version: 66.11
glider: 122
mission: 17
dive: 4
start: 3 25 113 17 24 52
data:
$ID,122
$MISSION,17
$DIVE,4
$N_DIVES,6
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$D_NO_BLEED,200
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$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,350
$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,-45745.742
$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,3180
$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,2175
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-24.500248
$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
$GPS1,250313,172059,2434.289,-3759.562,15,1.3,16,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.0
$GPS2,250313,172423,2434.292,-3759.566,18,1.3,19,-14.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$TGT_RADIUS,1852.000
$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,57.5,71690,-17.6,-10.000,-21.24,2209
$D_GRID,360
$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,-1.13,-146.0,136,2174,856,970,0.0,0.0,0,123,0.00,0.00,-98.28,0.000,16390,0.000,0.000,121,2172,3446,3316,3577,0,0,0,0,0,0,28.83,28.83,15.19
$GC,126,-1.13,-146.0,120,2172,3316,3577,3.0,-2.5,6,143,11.73,1.73,0.00,0.000,2564,0.373,0.053,2806,1122,3448,3321,3576,0,0,0,0,0,0,14.79,15.00,28.83
$GC,369,-0.92,-146.0,2806,1121,3326,3571,47.1,-16.3,22,376,0.30,1.73,0.00,0.000,3078,0.233,0.049,2882,2174,3448,3327,3570,0,0,0,0,0,0,14.90,15.03,28.83
$GC,675,-0.89,-146.0,2882,2174,3327,3570,87.5,-12.4,43,681,0.00,1.75,0.00,0.000,516,0.000,0.060,2882,1120,3448,3326,3570,0,0,0,0,0,0,28.83,15.07,28.83
$GC,907,-0.86,-146.0,1888,1119,3301,3568,117.9,-13.6,58,912,0.00,1.73,0.00,0.000,1030,0.000,0.049,2878,2173,3448,3327,3569,0,0,0,0,0,0,28.83,15.08,28.83
$GC,1219,-0.86,-146.0,2878,2174,3327,3569,157.1,-12.1,79,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2174,3449,3329,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-0.86,-146.0,2879,2174,3326,3569,192.3,-11.0,99,1525,0.00,1.75,0.00,0.000,260,0.000,0.072,2870,3226,3448,3327,3569,0,0,0,0,0,0,28.83,15.07,28.83
$GC,1561,-0.86,-146.0,2870,3226,3327,3569,196.0,-11.4,101,1569,0.12,1.73,0.00,0.000,3078,0.236,0.048,2901,2165,3447,3326,3569,0,0,0,0,0,0,15.00,15.11,28.83
$GC,1868,-0.91,-146.0,2901,2165,3327,3568,228.3,-10.2,122,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2166,3448,3328,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2183,-0.97,-146.0,2901,2166,3327,3566,260.6,-10.4,140,2188,0.00,1.67,0.00,0.000,516,0.000,0.063,2901,1125,3446,3327,3566,0,0,0,0,0,0,28.83,15.13,28.83
$GC,2285,-1.01,-146.0,2901,1125,3327,3566,270.5,-10.7,143,2291,0.15,1.73,0.00,0.000,5126,0.117,0.050,2817,2178,3446,3327,3565,0,0,0,0,0,0,15.15,15.14,28.83
$GC,2609,-0.91,-146.0,2818,2179,3326,3564,321.0,-15.9,154,2615,0.22,1.73,0.00,0.000,2308,0.236,0.070,2875,3221,3445,3327,3564,0,0,0,0,0,0,15.02,15.12,28.83
$GC,2687,-0.85,-146.0,2875,3221,3326,3564,329.9,-15.0,156,2694,0.12,1.70,0.00,0.000,3078,0.242,0.050,2905,2177,3445,3326,3564,0,0,0,0,0,0,15.04,15.16,28.83
$STATE,2944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2944,begin apogee
$GC,2948,-0.25,0.0,2905,2177,3326,3562,362.5,-11.7,165,3071,0.60,0.00,116.95,1.189,10246,0.182,0.000,3092,2177,2846,2811,2882,0,0,0,0,0,0,15.04,28.83,14.11
$STATE,3073,end apogee,CONTROL_FINISHED_OK
$STATE,3073,begin climb
