version: 66.13
glider: 122
mission: 22
dive: 13
start: 3 6 117 2 23 18
data:
$ID,122
$MISSION,22
$DIVE,13
$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,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,47
$R_STBD_OVSHOOT,26
$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,0.0016
$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,1.2
$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
$GPS1,060317,021740,2140.0078,12056.5859,14,0.8,15,-3.1,0.9,66.9,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.0
$GPS2,060317,022257,2140.0581,12056.7705,16,0.9,16,-3.1,1.0,64.2,9,9.7
$SPEED_LIMITS,0.173,0.302
$TGT_NAME,D1
$TGT_LATLONG,2154.000,12107.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,22.2,31236,-16.1,-10.000,-18.33,2616
$D_GRID,466
$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,-0.68,-171.1,149,2181,293,516,0.0,0.0,0,88,0.00,0.00,-75.57,0.000,16386,0.000,0.000,149,2181,2547,2499,2596,0,0,0,0,0,0,15.09,28.83,15.11
$GC,92,-0.68,-171.1,149,2181,2489,2597,3.0,-5.8,13,129,11.38,2.58,-17.30,0.000,18980,0.354,2.125,2774,801,3308,3208,3408,0,0,0,0,0,0,14.72,13.95,14.92
$GC,241,-0.68,-171.1,2774,803,3207,3409,28.6,-18.5,41,247,0.00,2.42,0.00,0.000,1030,0.000,0.064,2766,2208,3306,3205,3408,0,0,0,0,0,0,14.92,14.85,14.93
$GC,432,-0.68,-171.1,2765,2208,3202,3408,66.4,-21.3,70,437,0.00,2.47,0.00,0.000,516,0.000,0.083,2766,798,3305,3201,3409,0,0,0,0,0,0,15.07,14.90,15.09
$GC,494,-0.68,-171.1,2766,798,3201,3409,78.6,-16.4,82,499,0.00,2.38,0.00,0.000,1030,0.000,0.053,2756,2203,3304,3200,3408,0,0,0,0,0,0,14.94,14.88,14.95
$GC,686,-0.68,-171.1,2756,2204,3200,3409,110.1,-9.9,102,692,0.00,2.40,0.00,0.000,548,0.000,0.069,2756,808,3303,3199,3408,0,0,0,0,0,0,15.11,14.93,15.14
$GC,803,-0.68,-171.1,2756,808,3199,3409,126.3,-15.3,125,809,0.15,2.35,0.00,0.000,3078,0.210,0.053,2784,2207,3303,3198,3408,0,0,0,0,0,0,14.85,14.91,14.96
$GC,988,-0.68,-171.1,2784,2207,3197,3408,146.9,-11.9,144,993,0.00,2.38,0.00,0.000,260,0.000,0.076,2776,3606,3302,3196,3408,0,0,0,0,0,0,15.14,14.92,15.16
$GC,1030,-0.68,-171.1,2776,3606,3196,3408,152.5,-13.9,152,1034,0.00,2.30,0.00,0.000,1030,0.000,0.040,2775,2200,3302,3196,3408,0,0,0,0,0,0,15.04,14.98,15.05
$GC,1221,-0.68,-171.1,2775,2200,3195,3408,181.4,-13.3,172,1225,0.00,2.45,0.00,0.000,260,0.000,0.077,2765,3610,3301,3194,3408,0,0,0,0,0,0,15.16,14.96,15.18
$GC,1243,-0.68,-171.1,2765,3610,3194,3408,183.4,-9.2,176,1248,0.00,2.33,0.00,0.000,1062,0.000,0.041,2763,2194,3301,3194,3408,0,0,0,0,0,0,15.05,15.00,15.07
$GC,1434,-0.68,-171.1,2764,2195,3194,3409,206.7,-13.7,194,1440,0.00,2.45,0.00,0.000,260,0.000,0.074,2754,3610,3300,3193,3408,0,0,0,0,0,0,15.16,14.97,15.19
$GC,1486,-0.68,-171.1,2754,3610,3193,3409,214.0,-13.5,204,1491,0.00,2.33,0.00,0.000,1030,0.000,0.044,2754,2197,3300,3193,3408,0,0,0,0,0,0,15.07,15.00,15.08
$GC,1798,-0.68,-171.1,2754,2197,3191,3408,249.7,-10.1,221,1802,0.00,2.35,0.00,0.000,516,0.000,0.069,2754,795,3298,3189,3408,0,0,0,0,0,0,15.19,15.00,15.21
$GC,1839,-0.68,-171.1,2754,796,3190,3408,254.6,-11.8,229,1844,0.15,2.38,0.00,0.000,3078,0.198,0.054,2786,2215,3298,3189,3408,0,0,0,0,0,0,14.94,15.00,15.04
