version: 66.13
glider: 122
mission: 22
dive: 25
start: 3 8 117 8 33 50
data:
$ID,122
$MISSION,22
$DIVE,25
$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,1.0275
$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,541.86768
$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,37
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,33
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,10
$PITCH_W_DBAND,0.5
$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
$GPS1,080317,081809,2219.8701,12113.3848,187,1.0,227,-3.2,2.0,21.6,7,22.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.4
$GPS2,080317,083329,2220.5696,12113.5791,125,1.0,165,-3.3,2.5,69.8,9,50.3
$SPEED_LIMITS,0.173,0.301
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,46.1,82386,-16.1,-10.000,-18.36,2615
$D_GRID,771
$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,-0.71,-170.3,138,2206,301,497,0.0,0.0,0,48,0.00,0.00,-35.00,0.000,16386,0.000,0.000,137,2206,1425,1400,1451,0,0,0,0,0,0,14.96,28.83,14.98
$GC,52,-0.71,-170.3,138,2207,1395,1452,3.1,-5.0,6,100,11.60,2.75,-29.60,0.000,18980,0.355,2.114,2767,788,3299,3204,3395,0,0,0,0,0,0,14.57,13.64,14.80
$GC,327,-0.71,-170.3,2767,788,3135,3366,169.4,-60.8,59,333,0.00,2.45,0.00,0.000,1030,0.000,0.067,2759,2192,3250,3134,3366,0,0,0,0,0,0,14.88,14.79,14.90
$GC,652,-0.71,-170.3,2758,2193,3132,3362,351.9,-55.8,77,657,0.00,2.47,0.00,0.000,516,0.000,0.078,2757,779,3246,3132,3361,0,0,0,0,0,0,15.08,14.88,15.10
$GC,854,-0.71,-170.3,2758,779,3132,3360,459.3,-50.5,117,859,0.00,2.40,0.00,0.000,1030,0.000,0.047,2749,2223,3246,3131,3361,0,0,0,0,0,0,15.00,14.94,15.02
$GC,1166,-0.71,-170.3,2748,2224,3130,3357,627.9,-55.0,129,1172,0.00,2.50,0.00,0.000,516,0.000,0.073,2747,776,3242,3129,3356,0,0,0,0,0,0,15.14,14.96,15.16
$GC,1253,-0.71,-170.3,2747,776,3128,3356,675.5,-55.5,146,1260,0.15,2.40,0.00,0.000,3078,0.309,0.044,2767,2214,3241,3127,3356,0,0,0,0,0,0,14.82,14.99,15.00
$STATE,1465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1465,begin apogee
$GC,1473,-0.14,0.0,2767,2519,3126,3353,786.3,-50.2,154,1631,0.70,0.00,154.75,1.519,10246,0.263,0.000,2948,2518,2606,2506,2707,0,0,0,0,0,0,14.84,14.30,13.63
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1636,0.71,170.3,2949,2519,2505,2706,833.7,0.0,159,1783,0.98,2.67,135.27,1.766,10756,0.207,0.062,3220,1087,1908,1813,2004,0,0,0,0,0,0,14.23,14.20,13.38
$GC,1940,1.44,630.2,3220,1086,1805,2004,855.7,-8.1,220,2293,0.80,2.42,339.90,1.691,11302,0.142,0.048,3457,2491,396,223,570,0,0,0,0,0,0,14.57,14.61,13.42
$GC,2600,1.44,630.2,3457,2492,219,564,818.6,12.3,301,2606,0.00,2.50,0.00,0.000,260,0.000,0.078,3458,3905,390,218,563,0,0,0,0,0,0,14.89,14.66,14.92
$GC,2773,1.44,630.2,3457,3907,219,561,797.1,13.3,335,2777,0.00,2.40,0.00,0.000,1030,0.000,0.044,3468,2478,389,218,560,0,0,0,0,0,0,14.87,14.82,14.88
