version: 66.13
glider: 122
mission: 22
dive: 10
start: 3 5 117 19 39 0
data:
$ID,122
$MISSION,22
$DIVE,10
$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
$PITCH_ADJ_DBAND,0
$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,34
$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
$GPS1,050317,192924,2135.1931,12050.7256,18,0.9,21,-3.1,1.0,29.0,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.8
$GPS2,050317,193836,2135.4177,12050.9346,15,1.0,18,-3.1,1.4,61.0,7,9.9
$SPEED_LIMITS,0.173,0.302
$TGT_NAME,D1
$TGT_LATLONG,2154.000,12107.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,38.0,44119,-16.1,-10.000,-18.33,2616
$D_GRID,603
$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,-171.1,154,2194,355,555,0.0,0.0,0,95,0.00,0.00,-82.93,0.000,16386,0.000,0.000,149,2193,2804,2742,2867,0,0,0,0,0,0,14.97,28.83,14.99
$GC,100,-0.97,-171.1,149,2193,2731,2867,3.4,-6.4,15,125,11.20,2.83,-9.52,0.000,18724,0.359,2.154,2671,3606,3308,3214,3403,0,0,0,0,0,0,14.59,13.82,14.81
$GC,252,-0.97,-171.1,2672,3606,3200,3404,44.6,-23.1,44,259,0.00,2.38,0.00,0.000,1030,0.000,0.048,2671,2200,3301,3200,3403,0,0,0,0,0,0,14.90,14.83,14.91
$GC,446,-0.97,-171.1,2671,2201,3200,3404,93.4,-20.5,65,450,0.00,2.38,0.00,0.000,516,0.000,0.062,2671,780,3300,3198,3403,0,0,0,0,0,0,15.05,14.88,15.07
$GC,632,-0.97,-171.1,2671,780,3198,3403,135.0,-24.8,102,638,0.00,2.42,0.00,0.000,1030,0.000,0.054,2661,2208,3300,3198,3403,0,0,0,0,0,0,14.97,14.90,14.99
$GC,817,-0.97,-171.1,2661,2208,3198,3404,169.1,-20.8,121,822,0.00,2.50,0.00,0.000,516,0.000,0.085,2660,790,3300,3197,3403,0,0,0,0,0,0,15.11,14.90,15.13
$GC,952,-0.97,-171.1,2660,791,3198,3404,195.3,-18.9,147,957,0.15,2.45,0.00,0.000,3078,0.225,0.070,2688,2212,3300,3197,3403,0,0,0,0,0,0,14.85,14.93,14.99
$GC,1153,-0.97,-171.1,2688,2212,3197,3404,237.1,-18.6,159,1158,0.00,2.42,0.00,0.000,516,0.000,0.061,2688,776,3299,3195,3403,0,0,0,0,0,0,15.14,14.95,15.16
$GC,1265,-0.97,-171.1,2688,776,3197,3404,256.8,-16.5,181,1269,0.00,2.40,0.00,0.000,1030,0.000,0.051,2680,2201,3299,3195,3403,0,0,0,0,0,0,15.04,14.97,15.05
$GC,1576,-0.97,-171.1,2679,2202,3194,3404,297.3,-11.6,198,1581,0.00,2.42,0.00,0.000,260,0.000,0.080,2668,3613,3298,3193,3403,0,0,0,0,0,0,15.18,14.97,15.20
$GC,1607,-0.97,-171.1,2668,3613,3193,3404,300.8,-11.9,204,1613,0.00,2.35,0.00,0.000,1030,0.000,0.047,2668,2193,3298,3193,3404,0,0,0,0,0,0,15.07,15.01,15.09
$GC,1920,-0.97,-171.1,2668,2193,3189,3404,340.6,-12.0,216,1925,0.00,2.35,0.00,0.000,516,0.000,0.069,2668,790,3295,3188,3403,0,0,0,0,0,0,15.19,15.02,15.21
