version: 66.13
glider: 122
mission: 22
dive: 7
start: 3 5 117 14 13 7
data:
$ID,122
$MISSION,22
$DIVE,7
$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,1.023
$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,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,30
$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
$GPS1,050317,140423,2131.2473,12047.3916,12,0.9,13,-3.0,1.1,36.7,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.9
$GPS2,050317,141243,2131.3667,12047.5215,15,0.9,17,-3.0,0.7,7.6,9,9.1
$SPEED_LIMITS,0.173,0.302
$TGT_NAME,D1
$TGT_LATLONG,2154.000,12107.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,10.0,53641,-16.1,-10.000,-18.33,2616
$D_GRID,369
$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,10,-0.97,-171.1,151,2192,350,554,0.0,0.0,0,93,0.00,0.00,-81.10,0.000,16386,0.000,0.000,150,2192,2747,2691,2804,0,0,0,0,0,0,14.99,28.83,15.01
$GC,98,-0.97,-171.1,151,2193,2681,2805,3.6,-7.0,14,128,11.12,2.75,-10.75,0.000,18724,0.360,2.137,2668,3602,3309,3214,3404,0,0,0,0,0,0,14.64,13.87,14.84
$GC,260,-0.90,-171.1,2668,3603,3213,3405,46.1,-22.7,45,267,0.17,2.38,0.00,0.000,3206,0.223,0.052,2712,2200,3308,3212,3404,0,0,0,0,0,0,14.73,14.83,14.87
$GC,569,-0.84,-171.1,2712,2200,3211,3405,113.9,-26.2,77,575,0.00,2.40,0.00,0.000,644,0.000,0.070,2712,784,3307,3210,3404,0,0,0,0,0,0,15.09,14.90,15.10
$GC,737,-0.79,-171.1,2712,785,3210,3405,144.4,-15.8,110,743,0.15,2.42,0.00,0.000,3206,0.217,0.066,2741,2202,3306,3209,3404,0,0,0,0,0,0,14.85,14.92,14.97
$GC,1042,-0.79,-171.1,2741,2203,3210,3405,181.5,-12.0,141,1047,0.00,2.40,0.00,0.000,260,0.000,0.080,2732,3607,3306,3209,3404,0,0,0,0,0,0,15.14,14.93,15.16
$GC,1244,-0.79,-171.1,2732,3608,3210,3405,200.9,-6.8,181,1250,0.00,2.38,0.00,0.000,1062,0.000,0.056,2732,2188,3306,3209,3404,0,0,0,0,0,0,15.04,14.98,15.05
$GC,1567,-0.79,-171.1,2732,2188,3209,3405,229.1,-8.8,200,1571,0.00,2.35,0.00,0.000,548,0.000,0.070,2732,787,3306,3208,3404,0,0,0,0,0,0,15.16,14.99,15.19
$GC,1723,-0.79,-171.1,2732,788,3208,3405,244.5,-10.6,231,1729,0.00,2.38,0.00,0.000,1030,0.000,0.050,2721,2209,3305,3207,3404,0,0,0,0,0,0,15.04,14.97,15.05
$GC,2029,-0.79,-171.1,2721,2210,3205,3405,276.1,-8.6,247,2033,0.00,2.38,0.00,0.000,292,0.000,0.076,2711,3611,3304,3204,3404,0,0,0,0,0,0,15.20,14.98,15.21
$GC,2168,-0.79,-171.1,2711,3612,3203,3405,288.7,-9.8,274,2174,0.12,2.33,0.00,0.000,3110,0.216,0.044,2741,2195,3303,3202,3404,0,0,0,0,0,0,14.91,15.00,15.04
$GC,2493,-0.81,-171.1,2741,2196,3200,3404,317.5,-8.9,288,2498,0.00,2.35,0.00,0.000,676,0.000,0.071,2742,796,3301,3199,3404,0,0,0,0,0,0,15.20,15.02,15.23
$GC,2555,-0.82,-171.1,2742,797,3199,3405,323.3,-9.2,300,2560,0.00,2.35,0.00,0.000,1190,0.000,0.050,2733,2207,3301,3198,3404,0,0,0,0,0,0,15.10,15.03,15.11
$GC,2887,-0.84,-171.1,2733,2207,3194,3404,364.5,-14.1,316,2891,0.00,2.40,0.00,0.000,644,0.000,0.067,2733,799,3298,3193,3404,0,0,0,0,0,0,15.22,15.03,15.24
$STATE,2919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2919,begin apogee
$GC,2930,-0.14,0.0,2720,2695,3193,3404,369.5,-13.9,323,3076,0.75,0.00,142.15,1.224,10246,0.158,0.000,2950,2694,2606,2495,2718,0,0,0,0,0,0,14.94,14.46,13.96
