version: 66.11
glider: 122
mission: 16
dive: 6
start: 2 27 113 21 24 11
data:
$ID,122
$MISSION,16
$DIVE,6
$N_DIVES,6
$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,-44448.492
$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,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2950
$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
$GPS1,270213,211814,4743.171,-12225.263,12,1.1,15,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.7
$GPS2,270213,212342,4743.180,-12225.274,19,1.2,20,16.6
$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,30.4,685,-17.6,-10.000,-21.21,2209
$D_GRID,182
$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,-146.6,151,2298,1029,1200,0.0,0.0,0,115,0.00,0.00,-91.72,0.000,16386,0.000,0.000,151,2298,3287,3150,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.12,-146.6,151,2298,3150,3424,3.4,-5.2,9,145,12.95,1.90,-6.00,0.000,18692,0.403,0.116,2906,3343,3551,3477,3625,0,0,0,0,0,0,14.50,14.65,14.85
$GC,372,-0.82,-146.6,2906,3343,3480,3625,51.2,-18.9,34,378,0.40,1.80,0.00,0.000,3078,0.246,0.060,3008,2301,3551,3477,3625,0,0,0,0,0,0,14.64,14.75,28.83
$GC,566,-0.76,-146.6,3008,2301,3477,3625,77.2,-13.3,53,571,0.00,1.90,0.00,0.000,260,0.000,0.084,3003,3355,3551,3477,3625,0,0,0,0,0,0,28.83,14.76,28.83
$GC,799,-0.70,-146.6,3002,3355,3477,3625,111.4,-14.8,76,805,0.20,1.83,0.00,0.000,3078,0.229,0.060,3052,2293,3551,3477,3625,0,0,0,0,0,0,14.72,14.83,28.83
$GC,993,-0.74,-146.6,3052,2293,3477,3625,131.1,-8.8,95,998,0.00,1.90,0.00,0.000,260,0.000,0.081,3047,3355,3551,3477,3625,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,1185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1185,begin apogee
$GC,1191,-0.25,0.0,3047,2104,3477,3625,151.0,-10.8,114,1329,0.50,0.00,125.03,1.288,10246,0.199,0.000,3194,2104,2949,2916,2983,0,0,0,0,1,0,14.76,28.83,13.67
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1333,1.12,146.6,3194,2103,2916,2983,157.6,0.0,128,1470,1.45,2.00,128.32,1.035,10756,0.149,0.083,3635,1049,2345,2266,2424,0,0,0,0,0,0,14.19,14.12,13.72
$GC,1626,0.92,146.6,2944,1049,2203,2406,127.5,14.5,156,1634,0.25,1.85,0.00,0.000,5126,0.266,0.059,3579,2102,2338,2265,2411,0,0,0,0,0,0,14.38,14.50,28.83
$GC,1814,0.83,146.6,3579,2103,2265,2409,105.7,11.5,175,1819,0.12,1.85,0.00,0.000,4356,0.284,0.076,3543,3155,2337,2265,2409,0,0,0,0,0,0,14.54,14.63,28.83
$GC,1898,0.77,146.6,3543,3155,2265,2408,97.4,10.1,183,1903,0.00,1.85,0.00,0.000,1030,0.000,0.062,3547,2096,2336,2265,2408,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2091,0.75,155.7,3547,2096,2264,2407,77.6,9.6,202,2102,0.00,1.83,4.95,0.916,8708,0.000,0.083,3550,1052,2314,2240,2388,0,0,0,0,0,0,28.83,14.71,14.16
$GC,2185,0.75,158.0,3551,1052,2240,2388,68.1,9.9,211,2197,0.00,1.83,3.40,0.741,9222,0.000,0.060,3550,2110,2305,2230,2380,0,0,0,0,0,0,28.83,14.73,14.16
$GC,2375,0.80,186.8,3550,2110,2230,2379,50.5,8.7,230,2410,0.00,1.92,28.88,0.967,8708,0.000,0.079,3550,1047,2183,2109,2257,0,0,0,0,0,0,28.83,14.62,14.23
$GC,2441,0.85,215.1,2752,1047,2047,2245,45.1,8.7,236,2473,0.00,1.83,26.12,0.949,9222,0.000,0.060,3550,2102,2069,1997,2141,0,0,0,0,0,0,28.83,14.66,14.14
$GC,2661,0.90,215.1,3550,2102,1996,2132,22.0,11.3,258,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2103,2063,1996,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2841,1.00,229.1,3550,2103,1995,2130,3.1,9.4,276,2851,0.15,0.00,5.93,0.106,10246,0.146,0.000,3607,2102,2013,1944,2083,0,0,0,0,0,0,14.72,28.83,14.69
$STATE,2859,end climb,SURFACE_DEPTH_REACHED
$STATE,2859,begin surface coast
$FINISH,0.4,1.013237
$STATE,2880,end surface coast,CONTROL_FINISHED_OK
$STATE,2880,begin surface
$SM_CCo,2900,103.18,0.099,0,0,1113,450.13
$SM_GC,1.34,10.10,0.32,103.18,0.076,0.089,0.099,145,2296,1113,-9.70,-1.10,450.13,0,0,0,0,0,0,14.78,14.75,14.69
$IRIDIUM_FIX,4726.11,-12223.37,270213,202054
$TT8_MAMPS,0.025466,0.025466
$HUMID,37.79
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.00
$XPDR_PINGS,1
$SC_FREEKB,4018432
$TM_FREEKB,7868604
$24V_AH,13.7,2.158
$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,26.125,26.800,322.625,103.175,0.000,0.000,0.000,195.175,0.250,0.000,20.521,828.406,1074.736,465.844,915.511,66.447,0.000,1065.242,0.000,643.997,0.000,0.532,0.000
$DEVICE_MAMPS,403.155,115.515,1288.260,98.685,0.000,0.000,0.000,212.670,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2868.000,2886.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.257,12.011,0.000,0.000
$MEM,322788
$DATA_FILE_SIZE,10116,280
$CAP_FILE_SIZE,65390,0
$CFSIZE,260034560,252923904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0
$CURRENT,0.185,237.2,1
$GPS,270213,221506,4743.040,-12225.261,12,1.4,12,16.6