version: 66.11
glider: 122
mission: 17
dive: 7
start: 3 26 113 0 35 51
data:
$ID,122
$MISSION,17
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,200
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,350
$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,-45749.602
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-24.500248
$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,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260313,002703,2438.009,-3759.534,34,1.0,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.1
$GPS2,260313,003523,2437.992,-3759.544,17,1.0,17,-14.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,43.6,64840,-17.6,-10.000,-21.24,2209
$D_GRID,600
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.13,-146.0,114,2213,1333,1506,0.0,0.0,0,85,0.00,0.00,-62.08,0.000,16386,0.000,0.000,113,2213,2940,2767,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.13,-146.0,113,2213,2767,3115,3.4,-2.9,4,120,11.82,1.85,-12.90,0.000,18948,0.369,0.090,2811,1149,3447,3353,3541,0,0,0,0,0,0,14.68,14.85,15.02
$GC,349,-0.95,-146.0,2810,1150,3353,3542,43.8,-17.1,21,355,0.25,1.73,0.00,0.000,3078,0.226,0.047,2871,2198,3447,3353,3542,0,0,0,0,0,0,14.83,14.95,28.83
$GC,668,-0.90,-146.0,2872,2199,3353,3542,86.7,-13.3,42,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2199,3447,3353,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,967,-0.87,-146.0,2871,2199,3353,3542,127.6,-13.1,62,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2199,3447,3353,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1267,-0.84,-146.0,2872,2199,3353,3543,165.3,-12.3,82,1269,0.12,0.00,0.00,0.000,2054,0.251,0.000,2904,2199,3448,3353,3543,0,0,0,0,0,0,14.95,28.83,28.83
$GC,1568,-0.89,-146.0,2904,2199,3354,3544,197.9,-10.9,102,1573,0.00,1.73,0.00,0.000,260,0.000,0.069,2899,3247,3448,3353,3543,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1619,-0.93,-146.0,2898,3247,3353,3544,203.3,-11.2,105,1624,0.00,1.73,0.00,0.000,1030,0.000,0.047,2899,2189,3448,3353,3543,0,0,0,0,0,0,28.83,15.09,28.83
$GC,1932,-0.97,-146.0,2898,2189,3353,3543,235.1,-9.6,126,1937,0.00,1.65,0.00,0.000,516,0.000,0.061,2899,1159,3448,3353,3543,0,0,0,0,0,0,28.83,15.07,28.83
$GC,1998,-0.97,-146.0,1920,1159,3332,3541,241.0,-9.3,130,2004,0.00,1.75,0.00,0.000,1030,0.000,0.050,2893,2197,3448,3353,3544,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2311,-0.97,-146.0,2893,2197,3353,3544,270.4,-9.1,144,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2197,3448,3353,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2611,-1.00,-146.0,2893,2197,3353,3543,298.3,-9.2,154,2613,0.12,0.00,0.00,0.000,4102,0.128,0.000,2821,2197,3448,3353,3543,0,0,0,0,0,0,15.13,28.83,28.83
$GC,2912,-0.91,-146.0,2821,2197,3353,3543,335.6,-12.8,164,2917,0.20,1.75,0.00,0.000,2308,0.224,0.067,2874,3252,3448,3353,3543,0,0,0,0,0,0,15.02,15.11,28.83
$GC,2984,-0.87,-146.0,2873,3252,3353,3543,343.3,-12.3,166,2989,0.00,1.75,0.00,0.000,1030,0.000,0.047,2874,2202,3448,3353,3543,0,0,0,0,0,0,28.83,15.14,28.83
$GC,3307,-0.87,-146.0,2874,2202,3353,3543,385.9,-13.8,177,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2203,3448,3353,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3606,-0.87,-146.0,2874,2203,3353,3543,428.4,-13.9,187,3611,0.00,1.67,0.00,0.000,516,0.000,0.063,2874,1161,3448,3353,3543,0,0,0,0,0,0,28.83,15.13,28.83
