version: 66.13
glider: 124
mission: 23
dive: 5
start: 3 18 117 3 6 46
data:
$ID,124
$MISSION,23
$DIVE,5
$N_DIVES,6
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,180
$T_MISSION,205
$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,40
$R_STBD_OVSHOOT,33
$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
$GPS1,180317,030227,2127.4834,12203.6436,9,1.5,19,-2.7,0.5,196.4,7,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.5
$GPS2,180317,030626,2127.4946,12203.6182,12,1.5,22,-2.7,0.6,259.5,6,9.2
$SPEED_LIMITS,0.192,0.267
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,128.3,200595,-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,-146.0,33,1907,766,685,0.0,0.0,0,101,0.00,0.00,-91.05,0.000,16386,0.000,0.000,2,1911,3067,2966,3169,0,0,0,0,0,0,15.11,28.83,15.14
$GC,104,-1.02,-146.0,3,1912,2967,3169,3.2,-3.3,9,123,9.45,0.00,-8.20,0.000,18982,0.395,0.000,2174,1902,3480,3318,3642,0,0,0,0,0,0,14.68,13.92,14.95
$GC,419,-0.98,-146.0,2174,1902,3320,3642,59.3,-14.6,42,424,0.00,2.28,0.00,0.000,388,0.000,0.070,2172,3303,3480,3319,3642,0,0,0,0,0,0,15.14,14.90,15.16
$GC,439,-0.98,-146.0,2172,3304,3319,3642,62.1,-13.7,46,444,0.00,2.25,0.00,0.000,1030,0.000,0.050,2170,1898,3480,3319,3641,0,0,0,0,0,0,14.98,14.92,15.00
$GC,751,-1.02,-146.0,2172,1898,3318,3643,100.3,-11.0,78,756,0.00,2.38,0.00,0.000,676,0.000,0.066,2172,488,3480,3319,3641,0,0,0,0,0,0,15.15,14.96,15.16
$GC,866,-1.08,-146.0,2171,489,3320,3642,113.6,-12.2,101,872,0.00,2.38,0.00,0.000,1158,0.000,0.051,2171,1906,3480,3319,3641,0,0,0,0,0,0,15.04,14.97,15.06
$GC,1171,-1.17,-146.0,2171,1908,3320,3642,153.2,-13.8,132,1176,0.10,2.25,0.00,0.000,4484,0.161,0.069,2105,3301,3480,3319,3641,0,0,0,0,0,0,14.95,14.97,15.02
$GC,1266,-1.17,-146.0,2105,3301,3319,3642,168.9,-16.7,151,1273,0.15,2.22,0.00,0.000,3078,0.226,0.049,2144,1891,3480,3319,3641,0,0,0,0,0,0,14.88,15.00,15.02
$GC,1572,-1.17,-146.0,2145,1891,3319,3641,208.5,-10.3,178,1576,0.00,2.35,0.00,0.000,548,0.000,0.063,2144,487,3480,3320,3641,0,0,0,0,0,0,15.20,14.99,15.22
$GC,1617,-1.22,-146.0,2144,489,3319,3642,213.5,-10.4,187,1623,0.00,2.38,0.00,0.000,1190,0.000,0.053,2144,1906,3480,3319,3641,0,0,0,0,0,0,15.03,14.95,15.03
$GC,1933,-1.28,-146.0,2145,1907,3319,3641,244.3,-10.3,205,1938,0.10,2.25,0.00,0.000,4516,0.161,0.070,2078,3302,3479,3318,3641,0,0,0,0,0,0,15.03,15.00,15.08
$GC,1998,-1.25,-146.0,2078,3303,3319,3640,253.5,-14.7,218,2003,0.20,2.22,0.00,0.000,3206,0.227,0.050,2133,1888,3478,3318,3639,0,0,0,0,0,0,14.89,15.02,15.04
