version: 66.11
glider: 215
mission: 1
dive: 10
start: 3 5 114 5 20 34
data:
$ID,215
$MISSION,1
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,50
$T_BOOST,2
$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,88
$T_MISSION,105
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,53499
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,240
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-456.73578
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,198
$PITCH_MAX,3925
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.493416
$PRESSURE_SLOPE,0.0001163634
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,150
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0044005844
$SEABIRD_T_H,0.00063442322
$SEABIRD_T_I,2.5163401e-05
$SEABIRD_T_J,3.0001177e-06
$SEABIRD_C_G,-9.7719641
$SEABIRD_C_H,1.1567575
$SEABIRD_C_I,-0.00080766954
$SEABIRD_C_J,0.00014343993
$GPS1,050314,051347,4744.041,-12224.765,14,1.0,14,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.7
$GPS2,050314,051933,4744.092,-12224.737,5,1.1,5,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,-0.088
$KALMAN_X,395.9,-211.0,-82.2,-159.5,380.1
$KALMAN_Y,-1999.4,-161.3,-958.3,4440.1,25.9
$MHEAD_RNG_PITCHd_Wd,214.2,365,-26.9,-7.955,-30.00,866
$D_GRID,175
$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,15,-1.28,-45.3,181,2486,1208,1213,0.0,0.0,0,56,0.00,0.00,-39.08,0.000,16390,0.000,0.000,181,2488,2385,2356,2415,0,0,0,0,0,0,28.83,28.83,26.96
$GC,58,-1.31,-71.1,182,2488,2356,2416,3.4,-4.9,5,76,8.57,2.05,-2.35,0.000,18692,0.245,0.070,2381,3803,2491,2473,2509,0,0,0,0,0,0,26.42,26.60,26.87
$GC,215,-1.31,-71.1,2381,3803,2474,2509,39.6,-21.7,31,223,0.00,1.98,0.00,0.000,1030,0.000,0.043,2381,2507,2491,2474,2508,0,0,0,0,0,0,28.83,26.77,28.83
$GC,292,-1.31,-71.1,2380,2507,2475,2508,55.6,-20.1,44,300,0.00,2.03,0.00,0.000,260,0.000,0.057,2371,3801,2491,2475,2508,0,0,0,0,0,0,28.83,26.74,28.83
$GC,336,-1.31,-71.1,2371,3800,2475,2508,64.7,-22.4,51,343,0.00,1.95,0.00,0.000,1030,0.000,0.041,2371,2495,2491,2475,2508,0,0,0,0,0,0,28.83,26.79,28.83
$GC,480,-1.31,-71.1,2371,2495,2475,2508,92.1,-18.7,76,488,0.00,2.12,0.00,0.000,516,0.000,0.054,2371,1100,2491,2476,2507,0,0,0,0,0,0,28.83,26.83,28.83
$GC,737,-1.31,-71.1,2371,1099,2477,2506,141.5,-19.8,119,744,0.15,2.10,0.00,0.000,3078,0.200,0.047,2398,2511,2490,2476,2505,0,0,0,0,0,0,26.75,26.91,28.83
$GC,881,-1.31,-71.1,2398,2511,2476,2505,168.5,-17.6,144,889,0.00,1.98,0.00,0.000,260,0.000,0.057,2389,3795,2490,2476,2505,0,0,0,0,0,0,28.83,26.92,28.83
$STATE,917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,917,begin apogee
$GC,923,-0.23,0.0,2389,2497,2477,2505,175.8,-20.2,150,1009,1.10,0.00,76.70,0.593,10246,0.166,0.000,2735,2496,2198,2204,2193,0,0,0,0,0,0,26.80,28.83,25.60
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1011,1.31,71.1,2735,2496,2203,2192,180.3,0.0,163,1078,1.42,2.25,55.17,0.617,10756,0.087,0.055,3248,1113,1902,1907,1897,0,0,0,0,0,0,26.03,25.59,25.17
