version: 66.11
glider: 122
mission: 13
dive: 17
start: 8 9 112 11 56 51
data:
$ID,122
$MISSION,13
$DIVE,17
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,20
$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,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$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,1.023
$MASS,54023
$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,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,707.7478
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42760.629
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,2830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,30
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3824
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,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,-24.162689
$PRESSURE_SLOPE,0.0001162797
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,500.0
$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
$GPS1,090812,114611,4806.335,-12222.164,14,1.7,14,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.2
$GPS2,090812,115550,4806.294,-12222.124,16,0.9,17,16.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,0.220
$KALMAN_X,1649.3,206.4,98.3,-278.9,1.8
$KALMAN_Y,199.1,14.0,-34.6,-3434.1,-80.2
$MHEAD_RNG_PITCHd_Wd,311.8,3918,-17.6,-10.000
$D_GRID,108
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,18,begin dive
$GC,20,-0.73,-146.6,0.0,0.0,0,95,0.00,0.00,-72.15,0.000,2,0.000,0.000,136,2306,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.73,-146.6,3.0,-3.4,7,146,10.80,1.88,-29.92,0.000,4,0.350,0.108,2577,3361,3400,0,0,0,0,0,0,14.31,14.51,14.73
$GC,222,-0.73,-146.6,12.2,-7.7,19,229,0.00,1.85,0.00,0.000,6,0.000,0.050,2577,2283,3402,0,0,0,0,0,0,28.83,14.58,28.83
$GC,349,-0.73,-146.6,22.7,-8.1,32,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2283,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,469,-0.73,-146.6,32.7,-8.1,44,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2283,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,588,-0.73,-146.6,42.7,-8.4,56,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2283,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,719,-0.73,-146.6,53.5,-8.2,67,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2283,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.73,-146.6,76.9,-7.6,82,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2282,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-0.73,-146.6,100.0,-7.6,97,1325,0.00,1.88,0.00,0.000,4,0.000,0.077,2569,3342,3405,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1351,-0.73,-146.6,101.8,-7.5,98,1356,0.00,1.75,0.00,0.000,6,0.000,0.052,2569,2301,3404,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,1422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1422,begin apogee
$GC,1426,-0.14,0.0,108.0,-7.7,102,1565,0.68,0.00,133.40,1.172,6,0.148,0.000,2782,2182,2800,0,0,0,0,0,0,14.67,28.83,13.54
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1570,0.73,146.6,114.2,0.0,109,1714,0.85,1.98,135.20,1.151,4,0.080,0.070,3075,3249,2198,0,0,0,0,0,0,14.23,14.09,13.45
$GC,1920,0.87,230.9,104.7,6.1,126,2007,0.12,1.80,76.53,1.140,6,0.140,0.054,3124,2210,1857,0,0,0,0,0,0,14.49,14.51,13.55
$GC,2306,0.93,266.9,72.7,8.3,146,2347,0.00,1.88,33.75,1.115,4,0.000,0.070,3124,3241,1709,0,0,0,0,0,0,28.83,14.39,13.76
$GC,2489,0.96,284.6,56.3,9.2,155,2514,0.00,1.80,17.23,1.066,6,0.000,0.055,3126,2204,1637,0,0,0,0,0,0,28.83,14.56,13.81
$GC,2821,0.98,294.5,26.5,9.5,184,2833,0.00,1.85,5.47,0.872,4,0.000,0.070,3124,3245,1598,0,0,0,0,0,0,28.83,14.57,13.88
$GC,2888,0.99,298.4,20.4,9.8,190,2895,0.00,1.80,1.67,0.180,6,0.000,0.055,3124,2200,1583,0,0,0,0,0,0,28.83,14.61,14.49
$GC,3015,1.04,329.5,9.3,8.6,203,3036,0.12,1.92,15.68,0.131,4,0.143,0.073,3171,3243,1454,0,0,0,0,0,0,14.62,14.59,14.54
$GC,3078,1.06,342.9,3.4,9.4,209,3090,0.00,1.80,5.97,0.112,6,0.000,0.056,3173,2198,1401,0,0,0,0,0,0,28.83,14.62,14.57
$GC,3209,1.42,555.4,3.4,0.2,222,3300,0.30,0.00,87.50,0.109,2,0.097,0.000,3288,2198,620,0,0,0,0,0,0,14.62,28.83,28.83
$STATE,3302,end climb,SURFACE_DEPTH_REACHED
$STATE,3302,begin surface coast
$FINISH,0.6,1.016664
$STATE,3358,end surface coast,CONTROL_FINISHED_OK
$STATE,3358,begin surface
$SM_CCo,3378,43.35,0.106,0,0,300,613.25
$SM_CCo,3424,-0.20,0.000,0,0,300,613.25
$SM_CCo,3426,0.00,0.000,0,0,301,613.25
$SM_GC,2.20,9.30,0.17,0.00,0.082,0.099,0.000,136,2302,301,-8.28,-1.36,613.25,0,0,0,0,0,0,14.71,14.64,28.83
$IRIDIUM_FIX,4748.51,-12220.12,090812,101036
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.69
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,19.80
$XPDR_PINGS,2
$SC_FREEKB,4015552
$TM_FREEKB,3914752
$24V_AH,13.5,3.696
$10V_AH,13.5,0.000
$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,22.175,22.500,512.400,43.350,0.000,0.000,0.000,365.300,0.500,0.000,18.846,670.473,1634.285,528.586,1131.008,59.541,33.216,1325.911,0.000,607.295,0.000,0.534,0.000
$DEVICE_MAMPS,350.370,116.280,1171.980,106.335,0.000,0.000,0.000,237.915,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,45.420,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3366.000,3410.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.305,21.595,0.000,0.000
$MEM,322364
$DATA_FILE_SIZE,6818,237
$CAP_FILE_SIZE,67762,0
$CFSIZE,260034560,252751872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090812,125504,4806.597,-12222.368,28,0.9,28,16.7