$GC,2315,-1.30,-146.0,2134,1887,3319,3639,289.0,-10.0,236,2316,0.00,0.00,0.00,0.000,166,0.000,0.000,2133,1888,3477,3318,3637,0,0,0,0,0,0,15.24,15.26,15.26
$GC,2614,-1.35,-146.0,2133,1889,3319,3636,319.4,-10.1,248,2619,0.12,2.30,0.00,0.000,4516,0.133,0.067,2051,3308,3476,3318,3635,0,0,0,0,0,0,15.07,15.02,15.10
$GC,2644,-1.27,-146.0,2052,3308,3318,3635,323.2,-13.2,254,2649,0.25,2.22,0.00,0.000,3206,0.221,0.051,2121,1894,3476,3318,3634,0,0,0,0,0,0,14.91,15.06,15.08
$GC,2976,-1.30,-146.0,2122,1894,3316,3635,358.5,-10.5,270,2977,0.00,0.00,0.00,0.000,166,0.000,0.000,2121,1894,3474,3315,3634,0,0,0,0,0,0,15.25,15.28,15.27
$GC,3274,-1.35,-146.0,2122,1894,3313,3634,394.1,-12.1,280,3279,0.00,2.30,0.00,0.000,388,0.000,0.070,2120,3309,3472,3312,3633,0,0,0,0,0,0,15.25,15.02,15.28
$GC,3369,-1.45,-146.0,2119,3310,3312,3632,404.9,-11.7,299,3375,0.12,2.25,0.00,0.000,5254,0.136,0.052,2049,1892,3471,3311,3631,0,0,0,0,0,0,15.02,15.02,15.08
$GC,3696,-1.33,-146.0,2049,1892,3312,3629,454.2,-14.9,314,3700,0.20,2.35,0.00,0.000,2692,0.223,0.064,2110,494,3469,3311,3628,0,0,0,0,0,0,14.92,15.04,15.03
$GC,3766,-1.38,-146.0,2110,494,3311,3629,462.3,-11.4,328,3770,0.00,2.38,0.00,0.000,1158,0.000,0.054,2105,1910,3469,3311,3628,0,0,0,0,0,0,15.11,15.04,15.14
$GC,4086,-1.43,-146.0,2105,1912,3309,3627,497.6,-11.5,342,4091,0.00,2.25,0.00,0.000,388,0.000,0.077,2105,3297,3467,3308,3627,0,0,0,0,0,0,15.24,15.02,15.27
$GC,4131,-1.56,-146.0,2106,3298,3308,3626,502.4,-10.4,351,4137,0.15,2.22,0.00,0.000,5286,0.121,0.053,2026,1893,3467,3308,3626,0,0,0,0,0,0,15.06,15.05,15.11
$GC,4447,-1.41,-146.0,2029,1894,3307,3623,547.4,-14.3,364,4452,0.22,2.35,0.00,0.000,2692,0.221,0.065,2095,497,3463,3305,3622,0,0,0,0,0,0,14.92,15.04,15.03
$GC,4477,-1.41,-146.0,2095,498,3306,3623,551.4,-12.8,370,4482,0.00,2.38,0.00,0.000,1030,0.000,0.055,2092,1902,3463,3305,3622,0,0,0,0,0,0,15.10,15.02,15.11
$GC,4807,-1.41,-146.0,2092,1903,3303,3621,588.3,-10.8,386,4812,0.00,2.28,0.00,0.000,292,0.000,0.078,2090,3304,3461,3302,3621,0,0,0,0,0,0,15.27,15.02,15.29
$STATE,4920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4920,begin apogee
$GC,4929,-0.22,0.0,2091,1915,3302,3620,600.5,-10.7,409,5047,0.82,0.00,115.07,1.536,10246,0.166,0.000,2357,1915,2882,2787,2977,0,0,0,0,0,0,14.95,14.45,13.85
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5048,begin climb