$STATE,3077,end apogee,CONTROL_FINISHED_OK
$STATE,3077,begin climb
$GC,3081,0.97,171.1,2950,2695,2490,2713,381.3,0.0,328,3227,1.05,2.30,134.05,1.231,11012,0.080,0.086,3317,3968,1895,1805,1986,0,0,0,0,0,0,14.47,14.24,13.81
$GC,3435,1.05,218.3,3317,3969,1805,1980,368.5,8.2,399,3483,0.00,2.12,39.03,1.091,9382,0.000,0.045,3328,2692,1716,1614,1818,0,0,0,0,1,0,14.81,14.76,13.96
$GC,3803,1.01,218.3,3328,2693,1638,1818,329.2,11.5,422,3808,0.00,2.35,0.00,0.000,644,0.000,0.066,3338,1304,1728,1638,1818,0,0,0,0,0,0,15.02,14.84,15.04
$GC,4035,0.97,218.3,3338,1304,1638,1818,299.6,11.3,468,4040,0.00,2.40,0.00,0.000,1158,0.000,0.059,3338,2706,1727,1637,1818,0,0,0,0,0,0,14.97,14.90,14.99
$GC,4347,1.12,281.1,3339,2707,1637,1819,269.0,7.5,485,4415,0.00,2.25,56.35,1.283,8612,0.000,0.080,3338,3963,1463,1355,1571,0,0,0,0,1,0,15.12,14.60,14.00
$GC,4485,1.07,281.1,3338,3964,1369,1572,254.1,13.9,509,4492,0.00,2.12,0.00,0.000,1158,0.000,0.046,3345,2701,1470,1369,1571,0,0,0,0,0,0,14.78,14.72,14.80
$GC,4787,1.04,281.1,3346,2701,1371,1572,212.8,11.4,525,4793,0.00,2.38,0.00,0.000,644,0.000,0.067,3356,1299,1470,1370,1571,0,0,0,0,0,0,15.04,14.85,15.06
$GC,4955,1.00,281.1,3356,1300,1384,1572,188.6,16.6,558,4965,0.15,2.40,3.50,0.744,13446,0.216,0.056,3320,2702,1462,1358,1566,0,0,0,0,0,0,14.77,14.85,14.25
$GC,5272,1.09,316.9,3320,2703,1373,1567,148.3,8.6,591,5313,0.00,2.53,36.42,1.017,8868,0.000,0.064,3328,1297,1307,1194,1421,0,0,0,0,0,0,15.09,14.71,14.28
$GC,5360,1.14,332.6,3328,1297,1185,1419,141.3,9.4,608,5377,0.12,2.42,12.80,0.984,11302,0.132,0.058,3386,2699,1251,1132,1371,0,0,0,0,0,0,14.78,14.77,14.24
$GC,5675,2.18,688.7,3385,2699,1122,1360,109.5,-3.9,641,5871,0.90,2.33,184.73,0.882,10660,0.057,0.078,3733,3970,389,231,548,0,0,0,0,0,0,14.83,14.40,14.02
$GC,5968,1.97,688.7,3733,3970,211,524,12.0,48.4,697,5975,0.45,2.15,0.00,0.000,5254,0.275,0.047,3636,2702,366,210,523,0,0,0,0,0,0,14.49,14.64,14.66
$STATE,5987,end climb,SURFACE_DEPTH_REACHED
$STATE,5988,begin surface coast
$FINISH,0.4,1.022605
$STATE,5993,end surface coast,CONTROL_FINISHED_OK
$STATE,5993,begin surface
$SM_CCo,6076,0.00,0.000,0,0,366,550.21
$SM_GC,1.26,9.93,0.85,0.00,0.051,0.056,0.000,150,2207,366,-8.83,1.24,550.21,0,0,0,0,0,0,14.67,14.68,14.73
$IRIDIUM_FIX,2117.95,12002.22,050317,125222
$TT8_MAMPS,0.038948,1.06957
$HUMID,53.34
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,23.00
$XPDR_PINGS,19
$SC_FREEKB,7899968
$24V_AH,13.81,0.000
$10V_AH,13.33,5.255
$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,24.925,63.150,609.025,0.000,0.000,0.000,0.000,309.150,4.750,0.000,19.103,0.000,3998.216,647.400,1595.532,333.248,0.000,1557.788,0.000,1007.332,0.000,0.538,0.000
$DEVICE_MAMPS,359.550,2136.645,1282.905,0.000,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6017.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.229,0.000,0.000,0.000
$MEM,194840
$DATA_FILE_SIZE,23365,702
$CAP_FILE_SIZE,75429,0
$CFSIZE,260034560,255275008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.391,71.77,1
$GPS,050317,155512,2132.222,12048.928,15,0.8,22,-3.0,1.3,44.5,11,9.9