version: 66.13
glider: 122
mission: 20
dive: 3
start: 11 17 116 19 18 55
data:
$ID,122
$MISSION,20
$DIVE,3
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$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,50
$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,-6
$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,53356
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00434
$HD_B,0.00856
$HD_C,7.0800002e-06
$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,614.04321
$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,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,19
$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,40
$C_ROLL_DIVE,2159
$C_ROLL_CLIMB,2159
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3700
$C_VBD,3102
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,0
$AH0_10V,350
$MINV_24V,12
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.24092
$PRESSURE_SLOPE,0.00010751
$AD7714Ch0Gain,1
$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
$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
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373066
$SEABIRD_T_H,0.00062566844
$SEABIRD_T_I,2.3683922e-05
$SEABIRD_T_J,2.5145571e-06
$SEABIRD_C_G,-9.8304396
$SEABIRD_C_H,1.0973777
$SEABIRD_C_I,-0.001747182
$SEABIRD_C_J,0.00021959859
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,171116,191428,4743.9248,-12223.9131,20,1.1,41,16.6,0.5,3.9,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-68.3
$GPS2,171116,191833,4743.9873,-12223.8984,19,1.0,26,16.6,0.4,354.8,8,9.8
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,193.3,1642,-17.4,-10.000,-19.54,2243
$D_GRID,171
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.35,-146.6,160,2166,503,701,0.0,0.0,0,131,0.00,0.00,-117.75,0.000,16386,0.000,0.000,160,2167,3539,3507,3571,0,0,0,0,0,0,14.90,28.83,14.92
$GC,135,-1.35,-146.6,160,2167,3508,3571,3.2,-10.9,21,155,11.10,2.92,-3.08,0.000,18692,0.383,2.194,2568,3553,3701,3663,3740,0,0,1,0,0,0,14.45,13.29,14.70
$GC,181,-0.98,-146.6,2568,3554,3665,3741,18.3,-24.1,29,188,0.52,2.40,0.00,0.000,3206,0.253,0.050,2702,2142,3702,3664,3740,0,0,0,0,0,0,14.54,14.67,14.71
$GC,249,-0.92,-146.6,2702,2142,3664,3740,31.1,-16.1,42,256,0.00,0.00,0.00,0.000,134,0.000,0.000,2702,2142,3702,3664,3740,0,0,0,0,0,0,14.87,14.89,14.88
$GC,317,-0.84,-146.6,2702,2142,3664,3741,42.0,-15.4,55,324,0.15,2.42,0.00,0.000,2692,0.241,0.074,2747,755,3703,3666,3740,0,0,0,0,0,0,14.58,14.69,14.69
$GC,414,-0.89,-146.6,2747,755,3665,3740,53.2,-11.0,73,420,0.00,2.42,0.00,0.000,1158,0.000,0.057,2736,2153,3702,3664,3740,0,0,0,0,0,0,14.74,14.67,14.76
$GC,602,-0.89,-146.6,2737,2154,3665,3740,75.2,-11.7,110,608,0.00,2.50,0.00,0.000,260,0.000,0.086,2725,3570,3702,3664,3740,0,0,0,0,0,0,14.93,14.71,14.95
$GC,650,-0.92,-146.6,2725,3570,3665,3741,80.7,-11.8,119,656,0.00,2.40,0.00,0.000,1158,0.000,0.057,2724,2168,3702,3664,3740,0,0,0,0,0,0,14.83,14.76,14.85
$GC,838,-0.92,-146.6,2724,2169,3665,3740,103.5,-11.9,156,844,0.00,2.50,0.00,0.000,260,0.000,0.084,2714,3563,3702,3664,3740,0,0,0,0,0,0,14.95,14.69,14.97
$GC,896,-0.96,-146.6,2714,3564,3665,3741,110.5,-11.8,167,902,0.00,2.42,0.00,0.000,1158,0.000,0.060,2714,2155,3702,3664,3740,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1083,-0.96,-146.6,2714,2155,3665,3740,133.0,-12.9,204,1089,0.00,2.53,0.00,0.000,260,0.000,0.085,2703,3564,3702,3664,3740,0,0,0,0,0,0,14.97,14.73,14.99
$GC,1131,-0.96,-146.6,2704,3565,3665,3741,138.6,-11.4,213,1137,0.00,2.42,0.00,0.000,1030,0.000,0.058,2704,2150,3702,3664,3740,0,0,0,0,0,0,14.87,14.79,14.88
$STATE,1214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1214,begin apogee
