version: 66.11
glider: 125
mission: 17
dive: 5
start: 7 17 113 20 6 51
data:
$ID,125
$MISSION,17
$DIVE,5
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$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,40
$T_MISSION,64
$T_ABORT,720
$T_TURN,300
$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,52175
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,3.0000001e-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,400
$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,-180561.47
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,512
$PITCH_MAX,3700
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,282
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1980
$C_ROLL_CLIMB,1910
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,458
$VBD_MAX,3884
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$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,80
$AH0_10V,50
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.646065
$PRESSURE_SLOPE,0.0001156654
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,0.0043359469
$SEABIRD_T_H,0.00062641408
$SEABIRD_T_I,2.4610727e-05
$SEABIRD_T_J,2.7438246e-06
$SEABIRD_C_G,-9.9540386
$SEABIRD_C_H,1.1272155
$SEABIRD_C_I,-0.0019266624
$SEABIRD_C_J,0.00023293085
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170713,200121,4743.244,-12225.365,11,2.9,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-42.2
$GPS2,170713,200627,4743.291,-12225.315,12,2.3,31,18.2
$SPEED_LIMITS,0.217,0.281
$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,27.2,552,-26.0,-12.500,-28.52,1199
$D_GRID,185
$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,-2.05,-97.8,509,1977,1358,1157,0.0,0.0,0,107,0.00,0.00,-84.28,0.000,16386,0.000,0.000,509,1977,3255,3313,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-2.11,-146.6,509,1977,3313,3197,3.4,-8.1,15,129,6.70,2.70,-5.78,0.000,18692,0.169,0.103,1664,3393,3498,3568,3429,0,0,0,0,0,0,24.44,24.51,24.89
$GC,431,-2.19,-146.6,1663,3393,3568,3430,52.2,-15.9,59,436,0.00,2.67,0.00,0.000,1030,0.000,0.093,1664,1976,3499,3568,3430,0,0,0,0,0,0,28.83,24.64,28.83
$GC,683,-2.29,-146.6,1666,1976,3568,3430,87.6,-13.8,72,689,0.12,2.70,0.00,0.000,4356,0.082,0.091,1631,3396,3499,3568,3431,0,0,0,0,0,0,24.79,24.65,28.83
$GC,989,-2.29,-146.6,1040,3395,3558,3427,133.0,-15.5,87,995,0.00,2.67,0.00,0.000,1030,0.000,0.085,1631,1980,3500,3570,3431,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1109,-0.37,0.0,1630,1910,3568,3430,150.9,-14.5,93,1228,2.12,0.00,110.65,0.703,10246,0.126,0.000,2045,1911,2899,2968,2831,0,0,0,0,0,0,24.68,28.83,23.72
$STATE,1231,end apogee,CONTROL_FINISHED_OK
$STATE,1231,begin climb
$GC,1232,2.11,146.6,2046,1911,2968,2830,154.3,0.0,99,1357,2.67,2.92,113.20,0.679,10756,0.089,0.117,2589,497,2301,2374,2229,0,0,0,0,0,0,24.32,24.08,23.71
$GC,1379,2.21,179.0,2589,497,2374,2227,143.6,9.7,106,1411,0.00,2.70,26.42,0.640,9222,0.000,0.087,2589,1911,2170,2246,2094,0,0,0,0,0,0,28.83,24.34,23.74
$GC,1650,2.38,179.0,2589,1911,2245,2085,105.6,13.9,120,1656,0.22,2.75,0.00,0.000,2308,0.055,0.099,2653,3325,2164,2245,2084,0,0,0,0,0,0,24.58,24.44,28.83
$GC,1667,2.55,179.0,2653,3325,2244,2084,105.6,13.9,120,1674,0.15,2.72,0.00,0.000,3078,0.068,0.090,2690,1910,2164,2244,2084,0,0,0,0,0,0,24.56,24.46,28.83
$GC,1913,2.55,179.0,2690,1910,2243,2084,63.9,15.4,133,1918,0.00,2.72,0.00,0.000,260,0.000,0.096,2690,3325,2163,2243,2084,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1995,2.49,179.0,2690,3325,2242,2083,50.7,16.0,137,2001,0.00,2.72,0.00,0.000,1030,0.000,0.090,2690,1904,2162,2242,2083,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2243,2.49,179.0,2690,1904,2242,2083,12.1,16.5,168,2250,0.00,2.72,0.00,0.000,260,0.000,0.094,2690,3327,2162,2242,2083,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2281,2.49,179.0,2690,3327,2242,2083,6.2,15.0,175,2289,0.00,2.70,0.00,0.000,1030,0.000,0.086,2690,1909,2162,2242,2083,0,0,0,0,0,0,28.83,24.60,28.83
$STATE,2319,end climb,SURFACE_DEPTH_REACHED
$STATE,2319,begin surface coast
$FINISH,0.1,1.020450
$STATE,2341,end surface coast,CONTROL_FINISHED_OK
$STATE,2341,begin surface
$SM_CCo,2359,103.95,0.072,0,0,1268,400.08
$SM_GC,0.51,10.27,0.15,103.95,0.073,0.109,0.072,501,1980,1268,-7.42,-0.54,400.08,0,0,0,0,0,0,24.72,24.65,24.53
$IRIDIUM_FIX,4726.11,-12226.80,170713,191915
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.81
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.80
$XPDR_PINGS,3
$SC_FREEKB,4017856
$TM_FREEKB,7863552
$24V_AH,23.7,1.048
$10V_AH,9.4,1.373
$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,22.275,33.025,250.275,103.950,0.000,0.000,0.000,171.625,0.750,0.000,34.782,569.130,1042.419,405.088,722.990,43.768,0.000,883.325,0.000,467.843,0.000,0.531,0.000
$DEVICE_MAMPS,169.065,117.810,703.035,71.910,0.000,0.000,0.000,133.875,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2334.000,2326.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.815,13.082,0.000,0.000
$MEM,322560
$DATA_FILE_SIZE,6831,186
$CAP_FILE_SIZE,49921,0
$CFSIZE,260034560,250847232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,204905,4743.313,-12225.198,30,1.4,30,18.2