version: 66.13
glider: 122
mission: 22
dive: 3
start: 3 5 117 6 24 13
data:
$ID,122
$MISSION,22
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,350
$D_ABORT,450
$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,120
$T_MISSION,150
$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,1.023
$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,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,24
$R_STBD_OVSHOOT,43
$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,0.003
$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
$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
$GPS1,050317,061719,2123.9812,12040.6006,19,1.0,19,-3.0,1.0,337.8,8,5.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.3
$GPS2,050317,062352,2124.1831,12040.6611,18,1.0,19,-3.0,1.4,29.4,8,7.7
$SPEED_LIMITS,0.168,0.279
$TGT_NAME,D1
$TGT_LATLONG,2154.000,12107.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,87.3,71398,-17.0,-9.722,-19.20,2306
$D_GRID,425
$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,-1.01,-146.6,162,2222,338,554,0.0,0.0,0,103,0.00,0.00,-89.75,0.000,16386,0.000,0.000,161,2226,2969,2923,3016,0,0,0,0,0,0,15.05,28.83,15.07
$GC,107,-1.01,-146.6,161,2226,2907,3017,3.9,-8.4,16,132,11.05,2.67,-4.78,0.000,18724,0.356,2.112,2672,3585,3208,3127,3289,0,0,0,0,0,0,14.64,13.77,14.90
$GC,202,-0.80,-146.6,2673,3586,3128,3290,29.4,-22.7,33,209,0.30,2.38,0.00,0.000,3206,0.213,0.055,2753,2183,3208,3127,3289,0,0,0,0,0,0,14.72,14.83,14.88
$GC,511,-0.71,-146.6,2753,2183,3127,3290,83.9,-17.4,74,515,0.00,2.38,0.00,0.000,644,0.000,0.082,2753,800,3207,3126,3289,0,0,0,0,0,0,15.10,14.87,15.12
$GC,632,-0.67,-146.6,2753,799,3126,3289,101.4,-13.5,98,637,0.17,2.40,0.00,0.000,3206,0.207,0.068,2791,2193,3207,3126,3289,0,0,0,0,0,0,14.85,14.91,14.97
$GC,944,-0.73,-146.6,2791,2194,3124,3289,140.5,-11.4,130,949,0.00,2.45,0.00,0.000,644,0.000,0.085,2791,797,3206,3124,3289,0,0,0,0,0,0,15.16,14.90,15.18
$GC,980,-0.80,-146.6,2791,798,3124,3290,144.4,-10.8,137,987,0.00,2.45,0.00,0.000,1158,0.000,0.075,2784,2203,3205,3122,3289,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1286,-0.85,-146.6,2785,2203,3122,3289,174.8,-9.2,168,1291,0.12,2.42,0.00,0.000,4516,0.123,0.083,2688,3619,3205,3122,3289,0,0,0,0,0,0,15.01,14.95,15.03
$GC,1483,-0.76,-146.6,2688,3621,3122,3290,203.1,-14.7,207,1489,0.28,2.35,0.00,0.000,3206,0.200,0.044,2764,2186,3205,3121,3289,0,0,0,0,0,0,14.88,15.00,15.03
$GC,1791,-0.81,-146.6,2764,2187,3119,3289,232.1,-8.1,223,1796,0.00,2.33,0.00,0.000,676,0.000,0.067,2765,783,3203,3117,3289,0,0,0,0,0,0,15.19,15.01,15.21
$GC,1948,-0.89,-146.6,2765,784,3117,3289,245.9,-8.3,254,1954,0.12,2.40,0.00,0.000,5286,0.116,0.050,2686,2224,3202,3116,3289,0,0,0,0,0,0,15.00,15.00,15.04
$GC,2253,-0.85,-146.6,2686,2224,3115,3289,282.6,-12.8,270,2258,0.15,2.35,0.00,0.000,2436,0.214,0.081,2722,3601,3201,3114,3289,0,0,0,0,0,0,14.91,14.97,15.01
$GC,2440,-0.89,-146.6,2722,3602,3113,3290,303.9,-10.5,307,2445,0.00,2.30,0.00,0.000,1158,0.000,0.046,2722,2200,3200,3112,3289,0,0,0,0,0,0,15.10,15.03,15.11
$GC,2767,-0.89,-146.6,2722,2200,3108,3290,339.1,-11.4,322,2772,0.00,2.35,0.00,0.000,516,0.000,0.067,2722,782,3197,3106,3289,0,0,0,0,0,0,15.22,15.03,15.24
$GC,2798,-0.89,-146.6,2722,781,3106,3289,343.0,-12.2,328,2803,0.00,2.38,0.00,0.000,1030,0.000,0.050,2711,2200,3197,3106,3289,0,0,0,0,0,0,15.10,15.03,15.11
$STATE,2856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2856,begin apogee
$GC,2864,-0.17,0.0,2710,2507,3105,3289,351.0,-13.2,335,2979,0.80,0.00,105.43,1.417,10246,0.165,0.000,2953,2507,2608,2496,2721,0,0,0,0,1,0,14.92,14.45,13.82
$STATE,2980,end apogee,CONTROL_FINISHED_OK
$STATE,2980,begin climb
