version: 66.13
glider: 122
mission: 21
dive: 4
start: 11 21 116 19 45 14
data:
$ID,122
$MISSION,21
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,65
$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,53356
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00434
$HD_B,0.00856
$HD_C,7.0800002e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,19
$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,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3700
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$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,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-166.92088
$PRESSURE_SLOPE,0.00010751
$AD7714Ch0Gain,1
$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
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373066
$SEABIRD_T_H,0.00062566844
$SEABIRD_T_I,2.3683922e-05
$SEABIRD_T_J,2.5145571e-06
$SEABIRD_C_G,-9.8304396
$SEABIRD_C_H,1.0973777
$SEABIRD_C_I,-0.001747182
$SEABIRD_C_J,0.00021959859
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,211116,193651,4743.4346,-12224.8506,14,0.9,34,16.6,0.5,35.8,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.2
$GPS2,211116,194451,4743.4980,-12224.7656,16,0.9,19,16.6,0.3,47.4,8,0.0
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,253.4,292,-28.4,-10.000,-30.00,818
$D_GRID,176
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.65,-53.4,141,2215,818,973,0.0,0.0,0,102,0.00,0.00,-85.90,0.000,16390,0.000,0.000,141,2215,2935,2874,2997,0,0,0,0,0,0,14.85,14.04,14.86
$GC,106,-1.79,-99.7,141,2215,2865,2997,2.5,-4.2,16,131,10.23,2.75,-5.25,0.000,18980,0.370,2.179,2422,804,3129,3046,3212,0,0,0,0,0,0,14.44,13.74,14.66
$GC,243,-1.45,-99.7,2422,805,3047,3212,31.4,-23.8,42,250,0.47,2.45,0.00,0.000,3206,0.300,0.069,2524,2183,3129,3046,3212,0,0,0,0,0,0,14.45,14.63,14.64
$GC,312,-1.31,-99.7,2525,2184,3046,3214,45.2,-18.9,55,317,0.20,0.00,0.00,0.000,2182,0.295,0.000,2574,2183,3129,3046,3212,0,0,0,0,0,0,14.52,14.69,14.64
$GC,379,-1.25,-99.7,2574,2183,3046,3212,56.9,-17.7,68,385,0.00,2.53,0.00,0.000,388,0.000,0.079,2565,3623,3129,3046,3212,0,0,0,0,0,0,14.85,14.66,14.88
$GC,417,-1.17,-99.7,2565,3623,3047,3213,64.4,-19.2,75,423,0.22,2.45,0.00,0.000,3206,0.271,0.054,2616,2207,3129,3046,3212,0,0,0,0,0,0,14.57,14.71,14.73
$GC,606,-1.20,-99.7,2617,2207,3047,3212,94.7,-16.2,112,612,0.00,2.45,0.00,0.000,644,0.000,0.070,2617,792,3129,3046,3212,0,0,0,0,0,0,14.91,14.73,14.94
$GC,741,-1.20,-99.7,2617,792,3047,3212,118.7,-17.9,138,748,0.00,2.42,0.00,0.000,1030,0.000,0.050,2608,2212,3129,3046,3212,0,0,0,0,0,0,14.83,14.77,14.85
$GC,930,-1.23,-99.7,2608,2213,3047,3212,149.5,-14.2,175,936,0.00,2.42,0.00,0.000,388,0.000,0.077,2597,3612,3128,3045,3212,0,0,0,0,0,0,14.96,14.77,14.98
$STATE,939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,939,begin apogee
