version: 66.11
glider: 122
mission: 16
dive: 7
start: 2 27 113 22 21 55
data:
$ID,122
$MISSION,16
$DIVE,7
$N_DIVES,7
$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,-44449.75
$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,3290
$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,34
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2880
$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
$GPS1,270213,221506,4743.040,-12225.261,12,1.4,12,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.6
$GPS2,270213,222125,4743.028,-12225.285,17,1.4,17,16.6
$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,29.8,944,-17.6,-10.000,-21.21,2209
$D_GRID,186
$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,-146.6,145,2296,1029,1197,0.0,0.0,0,115,0.00,0.00,-91.57,0.000,16386,0.000,0.000,145,2297,3286,3150,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.12,-146.6,146,2297,3150,3422,3.4,-5.5,9,142,13.18,1.95,-4.30,0.000,18692,0.407,0.114,2915,3354,3480,3389,3572,0,0,0,0,0,0,14.46,14.62,14.81
$GC,368,-0.83,-146.6,1936,3352,3372,3570,48.4,-18.2,33,375,0.40,1.83,0.00,0.000,3078,0.249,0.060,3015,2299,3480,3389,3572,0,0,0,0,0,0,14.62,14.73,28.83
$GC,555,-0.77,-146.6,3015,2299,3389,3572,70.9,-11.5,52,560,0.00,1.90,0.00,0.000,260,0.000,0.081,3010,3355,3480,3389,3572,0,0,0,0,0,0,28.83,14.74,28.83
$GC,787,-0.68,-146.6,3010,3355,3389,3572,96.7,-10.5,75,793,0.22,1.83,0.00,0.000,3078,0.238,0.060,3068,2294,3481,3390,3572,0,0,0,0,0,0,14.71,14.81,28.83
$GC,981,-0.74,-146.6,3067,2294,3389,3572,112.0,-7.6,94,986,0.00,1.90,0.00,0.000,260,0.000,0.082,3061,3354,3481,3390,3572,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1215,-0.80,-146.6,3061,3354,3389,3573,132.6,-9.2,117,1220,0.00,1.80,0.00,0.000,1030,0.000,0.057,3061,2303,3482,3390,3574,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1408,-0.86,-146.6,3061,2303,3389,3572,148.5,-8.7,136,1410,0.15,0.00,0.00,0.000,4102,0.118,0.000,2998,2303,3480,3389,3572,0,0,0,0,0,0,14.87,28.83,28.83
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1426,begin apogee
$GC,1430,-0.25,0.0,2998,2093,3389,3572,150.4,-9.1,138,1564,0.73,0.00,127.05,1.069,10246,0.211,0.000,3206,2093,2877,2828,2926,0,0,0,0,0,0,14.75,28.83,13.85
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1569,1.12,146.6,3206,2093,2824,2922,155.7,0.0,151,1709,1.42,1.95,127.53,1.022,10756,0.145,0.083,3644,1060,2272,2186,2358,0,0,0,0,0,0,14.26,14.13,13.71
$GC,1912,0.92,146.6,3646,1060,2184,2345,110.7,15.4,186,1918,0.25,1.83,0.00,0.000,5126,0.264,0.057,3587,2106,2264,2184,2345,0,0,0,0,0,0,14.41,14.54,28.83
$GC,2106,0.84,146.6,3587,2106,2184,2342,85.2,13.3,205,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,2106,2263,2184,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,0.76,146.6,3587,2106,2184,2341,63.3,12.8,223,2292,0.17,1.83,0.00,0.000,4356,0.271,0.076,3540,3152,2262,2184,2341,0,0,0,0,0,0,14.62,14.71,28.83
$GC,2389,0.76,146.6,3540,3152,2184,2340,50.7,11.9,233,2395,0.00,1.83,0.00,0.000,1030,0.000,0.063,3540,2105,2261,2183,2340,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2582,0.79,146.6,3540,2105,2184,2340,30.9,10.1,252,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2105,2262,2184,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2763,0.87,167.0,3540,2104,2184,2340,14.6,9.1,270,2778,0.00,1.88,7.95,0.145,8708,0.000,0.084,3540,1055,2198,2120,2277,0,0,0,0,0,0,28.83,14.78,14.75
$GC,2876,0.98,200.6,3540,1055,2119,2278,4.2,8.4,281,2898,0.20,1.80,16.60,0.101,11270,0.123,0.060,3615,2109,2061,1982,2140,0,0,0,0,0,0,14.82,14.83,14.78
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,0.4,1.022275
$STATE,2926,end surface coast,CONTROL_FINISHED_OK
$STATE,2926,begin surface
$SM_CCo,2946,116.10,0.099,0,0,1044,450.13
$SM_GC,1.35,10.12,0.32,116.10,0.080,0.086,0.099,150,2314,1044,-9.72,-0.90,450.13,0,0,0,0,0,0,14.83,14.83,14.74
$IRIDIUM_FIX,4726.11,-12223.37,270213,212122
$TT8_MAMPS,0.025466,0.025466
$HUMID,37.79
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.00
$XPDR_PINGS,1
$SC_FREEKB,4018176
$TM_FREEKB,7864100
$24V_AH,13.7,2.287
$10V_AH,13.8,0.000
$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,26.850,22.950,279.125,116.100,0.000,0.000,0.000,229.850,0.250,0.000,18.097,864.374,1111.224,440.484,973.923,70.009,0.000,1067.962,0.000,656.426,0.000,0.532,0.000
$DEVICE_MAMPS,406.980,113.985,1069.470,99.450,0.000,0.000,0.000,219.555,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2922.000,2946.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.187,11.970,0.000,0.000
$MEM,322800
$DATA_FILE_SIZE,10126,286
$CAP_FILE_SIZE,66803,0
$CFSIZE,260034560,252858368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.239,221.6,1
$GPS,270213,231355,4742.762,-12225.322,17,1.6,18,16.6