version: 66.13
glider: 122
mission: 22
dive: 4
start: 3 5 117 8 38 44
data:
$ID,122
$MISSION,22
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53639
$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,531.86768
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,35
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3700
$C_VBD,2609
$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,-167.00153
$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
$GPS1,050317,083434,2126.5654,12042.2715,14,0.9,15,-3.0,0.8,37.0,8,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.3
$GPS2,050317,083823,2126.6741,12042.3311,16,0.9,17,-3.0,0.9,41.3,8,7.3
$SPEED_LIMITS,0.173,0.302
$TGT_NAME,D1
$TGT_LATLONG,2154.000,12107.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,70.4,66015,-16.1,-10.000,-18.33,2616
$D_GRID,353
$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,-0.97,-171.1,142,2174,344,546,0.0,0.0,0,92,0.00,0.00,-79.57,0.000,16386,0.000,0.000,141,2174,2686,2632,2740,0,0,0,0,0,0,15.06,28.83,15.08
$GC,97,-0.97,-171.1,141,2175,2621,2741,3.2,-5.7,14,127,11.10,2.75,-13.25,0.000,18724,0.356,2.134,2670,3602,3306,3211,3402,0,0,0,0,0,0,14.65,13.89,14.89
$GC,174,-0.89,-171.1,2670,3603,3210,3403,21.3,-22.3,28,180,0.17,2.38,0.00,0.000,3206,0.223,0.060,2713,2210,3305,3209,3402,0,0,0,0,0,0,14.70,14.79,14.83
$GC,482,-0.84,-171.1,2713,2211,3205,3403,88.3,-21.9,71,487,0.00,2.42,0.00,0.000,644,0.000,0.079,2713,791,3303,3204,3402,0,0,0,0,0,0,15.09,14.90,15.11
$GC,612,-0.79,-171.1,2713,790,3204,3403,116.1,-19.6,96,618,0.15,2.40,0.00,0.000,3206,0.233,0.063,2741,2200,3302,3202,3402,0,0,0,0,0,0,14.83,14.92,14.97
$GC,915,-0.78,-171.1,2741,2200,3201,3403,149.4,-10.4,127,921,0.00,2.45,0.00,0.000,644,0.000,0.079,2741,780,3301,3200,3402,0,0,0,0,0,0,15.15,14.93,15.16
$GC,992,-0.78,-171.1,2742,781,3201,3403,160.5,-15.4,142,998,0.00,2.40,0.00,0.000,1030,0.000,0.052,2732,2206,3301,3200,3402,0,0,0,0,0,0,15.03,14.96,15.05
$GC,1297,-0.78,-171.1,2732,2207,3200,3403,200.2,-11.7,173,1302,0.00,2.38,0.00,0.000,260,0.000,0.076,2721,3617,3300,3199,3402,0,0,0,0,0,0,15.16,14.96,15.18
$GC,1364,-0.78,-171.1,2721,3617,3200,3402,206.7,-9.5,186,1369,0.00,2.35,0.00,0.000,1062,0.000,0.044,2721,2186,3300,3199,3402,0,0,0,0,0,0,15.03,14.97,15.04
$GC,1680,-0.78,-171.1,2721,2187,3198,3403,251.2,-17.5,204,1685,0.00,2.35,0.00,0.000,516,0.000,0.070,2721,786,3299,3196,3402,0,0,0,0,0,0,15.19,14.98,15.21
$GC,1842,-0.78,-171.1,2721,786,3195,3403,274.9,-11.9,236,1847,0.15,2.40,0.00,0.000,3078,0.216,0.056,2749,2215,3298,3194,3402,0,0,0,0,0,0,14.91,15.00,15.05
$GC,2177,-0.80,-171.1,2749,2215,3191,3403,303.2,-10.3,255,2182,0.00,2.35,0.00,0.000,388,0.000,0.076,2740,3608,3296,3191,3402,0,0,0,0,0,0,15.20,15.00,15.22
$GC,2209,-0.82,-171.1,2740,3608,3190,3402,306.8,-9.6,261,2219,0.00,2.30,0.00,0.000,1190,0.000,0.044,2740,2196,3296,3190,3402,0,0,0,0,0,0,15.09,15.03,15.11
$GC,2546,-0.85,-171.1,2740,2196,3185,3403,335.4,-7.3,277,2550,0.00,2.35,0.00,0.000,676,0.000,0.067,2740,787,3293,3185,3402,0,0,0,0,0,0,15.22,15.02,15.24
$STATE,2743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2743,begin apogee
$GC,2755,-0.14,0.0,2726,2698,3182,3402,353.2,-8.0,317,2934,0.75,0.00,176.85,1.083,10246,0.167,0.000,2954,2697,2608,2497,2720,0,0,0,0,0,0,14.92,14.46,13.97
$STATE,2935,end apogee,CONTROL_FINISHED_OK
$STATE,2935,begin climb
