1030,0.000,0.026,3747,2392,980,1011,950,0,0,0,0,0,0,27.01,26.98,27.03
$STATE,5495,end climb,SURFACE_DEPTH_REACHED
$STATE,5495,begin surface coast
$FINISH,0.2,1.022091
$STATE,5505,end surface coast,CONTROL_FINISHED_OK
$STATE,5505,begin surface
$SM_CCo,5519,17.10,0.120,0,0,795,500.17
$SM_GC,1.40,10.10,0.22,17.10,0.083,0.055,0.120,192,2211,795,-9.72,2.09,500.17,0,0,0,0,0,0,26.99,27.03,26.77
$IRIDIUM_FIX,1303.16,14434.17,020315,033655
$TT8_MAMPS,0.053179,0.053179
$HUMID,45.94
$INTERNAL_PRESSURE,9.39917
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.87,1.627
$10V_AH,10.50,2.742
$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,23.975,40.950,487.650,17.100,0.000,0.000,0.000,0.000,0.000,0.000,12.536,0.000,3820.152,567.807,1168.066,25.788,0.000,1093.031,0.000,930.562,0.000,0.549,0.000
$DEVICE_MAMPS,240.975,58.140,1058.760,120.105,0.000,0.000,0.000,0.000,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,266.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229124
$DATA_FILE_SIZE,16907,404
$CAP_FILE_SIZE,71728,0
$CFSIZE,1024393216,1017118720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,4106.32,0x236db2,7,5
$CURRENT,0.186,297.02,1
$GPS,020315,051506,1311.426,14433.900,14,0.8,14,1.1,0.9,299.6,10,10.2