version: 66.13
glider: 527
mission: 4
dive: 2
start: 4 18 119 5 25 21
data:
$ID,527
$MISSION,4
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,170
$D_NO_BLEED,50
$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,40
$T_MISSION,55
$T_ABORT,720
$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,0.30000001
$D_OFFGRID,350
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55590
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,600.97522
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,180
$PITCH_MAX,3650
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3925
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.98889
$PRESSURE_SLOPE,0.00010843292
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.38999999
$DEEPGLIDER,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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.004412075
$SEABIRD_T_H,0.00063827372
$SEABIRD_T_I,2.6317541e-05
$SEABIRD_T_J,3.254017e-06
$SEABIRD_C_G,-9.9840622
$SEABIRD_C_H,1.1688964
$SEABIRD_C_I,-0.0016958674
$SEABIRD_C_J,0.00021397673
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,180419,051815,6410.8701,-2356.4028,5,0.9,20,-16.1,0.5,342.5,8,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.2
$GPS2,180419,052437,6410.9238,-2356.3374,9,1.1,26,-16.1,0.0,47.5,6,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WP01
$TGT_LATLONG,6347.000,-2439.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,203.4,56658,-18.2,-10.000,-21.02,2236
$D_GRID,350
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.59,-146.0,172,2693,439,463,0.0,0.0,0,191,0.00,0.00,-165.62,0.007,16390,0.000,0.000,170,2692,3497,3637,3357,0,0,0,0,0,0,14.72,13.05,14.74
$GC,193,-0.59,-146.0,170,2692,3637,3357,2.6,-2.5,17,211,11.00,0.00,0.00,0.000,2086,0.409,0.000,2453,2692,3498,3640,3357,0,0,0,0,0,0,14.12,14.52,14.47
$GC,391,-0.14,-146.0,2453,2692,3642,3357,35.7,-17.0,37,397,0.55,2.42,0.00,0.000,2692,0.275,0.081,2596,1309,3499,3642,3357,0,0,0,0,0,0,14.26,14.48,14.43
$GC,455,-0.26,-146.0,2596,1307,3642,3357,41.1,-6.4,49,460,0.00,2.62,0.00,0.000,1190,0.000,0.127,2589,2697,3499,3642,3357,0,0,0,0,0,0,14.50,14.22,14.54
$GC,647,-0.26,-146.0,2589,2697,3643,3357,56.6,-8.3,69,653,0.00,2.47,0.00,0.000,548,0.000,0.088,2590,1306,3499,3642,3357,0,0,0,0,0,0,14.81,14.50,14.82
$GC,691,-0.38,-146.0,2589,1305,3643,3356,59.9,-7.6,77,697,0.17,2.62,0.00,0.000,5286,0.113,0.128,2505,2699,3499,3642,3357,0,0,0,0,0,0,14.59,14.45,14.65
$GC,884,-0.12,-146.0,2504,2699,3642,3356,85.8,-14.1,97,891,0.38,2.47,0.00,0.000,2692,0.252,0.083,2603,1306,3499,3642,3357,0,0,0,0,0,0,14.31,14.47,14.47
$GC,897,0.08,-146.0,2603,1305,3642,3357,87.6,-14.2,99,905,0.25,2.62,0.00,0.000,3206,0.165,0.129,2677,2699,3498,3640,3357,0,0,0,0,0,0,14.47,14.45,14.62
$GC,1093,-0.31,-146.0,2677,2699,3642,3358,97.0,-4.9,119,1101,0.38,2.47,0.00,0.000,4772,0.093,0.086,2537,1304,3499,3642,3357,0,0,0,0,0,0,14.57,14.51,14.62