$GC,1223,-0.26,0.0,2704,2150,3665,3740,150.1,-13.5,230,1344,0.77,0.00,107.28,1.345,10246,0.192,0.000,2930,2144,3100,3025,3176,0,0,0,0,1,0,14.69,14.13,13.63
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1352,1.35,146.6,2930,2145,3025,3177,155.3,0.0,251,1478,1.62,2.55,109.12,1.317,10756,0.109,0.075,3466,754,2501,2408,2595,0,0,0,0,1,0,14.27,14.02,13.54
$GC,1659,0.93,148.8,3466,754,2415,2596,144.4,9.9,307,1671,0.57,2.47,2.58,0.519,13478,0.254,0.060,3321,2163,2493,2400,2586,0,0,0,0,0,0,14.42,14.57,13.84
$GC,1853,0.83,173.4,3321,2163,2409,2587,130.7,8.9,345,1889,0.12,2.50,28.30,1.057,12708,0.277,0.078,3287,3567,2382,2287,2477,0,0,0,0,0,0,14.54,14.47,13.90
$GC,2026,0.77,202.8,3287,3567,2287,2474,117.2,8.7,378,2062,0.00,2.45,28.23,1.042,9382,0.000,0.057,3296,2161,2264,2172,2357,0,0,0,0,0,0,14.71,14.63,14.01
$GC,2244,0.73,219.1,3297,2162,2166,2348,96.6,9.3,420,2263,0.15,2.60,13.30,1.015,12708,0.245,0.084,3258,3560,2198,2109,2288,0,0,1,0,0,0,14.51,14.55,14.07
$GC,2466,0.74,233.1,3258,3561,2107,2280,75.4,9.4,463,2483,0.00,2.42,11.60,0.999,9382,0.000,0.057,3265,2153,2143,2055,2232,0,0,0,0,0,0,14.76,14.69,14.10
$GC,2665,0.74,233.1,3266,2154,2049,2226,55.6,10.2,502,2672,0.00,2.55,0.00,0.000,260,0.000,0.085,3266,3560,2136,2048,2225,0,0,0,0,0,0,14.86,14.66,14.88
$GC,2724,0.75,248.6,3266,3561,2049,2226,49.8,9.3,513,2743,0.00,2.40,13.85,0.987,9382,0.000,0.057,3276,2153,2085,1996,2174,0,0,1,0,0,0,14.77,14.67,14.14
$GC,2805,0.81,266.7,3276,2154,1988,2167,42.8,9.2,528,2829,0.00,2.55,18.23,0.976,8484,0.000,0.077,3276,3562,2006,1917,2095,0,0,0,0,0,0,14.83,14.49,14.10
$GC,2870,0.81,266.7,3276,3563,1916,2088,36.3,10.0,540,2876,0.00,2.42,0.00,0.000,1030,0.000,0.057,3287,2163,2000,1915,2086,0,0,0,0,0,0,14.68,14.62,14.70
$GC,2938,0.92,302.7,3286,2164,1916,2087,30.5,8.4,553,2979,0.00,2.55,30.77,0.955,8484,0.000,0.077,3287,3565,1864,1773,1956,0,0,0,0,1,0,14.81,14.37,13.91
$GC,3001,0.92,302.7,3287,3565,1780,1957,24.7,10.2,564,3007,0.00,2.45,0.00,0.000,1030,0.000,0.057,3297,2163,1868,1781,1956,0,0,0,0,0,0,14.61,14.54,14.62
$GC,3068,0.92,302.7,3297,2164,1788,1957,17.5,13.3,577,3074,0.00,2.50,0.00,0.000,516,0.000,0.080,3309,750,1872,1788,1956,0,0,0,0,0,0,14.75,14.55,14.77
$GC,3121,0.92,302.7,3308,750,1789,1957,11.0,12.0,587,3127,0.00,2.45,0.00,0.000,1030,0.000,0.050,3310,2173,1872,1788,1956,0,0,0,0,0,0,14.69,14.62,14.70
$GC,3189,0.92,302.7,3310,2174,1789,1957,3.9,10.0,600,3195,0.00,2.45,0.00,0.000,260,0.000,0.078,3310,3556,1873,1789,1957,0,0,0,0,0,0,14.81,14.61,14.83
$STATE,3207,end climb,SURFACE_DEPTH_REACHED
$STATE,3207,begin surface coast
$FINISH,-0.4,1.021731
$STATE,3228,end surface coast,CONTROL_FINISHED_OK
$STATE,3228,begin surface
$SM_CCo,3253,175.95,0.089,0,0,596,614.23
$SM_GC,0.17,9.12,2.45,175.95,0.062,0.047,0.089,141,2133,596,-8.90,0.59,614.23,0,0,1,0,0,0,14.68,14.68,14.64
$IRIDIUM_FIX,4722.92,-12229.50,171116,190848
$TT8_MAMPS,0.038199,1.07332
$HUMID,51.22
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,20.00
$XPDR_PINGS,1
$SC_FREEKB,7901760
$24V_AH,13.29,0.000
$10V_AH,13.30,1.371
$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,24.150,64.725,363.250,175.950,0.000,0.000,0.000,0.000,0.250,0.000,26.925,0.000,1480.881,667.813,1188.243,171.553,0.000,1191.294,0.000,876.119,0.000,0.536,0.000
$DEVICE_MAMPS,383.265,2194.020,1344.870,88.740,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3215.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.223,0.000,0.000,0.000
$MEM,194164
$DATA_FILE_SIZE,20134,608
$CAP_FILE_SIZE,82054,0
$CFSIZE,260034560,256290816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,2,0
$CURRENT,0.115,18.70,1
$GPS,171116,201654,4743.849,-12224.050,12,1.1,19,16.6,0.3,13.9,6,9.6