$GC,2984,1.01,146.6,2954,2507,2497,2721,357.3,0.0,339,3107,1.10,2.58,110.97,1.200,10500,0.084,0.091,3333,3902,1998,1906,2090,0,0,0,0,0,0,14.50,14.37,13.85
$GC,3335,0.82,146.6,3333,3903,1907,2085,326.0,13.2,409,3341,0.28,2.38,0.00,0.000,5254,0.223,0.048,3272,2487,1995,1906,2085,0,0,0,0,0,0,14.69,14.81,14.86
$GC,3647,0.94,188.7,3272,2488,1906,2081,298.3,7.9,421,3687,0.12,2.55,33.25,1.143,10532,0.119,0.086,3337,3912,1828,1738,1918,0,0,0,0,0,0,14.95,14.64,14.21
$GC,3870,0.80,195.1,3337,3912,1738,1917,278.6,9.4,465,3876,0.30,2.38,1.77,0.086,13478,0.222,0.046,3267,2492,1812,1722,1902,0,0,0,0,0,0,14.76,14.88,14.77
$GC,4196,0.92,234.9,3267,2493,1743,1903,256.8,8.0,484,4244,0.12,2.58,38.97,1.115,10532,0.122,0.083,3339,3905,1640,1542,1739,0,0,0,0,0,0,14.98,14.71,14.21
$GC,4421,0.79,234.9,3339,3905,1543,1740,228.4,14.2,529,4427,0.30,2.35,0.00,0.000,5254,0.208,0.047,3266,2503,1640,1542,1739,0,0,0,0,0,0,14.76,14.87,14.91
$GC,4742,0.88,247.6,3266,2503,1543,1740,203.5,9.2,547,4762,0.00,2.42,11.50,1.059,8868,0.000,0.067,3275,1097,1592,1487,1697,0,0,0,0,0,0,15.11,14.85,14.33
$GC,4874,0.96,247.6,3275,1097,1487,1698,188.7,11.0,573,4880,0.15,2.38,0.00,0.000,3206,0.106,0.049,3345,2501,1592,1487,1697,0,0,0,0,0,0,14.93,14.90,14.98
$GC,5187,0.91,247.6,3345,2502,1487,1698,150.9,10.9,605,5192,0.15,2.42,0.00,0.000,4484,0.223,0.080,3304,3912,1592,1487,1697,0,0,0,0,0,0,14.83,14.90,14.92
$GC,5282,1.08,319.9,3304,3912,1487,1698,143.3,6.5,623,5353,0.15,2.35,62.60,0.999,11430,0.114,0.047,3385,2498,1290,1174,1407,0,0,0,0,0,0,14.92,14.92,14.18
$GC,5650,1.01,319.9,3385,2499,1172,1405,98.5,14.7,667,5655,0.17,2.50,0.00,0.000,4484,0.222,0.087,3333,3902,1288,1171,1405,0,0,0,0,0,0,14.73,14.83,14.81
$GC,5722,1.01,319.9,3333,3902,1171,1405,88.9,11.5,681,5728,0.00,2.38,0.00,0.000,1030,0.000,0.047,3343,2486,1287,1170,1404,0,0,0,0,0,0,14.92,14.88,14.92
$GC,6035,1.05,319.9,3343,2487,1171,1406,63.7,10.2,713,6040,0.00,2.53,0.00,0.000,388,0.000,0.085,3344,3903,1288,1171,1405,0,0,0,0,0,0,15.09,14.88,15.11
$GC,6097,1.05,319.9,3344,3904,1171,1405,56.5,11.6,725,6103,0.00,2.35,0.00,0.000,1030,0.000,0.046,3354,2490,1287,1171,1404,0,0,0,0,0,0,14.93,14.87,14.95
$GC,6405,1.13,332.2,3354,2492,1172,1405,27.3,9.2,781,6417,0.00,2.55,4.72,0.741,8612,0.000,0.086,3355,3901,1254,1136,1373,0,0,0,0,0,0,15.10,14.87,14.31
$GC,6454,1.13,332.2,3355,3901,1148,1374,22.1,10.9,790,6460,0.00,2.35,0.00,0.000,1030,0.000,0.046,3364,2491,1261,1149,1373,0,0,0,0,0,0,14.98,14.92,15.00
$STATE,6643,end climb,SURFACE_DEPTH_REACHED
$STATE,6643,begin surface coast
$FINISH,0.4,1.013451
$STATE,6658,end surface coast,CONTROL_FINISHED_OK
$STATE,6658,begin surface
$SM_CCo,6681,95.05,0.080,0,0,438,532.06
$SM_GC,1.32,8.93,0.50,95.05,0.050,0.073,0.080,153,2187,438,-8.84,0.82,532.06,0,0,0,0,0,0,14.94,14.93,14.88
$IRIDIUM_FIX,2115.63,12039.56,050317,061809
$TT8_MAMPS,0.03745,0.977445
$HUMID,48.18
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,24.40
$XPDR_PINGS,28
$SC_FREEKB,7901760
$24V_AH,13.77,0.000
$10V_AH,13.25,4.225
$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,24.775,73.650,369.225,95.050,0.000,0.000,0.000,0.000,7.000,0.000,20.527,0.000,4485.819,575.327,1567.338,220.902,0.000,1228.490,0.000,1189.913,0.000,0.541,0.000
$DEVICE_MAMPS,355.725,2112.165,1416.780,79.560,0.000,0.000,0.000,0.000,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6650.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.313,0.000,0.000,0.000
$MEM,194972
$DATA_FILE_SIZE,30068,831
$CAP_FILE_SIZE,97405,0
$CFSIZE,260034560,255574016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.507,23.90,1
$GPS,050317,081819,2126.102,12042.055,19,1.9,38,-3.0,1.1,35.6,7,6.0