version: 66.13
glider: 124
mission: 21
dive: 2
start: 1 5 117 17 33 5
data:
$ID,124
$MISSION,21
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$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,51522
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$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,652.31
$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,10
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2240
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2015
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,3975
$C_VBD,3400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.84769
$PRESSURE_SLOPE,0.00010836
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$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,0.0043960847
$SEABIRD_T_H,0.00063542108
$SEABIRD_T_I,2.5692007e-05
$SEABIRD_T_J,3.1150523e-06
$SEABIRD_C_G,-9.7587061
$SEABIRD_C_H,1.1128114
$SEABIRD_C_I,-0.001507857
$SEABIRD_C_J,0.00019132227
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,050117,172851,4742.7749,-12224.6357,8,1.7,18,18.2,0.4,179.3,5,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.4
$GPS2,050117,173245,4742.7378,-12224.6309,13,1.8,23,18.2,0.2,157.6,5,6.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,356.6,1485,-17.6,-10.000,-21.21,2209
$D_GRID,180
$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,9,-0.91,-146.6,74,1992,781,693,0.0,0.0,0,164,0.00,0.00,-152.40,0.000,16386,0.000,0.000,73,1992,3838,3713,3963,0,0,0,0,0,0,15.03,28.83,15.05
$GC,167,-0.91,-146.6,74,1992,3715,3963,3.6,-7.4,27,185,8.50,2.62,-3.42,0.000,18724,0.399,2.165,2027,3440,3974,3855,4094,0,0,0,0,0,0,14.56,13.91,14.83
$GC,290,-0.91,-146.6,2027,3440,3858,4095,27.3,-13.0,51,297,0.00,2.38,0.00,0.000,1030,0.000,0.057,2027,2012,3975,3857,4094,0,0,0,0,0,0,14.89,14.82,14.91
$GC,357,-0.75,-146.6,2027,2012,3859,4095,36.7,-14.9,64,363,0.15,2.40,0.00,0.000,2692,0.249,0.065,2072,607,3976,3858,4094,0,0,0,0,0,0,14.70,14.79,14.81
$GC,393,-0.75,-146.6,2074,605,3858,4095,41.6,-12.6,71,399,0.00,2.50,0.00,0.000,1030,0.000,0.065,2072,2012,3975,3857,4094,0,0,0,0,0,0,14.86,14.78,14.88
$GC,459,-0.75,-146.6,2073,2013,3858,4095,50.2,-12.8,84,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2013,3976,3858,4094,0,0,0,0,0,0,15.02,15.05,15.04
$GC,645,-0.75,-146.6,2073,2013,3859,4095,72.7,-11.4,121,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2013,3976,3858,4094,0,0,0,0,0,0,15.06,15.07,15.08
$GC,831,-0.75,-146.6,2073,2013,3858,4095,91.9,-9.8,158,837,0.00,2.47,0.00,0.000,548,0.000,0.065,2073,603,3976,3858,4094,0,0,0,0,0,0,15.06,14.86,15.10
$GC,863,-0.83,-146.6,2073,602,3858,4095,95.2,-9.8,164,868,0.00,2.50,0.00,0.000,1190,0.000,0.066,2072,2013,3976,3858,4094,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1049,-0.83,-146.6,2073,2016,3858,4095,114.7,-10.6,201,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2016,3975,3857,4094,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1235,-0.83,-146.6,2072,2021,3859,4094,135.9,-10.7,238,1241,0.00,2.47,0.00,0.000,516,0.000,0.066,2073,611,3975,3857,4094,0,0,0,0,0,0,15.10,14.89,15.11
$GC,1291,-0.94,-146.6,2072,611,3859,4095,143.0,-12.2,249,1299,0.15,2.50,0.00,0.000,5254,0.125,0.065,1996,2027,3976,3858,4094,0,0,0,0,0,0,14.92,14.88,14.98
$STATE,1336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1336,begin apogee
$GC,1342,-0.21,0.0,1997,1937,3858,4095,150.6,-17.5,258,1455,0.65,0.00,102.12,1.237,10246,0.223,0.000,2190,1936,3401,3309,3494,0,0,0,0,1,0,14.76,14.42,13.85
$STATE,1456,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1461,0.91,146.6,2191,1937,3310,3495,155.7,0.0,278,1604,0.75,0.00,138.25,0.959,10246,0.132,0.000,2445,1937,2797,2751,2843,0,0,0,0,0,0,14.38,14.32,13.89