$GC,3682,-0.87,-146.0,2874,1160,3353,3543,436.8,-13.6,189,3688,0.12,1.70,0.00,0.000,3078,0.248,0.050,2899,2200,3448,3353,3543,0,0,0,0,0,0,15.04,15.14,28.83
$GC,4001,-0.94,-146.0,2899,2200,3353,3543,472.2,-9.9,200,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2200,3448,3354,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4301,-1.01,-146.0,2899,2200,3353,3541,497.8,-8.1,210,4303,0.15,0.00,0.00,0.000,4102,0.117,0.000,2821,2200,3447,3353,3541,0,0,0,0,0,0,15.16,28.83,28.83
$GC,4600,-0.94,-146.0,2821,2201,3353,3539,531.6,-11.4,220,4606,0.17,1.75,0.00,0.000,2308,0.230,0.071,2869,3248,3446,3353,3539,0,0,0,0,0,0,15.04,15.12,28.83
$GC,4727,-0.94,-146.0,1872,3246,3331,3536,543.9,-9.8,224,4733,0.00,1.73,0.00,0.000,1030,0.000,0.051,2869,2198,3445,3353,3538,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5056,-0.94,-146.0,2869,2198,3353,3535,578.3,-10.7,235,5061,0.00,1.70,0.00,0.000,516,0.000,0.067,2869,1152,3444,3353,3535,0,0,0,0,0,0,28.83,15.13,28.83
$GC,5197,-0.94,-146.0,2869,1152,3353,3534,592.2,-11.3,239,5202,0.00,1.77,0.00,0.000,1030,0.000,0.053,2863,2224,3444,3353,3535,0,0,0,0,0,0,28.83,15.14,28.83
$STATE,5267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5267,begin apogee
$GC,5272,-0.25,0.0,2863,2143,3353,3534,602.7,-11.6,242,5399,0.75,0.00,120.72,1.540,10246,0.178,0.000,3095,2143,2848,2783,2913,0,0,0,0,0,0,15.04,28.83,13.83
$STATE,5401,end apogee,CONTROL_FINISHED_OK
$STATE,5401,begin climb
$GC,5403,1.13,146.0,3094,2143,2782,2911,607.7,0.0,246,5540,1.35,1.90,124.85,1.509,10756,0.104,0.070,3549,1098,2248,2146,2350,0,0,0,0,0,0,14.44,14.31,13.73
$GC,5592,0.98,213.7,3550,1097,2146,2342,599.1,6.9,252,5657,0.22,1.80,57.47,1.486,13318,0.248,0.051,3496,2149,1975,1885,2066,0,0,0,0,0,0,14.45,14.58,13.78
$GC,5965,0.90,213.7,3496,2149,1885,2054,555.2,11.3,265,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2149,1969,1885,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,0.82,213.7,3496,2149,1885,2051,520.4,12.0,275,6271,0.17,1.75,0.00,0.000,4356,0.248,0.068,3444,3184,1968,1885,2051,0,0,0,0,0,0,14.88,14.96,28.83
$GC,6383,0.77,213.7,3443,3184,1885,2052,510.4,10.9,278,6391,0.00,1.75,0.00,0.000,1030,0.000,0.054,3443,2140,1968,1885,2051,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6688,0.77,213.7,3443,2140,1885,2049,473.1,12.0,289,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2140,1967,1885,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6989,0.77,213.7,3443,2140,1885,2049,435.3,12.8,299,6994,0.00,1.73,0.00,0.000,516,0.000,0.073,3443,1096,1967,1885,2049,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7075,0.77,213.7,3443,1095,1885,2049,427.2,12.9,301,7082,0.00,1.73,0.00,0.000,1030,0.000,0.050,3443,2144,1967,1885,2049,0,0,0,0,0,0,28.83,15.08,28.83
$GC,7381,0.77,213.7,3443,2144,1885,2048,388.2,11.3,312,7386,0.00,1.73,0.00,0.000,260,0.000,0.070,3443,3181,1967,1885,2049,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7492,0.77,213.7,3443,3181,1885,2048,377.3,11.6,315,7497,0.00,1.73,0.00,0.000,1030,0.000,0.052,3443,2140,1967,1885,2049,0,0,0,0,0,0,28.83,15.10,28.83