$GC,3085,1.44,630.2,3469,2478,218,560,758.5,12.5,347,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2477,389,218,560,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3384,1.44,630.2,3468,2478,218,560,722.7,11.2,357,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2478,388,218,559,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3684,1.44,630.2,3468,2478,218,560,686.0,12.3,367,3689,0.00,2.33,0.00,0.000,516,0.000,0.058,3479,1097,389,218,560,0,0,0,0,0,0,15.11,14.94,15.14
$GC,3765,1.44,630.2,3479,1098,220,560,676.1,12.3,383,3770,0.00,2.38,0.00,0.000,1030,0.000,0.047,3480,2502,390,220,560,0,0,0,0,0,0,15.02,14.95,15.03
$GC,4076,1.44,630.2,3480,2502,220,560,636.1,13.2,395,4081,0.00,2.42,0.00,0.000,516,0.000,0.057,3490,1092,390,220,560,0,0,0,0,0,0,15.14,14.95,15.16
$GC,4102,1.44,630.2,3490,1092,222,561,632.2,15.6,400,4109,0.00,2.40,0.00,0.000,1030,0.000,0.048,3490,2499,390,221,559,0,0,0,0,0,0,15.03,14.97,15.05
$GC,4408,1.44,630.2,3490,2499,221,560,587.6,14.7,411,4412,0.00,2.40,0.00,0.000,516,0.000,0.056,3501,1097,390,221,560,0,0,0,0,0,0,15.14,14.97,15.16
$GC,4439,1.44,630.2,3501,1098,222,560,582.7,14.9,417,4445,0.15,2.38,0.00,0.000,5126,0.239,0.048,3465,2505,390,221,560,0,0,0,0,0,0,14.86,14.98,15.02
$GC,4772,1.44,630.2,3464,2506,221,560,541.8,12.0,433,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2506,390,221,560,0,0,0,0,0,0,15.16,15.18,15.17
$GC,5071,1.44,630.2,3464,2506,222,560,503.4,12.6,443,5076,0.00,2.42,0.00,0.000,260,0.000,0.078,3464,3911,390,221,559,0,0,0,0,0,0,15.16,14.96,15.18
$GC,5223,1.44,630.2,3464,3911,224,560,483.8,12.7,473,5228,0.00,2.35,0.00,0.000,1030,0.000,0.043,3473,2496,391,223,559,0,0,0,0,0,0,15.05,15.00,15.07
$GC,5555,1.44,630.2,3473,2497,224,560,445.4,11.5,489,5561,0.00,2.35,0.00,0.000,516,0.000,0.057,3484,1097,391,224,559,0,0,0,0,0,0,15.16,14.98,15.18
$GC,5572,1.44,630.2,3484,1098,225,560,443.3,11.4,492,5577,0.00,2.38,0.00,0.000,1030,0.000,0.048,3484,2504,392,224,560,0,0,0,0,0,0,15.05,14.98,15.07
$GC,5888,1.44,630.2,3484,2504,225,560,402.4,12.8,505,5894,0.00,2.42,0.00,0.000,260,0.000,0.079,3484,3907,391,224,559,0,0,0,0,0,0,15.16,14.96,15.18
$GC,6038,1.44,630.2,3483,3907,226,559,382.1,12.8,534,6045,0.12,2.35,0.00,0.000,5126,0.256,0.041,3466,2489,392,225,559,0,0,0,0,0,0,14.86,14.99,15.02
$GC,6340,1.44,630.2,3466,2489,226,560,348.2,11.1,545,6345,0.00,2.35,0.00,0.000,516,0.000,0.057,3475,1093,392,226,559,0,0,0,0,0,0,15.15,14.96,15.17
$GC,6407,1.44,630.2,3475,1094,226,559,340.9,11.3,558,6412,0.00,2.38,0.00,0.000,1030,0.000,0.046,3476,2502,392,226,559,0,0,0,0,0,0,15.04,14.97,15.06
$GC,6734,1.44,630.2,3475,2503,227,560,302.8,11.6,573,6739,0.00,2.42,0.00,0.000,260,0.000,0.076,3476,3910,392,226,559,0,0,0,0,0,0,15.14,14.95,15.16
$GC,6906,1.44,630.2,3476,3910,227,559,279.7,13.9,607,6911,0.00,2.35,0.00,0.000,1030,0.000,0.043,3486,2492,393,227,559,0,0,0,0,0,0,15.04,14.99,15.05
$GC,7217,1.44,630.2,3486,2493,228,559,244.5,11.1,624,7222,0.00,2.35,0.00,0.000,516,0.000,0.057,3498,1095,394,228,560,0,0,0,0,0,0,15.14,14.96,15.16
