version: 66.11
glider: 122
mission: 16
dive: 4
start: 2 27 113 19 46 34
data:
$ID,122
$MISSION,16
$DIVE,4
$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,-44445.973
$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,35
$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
$GPS1,270213,193925,4743.636,-12224.847,14,1.4,14,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.4
$GPS2,270213,194554,4743.699,-12224.749,21,1.1,22,16.6
$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,178.9,484,-20.0,-10.000,-23.38,1743
$D_GRID,175
$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,19,begin dive
$GC,20,-1.19,-115.4,149,2160,1184,1341,0.0,0.0,0,104,0.00,0.00,-81.40,0.000,16386,0.000,0.000,150,2161,3166,3017,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.25,-146.6,150,2161,3017,3316,3.2,-5.1,8,141,12.80,1.90,-12.48,0.000,18692,0.405,0.111,2864,3211,3700,3671,3729,0,0,0,0,0,0,14.49,14.65,14.85
$GC,252,-0.96,-146.6,2864,3210,3671,3729,28.1,-21.1,22,260,0.40,1.85,0.00,0.000,3078,0.259,0.060,2963,2146,3700,3671,3729,0,0,0,0,0,0,14.58,14.72,28.83
$GC,438,-0.91,-146.6,2963,2146,3671,3729,59.2,-15.8,41,443,0.00,1.77,0.00,0.000,516,0.000,0.077,2963,1110,3700,3671,3729,0,0,0,0,0,0,28.83,14.75,28.83
$GC,534,-0.83,-146.6,1968,1110,3664,3727,73.6,-15.2,50,542,0.20,1.80,0.00,0.000,3078,0.253,0.060,3007,2159,3700,3671,3729,0,0,0,0,0,0,14.68,14.79,28.83
$GC,721,-0.86,-146.6,3007,2158,3671,3729,99.2,-13.5,69,726,0.00,1.83,0.00,0.000,260,0.000,0.081,3002,3210,3699,3670,3729,0,0,0,0,0,0,28.83,14.80,28.83
$GC,954,-0.92,-146.6,3002,3210,3671,3729,130.3,-12.8,92,960,0.00,1.83,0.00,0.000,1030,0.000,0.060,3002,2149,3700,3671,3729,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1109,-0.25,0.0,3002,2150,3671,3728,150.4,-12.5,107,1239,0.65,0.00,124.55,1.069,10246,0.204,0.000,3191,2150,3098,3087,3109,0,0,0,0,0,0,14.76,28.83,13.88
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1242,begin climb
$GC,1244,1.25,146.6,3191,2150,3081,3109,157.3,0.0,120,1378,1.58,0.00,127.32,1.026,10246,0.145,0.000,3674,2150,2497,2432,2563,0,0,0,0,0,0,14.28,28.83,13.75
$GC,1558,1.02,146.6,3675,2150,2429,2543,125.3,14.8,152,1564,0.25,1.80,0.00,0.000,4612,0.284,0.076,3617,1118,2486,2430,2543,0,0,0,0,0,0,14.42,14.53,28.83
$GC,1605,0.89,146.6,2896,1117,2366,2534,119.6,12.8,156,1612,0.22,1.83,0.00,0.000,5126,0.275,0.060,3566,2166,2485,2429,2542,0,0,0,0,0,0,14.46,14.59,28.83
$GC,1792,0.91,161.4,3566,2166,2429,2539,100.8,9.1,175,1807,0.00,1.90,11.32,0.983,8452,0.000,0.080,3566,3208,2438,2380,2497,0,0,0,0,0,0,28.83,14.63,14.21
$GC,1859,0.87,161.4,2768,3205,2313,2485,94.3,10.6,181,1866,0.00,1.83,0.00,0.000,1030,0.000,0.063,3566,2167,2435,2378,2492,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2046,0.93,196.8,3565,2167,2379,2489,76.6,7.9,200,2084,0.00,0.00,31.62,0.979,8710,0.000,0.000,3568,2167,2291,2232,2351,0,0,0,0,0,0,28.83,28.83,14.18
$GC,2265,0.97,196.8,3566,2167,2231,2341,54.6,10.3,222,2270,0.00,1.85,0.00,0.000,516,0.000,0.083,3566,1103,2286,2232,2341,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2468,1.02,196.8,3566,1103,2232,2340,33.7,11.2,242,2474,0.15,1.83,0.00,0.000,3078,0.139,0.061,3620,2163,2285,2232,2339,0,0,0,0,0,0,14.76,14.76,28.83
$GC,2661,0.98,196.8,3620,2163,2232,2339,9.0,12.2,261,2666,0.00,1.88,0.00,0.000,516,0.000,0.080,3620,1101,2285,2232,2339,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2707,0.93,196.8,3620,1101,2232,2339,3.3,13.4,265,2715,0.17,1.83,0.00,0.000,5126,0.249,0.060,3580,2167,2285,2232,2339,0,0,0,0,0,0,14.69,14.80,28.83
$STATE,2722,end climb,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,0.3,1.009958
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2752,114.62,0.095,0,0,1264,450.13
$SM_GC,1.34,9.95,0.00,114.62,0.074,0.000,0.095,151,2167,1264,-9.69,0.23,450.13,0,0,0,0,0,0,14.83,28.83,14.75
$IRIDIUM_FIX,4726.11,-12223.37,270213,181850
$TT8_MAMPS,0.025466,0.025466
$HUMID,37.99
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,18.90
$XPDR_PINGS,2
$SC_FREEKB,4018944
$TM_FREEKB,7876044
$24V_AH,13.7,1.902
$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,26.375,25.700,294.825,114.625,0.000,0.000,0.000,232.550,0.500,0.000,22.528,781.457,1066.479,471.050,896.518,67.440,0.000,1062.906,0.000,571.724,0.000,0.532,0.000
$DEVICE_MAMPS,404.685,110.925,1068.705,94.860,0.000,0.000,0.000,218.790,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2730.000,2755.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.277,11.953,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,10158,268
$CAP_FILE_SIZE,63267,0
$CFSIZE,260034560,253030400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087,290.0,1
$GPS,270213,203535,4743.405,-12225.135,34,1.0,35,16.6