version: 66.11
glider: 122
mission: 16
dive: 3
start: 2 27 113 18 44 6
data:
$ID,122
$MISSION,16
$DIVE,3
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,62
$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,450
$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,-44444.715
$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,3280
$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,32
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,3100
$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
$GPS1,270213,184006,4743.755,-12224.539,15,1.0,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.1
$GPS2,270213,184336,4743.795,-12224.514,19,1.0,20,16.6
$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,181.5,816,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.12,-146.6,156,2175,329,459,0.0,0.0,0,156,0.00,0.00,-132.02,0.000,16386,0.000,0.000,156,2177,3613,3532,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-1.12,-146.6,156,2176,3532,3695,3.7,-6.3,13,181,12.93,1.90,-1.77,0.000,18692,0.408,0.109,2907,3217,3700,3655,3746,0,0,0,0,0,0,14.57,14.73,14.92
$GC,219,-0.61,-146.6,2907,3217,3655,3746,18.1,-20.9,19,225,0.65,1.85,0.00,0.000,3078,0.248,0.060,3077,2146,3700,3655,3746,0,0,0,0,0,0,14.64,14.76,28.83
$GC,413,-0.68,-146.6,3078,2146,3658,3744,39.5,-9.6,38,418,0.00,1.77,0.00,0.000,516,0.000,0.077,3078,1106,3701,3658,3744,0,0,0,0,0,0,28.83,14.78,28.83
$GC,510,-0.75,-146.6,2064,1105,3651,3742,49.0,-9.7,47,517,0.12,1.83,0.00,0.000,5126,0.134,0.061,3015,2168,3701,3659,3744,0,0,0,0,0,0,14.83,14.82,28.83
$GC,696,-0.71,-146.6,3015,2168,3658,3744,69.9,-11.0,66,702,0.12,1.80,0.00,0.000,2308,0.263,0.078,3041,3210,3701,3658,3744,0,0,0,0,0,0,14.73,14.82,28.83
$GC,930,-0.76,-146.6,3040,3210,3658,3743,94.2,-9.9,89,935,0.00,1.80,0.00,0.000,1030,0.000,0.060,3041,2160,3701,3658,3744,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1123,-0.79,-146.6,3042,2160,3658,3744,114.1,-10.2,108,1128,0.00,1.88,0.00,0.000,260,0.000,0.078,3034,3217,3701,3658,3744,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1236,-0.84,-146.6,3034,3217,3658,3743,126.7,-11.9,119,1241,0.00,1.83,0.00,0.000,1030,0.000,0.060,3034,2154,3700,3658,3743,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1429,-0.88,-146.6,3034,2154,3658,3743,148.3,-11.2,138,1434,0.12,1.77,0.00,0.000,4612,0.133,0.075,2975,1109,3700,3658,3743,0,0,0,0,0,0,14.89,14.87,28.83
$STATE,1451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1451,begin apogee
$GC,1457,-0.25,0.0,2969,2169,3658,3743,151.2,-11.8,140,1590,0.77,0.00,125.50,1.073,10246,0.222,0.000,3189,2169,3094,3086,3103,0,0,0,0,0,0,14.77,28.83,13.90
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1596,1.12,146.6,3190,2169,3086,3101,157.7,0.0,153,1735,1.45,1.95,127.62,1.030,10756,0.145,0.074,3642,1111,2492,2428,2557,0,0,0,0,0,0,14.31,14.19,13.77
$GC,1962,0.89,146.6,3642,1110,2427,2542,122.8,11.9,190,1970,0.30,1.83,0.00,0.000,5126,0.264,0.059,3570,2163,2484,2427,2541,0,0,0,0,0,0,14.49,14.62,28.83
$GC,2148,0.83,162.8,3570,2163,2427,2538,104.7,9.3,209,2165,0.00,1.92,12.18,0.992,8452,0.000,0.080,3570,3217,2432,2373,2492,0,0,0,0,0,0,28.83,14.64,14.21
$GC,2296,0.72,162.8,2816,3215,2307,2479,89.9,10.7,223,2304,0.25,1.85,0.00,0.000,5126,0.256,0.063,3513,2161,2429,2372,2486,0,0,0,0,0,0,14.60,14.72,28.83
$GC,2483,0.82,202.1,3513,2161,2372,2483,73.9,8.2,242,2524,0.00,1.83,34.67,0.981,8708,0.000,0.079,3513,1110,2270,2212,2329,0,0,0,0,0,0,28.83,14.59,14.19
$GC,2657,0.99,247.2,3513,1110,2211,2320,59.5,7.9,259,2704,0.28,1.80,39.45,0.958,11270,0.106,0.060,3610,2158,2089,2028,2150,0,0,0,0,0,0,14.69,14.70,14.12
$GC,2891,0.91,247.2,3610,2158,2028,2136,29.3,13.0,282,2897,0.12,1.88,0.00,0.000,4612,0.290,0.076,3581,1106,2082,2028,2136,0,0,0,0,0,0,14.54,14.66,28.83
$GC,3028,0.91,247.2,2816,1105,1973,2126,14.9,10.0,295,3035,0.00,1.80,0.00,0.000,1030,0.000,0.060,3580,2159,2080,2028,2133,0,0,1,0,0,0,28.83,14.73,28.83
$STATE,3143,end climb,SURFACE_DEPTH_REACHED
$STATE,3143,begin surface coast
$FINISH,0.2,1.010832
$STATE,3155,end surface coast,CONTROL_FINISHED_OK
$STATE,3155,begin surface
$SM_CCo,3174,92.00,0.096,0,0,1264,450.13
$SM_GC,1.25,9.98,0.00,92.00,0.073,0.000,0.096,149,2159,1264,-9.70,0.00,450.13,0,0,0,0,0,0,14.80,28.83,14.73
$IRIDIUM_FIX,4726.11,-12229.50,270213,181839
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.06
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,2
$SC_FREEKB,4019200
$TM_FREEKB,7880256
$24V_AH,13.8,1.765
$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,27.100,33.125,339.425,92.000,0.000,0.000,0.000,0.000,0.500,0.000,21.313,895.821,1159.368,505.544,748.702,43.743,0.000,940.131,0.000,700.263,0.000,0.532,0.000
$DEVICE_MAMPS,407.745,109.395,1072.530,96.390,0.000,0.000,0.000,0.000,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3135.000,3135.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.289,12.096,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,10110,308
$CAP_FILE_SIZE,79349,0
$CFSIZE,260034560,253079552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.108,336.8,1
$GPS,270213,193925,4743.636,-12224.847,14,1.4,14,16.6