$GC,1788,0.76,146.6,2444,1936,2740,2844,130.2,10.4,338,1793,0.12,0.00,0.00,0.000,4230,0.247,0.000,2408,1936,2791,2739,2843,0,0,0,0,0,0,14.56,14.70,14.66
$GC,1973,0.79,170.9,2407,1937,2737,2844,114.9,8.9,375,1997,0.00,0.00,21.83,0.949,8230,0.000,0.000,2407,1943,2701,2627,2776,0,0,0,0,0,0,14.95,14.68,14.24
$GC,2177,0.84,209.6,2408,1937,2618,2775,98.7,8.2,415,2224,0.00,2.45,38.08,0.926,8740,0.000,0.070,2417,559,2539,2465,2613,0,0,0,0,0,0,14.96,14.58,14.19
$GC,2239,0.91,216.5,2418,558,2462,2613,93.3,9.7,426,2251,0.00,2.50,6.10,0.873,9382,0.000,0.062,2417,1955,2515,2433,2598,0,0,0,0,0,0,14.69,14.62,14.17
$GC,2431,0.93,234.5,2417,1955,2427,2596,75.1,9.2,464,2456,0.10,2.38,18.67,0.896,10532,0.160,0.072,2468,3368,2441,2354,2529,0,0,0,0,0,0,14.74,14.58,14.24
$GC,2481,0.82,234.5,2469,3370,2354,2529,68.6,14.5,473,2488,0.22,2.38,0.00,0.000,5254,0.232,0.060,2418,1961,2440,2353,2528,0,0,0,0,0,0,14.58,14.68,14.73
$GC,2669,0.82,237.0,2418,1961,2348,2529,49.8,9.9,510,2675,0.00,2.47,0.00,0.000,548,0.000,0.073,2428,535,2437,2347,2528,0,0,0,0,0,0,14.95,14.75,14.96
$GC,2735,0.95,245.7,2428,535,2341,2528,43.3,9.6,523,2754,0.00,2.53,10.88,0.861,9382,0.000,0.061,2428,1964,2396,2298,2495,0,0,0,0,0,0,14.81,14.74,14.33
$GC,2814,0.95,245.7,2428,1965,2297,2495,35.4,10.0,538,2820,0.00,2.33,0.00,0.000,260,0.000,0.074,2428,3369,2395,2296,2495,0,0,0,0,0,0,14.94,14.74,14.96
$GC,2840,1.02,245.7,2428,3370,2297,2493,32.5,11.0,543,2846,0.10,2.40,0.00,0.000,3206,0.157,0.060,2496,1946,2395,2296,2495,0,0,0,0,0,0,14.76,14.76,14.83
$GC,2906,0.83,245.7,2496,1945,2297,2495,22.8,15.8,556,2913,0.25,2.42,0.00,0.000,4740,0.233,0.068,2434,544,2394,2295,2494,0,0,0,0,0,0,14.62,14.76,14.72
$GC,2938,0.90,245.7,2434,543,2293,2494,18.7,11.8,562,2944,0.00,2.50,0.00,0.000,1158,0.000,0.060,2434,1958,2393,2292,2494,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3004,0.90,245.7,2434,1960,2293,2494,11.8,10.1,575,3010,0.00,2.30,0.00,0.000,260,0.000,0.073,2434,3362,2393,2292,2494,0,0,0,0,0,0,14.98,14.73,15.00
$GC,3050,1.00,245.7,2435,3362,2296,2494,6.8,10.9,584,3056,0.00,2.38,0.00,0.000,1158,0.000,0.062,2444,1949,2394,2295,2494,0,0,0,0,0,0,14.88,14.81,14.90
$STATE,3089,end climb,SURFACE_DEPTH_REACHED
$STATE,3089,begin surface coast
$FINISH,0.4,1.019829
$STATE,3119,end surface coast,CONTROL_FINISHED_OK
$STATE,3119,begin surface
$SM_CCo,3135,174.38,0.095,0,0,739,652.50
$SM_GC,1.09,6.45,0.17,174.38,0.060,0.091,0.095,55,2039,739,-9.92,-0.62,652.50,0,0,0,0,0,0,14.82,14.85,14.74
$IRIDIUM_FIX,4726.11,-12226.80,050117,172615
$TT8_MAMPS,0.038199,0.641893
$HUMID,48.18
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,19.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,140.6,51.9
$SC_FREEKB,4018848
$24V_AH,13.85,0.000
$10V_AH,13.91,3.847
$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,17.450,49.225,335.925,174.375,0.000,0.000,0.000,0.000,2.000,0.000,26.093,0.000,1459.328,658.687,1170.049,95.289,0.000,1169.649,0.000,860.839,0.000,8.708,0.000
$DEVICE_MAMPS,398.565,2164.950,1237.005,94.860,0.000,0.000,0.000,0.000,420.000,0.000,21.720,0.000,2.190,8.420,26.400,31.640,0.000,11.800,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3109.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.348,0.000,0.000,0.000
$MEM,194124
$DATA_FILE_SIZE,20125,598
$CAP_FILE_SIZE,78722,0
$CFSIZE,260165632,258588672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,3124.95,0x213b14,7,24
$CURRENT,0.120,238.69,1
$GPS,050117,182921,4743.029,-12224.754,11,1.0,40,18.2,0.2,147.4,9,5.0