version: 66.13
glider: 122
mission: 21
dive: 2
start: 11 21 116 17 42 29
data:
$ID,122
$MISSION,21
$DIVE,2
$N_DIVES,2
$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,450
$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,3000
$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,2300
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3700
$C_VBD,2850
$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,11
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-166.92088
$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
$GPS1,211116,173708,4743.5181,-12224.6504,16,0.9,18,16.6,0.5,19.5,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.5
$GPS2,211116,174208,4743.5459,-12224.6357,20,0.9,22,16.6,0.4,40.6,10,10.0
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,238.9,461,-28.4,-10.000,-30.00,818
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-1.65,-53.4,162,2308,319,569,0.0,0.0,0,129,0.00,0.00,-111.93,0.000,16390,0.000,0.000,161,2309,3068,3017,3120,0,0,0,0,0,0,14.97,14.07,14.97
$GC,134,-1.79,-97.5,162,2309,3018,3121,2.8,-4.5,21,153,10.05,2.65,-4.18,0.000,18980,0.372,2.179,2426,945,3249,3167,3331,0,0,1,0,0,0,14.55,13.83,14.77
$GC,320,-1.47,-97.5,2426,945,3167,3331,44.9,-24.5,57,327,0.45,2.33,0.00,0.000,3206,0.300,0.058,2523,2291,3248,3166,3331,0,0,0,0,0,0,14.59,14.75,14.78
$GC,389,-1.33,-97.5,2523,2291,3167,3332,59.7,-21.2,70,396,0.17,2.35,0.00,0.000,2692,0.294,0.065,2568,945,3249,3166,3332,0,0,0,0,0,0,14.62,14.72,14.75
$GC,442,-1.25,-97.5,2569,946,3167,3332,70.7,-19.6,80,449,0.17,2.35,0.00,0.000,3206,0.272,0.056,2597,2299,3248,3166,3331,0,0,0,0,0,0,14.63,14.77,14.80
$GC,631,-1.25,-97.5,2597,2299,3167,3332,104.8,-17.1,117,637,0.00,2.35,0.00,0.000,516,0.000,0.065,2597,946,3249,3167,3331,0,0,0,0,0,0,14.97,14.79,15.00
$GC,723,-1.25,-97.5,2597,946,3167,3332,122.1,-18.0,135,729,0.00,2.33,0.00,0.000,1030,0.000,0.056,2589,2301,3248,3166,3331,0,0,0,0,0,0,14.88,14.81,14.90
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,886,-0.26,0.0,2587,2567,3167,3332,150.5,-17.3,166,980,1.15,0.00,90.93,1.076,10246,0.234,0.000,2907,2567,2848,2756,2941,0,0,0,0,0,0,14.65,14.46,13.97
$STATE,981,end apogee,CONTROL_FINISHED_OK
$STATE,982,begin climb
$GC,985,1.79,97.5,2907,2567,2753,2937,154.5,0.0,182,1083,2.05,2.45,88.88,1.042,10756,0.116,0.063,3579,1195,2444,2355,2533,0,0,0,0,0,0,14.41,14.21,13.84
$GC,1135,1.52,97.5,3580,1196,2353,2532,139.5,16.3,208,1141,0.38,2.38,0.00,0.000,5254,0.281,0.054,3493,2553,2442,2352,2532,0,0,0,0,0,0,14.29,14.43,14.48
$GC,1323,1.37,97.5,3493,2553,2353,2529,112.6,13.3,245,1330,0.17,2.45,0.00,0.000,4484,0.298,0.073,3446,3956,2440,2352,2528,0,0,0,0,0,0,14.51,14.64,14.64
$GC,1497,1.20,97.5,3446,3955,2353,2526,90.1,13.2,279,1504,0.28,2.28,0.00,0.000,5254,0.278,0.042,3390,2594,2439,2353,2526,0,0,0,0,0,0,14.58,14.74,14.78
$GC,1686,1.20,97.5,3389,2594,2353,2525,69.5,10.6,316,1692,0.00,2.47,0.00,0.000,516,0.000,0.066,3399,1153,2438,2352,2525,0,0,0,0,0,0,14.95,14.73,14.97
$GC,1811,1.22,105.2,3399,1154,2350,2525,57.5,9.0,340,1823,0.00,2.40,3.45,0.737,9254,0.000,0.054,3401,2554,2420,2330,2511,0,0,0,0,0,0,14.86,14.80,14.16
$GC,2005,1.24,111.3,3401,2554,2332,2512,40.2,9.2,378,2018,0.00,2.50,7.75,0.971,8484,0.000,0.074,3401,3953,2391,2302,2481,0,0,0,0,0,0,14.96,14.75,14.29
$GC,2080,1.17,111.3,3401,3954,2303,2481,32.5,11.4,392,2086,0.15,2.38,0.00,0.000,5254,0.291,0.044,3379,2546,2391,2302,2480,0,0,0,0,0,0,14.60,14.74,14.77
$GC,2148,1.23,111.3,3380,2547,2303,2481,25.7,10.4,405,2153,0.00,0.00,0.00,0.000,134,0.000,0.000,3380,2546,2391,2303,2480,0,0,0,0,0,0,14.95,14.97,14.96
$GC,2215,1.29,111.3,3380,2547,2303,2480,18.4,11.1,418,2221,0.12,2.38,0.00,0.000,2692,0.128,0.063,3451,1148,2391,2302,2480,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2258,1.26,111.3,3452,1149,2304,2481,13.2,12.7,426,2264,0.20,2.40,0.00,0.000,5254,0.265,0.054,3406,2549,2391,2302,2480,0,0,0,0,0,0,14.64,14.78,14.83
$GC,2326,1.32,131.8,3406,2549,2303,2481,6.7,7.4,439,2339,0.00,2.47,8.18,0.109,8740,0.000,0.063,3414,1148,2312,2226,2399,0,0,1,0,0,0,14.97,14.78,14.74
$STATE,2547,end climb,SURFACE_DEPTH_REACHED
$STATE,2547,begin surface coast
$FINISH,0.1,1.021202
$STATE,2753,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2753,begin surface
$SM_CCo,2778,134.40,0.095,0,0,1015,450.13
$SM_GC,1.00,9.32,2.03,134.40,0.063,0.060,0.095,147,2304,1015,-8.81,-0.88,450.13,0,0,1,0,0,0,14.83,14.83,14.76
$IRIDIUM_FIX,4726.11,-12224.09,211116,173144
$TT8_MAMPS,0.038948,0.865095
$HUMID,50.63
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,7902208
$24V_AH,13.83,0.000
$10V_AH,13.80,3.190
$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,24.675,43.375,199.175,134.400,0.000,0.000,0.000,0.000,0.000,0.000,23.547,0.000,1361.287,461.818,1029.531,138.717,0.000,884.763,0.000,755.824,0.000,0.535,0.000
$DEVICE_MAMPS,371.790,2178.720,1075.590,94.860,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2744.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.118,0.000,0.000,0.000
$MEM,194156
$DATA_FILE_SIZE,16784,524
$CAP_FILE_SIZE,69213,0
$CFSIZE,260034560,256356352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0
$CURRENT,0.023,235.95,1
$GPS,211116,183205,4743.440,-12225.022,19,1.0,29,16.6,0.2,35.7,8,9.6