$GC,2077,-0.97,-171.1,2668,790,3187,3404,359.2,-10.7,247,2081,0.00,2.38,0.00,0.000,1030,0.000,0.049,2658,2214,3294,3186,3403,0,0,0,0,0,0,15.08,15.01,15.10
$GC,2403,-0.97,-171.1,2658,2214,3182,3404,403.1,-14.3,262,2408,0.00,2.40,0.00,0.000,516,0.000,0.067,2658,794,3292,3182,3403,0,0,0,0,0,0,15.21,15.02,15.22
$GC,2565,-0.97,-171.1,2658,794,3181,3404,433.0,-20.2,294,2570,0.15,2.35,0.00,0.000,3078,0.219,0.050,2686,2200,3292,3181,3403,0,0,0,0,0,0,14.94,15.02,15.07
$GC,2886,-0.97,-171.1,2686,2200,3175,3404,488.1,-16.1,308,2892,0.00,2.42,0.00,0.000,516,0.000,0.069,2686,786,3289,3175,3403,0,0,0,0,0,0,15.20,15.02,15.21
$GC,2934,-0.97,-171.1,2686,786,3175,3404,493.2,-11.4,317,2938,0.00,2.38,0.00,0.000,1030,0.000,0.050,2678,2206,3288,3174,3403,0,0,0,0,0,0,15.09,15.02,15.11
$GC,3250,-0.97,-171.1,2677,2206,3171,3403,513.2,-5.2,330,3255,0.00,2.40,0.00,0.000,292,0.000,0.080,2667,3611,3287,3171,3403,0,0,0,0,0,0,15.21,15.00,15.23
$GC,3316,-0.97,-171.1,2667,3612,3172,3403,517.1,-6.5,343,3321,0.00,2.35,0.00,0.000,1062,0.000,0.045,2666,2186,3286,3170,3402,0,0,0,0,0,0,15.10,15.04,15.11
$GC,3643,-0.97,-171.1,2666,2187,3166,3401,549.4,-12.2,358,3647,0.00,2.35,0.00,0.000,516,0.000,0.070,2666,790,3282,3165,3400,0,0,0,0,0,0,15.21,15.02,15.23
$GC,3734,-0.97,-171.1,2666,790,3165,3400,562.6,-15.3,376,3740,0.00,2.38,0.00,0.000,1030,0.000,0.053,2657,2203,3282,3165,3399,0,0,0,0,0,0,15.09,15.02,15.11
$STATE,4002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4002,begin apogee
$GC,4012,-0.14,0.0,2653,2710,3163,3397,607.6,-16.4,390,4166,0.98,0.00,151.85,1.434,10246,0.173,0.000,2947,2710,2608,2497,2720,0,0,0,0,0,0,14.94,14.34,13.75
$STATE,4167,end apogee,CONTROL_FINISHED_OK
$STATE,4167,begin climb
$GC,4171,0.97,171.1,2948,2711,2487,2711,618.1,0.0,395,4337,1.05,2.28,154.23,1.416,10500,0.070,0.084,3321,3962,1899,1806,1992,0,0,0,0,0,0,14.37,14.25,13.68
$GC,4424,0.97,171.1,3321,3963,1803,1982,611.4,12.7,447,4428,0.00,2.17,0.00,0.000,1030,0.000,0.049,3330,2695,1891,1802,1981,0,0,0,0,0,0,14.63,14.57,14.65
$GC,4735,0.97,171.1,3330,2696,1802,1980,561.7,17.4,459,4740,0.00,2.40,0.00,0.000,516,0.000,0.067,3341,1298,1890,1801,1980,0,0,0,0,0,0,14.99,14.80,15.01
$GC,4801,0.97,171.1,3341,1299,1801,1980,549.0,19.2,472,4807,0.00,2.45,0.00,0.000,1030,0.000,0.063,3342,2708,1890,1801,1980,0,0,0,0,0,0,14.90,14.83,14.92
$GC,5128,0.97,171.1,3342,2708,1801,1977,499.5,11.1,487,5133,0.00,2.45,0.00,0.000,516,0.000,0.064,3351,1297,1888,1800,1977,0,0,0,0,0,0,15.09,14.89,15.11