$GC,5050,1.02,146.0,2358,1915,2786,2975,604.7,0.0,413,5176,0.73,0.00,122.75,1.507,10758,0.057,0.000,2647,1915,2285,2267,2303,0,0,0,0,0,0,14.50,14.33,13.76
$GC,5464,0.69,146.0,2644,1915,2234,2302,552.5,16.0,432,5470,0.35,2.33,0.00,0.000,4484,0.256,0.067,2550,3323,2267,2232,2302,0,0,0,0,0,0,14.71,14.83,14.83
$GC,5500,0.58,146.0,2550,3324,2233,2303,547.7,11.7,439,5505,0.15,2.28,0.00,0.000,5254,0.264,0.057,2524,1919,2267,2232,2302,0,0,0,0,0,0,14.76,14.86,14.92
$GC,5826,0.62,182.2,2521,1919,2223,2302,518.0,9.2,454,5862,0.00,2.42,30.33,1.382,8740,0.000,0.070,2532,519,2136,2081,2191,0,0,0,0,0,0,15.15,14.66,14.19
$GC,5982,0.63,187.5,2532,520,2062,2191,501.6,10.8,485,5987,0.00,2.40,0.00,0.000,1062,0.000,0.055,2531,1925,2126,2062,2190,0,0,0,0,0,0,14.92,14.85,14.94
$GC,6307,0.67,187.5,2531,1926,2054,2191,463.7,11.6,500,6313,0.00,2.28,0.00,0.000,388,0.000,0.074,2530,3321,2122,2053,2191,0,0,0,0,0,0,15.12,14.92,15.14
$GC,6393,0.67,187.5,2529,3321,2053,2191,453.3,12.0,517,6399,0.00,2.28,0.00,0.000,1030,0.000,0.058,2540,1916,2121,2053,2190,0,0,0,0,0,0,14.97,14.88,14.99
$GC,6698,0.70,210.5,2540,1917,2051,2191,419.3,9.9,528,6729,0.00,2.42,25.67,1.298,8740,0.000,0.072,2551,515,2021,1950,2092,0,0,0,0,0,0,15.16,14.70,14.26
$GC,6834,0.81,254.9,2551,516,1938,2092,407.0,8.8,555,6886,0.10,2.40,42.55,1.278,11430,0.155,0.056,2608,1924,1841,1786,1896,0,0,0,0,0,0,14.85,14.85,14.08
$GC,7211,0.72,254.9,2608,1922,1769,1895,356.9,13.4,580,7217,0.17,2.30,0.00,0.000,4484,0.235,0.070,2558,3328,1831,1768,1895,0,0,0,0,0,0,14.76,14.84,14.87
$GC,7299,0.80,258.9,2558,3328,1769,1895,347.3,10.9,597,7305,0.00,2.28,0.00,0.000,1190,0.000,0.058,2566,1919,1831,1768,1894,0,0,0,0,0,0,14.95,14.89,14.97
$GC,7602,0.80,260.2,2566,1920,1763,1895,313.8,11.0,608,7608,0.00,2.40,0.00,0.000,548,0.000,0.073,2577,515,1828,1762,1894,0,0,0,0,0,0,15.13,14.88,15.15
$GC,7663,0.87,261.8,2577,516,1757,1894,306.8,11.0,620,7673,0.00,2.40,3.85,0.914,9382,0.000,0.054,2577,1934,1814,1740,1889,0,0,0,0,0,0,15.00,14.92,14.26
$GC,7985,0.90,285.4,2577,1934,1741,1889,271.9,9.9,640,8014,0.00,2.30,23.60,1.144,8484,0.000,0.073,2577,3327,1715,1659,1772,0,0,0,0,0,0,15.15,14.80,14.33
$GC,8059,0.97,285.4,2577,3329,1660,1769,264.0,11.1,655,8065,0.10,2.30,0.00,0.000,3206,0.155,0.058,2637,1911,1713,1659,1768,0,0,0,0,0,0,14.85,14.85,14.91
$GC,8364,0.87,285.4,2638,1912,1657,1768,215.0,16.5,671,8369,0.17,2.40,0.00,0.000,4740,0.249,0.070,2600,512,1712,1657,1767,0,0,0,0,0,0,14.80,14.88,14.90