$GC,1195,1.35,102.9,3248,1112,1905,1893,174.0,4.2,193,1229,0.00,2.15,25.45,0.623,9222,0.000,0.048,3248,2507,1772,1781,1763,0,0,0,0,0,0,28.83,26.13,25.40
$GC,1365,1.35,102.9,3247,2508,1778,1756,159.2,12.5,222,1374,0.00,2.08,0.00,0.000,260,0.000,0.060,3248,3802,1767,1778,1756,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1516,1.35,102.9,3248,3802,1778,1756,140.2,11.9,248,1525,0.00,2.00,0.00,0.000,1030,0.000,0.044,3258,2511,1766,1778,1755,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1664,1.35,102.9,3257,2511,1779,1756,124.5,10.3,273,1670,0.00,2.15,0.00,0.000,516,0.000,0.057,3268,1099,1766,1778,1755,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1929,1.35,102.9,3268,1099,1778,1755,96.4,9.3,319,1935,0.00,2.12,0.00,0.000,1030,0.000,0.050,3268,2511,1767,1778,1756,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2072,1.36,111.0,3268,2512,1778,1755,85.0,7.0,344,2081,0.00,2.15,1.83,0.181,8708,0.000,0.052,3279,1095,1754,1775,1734,0,0,0,0,0,0,28.83,26.74,26.57
$GC,2337,1.36,111.0,3278,1095,1794,1738,66.9,8.1,390,2346,0.00,2.15,1.83,0.169,9222,0.000,0.050,3278,2499,1750,1773,1728,0,0,0,0,0,0,28.83,26.86,26.66
$GC,2485,1.38,128.7,3278,2499,1796,1732,56.1,5.9,415,2513,0.00,2.20,18.30,0.563,8708,0.000,0.053,3289,1091,1665,1682,1648,0,0,0,0,0,0,28.83,26.63,26.21
$GC,2549,1.39,133.9,3288,1091,1678,1646,51.8,7.3,425,2556,0.00,2.12,0.00,0.000,1030,0.000,0.049,3288,2501,1661,1678,1645,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2695,1.39,133.9,3288,2502,1678,1645,36.1,9.9,450,2703,0.00,2.17,0.00,0.000,516,0.000,0.057,3299,1097,1661,1678,1645,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2961,1.39,133.9,3298,1098,1678,1645,6.3,13.0,496,2970,0.10,2.15,0.00,0.000,5126,0.171,0.050,3267,2503,1661,1678,1645,0,0,0,0,0,0,26.72,26.86,28.83
$STATE,2994,end climb,SURFACE_DEPTH_REACHED
$STATE,2995,begin surface coast
$FINISH,0.7,1.022404
$STATE,3008,end surface coast,CONTROL_FINISHED_OK
$STATE,3008,begin surface
$SM_CCo,3021,37.55,0.130,0,0,1221,240.15
$SM_GC,4.75,7.93,0.00,37.55,0.048,0.000,0.130,184,2503,1221,-8.16,0.06,240.15,0,0,0,0,0,0,26.88,28.83,26.65
$IRIDIUM_FIX,4726.11,-12227.78,050314,050540
$TT8_MAMPS,0.030709,0.030709
$HUMID,40.19
$INTERNAL_PRESSURE,8.90313
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,136.1,64.0
$24V_AH,25.2,0.875
$10V_AH,10.3,0.831
$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,19.275,41.875,179.275,37.550,0.000,31.194,41.677,199.534,2.750,0.000,6.822,1166.631,336.323,258.096,1620.860,42.236,33.203,727.944,0.000,1334.272,0.000,19.872,0.000
$DEVICE_MAMPS,244.800,69.615,623.475,130.050,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.147,392.817,638.382,978.114,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,40500,503
$CAP_FILE_SIZE,55984,0
$CFSIZE,1024393216,1022246912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,061328,4744.140,-12224.807,81,1.8,81,16.3