$GC,2164,-0.68,-171.1,2786,2215,3186,3408,282.2,-6.2,248,2168,0.00,2.42,0.00,0.000,548,0.000,0.064,2786,784,3296,3185,3408,0,0,0,0,0,0,15.20,15.02,15.22
$GC,2315,-0.68,-171.1,2786,785,3184,3409,290.0,-7.0,278,2321,0.00,2.38,0.00,0.000,1062,0.000,0.050,2780,2208,3295,3183,3408,0,0,0,0,0,0,15.09,15.03,15.11
$GC,2627,-0.68,-171.1,2779,2209,3179,3408,315.4,-7.7,292,2632,0.00,2.42,0.00,0.000,548,0.000,0.067,2779,791,3293,3178,3408,0,0,0,0,0,0,15.22,15.03,15.24
$GC,2659,-0.68,-171.1,2779,791,3178,3408,317.5,-6.5,298,2665,0.00,2.38,0.00,0.000,1062,0.000,0.050,2772,2203,3292,3177,3408,0,0,0,0,0,0,15.10,15.02,15.12
$GC,2991,-0.68,-171.1,2772,2203,3175,3408,339.1,-5.8,314,2997,0.00,2.42,0.00,0.000,548,0.000,0.070,2771,788,3291,3174,3408,0,0,0,0,0,0,15.21,15.03,15.23
$GC,3009,-0.68,-171.1,2771,789,3175,3408,340.4,-5.5,317,3013,0.00,2.35,0.00,0.000,1062,0.000,0.047,2762,2206,3291,3174,3408,0,0,0,0,0,0,15.09,15.03,15.11
$GC,3325,-0.68,-171.1,2762,2207,3168,3408,372.0,-11.6,330,3331,0.00,2.42,0.00,0.000,516,0.000,0.066,2762,790,3287,3168,3407,0,0,0,0,0,0,15.22,15.04,15.24
$GC,3476,-0.68,-171.1,2762,790,3166,3408,388.2,-10.8,359,3481,0.00,2.35,0.00,0.000,1030,0.000,0.048,2752,2203,3286,3165,3408,0,0,0,0,0,0,15.11,15.04,15.13
$GC,3777,-0.68,-171.1,2752,2204,3162,3406,420.0,-9.8,370,3783,0.00,2.40,0.00,0.000,292,0.000,0.077,2741,3611,3284,3162,3406,0,0,0,0,0,0,15.22,15.02,15.24
$GC,3845,-0.68,-171.1,2741,3611,3162,3404,425.2,-7.3,383,3850,0.15,2.33,0.00,0.000,3110,0.197,0.041,2782,2192,3282,3162,3403,0,0,0,0,0,0,14.98,15.06,15.09
$GC,4172,-0.68,-171.1,2782,2192,3160,3403,450.2,-8.1,398,4177,0.00,2.45,0.00,0.000,292,0.000,0.076,2774,3609,3281,3160,3403,0,0,0,0,0,0,15.21,15.03,15.23
$GC,4292,-0.68,-171.1,2774,3609,3160,3401,460.2,-8.3,421,4298,0.00,2.33,0.00,0.000,1062,0.000,0.041,2774,2190,3279,3159,3400,0,0,0,0,0,0,15.11,15.05,15.12
$STATE,4380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4380,begin apogee
$GC,4390,-0.12,0.0,2771,2695,3158,3401,467.9,-8.1,425,4527,0.60,0.00,135.23,1.368,10246,0.141,0.000,2959,2694,2608,2498,2718,0,0,0,0,0,0,14.96,14.41,13.81
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4532,0.68,171.1,2960,2695,2490,2711,470.4,0.0,429,4687,0.75,2.35,142.00,1.291,10500,0.081,0.090,3226,3960,1897,1810,1985,0,0,0,0,0,0,14.44,14.29,13.75
$GC,4789,0.73,202.6,3226,3960,1810,1982,458.4,8.8,481,4828,0.00,2.12,26.48,1.098,9254,0.000,0.044,3236,2689,1781,1688,1875,0,0,0,0,1,0,14.70,14.65,13.84
$GC,5132,0.77,232.7,3236,2690,1707,1876,428.0,8.8,499,5173,0.00,2.30,30.33,1.167,8484,0.000,0.078,3236,3972,1662,1564,1761,0,0,0,0,1,0,14.99,14.65,13.94
$GC,5255,0.77,232.7,3236,3972,1581,1761,411.0,14.4,524,5264,0.00,2.12,2.65,0.578,9222,0.000,0.044,3246,2701,1659,1565,1754,0,0,0,0,0,0,14.82,14.76,13.99
$GC,5581,0.79,245.4,3246,2701,1581,1754,373.1,9.5,539,5604,0.00,2.42,17.10,1.186,8740,0.000,0.063,3256,1311,1602,1502,1702,0,0,0,0,0,0,15.04,14.76,14.26
$GC,5621,0.81,255.0,3256,1311,1502,1702,369.2,9.6,547,5635,0.00,2.40,9.88,1.190,9254,0.000,0.057,3258,2703,1569,1465,1674,0,0,0,0,0,0,14.86,14.79,14.15
$GC,5941,0.81,255.0,3258,2704,1459,1669,335.6,10.4,561,5946,0.00,2.42,0.00,0.000,516,0.000,0.063,3267,1301,1563,1459,1668,0,0,0,0,0,0,15.04,14.85,15.07