$GC,7279,1.44,630.2,3497,1095,228,560,237.7,10.5,636,7284,0.15,2.38,0.00,0.000,5126,0.233,0.046,3460,2505,393,228,559,0,0,0,0,0,0,14.82,14.97,14.97
$GC,7604,1.62,630.2,3460,2506,228,559,210.4,8.3,655,7609,0.15,2.42,0.00,0.000,2372,0.118,0.076,3534,3912,393,228,559,0,0,0,0,0,0,14.97,14.93,15.00
$GC,7630,1.62,630.2,3535,3913,229,559,207.5,10.6,660,7635,0.00,2.35,0.00,0.000,1030,0.000,0.041,3544,2493,393,228,559,0,0,0,0,0,0,14.99,14.93,15.01
$GC,7937,1.62,630.2,3544,2494,230,560,173.3,10.6,689,7942,0.00,2.50,0.00,0.000,260,0.000,0.075,3544,3912,394,230,559,0,0,0,0,0,0,15.11,14.91,15.13
$GC,7953,1.62,630.2,3544,3913,230,560,171.4,10.7,692,7960,0.15,2.35,0.00,0.000,5126,0.242,0.041,3518,2489,394,229,559,0,0,0,0,0,0,14.81,14.95,14.98
$GC,8259,1.70,630.2,3518,2489,232,559,141.9,9.2,723,8263,0.00,2.50,0.00,0.000,324,0.000,0.076,3517,3908,395,231,559,0,0,0,0,0,0,15.09,14.86,15.11
$GC,8490,1.70,630.2,3517,3909,233,559,116.7,11.1,769,8496,0.00,2.35,0.00,0.000,1030,0.000,0.041,3527,2487,396,233,559,0,0,0,0,0,0,14.98,14.93,15.00
$GC,8803,1.88,741.4,3527,2487,236,560,90.6,5.6,801,8808,0.20,2.50,0.00,0.000,2340,0.106,0.073,3625,3914,398,236,560,0,0,0,0,0,0,14.90,14.88,14.94
$GC,8870,2.02,741.4,3625,3914,236,559,85.4,8.5,814,8876,0.00,2.35,0.00,0.000,1094,0.000,0.041,3634,2499,397,235,559,0,0,0,0,0,0,14.94,14.88,14.97
$GC,9175,2.17,833.8,3634,2500,236,559,67.4,6.4,845,9181,0.15,2.47,0.00,0.000,2340,0.123,0.073,3709,3907,397,235,559,0,0,0,0,0,0,14.89,14.87,14.92
$GC,9408,2.17,833.8,3709,3907,238,559,50.5,10.0,891,9412,0.00,2.35,0.00,0.000,1030,0.000,0.046,3720,2494,399,239,560,0,0,0,0,0,0,14.95,14.90,14.97
$GC,9715,2.17,833.8,3720,2494,242,560,10.5,13.7,952,9721,0.00,2.50,0.00,0.000,260,0.000,0.074,3721,3910,400,241,559,0,0,0,0,0,0,15.02,14.81,15.04
$STATE,9769,end climb,SURFACE_DEPTH_REACHED
$STATE,9769,begin surface coast
$FINISH,0.6,1.022908
$STATE,9779,end surface coast,CONTROL_FINISHED_OK
$STATE,9779,begin surface
$SM_CCo,9864,0.00,0.000,0,0,400,541.87
$SM_GC,5.39,10.02,2.92,0.00,0.050,0.044,0.000,137,2214,400,-8.81,1.41,541.87,0,0,0,0,0,0,14.89,14.87,14.93
$IRIDIUM_FIX,2206.70,12113.41,080317,060552
$TT8_MAMPS,0.036701,1.03212
$HUMID,52.12
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,23.00
$XPDR_PINGS,11
$SC_FREEKB,7891968
$24V_AH,13.38,0.000
$10V_AH,13.27,11.307
$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,25.325,97.825,629.925,0.000,0.000,0.000,0.000,563.625,2.750,0.000,169.745,0.000,7215.563,668.036,2475.542,412.357,0.000,2024.052,0.000,1380.301,0.000,0.538,0.000
$DEVICE_MAMPS,354.960,2114.460,1765.620,0.000,0.000,0.000,0.000,182.835,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9806.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.792,0.000,0.000,0.000
$MEM,194816
$DATA_FILE_SIZE,33397,965
$CAP_FILE_SIZE,99588,0
$CFSIZE,260034560,253353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,0.00,1
$GPS,080317,083329,2220.570,12113.579,301,99.0,301,-3.3,2.5,69.8,9,50.3