$GC,8491,0.96,285.4,2600,513,1648,1767,200.0,11.3,696,8497,0.00,2.40,0.00,0.000,1158,0.000,0.054,2599,1934,1707,1647,1767,0,0,0,0,0,0,15.00,14.93,15.02
$GC,8796,0.96,285.4,2600,1934,1647,1767,160.5,13.6,728,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1933,1707,1647,1767,0,0,0,0,0,0,15.10,15.12,15.12
$GC,9099,1.02,297.9,2599,1934,1646,1767,124.6,10.5,758,9115,0.10,2.45,10.20,0.944,10916,0.155,0.066,2666,513,1664,1607,1722,0,0,0,0,0,0,14.93,14.78,14.40
$GC,9135,0.95,297.9,2667,512,1606,1723,119.1,14.3,765,9141,0.22,2.40,0.00,0.000,5254,0.213,0.051,2605,1932,1663,1605,1722,0,0,0,0,0,0,14.76,14.84,14.90
$GC,9440,1.04,310.8,2605,1933,1603,1723,84.6,10.4,796,9456,0.00,2.45,11.32,0.912,8868,0.000,0.064,2613,510,1613,1559,1667,0,0,0,0,0,0,15.07,14.75,14.39
$GC,9506,1.21,333.9,2613,510,1553,1666,77.9,9.9,809,9533,0.17,2.40,19.58,0.907,11430,0.106,0.050,2712,1930,1518,1487,1550,0,0,0,0,0,0,14.88,14.85,14.33
$GC,9831,1.05,333.9,2712,1931,1481,1548,20.1,18.9,844,9837,0.28,2.28,0.00,0.000,4484,0.231,0.066,2631,3331,1514,1482,1547,0,0,0,0,0,0,14.70,14.81,14.81
$GC,9912,1.15,333.9,2631,3332,1483,1548,7.9,14.9,860,9918,0.00,2.28,0.00,0.000,1158,0.000,0.054,2640,1913,1514,1482,1547,0,0,0,0,0,0,14.87,14.81,14.88
$STATE,9951,end climb,SURFACE_DEPTH_REACHED
$STATE,9951,begin surface coast
$FINISH,0.3,1.010623
$STATE,9971,end surface coast,CONTROL_FINISHED_OK
$STATE,9971,begin surface
$SM_CCo,9986,82.90,0.083,0,0,740,525.68
$SM_GC,1.16,6.93,0.00,82.90,0.062,0.000,0.083,60,1913,740,-10.64,0.37,525.68,0,0,0,0,0,0,14.87,15.07,14.83
$IRIDIUM_FIX,2120.26,12204.99,180317,025709
$TT8_MAMPS,0.038199,0.427679
$HUMID,46.88
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,23.50
$XPDR_PINGS,139
$SC_FREEKB,4017504
$24V_AH,13.76,0.000
$10V_AH,13.85,6.200
$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,21.375,102.325,404.925,82.900,0.000,0.000,0.000,0.000,34.750,0.000,25.029,0.000,7657.893,657.269,1674.551,152.654,0.000,1339.267,0.000,1241.114,0.000,0.545,0.000
$DEVICE_MAMPS,394.740,78.030,1536.120,82.620,0.000,0.000,0.000,0.000,420.000,0.000,21.720,0.000,2.190,8.420,26.400,31.640,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.964,0.000,0.000,0.000
$MEM,195184
$DATA_FILE_SIZE,30040,867
$CAP_FILE_SIZE,116975,0
$CFSIZE,260165632,256933888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,339.64,1
$GPS,180317,055732,2127.646,12204.190,110,1.7,150,-2.7,0.8,43.6,3,10.9