version: 66.09
glider: 121
mission: 5
dive: 7
start: 3 17 111 20 25 46
data:
$ID,121
$MISSION,5
$DIVE,7
$N_DIVES,8
$D_SURF,3
$D_FLARE,3
$D_TGT,135
$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,45
$T_MISSION,60
$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,51164
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-71185.18
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,4069
$C_PITCH,2540
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,2202
$C_ROLL_CLIMB,2202
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,347
$VBD_MAX,3995
$C_VBD,3278
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.548435
$PRESSURE_SLOPE,0.0001163579
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042613237
$SEABIRD_T_H,0.00061854301
$SEABIRD_T_I,2.2247017e-05
$SEABIRD_T_J,2.3141051e-06
$SEABIRD_C_G,-10.028838
$SEABIRD_C_H,1.1493243
$SEABIRD_C_I,-0.0017152225
$SEABIRD_C_J,0.0002181365
$GPS1,170311,202128,4743.128,-12225.508,13,5.2,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-75.6
$GPS2,170311,202520,4743.123,-12225.539,14,2.0,14,18.2
$SPEED_LIMITS,0.173,0.260
$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,25.7,969,-17.5,-10.000
$D_GRID,190
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.93,-146.6,0.0,0.0,0,101,0.00,0.00,-84.00,0.000,2,0.000,0.000,45,2201,3648,0,0,0,0,0,0
$GC,103,-1.93,-146.6,3.3,-3.8,12,127,9.27,2.33,-4.45,0.000,4,0.273,0.070,2101,3606,3878,0,0,0,0,0,0
$GC,365,-1.15,-146.6,78.1,-25.0,60,374,0.60,2.28,0.00,0.000,6,0.184,0.050,2293,2204,3879,0,0,0,0,0,0
$GC,689,-1.03,-146.6,117.6,-10.7,121,698,0.10,2.30,0.00,0.000,4,0.184,0.063,2309,3598,3879,0,0,0,0,0,0
$STATE,867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,867,begin apogee
$GC,875,-0.50,0.0,135.3,10.0,155,988,0.35,0.00,105.25,0.743,6,0.142,0.000,2426,2190,3276,0,0,0,0,0,0
$STATE,989,end apogee,CONTROL_FINISHED_OK
$STATE,990,begin climb
$GC,991,1.93,146.6,141.4,0.0,171,1111,1.67,0.00,110.07,0.716,6,0.118,0.000,2955,2188,2678,0,0,0,0,0,0
$GC,1427,1.04,146.6,69.4,19.2,248,1436,0.75,2.33,0.00,0.000,4,0.231,0.057,2758,3613,2667,0,0,0,0,0,0
$GC,1669,0.79,146.6,39.2,11.3,294,1677,0.17,2.30,0.00,0.000,6,0.185,0.052,2717,2205,2665,0,0,0,0,0,0
$GC,1986,0.93,213.3,16.7,6.9,355,2044,0.10,0.00,49.67,0.659,6,0.109,0.000,2757,2205,2405,0,0,0,0,0,0
$STATE,2129,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,0.6,1.021932
$STATE,2156,end surface coast,CONTROL_FINISHED_OK
$STATE,2156,begin surface
$SM_CCo,2171,122.70,0.614,1,0,1647,400.08
$SM_GC,0.44,0.00,0.00,122.70,0.000,0.000,0.614,53,2204,1647,-11.44,0.03,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12227.78,170311,191940
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,14.60
$XPDR_PINGS,1
$24V_AH,24.4,1.838
$10V_AH,10.3,1.012
$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,20.925,13.800,265.000,122.700,0.000,29.974,41.879,76.947,0.250,0.000,15.191,833.287,63.997,392.558,1187.256,74.366,0.000,785.554,0.000,1040.377,0.000,1.484,0.000
$DEVICE_MAMPS,273.105,70.380,742.815,614.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,AA3830,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.888,977.013,0.000,392.647,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323832
$DATA_FILE_SIZE,20276,384
$CAP_FILE_SIZE,37653,0
$CFSIZE,260165632,255840256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170311,210456,4743.029,-12225.604,14,1.7,14,18.2