version: 66.11
glider: 122
mission: 16
dive: 2
start: 2 27 113 17 51 17
data:
$ID,122
$MISSION,16
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,75
$D_ABORT,100
$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,25
$T_MISSION,38
$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,53615
$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,687.38788
$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,-44403.418
$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,3250
$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,2159
$C_ROLL_CLIMB,2159
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,3193
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,-24.775366
$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,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,174812,4743.432,-12224.373,14,1.2,15,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.0
$GPS2,270213,175048,4743.460,-12224.359,13,1.9,14,16.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,213.7,801,-17.6,-10.000,-21.21,2209
$D_GRID,174
$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,-1.12,-146.6,151,2178,328,458,0.0,0.0,0,157,0.00,0.00,-132.00,0.000,16386,0.000,0.000,152,2179,3622,3543,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-1.12,-146.6,151,2179,3543,3702,3.3,-4.7,13,183,12.82,1.92,-3.42,0.000,18948,0.408,0.105,2880,1106,3793,3666,3920,0,0,0,0,0,0,14.57,14.74,14.92
$GC,220,-0.37,-146.6,2880,1106,3666,3921,18.0,-24.7,18,228,0.95,1.83,0.00,0.000,3078,0.256,0.060,3126,2167,3794,3666,3922,0,0,0,0,0,0,14.63,14.76,28.83
$GC,406,-0.54,-146.6,3126,2167,3666,3922,37.0,-6.4,37,412,0.15,1.83,0.00,0.000,4356,0.117,0.079,3048,3216,3793,3665,3921,0,0,0,0,0,0,14.83,14.79,28.83
$GC,501,-0.60,-146.6,3047,3216,3666,3922,46.5,-9.7,46,506,0.00,1.83,0.00,0.000,1030,0.000,0.060,3047,2155,3794,3666,3922,0,0,0,0,0,0,28.83,14.83,28.83
$GC,694,-0.64,-146.6,3047,2155,3666,3922,68.0,-10.8,65,699,0.00,1.88,0.00,0.000,260,0.000,0.079,3041,3209,3794,3666,3922,0,0,0,0,0,0,28.83,14.83,28.83
$GC,740,-0.68,-146.6,3041,3209,3666,3922,72.6,-10.7,69,747,0.00,1.80,0.00,0.000,1030,0.000,0.060,3041,2157,3794,3666,3922,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,765,begin apogee
$GC,769,-0.25,0.0,3041,2158,3666,3922,75.7,-10.4,72,953,0.43,0.00,178.00,0.931,10246,0.204,0.000,3164,2158,3191,3134,3249,0,0,0,0,0,0,14.77,28.83,13.90
$STATE,956,end apogee,CONTROL_FINISHED_OK
$STATE,956,begin climb
$GC,957,1.12,146.6,3164,2158,3133,3244,84.4,0.0,90,1093,1.48,1.88,126.78,0.940,10756,0.164,0.075,3606,1114,2588,2536,2640,0,0,0,0,0,0,14.27,14.23,13.83
$GC,1231,0.98,152.1,3606,1114,2533,2622,71.0,9.7,118,1236,0.17,1.83,0.00,0.000,5126,0.264,0.059,3568,2163,2578,2534,2623,0,0,0,0,0,0,14.45,14.57,28.83
$GC,1424,0.92,167.7,3566,2163,2533,2619,54.0,9.3,137,1446,0.00,1.92,16.75,0.931,8452,0.000,0.080,3567,3215,2503,2454,2553,0,0,0,0,0,0,28.83,14.62,14.21
$GC,1589,0.86,186.0,3567,3214,2449,2547,38.6,9.2,153,1611,0.15,1.85,15.93,0.932,13318,0.275,0.063,3533,2156,2431,2377,2485,0,0,0,0,0,0,14.61,14.72,14.23
$GC,1789,0.94,233.5,3533,2156,2376,2476,22.6,7.8,173,1835,0.00,1.83,40.10,0.906,8708,0.000,0.080,3537,1110,2234,2179,2290,0,0,0,0,0,0,28.83,14.56,14.19
$STATE,2031,end climb,SURFACE_DEPTH_REACHED
$STATE,2031,begin surface coast
$FINISH,0.2,1.013180
$STATE,2053,end surface coast,CONTROL_FINISHED_OK
$STATE,2053,begin surface
$SM_CCo,2074,208.65,0.095,0,0,389,687.58
$SM_GC,1.05,9.95,1.88,208.65,0.080,0.067,0.095,143,2153,389,-9.61,-0.99,687.58,0,0,1,0,0,0,14.76,14.72,14.69
$IRIDIUM_FIX,4726.11,-12227.78,270213,171750
$TT8_MAMPS,0.025466,0.025466
$HUMID,36.06
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,19.00
$XPDR_PINGS,4
$SC_FREEKB,4019456
$TM_FREEKB,7885108
$24V_AH,13.8,1.603
$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,26.100,22.250,377.550,208.650,0.000,0.000,0.000,0.000,1.000,0.000,15.142,555.156,637.986,631.657,507.779,31.152,0.000,961.960,0.000,470.121,0.000,0.534,0.000
$DEVICE_MAMPS,407.745,104.805,940.185,94.860,0.000,0.000,0.000,0.000,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2034.000,2032.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.197,12.084,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,6811,199
$CAP_FILE_SIZE,60104,0
$CFSIZE,260034560,253161472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.196,  7.1,1
$GPS,270213,183013,4743.609,-12224.591,13,1.6,14,16.6