$GC,3075,1.13,146.0,3092,2177,2811,2880,367.8,0.0,169,3206,1.35,1.88,118.55,1.170,10500,0.116,0.067,3541,3183,2248,2191,2305,0,0,0,0,0,0,14.60,14.49,14.00
$GC,3309,0.91,146.0,3541,3183,2190,2294,346.9,13.1,177,3315,0.30,1.75,0.00,0.000,5126,0.255,0.052,3470,2148,2243,2191,2295,0,0,0,0,0,0,14.68,14.81,28.83
$GC,3643,0.84,146.0,3470,2149,2191,2289,310.0,11.0,188,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2148,2239,2190,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3943,0.79,146.0,3470,2148,2191,2286,276.5,11.2,198,3945,0.15,0.00,0.00,0.000,4102,0.255,0.000,3431,2149,2238,2190,2287,0,0,0,0,0,0,14.97,28.83,28.83
$GC,4243,0.84,176.1,3431,2149,2191,2286,250.0,8.6,208,4273,0.00,0.00,22.92,1.058,8198,0.000,0.000,3431,2148,2127,2074,2181,0,0,0,0,0,0,28.83,28.83,14.51
$GC,4572,0.84,176.1,3431,2148,2074,2172,216.9,10.5,230,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2148,2123,2074,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4873,0.87,176.1,3431,2148,2074,2169,183.8,11.3,250,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2148,2121,2074,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5173,0.91,176.1,3431,2148,2074,2169,151.4,10.5,270,5178,0.12,1.73,0.00,0.000,2564,0.138,0.064,3493,1092,2121,2074,2169,0,0,0,0,0,0,15.09,15.08,28.83
$GC,5314,0.85,176.1,2656,1091,2012,2162,134.0,12.6,279,5320,0.15,1.73,0.00,0.000,5126,0.242,0.047,3456,2151,2121,2074,2169,0,0,0,0,0,0,14.99,15.09,28.83
$GC,5628,0.88,193.5,3456,2151,2074,2169,103.5,9.2,300,5648,0.00,1.73,13.40,0.892,8452,0.000,0.067,3456,3187,2058,2006,2110,0,0,0,0,0,0,28.83,15.02,14.61
$GC,5730,0.88,193.5,3456,3187,2006,2108,94.4,10.4,306,5737,0.00,1.75,0.00,0.000,1030,0.000,0.051,3456,2131,2057,2006,2108,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6035,0.89,197.4,3456,2131,2006,2106,63.9,9.8,327,6040,0.00,0.00,2.97,0.566,8198,0.000,0.000,3456,2131,2044,1996,2092,0,0,0,0,0,0,28.83,28.83,14.50
$GC,6335,0.89,197.4,3456,2132,1995,2092,33.1,10.3,347,6340,0.00,1.80,0.00,0.000,260,0.000,0.066,3456,3186,2043,1995,2092,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6443,0.89,197.4,3456,3187,1996,2093,21.4,11.2,354,6448,0.00,1.73,0.00,0.000,1030,0.000,0.050,3457,2137,2044,1996,2093,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,6639,end climb,SURFACE_DEPTH_REACHED
$STATE,6639,begin surface coast
$FINISH,0.8,1.017137
$STATE,6655,end surface coast,CONTROL_FINISHED_OK
$STATE,6655,begin surface
$SM_CCo,6674,67.85,0.076,0,0,1422,350.04
$SM_GC,2.21,9.20,0.00,67.85,0.063,0.000,0.076,148,2127,1422,-9.37,-1.36,350.04,0,0,0,0,0,0,15.11,28.83,15.04
$IRIDIUM_FIX,2425.21,-3758.52,250313,171756
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.10
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,9
$SC_FREEKB,4018944
$TM_FREEKB,7874552
$24V_AH,14.0,3.180
$10V_AH,14.0,0.000
$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,24.525,31.300,274.800,67.850,0.000,0.000,0.000,0.000,2.250,0.000,20.269,1207.917,4199.843,411.600,950.773,57.212,0.000,923.090,0.000,895.467,0.000,0.540,0.000
$DEVICE_MAMPS,372.555,71.910,1188.810,76.500,0.000,0.000,0.000,0.000,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6622.000,3505.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.671,12.795,0.000,0.000
$MEM,354092
$DATA_FILE_SIZE,13444,368
$CAP_FILE_SIZE,103993,0
$CFSIZE,260034560,252567552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187,287.4,1
$GPS,250313,191812,2435.181,-3759.680,18,1.7,18,-14.0