$GC,950,-0.26,0.0,2598,1891,3047,3212,151.4,-14.2,177,1049,1.12,0.00,92.47,1.060,10246,0.239,0.000,2908,1890,2712,2620,2805,0,0,0,0,0,0,14.64,14.31,13.94
$STATE,1050,end apogee,CONTROL_FINISHED_OK
$STATE,1050,begin climb
$GC,1054,1.79,99.7,2908,1890,2620,2805,156.9,0.0,194,1152,2.08,2.55,89.75,1.035,10756,0.120,0.069,3583,500,2304,2221,2388,0,0,0,0,0,0,14.37,14.23,13.81
$GC,1194,1.52,99.7,3583,500,2218,2384,141.5,17.7,218,1200,0.40,2.45,0.00,0.000,5254,0.287,0.045,3491,1913,2301,2218,2384,0,0,0,0,0,0,14.21,14.36,14.40
$GC,1382,1.39,99.7,3491,1914,2218,2386,111.2,16.1,255,1389,0.15,2.40,0.00,0.000,4484,0.305,0.064,3453,3302,2300,2217,2384,0,0,0,0,0,0,14.44,14.60,14.56
$GC,1616,1.29,99.7,3453,3303,2217,2384,76.8,14.8,301,1622,0.20,2.40,0.00,0.000,5254,0.281,0.053,3416,1901,2301,2218,2384,0,0,0,0,0,0,14.57,14.71,14.76
$GC,1804,1.29,99.7,3417,1901,2218,2384,50.2,13.1,338,1810,0.00,2.47,0.00,0.000,260,0.000,0.072,3417,3298,2300,2217,2383,0,0,0,0,0,0,14.91,14.69,14.93
$GC,2037,1.26,99.7,3417,3299,2218,2384,21.0,12.5,384,2043,0.00,2.40,0.00,0.000,1158,0.000,0.053,3425,1888,2300,2218,2383,0,0,0,0,0,0,14.84,14.78,14.86
$GC,2105,1.26,99.7,3426,1888,2218,2384,12.4,12.1,397,2110,0.00,2.50,0.00,0.000,260,0.000,0.070,3425,3303,2300,2217,2383,0,0,0,0,0,0,14.94,14.72,14.95
$GC,2142,1.18,99.7,3425,3303,2218,2384,8.0,12.4,404,2148,0.22,2.40,0.00,0.000,5254,0.282,0.053,3385,1889,2300,2217,2384,0,0,0,0,0,0,14.63,14.77,14.83
$GC,2210,1.33,111.1,3386,1889,2218,2383,2.0,8.6,417,2218,0.12,2.10,3.28,0.091,10915,0.129,0.069,3452,695,2268,2185,2351,0,0,0,0,0,0,14.78,14.85,14.76
$STATE,2218,end climb,SURFACE_DEPTH_REACHED
$STATE,2218,begin surface coast
$FINISH,0.1,1.021460
$STATE,2236,end surface coast,CONTROL_FINISHED_OK
$STATE,2236,begin surface
$SM_CCo,2261,145.85,0.094,0,0,884,450.13
$SM_GC,1.03,9.45,2.62,145.85,0.060,0.050,0.094,144,2187,884,-8.82,-1.22,450.13,0,0,0,0,0,0,14.79,14.78,14.72
$IRIDIUM_FIX,4726.11,-12233.92,211116,184756
$TT8_MAMPS,0.03745,1.07032
$HUMID,48.97
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,7901312
$24V_AH,13.74,0.000
$10V_AH,13.84,3.434
$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,24.875,44.750,185.500,145.850,0.000,0.000,0.000,290.325,0.000,0.000,20.645,0.000,1064.859,446.683,1100.641,278.844,0.000,1092.765,0.000,611.960,0.000,0.535,0.000
$DEVICE_MAMPS,370.260,2178.720,1059.525,94.095,0.000,0.000,0.000,166.005,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2257.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.943,0.000,0.000,0.000
$MEM,194064
$DATA_FILE_SIZE,13431,422
$CAP_FILE_SIZE,54248,0
$CFSIZE,260034560,256241664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.090,20.29,1
$GPS,211116,202616,4743.516,-12225.002,16,0.9,20,16.6,0.4,41.0,8,9.7