$GC,2939,0.97,171.1,2954,2697,2492,2715,354.2,0.0,323,3080,1.05,2.30,128.68,1.165,10500,0.086,0.083,3316,3975,1897,1807,1987,0,0,0,0,0,0,14.47,14.37,13.86
$GC,3307,0.91,171.1,3317,3976,1807,1980,319.4,12.9,397,3312,0.15,2.15,0.00,0.000,5254,0.249,0.046,3293,2684,1892,1806,1979,0,0,0,0,0,0,14.68,14.81,14.84
$GC,3622,1.08,236.4,3292,2684,1807,1976,294.0,7.4,412,3683,0.17,2.30,56.60,1.108,10660,0.099,0.077,3367,3972,1635,1532,1738,0,0,0,0,0,0,14.93,14.54,14.14
$GC,3730,1.00,236.4,3367,3972,1532,1734,281.6,15.5,425,3735,0.22,2.12,0.00,0.000,5254,0.220,0.045,3319,2702,1633,1532,1734,0,0,0,0,0,0,14.62,14.73,14.77
$GC,4045,0.98,236.4,3320,2703,1529,1735,244.2,10.2,442,4049,0.00,2.38,0.00,0.000,644,0.000,0.066,3328,1305,1630,1528,1733,0,0,0,0,0,0,15.07,14.88,15.09
$GC,4154,0.98,249.1,3328,1306,1527,1734,233.5,9.5,463,4170,0.00,2.40,10.62,1.063,9382,0.000,0.056,3328,2714,1589,1482,1697,0,0,0,0,0,0,14.97,14.90,14.32
$GC,4470,0.95,249.1,3328,2715,1479,1695,192.4,12.4,483,4474,0.00,2.12,0.00,0.000,388,0.000,0.079,3327,3963,1586,1478,1694,0,0,0,0,0,0,15.10,14.90,15.12
$GC,4692,0.96,266.8,3328,3964,1479,1695,164.7,9.3,527,4717,0.00,2.10,18.10,1.006,9382,0.000,0.047,3338,2689,1512,1402,1623,0,0,0,0,0,0,15.02,14.95,14.38
$GC,5024,1.02,291.4,3338,2689,1400,1620,128.0,9.0,563,5055,0.00,2.40,23.00,0.959,8868,0.000,0.066,3348,1306,1406,1291,1521,0,0,0,0,0,0,15.10,14.77,14.34
$GC,5097,1.00,291.4,3348,1306,1292,1522,121.2,10.1,577,5101,0.00,2.40,0.00,0.000,1158,0.000,0.057,3349,2710,1406,1291,1521,0,0,0,0,0,0,14.89,14.83,14.91
$GC,5408,1.19,360.9,3350,2710,1291,1521,93.4,7.3,609,5471,0.12,2.53,56.25,0.903,10916,0.134,0.061,3436,1303,1126,1002,1250,0,0,0,0,0,0,14.91,14.66,14.22
$GC,5593,1.16,360.9,3436,1303,1002,1249,73.0,13.1,645,5598,0.25,2.40,0.00,0.000,5254,0.215,0.056,3372,2698,1125,1001,1249,0,0,0,0,0,0,14.66,14.77,14.83
$GC,5901,1.16,360.9,3372,2699,1003,1249,39.7,10.5,685,5907,0.00,2.42,0.00,0.000,516,0.000,0.063,3380,1297,1125,1002,1249,0,0,0,0,0,0,15.03,14.85,15.05
$GC,5958,1.16,360.9,3380,1297,1003,1249,33.0,12.0,696,5965,0.00,2.42,0.00,0.000,1030,0.000,0.061,3380,2708,1125,1002,1248,0,0,0,0,0,0,14.92,14.85,14.95
$STATE,6213,end climb,SURFACE_DEPTH_REACHED
$STATE,6213,begin surface coast
$FINISH,0.6,1.022584
$STATE,6228,end surface coast,CONTROL_FINISHED_OK
$STATE,6228,begin surface
$SM_CCo,6252,79.85,0.081,0,0,436,532.06
$SM_GC,1.42,9.00,0.90,79.85,0.050,0.057,0.081,137,2196,436,-8.81,1.16,532.06,0,0,0,0,0,0,14.92,14.92,14.87
$IRIDIUM_FIX,2115.63,12042.73,050317,082908
$TT8_MAMPS,0.03745,1.07257
$HUMID,50.03
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.30
$XPDR_PINGS,13
$SC_FREEKB,7901312
$24V_AH,13.86,0.000
$10V_AH,13.24,4.470
$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,23.300,67.950,470.100,79.850,0.000,0.000,0.000,0.000,3.250,0.000,18.663,0.000,4143.158,639.944,1418.268,201.939,0.000,1238.811,0.000,1074.979,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,2133.585,1165.095,81.090,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6220.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.952,0.000,0.000,0.000
$MEM,194908
$DATA_FILE_SIZE,26732,750
$CAP_FILE_SIZE,92304,0
$CFSIZE,260034560,255492096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2209.77,0x233daa,0,24
$CURRENT,0.519,37.89,1
$GPS,050317,102510,2128.435,12044.037,15,1.2,22,-3.0,0.9,68.7,7,9.3