version: 66.13
glider: 124
mission: 23
dive: 4
start: 3 18 117 1 22 24
data:
$ID,124
$MISSION,23
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,90
$T_MISSION,125
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$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,525.48987
$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,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,3975
$C_VBD,2883
$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,2
$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,-165.72211
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,180317,011839,2127.0642,12203.5449,7,1.6,11,-2.7,0.5,8.1,8,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.7
$GPS2,180317,012204,2127.0798,12203.5391,9,1.0,14,-2.7,0.8,348.5,9,7.1
$SPEED_LIMITS,0.192,0.267
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,94.5,200751,-19.4,-11.111,-22.62,1994
$D_GRID,2964
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.02,-146.0,51,1928,769,685,0.0,0.0,0,101,0.00,0.00,-91.05,0.000,16386,0.000,0.000,19,1924,3089,2993,3185,0,0,0,0,0,0,15.12,28.83,15.15
$GC,104,-1.02,-146.0,20,1925,2994,3185,3.2,-3.3,9,125,9.40,0.00,-7.80,0.000,18726,0.395,0.000,2177,1924,3480,3321,3640,0,0,0,0,0,0,14.69,13.93,14.95
$GC,420,-1.02,-146.0,2177,1925,3322,3641,58.3,-15.4,43,426,0.00,2.22,0.00,0.000,260,0.000,0.070,2171,3299,3480,3321,3639,0,0,0,0,0,0,15.13,14.93,15.14
$GC,436,-1.02,-146.0,2172,3300,3321,3640,60.8,-15.2,46,442,0.00,2.22,0.00,0.000,1030,0.000,0.049,2172,1899,3480,3321,3639,0,0,0,0,0,0,15.00,14.93,15.02
$GC,743,-1.02,-146.0,2172,1900,3322,3640,107.9,-13.8,77,747,0.00,2.35,0.00,0.000,516,0.000,0.063,2171,496,3480,3321,3639,0,0,0,0,0,0,15.14,14.95,15.16
$GC,952,-1.09,-146.0,2172,497,3321,3640,138.5,-13.8,119,958,0.00,2.35,0.00,0.000,1158,0.000,0.051,2171,1897,3480,3321,3639,0,0,0,0,0,0,15.03,14.96,15.05
$GC,1263,-1.16,-146.0,2171,1898,3322,3640,173.4,-9.7,151,1264,0.10,0.00,0.00,0.000,4262,0.160,0.000,2110,1899,3480,3321,3639,0,0,0,0,0,0,14.98,15.07,15.04
$GC,1565,-1.09,-146.0,2110,1900,3320,3639,213.2,-12.4,176,1570,0.17,2.28,0.00,0.000,2436,0.220,0.070,2156,3310,3480,3323,3638,0,0,0,0,0,0,14.89,14.98,14.98
$GC,1595,-1.22,-146.0,2157,3309,3321,3638,216.7,-10.6,182,1600,0.00,2.22,0.00,0.000,1190,0.000,0.050,2157,1896,3478,3320,3637,0,0,0,0,0,0,15.07,15.00,15.09
$GC,1905,-1.31,-146.0,2157,1896,3321,3638,250.4,-10.6,199,1911,0.12,2.35,0.00,0.000,4772,0.140,0.062,2073,491,3478,3320,3637,0,0,0,0,0,0,15.04,15.02,15.06
$GC,1986,-1.21,-146.0,2073,490,3321,3638,263.3,-16.1,215,1992,0.25,2.38,0.00,0.000,3206,0.226,0.053,2137,1915,3478,3321,3636,0,0,0,0,0,0,14.92,15.02,15.07
$GC,2309,-1.26,-146.0,2137,1916,3321,3634,298.6,-10.7,234,2314,0.00,2.25,0.00,0.000,420,0.000,0.075,2133,3309,3477,3320,3634,0,0,0,0,0,0,15.25,15.02,15.28
$STATE,2321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2322,begin apogee
$GC,2329,-0.22,0.0,2134,1917,3321,3634,300.3,-10.3,237,2428,0.68,0.00,97.12,1.173,10246,0.161,0.000,2353,1916,2881,2782,2980,0,0,0,0,0,0,14.94,14.58,14.10
$STATE,2429,end apogee,CONTROL_FINISHED_OK