$GC,6013,0.81,255.0,3267,1301,1459,1669,327.5,10.8,575,6018,0.00,2.42,0.00,0.000,1030,0.000,0.063,3268,2703,1563,1459,1668,0,0,0,0,0,0,14.95,14.88,14.97
$GC,6324,0.81,255.0,3268,2704,1459,1669,294.9,10.4,589,6329,0.00,2.40,0.00,0.000,516,0.000,0.062,3277,1307,1563,1459,1668,0,0,0,0,0,0,15.11,14.92,15.13
$GC,6530,0.81,255.0,3277,1307,1460,1669,272.1,10.2,630,6536,0.00,2.40,0.00,0.000,1030,0.000,0.060,3277,2708,1565,1461,1669,0,0,0,0,0,0,15.02,14.95,15.03
$GC,6848,0.81,255.0,3276,2708,1460,1669,236.8,10.8,648,6852,0.00,2.42,0.00,0.000,516,0.000,0.063,3288,1297,1564,1459,1669,0,0,0,0,0,0,15.15,14.95,15.16
$GC,6934,0.90,310.0,3288,1297,1460,1668,229.8,7.8,665,6997,0.00,2.40,56.85,1.095,9254,0.000,0.058,3288,2705,1338,1226,1450,0,0,0,0,0,0,15.03,14.96,14.15
$GC,7309,1.17,476.8,3288,2705,1211,1441,210.4,3.5,695,7484,0.22,2.28,162.43,1.011,10532,0.090,0.080,3394,3964,649,496,803,0,0,0,0,0,0,14.85,14.35,13.90
$GC,7516,1.17,476.8,3394,3965,490,795,176.7,24.4,735,7520,0.00,2.15,0.00,0.000,1030,0.000,0.042,3404,2705,641,489,794,0,0,0,0,0,0,14.52,14.47,14.53
$GC,7707,1.17,476.8,3404,2706,487,795,139.6,16.7,755,7712,0.00,2.42,0.00,0.000,516,0.000,0.061,3414,1297,640,486,794,0,0,0,0,0,0,14.88,14.69,14.90
$GC,7783,1.17,476.8,3415,1297,487,795,125.4,19.1,770,7790,0.17,2.45,0.00,0.000,5126,0.232,0.057,3373,2708,640,486,794,0,0,0,0,0,0,14.65,14.74,14.80
$GC,7968,1.17,476.8,3373,2709,487,795,92.8,17.1,789,7973,0.00,2.45,0.00,0.000,516,0.000,0.063,3382,1302,641,487,795,0,0,0,0,0,0,14.97,14.79,15.00
$GC,8065,1.17,476.8,3382,1302,487,795,76.7,16.3,808,8070,0.00,2.40,0.00,0.000,1030,0.000,0.054,3384,2703,640,486,794,0,0,0,0,0,0,14.90,14.83,14.92
$GC,8250,1.17,476.8,3384,2704,487,795,58.0,12.2,827,8255,0.00,2.45,0.00,0.000,516,0.000,0.061,3392,1290,640,486,794,0,0,0,0,0,0,15.02,14.81,15.04
$GC,8412,1.17,476.8,3393,1290,487,795,33.1,14.8,859,8418,0.00,2.42,0.00,0.000,1030,0.000,0.056,3394,2705,640,486,794,0,0,0,0,0,0,14.93,14.86,14.95
$GC,8600,1.17,476.8,3394,2706,487,795,4.0,14.4,896,8606,0.00,2.45,0.00,0.000,516,0.000,0.065,3404,1297,640,487,794,0,0,0,0,0,0,15.03,14.83,15.05
$STATE,8614,end climb,SURFACE_DEPTH_REACHED
$STATE,8614,begin surface coast
$FINISH,0.5,1.022623
$STATE,8624,end surface coast,CONTROL_FINISHED_OK
$STATE,8624,begin surface
$SM_CCo,8647,24.98,0.083,0,0,438,532.06
$SM_GC,1.48,9.07,1.58,24.98,0.047,0.050,0.083,139,2210,438,-8.83,-0.99,532.06,0,0,0,0,0,0,14.90,14.89,14.85
$IRIDIUM_FIX,2129.53,12058.62,060317,021202
$TT8_MAMPS,0.03745,1.06208
$HUMID,52.91
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.50
$XPDR_PINGS,15
$SC_FREEKB,7897504
$24V_AH,13.75,0.000
$10V_AH,13.45,6.814
$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,22.650,114.375,582.925,24.975,0.000,0.000,0.000,0.000,3.750,0.000,17.880,0.000,6081.647,705.682,1699.532,256.024,0.000,1470.519,0.000,1288.885,0.000,0.539,0.000
$DEVICE_MAMPS,354.195,2125.170,1367.820,82.620,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8616.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.017,0.000,0.000,0.000
$MEM,194900
$DATA_FILE_SIZE,33385,901
$CAP_FILE_SIZE,123187,0
$CFSIZE,260034560,254771200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.169,14.10,1
$GPS,060317,044922,2141.837,12057.576,20,0.8,60,-3.1,0.7,61.9,11,24.2