$GC,7804,0.77,213.7,3443,2140,1885,2049,342.3,10.0,326,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2140,1966,1885,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8105,0.80,231.6,3444,2140,1885,2049,313.9,9.2,336,8125,0.00,1.80,14.45,1.176,8708,0.000,0.073,3443,1095,1903,1822,1984,0,0,0,0,0,0,28.83,15.01,14.52
$GC,8227,0.83,252.8,3443,1095,1822,1981,302.9,9.0,340,8251,0.00,1.73,18.98,1.171,9222,0.000,0.050,3443,2145,1816,1740,1893,0,0,0,0,0,0,28.83,15.05,14.42
$GC,8560,0.87,252.8,3443,2145,1739,1884,270.8,10.4,351,8565,0.00,1.75,0.00,0.000,260,0.000,0.069,3443,3189,1811,1739,1884,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8636,0.90,252.8,3443,3189,1739,1884,263.5,11.0,353,8642,0.00,1.75,0.00,0.000,1030,0.000,0.051,3443,2137,1811,1739,1884,0,0,0,0,0,0,28.83,15.03,28.83
$GC,8954,0.94,252.8,3443,2137,1739,1884,223.7,12.7,371,8961,0.12,1.73,0.00,0.000,2564,0.138,0.068,3507,1093,1811,1739,1884,0,0,0,0,0,0,15.04,15.02,28.83
$GC,9038,0.87,252.8,3507,1093,1739,1884,211.6,15.8,376,9045,0.17,1.73,0.00,0.000,5126,0.225,0.050,3462,2142,1811,1739,1884,0,0,0,0,0,0,14.95,15.05,28.83
$GC,9352,0.87,252.8,3461,2142,1739,1884,170.4,13.3,397,9357,0.00,1.75,0.00,0.000,260,0.000,0.067,3462,3192,1811,1739,1884,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9432,0.87,252.8,2576,3189,1693,1878,159.2,14.6,402,9438,0.00,1.75,0.00,0.000,1030,0.000,0.050,3466,2130,1811,1739,1884,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9745,0.87,252.8,3466,2130,1739,1884,114.3,13.9,423,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2130,1812,1740,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10045,0.87,252.8,3466,2130,1739,1884,73.3,13.2,443,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2130,1811,1739,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,0.87,252.8,3466,2130,1739,1884,34.7,13.1,463,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2130,1811,1739,1884,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10599,end climb,SURFACE_DEPTH_REACHED
$STATE,10599,begin surface coast
$FINISH,1.2,1.012064
$STATE,10614,end surface coast,CONTROL_FINISHED_OK
$STATE,10614,begin surface
$SM_CCo,10634,43.72,0.080,0,0,1422,350.04
$SM_GC,2.02,9.25,0.10,43.72,0.062,0.123,0.080,135,2215,1422,-9.37,-1.30,350.04,0,0,0,0,0,0,15.09,15.08,15.02
$IRIDIUM_FIX,2429.95,-3759.98,250313,212114
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.46
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.70
$XPDR_PINGS,36
$SC_FREEKB,4018176
$TM_FREEKB,7856464
$24V_AH,13.7,3.771
$10V_AH,13.6,0.000
$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,25.025,52.575,336.475,43.725,0.000,0.000,0.000,315.725,9.000,0.000,17.722,1636.002,7358.668,457.050,1623.580,111.658,0.000,1435.190,0.000,1178.401,0.000,0.538,0.000
$DEVICE_MAMPS,369.495,123.165,1539.945,79.560,0.000,0.000,0.000,221.085,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10611.000,4017.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.332,12.624,0.000,0.000
$MEM,354148
$DATA_FILE_SIZE,16777,481
$CAP_FILE_SIZE,121642,0
$CFSIZE,260034560,252284928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.127,289.5,1
$GPS,260313,033450,2439.692,-3759.474,20,0.9,20,-14.0