$STATE,2429,begin climb
$GC,2432,1.02,146.0,2354,1917,2780,2978,302.2,0.0,240,2536,0.73,0.00,100.93,1.145,10758,0.060,0.000,2643,1916,2284,2239,2329,0,0,0,0,0,0,14.65,14.47,13.97
$GC,2834,0.78,146.0,2643,1916,2211,2329,252.1,15.5,274,2839,0.25,2.30,0.00,0.000,4484,0.247,0.064,2572,3325,2269,2210,2328,0,0,0,0,0,0,14.76,14.83,14.89
$GC,2931,0.71,146.0,2570,3325,2211,2329,240.8,11.2,293,2937,0.10,2.22,0.00,0.000,5254,0.288,0.052,2557,1919,2269,2210,2328,0,0,0,0,0,0,14.81,14.93,14.98
$GC,3234,0.80,222.0,2558,1920,2204,2329,215.8,7.2,309,3296,0.00,2.42,53.80,1.066,8740,0.000,0.067,2567,515,1971,1903,2039,0,0,0,0,0,0,15.18,14.72,14.26
$GC,3358,0.96,258.8,2568,516,1885,2040,205.2,9.2,333,3392,0.15,2.38,26.62,1.018,11430,0.109,0.050,2646,1922,1824,1753,1896,0,0,0,0,0,0,14.85,14.81,14.21
$GC,3697,0.85,258.8,2647,1924,1732,1896,149.6,18.0,371,3703,0.22,2.28,0.00,0.000,4484,0.226,0.067,2581,3328,1813,1732,1895,0,0,0,0,0,0,14.77,14.85,14.87
$GC,3738,0.95,258.8,2581,3329,1733,1896,143.4,14.0,379,3744,0.00,2.25,0.00,0.000,1158,0.000,0.053,2589,1914,1813,1732,1895,0,0,0,0,0,0,14.99,14.92,15.00
$GC,4049,1.04,286.8,2589,1914,1728,1896,106.9,9.7,411,4076,0.12,2.38,20.20,0.903,10916,0.129,0.065,2681,516,1709,1643,1775,0,0,0,0,0,0,14.93,14.78,14.42
$GC,4111,0.94,286.8,2681,517,1635,1774,98.3,15.9,423,4117,0.30,2.38,0.00,0.000,5254,0.223,0.052,2598,1920,1703,1633,1773,0,0,0,0,0,0,14.76,14.86,14.92
$GC,4422,1.08,324.7,2598,1919,1626,1773,66.7,9.2,455,4455,0.12,2.38,27.67,0.852,10660,0.132,0.071,2676,3328,1555,1520,1591,0,0,0,0,0,0,14.92,14.77,14.41
$GC,4480,0.98,324.7,2676,3330,1520,1590,58.5,16.9,466,4486,0.28,2.28,0.00,0.000,5254,0.227,0.054,2610,1915,1554,1520,1589,0,0,0,0,0,0,14.71,14.81,14.85
$GC,4785,1.08,327.8,2610,1915,1514,1589,23.6,11.0,497,4790,0.10,2.38,0.00,0.000,2724,0.150,0.066,2687,516,1551,1513,1589,0,0,0,0,0,0,14.94,14.88,14.99
$STATE,4918,end climb,SURFACE_DEPTH_REACHED
$STATE,4918,begin surface coast
$FINISH,1.3,1.023045
$STATE,4928,end surface coast,CONTROL_FINISHED_OK
$STATE,4928,begin surface
$SM_CCo,4945,85.00,0.078,0,0,739,525.92
$SM_GC,1.12,6.90,2.40,85.00,0.049,0.056,0.078,58,1894,739,-10.64,-1.22,525.92,0,0,0,0,0,0,14.95,14.92,14.90
$IRIDIUM_FIX,2117.95,12203.76,180317,011446
$TT8_MAMPS,0.03745,0.595455
$HUMID,46.02
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.70
$XPDR_PINGS,90
$SC_FREEKB,4017952
$24V_AH,13.93,0.000
$10V_AH,13.47,5.904
$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,20.000,50.900,326.350,85.000,0.000,0.000,0.000,0.000,22.500,0.000,17.103,0.000,3462.010,511.436,1028.529,93.361,0.000,945.592,0.000,758.184,0.000,0.546,0.000
$DEVICE_MAMPS,394.740,74.970,1172.745,78.030,0.000,0.000,0.000,0.000,420.000,0.000,21.720,0.000,2.190,8.420,26.400,31.640,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.529,0.000,0.000,0.000
$MEM,195108
$DATA_FILE_SIZE,16769,526
$CAP_FILE_SIZE,72556,0
$CFSIZE,260165632,257064960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3234.72,0x233daa,1,24
$CURRENT,0.213,317.66,1
$GPS,180317,024710,2127.448,12203.764,12,1.1,29,-2.7,0.0,231.2,8,8.2