$GC,1128,-0.20,-146.0,2537,1305,3642,3357,99.3,-8.2,125,1135,0.22,2.62,0.00,0.000,3238,0.249,0.129,2581,2700,3499,3642,3357,0,0,0,0,0,0,14.32,14.44,14.54
$GC,1322,-0.20,-146.0,2580,2699,3641,3357,117.4,-9.1,145,1328,0.00,2.47,0.00,0.000,548,0.000,0.092,2582,1307,3499,3642,3356,0,0,0,0,0,0,14.85,14.49,14.86
$GC,1355,-0.34,-146.0,2581,1306,3641,3357,119.8,-7.3,151,1363,0.12,2.62,0.00,0.000,5286,0.138,0.129,2516,2699,3499,3642,3357,0,0,0,0,0,0,14.57,14.45,14.64
$STATE,1368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1368,begin apogee
$GC,1372,-0.11,0.0,2516,2612,3641,3357,121.0,-8.5,153,1501,0.38,0.00,120.53,1.235,10246,0.265,0.000,2607,2612,2898,2928,2868,0,0,0,0,0,0,14.35,13.52,13.02
$STATE,1502,end apogee,CONTROL_FINISHED_OK
$STATE,1502,begin climb
$GC,1504,0.59,146.0,2608,2612,2928,2869,130.2,0.0,166,1636,0.85,2.65,121.57,1.193,11012,0.224,0.092,2847,1187,2302,2332,2272,0,0,0,0,0,0,13.86,13.61,13.02
$GC,1680,1.05,229.7,2846,1187,2324,2272,122.2,6.2,196,1757,0.43,2.75,68.30,1.157,11430,0.085,0.128,2992,2596,1962,1998,1927,0,0,0,0,0,0,14.13,14.04,12.78
$GC,1935,0.64,229.7,2992,2597,1996,1918,70.7,22.3,228,1941,0.52,2.45,0.00,0.000,4484,0.299,0.158,2863,3845,1957,1996,1918,0,0,0,0,0,0,14.13,14.13,14.28
$GC,2019,0.83,242.0,2865,3845,1997,1912,59.0,9.4,244,2037,0.15,2.22,10.25,0.986,11430,0.125,0.077,2933,2584,1912,1956,1869,0,0,0,0,0,0,14.39,14.36,13.52
$GC,2224,0.64,242.0,2932,2583,1955,1863,27.5,15.9,266,2230,0.28,2.47,0.00,0.000,4740,0.256,0.099,2868,1204,1909,1955,1863,0,0,0,0,0,0,14.29,14.42,14.43
$GC,2268,1.00,286.2,2868,1204,1954,1864,22.9,8.0,274,2313,0.32,2.65,35.62,1.053,11430,0.093,0.125,2983,2606,1733,1778,1689,0,0,0,0,0,0,14.47,14.38,13.45
$STATE,2370,end climb,SURFACE_DEPTH_REACHED
$STATE,2370,begin surface coast
$FINISH,0.2,1.027453
$STATE,2381,end surface coast,CONTROL_FINISHED_OK
$STATE,2381,begin surface
$SM_CCo,2395,260.05,0.965,1,0,449,600.98
$SM_GC,0.98,8.07,0.20,260.05,0.054,0.168,0.965,164,2701,449,-7.69,-0.48,600.98,0,0,0,0,1,0,14.37,14.21,13.21
$IRIDIUM_FIX,6412.50,-2401.26,180419,051905
$TT8_MAMPS,0.023219,0.803677
$HUMID,34.52
$INTERNAL_PRESSURE,8.6618
$TCM_TEMP,17.80
$XPDR_PINGS,1
$SC_FREEKB,3909216
$24V_AH,12.78,0.000
$10V_AH,12.65,2.785
$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,24.075,41.025,356.275,260.050,0.000,0.000,0.000,0.000,0.250,0.000,35.197,637.753,861.091,757.874,491.374,19.409,0.000,1072.660,0.000,426.097,0.000,0.536,0.000
$DEVICE_MAMPS,408.510,168.300,1235.475,964.665,0.000,0.000,0.000,0.000,420.000,0.000,11.240,10.970,2.190,10.970,30.450,36.440,0.000,10.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2375.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.514,0.000,0.000,0.000
$MEM,304580
$DATA_FILE_SIZE,10105,289
$CAP_FILE_SIZE,67781,0
$CFSIZE,2097872896,2095906816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,2,0
$CURRENT,0.233,6.39,1
$GPS,180419,061103,6411.246,-2356.207,17,0.9,44,-16.1,0.6,85.0,9,9.8