$GC,5360,1.36,298.9,3351,1297,1799,1977,480.1,5.0,533,5487,0.25,2.42,111.00,1.398,11302,0.090,0.060,3452,2709,1389,1276,1503,0,0,0,0,1,0,14.95,14.92,13.64
$GC,5794,1.36,298.9,3452,2709,1297,1504,401.9,21.7,569,5799,0.00,2.25,1.60,0.091,8452,0.000,0.076,3452,3967,1389,1280,1498,0,0,0,0,0,0,14.94,14.76,14.70
$GC,5946,1.36,298.9,3453,3968,1298,1498,360.0,24.5,599,5951,0.00,2.15,0.00,0.000,1030,0.000,0.044,3462,2689,1397,1298,1497,0,0,0,0,0,0,14.90,14.84,14.91
$GC,6278,1.36,298.9,3463,2690,1299,1498,299.0,17.1,615,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2689,1398,1298,1498,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6578,1.36,298.9,3463,2690,1299,1498,242.9,21.2,630,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2690,1398,1298,1498,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6878,1.36,298.9,3462,2690,1299,1498,184.5,15.1,649,6883,0.00,2.33,0.00,0.000,516,0.000,0.059,3473,1299,1398,1299,1498,0,0,0,0,0,0,15.10,14.93,15.12
$GC,6904,1.36,298.9,3474,1299,1299,1498,180.5,14.2,654,6910,0.15,2.40,0.00,0.000,5126,0.245,0.054,3438,2709,1397,1298,1497,0,0,0,0,0,0,14.78,14.89,14.92
$GC,7090,1.36,298.9,3438,2709,1299,1498,153.2,12.7,673,7094,0.00,2.17,0.00,0.000,260,0.000,0.083,3438,3971,1398,1299,1498,0,0,0,0,0,0,15.10,14.88,15.12
$GC,7161,1.36,298.9,3438,3971,1299,1498,143.1,13.8,687,7165,0.00,2.10,0.00,0.000,1030,0.000,0.041,3446,2688,1398,1298,1498,0,0,0,0,0,0,15.00,14.96,15.02
$GC,7352,1.44,326.1,3446,2689,1299,1498,122.5,8.9,707,7383,0.00,0.00,29.83,0.956,8230,0.000,0.000,3446,2688,1278,1168,1389,0,0,0,0,0,0,15.10,14.78,14.33
$GC,7562,1.44,326.1,3446,2689,1156,1377,100.2,13.8,728,7568,0.00,2.25,0.00,0.000,260,0.000,0.077,3447,3964,1266,1156,1377,0,0,0,0,0,0,15.01,14.82,15.03
$GC,7649,1.44,326.1,3447,3964,1156,1377,86.8,15.5,745,7655,0.00,2.08,0.00,0.000,1030,0.000,0.041,3456,2705,1266,1156,1376,0,0,0,0,0,0,14.88,14.83,14.89
$GC,7834,1.44,326.1,3456,2705,1158,1377,58.8,14.7,764,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2705,1266,1157,1376,0,0,0,0,0,0,15.04,15.06,15.06
$GC,8017,1.44,326.1,3456,2706,1161,1377,29.9,17.7,794,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2705,1269,1161,1377,0,0,0,0,0,0,15.04,15.06,15.06
$STATE,8194,end climb,SURFACE_DEPTH_REACHED
$STATE,8194,begin surface coast
$FINISH,0.5,1.022681
$STATE,8202,end surface coast,CONTROL_FINISHED_OK
$STATE,8202,begin surface
$SM_CCo,8225,100.35,0.085,0,0,438,532.06
$SM_GC,1.33,9.25,0.85,100.35,0.051,0.063,0.085,155,2211,438,-8.81,1.27,532.06,0,0,0,0,0,0,14.90,14.90,14.83
$IRIDIUM_FIX,2124.90,12050.27,050317,174043
$TT8_MAMPS,0.039697,0.512316
$HUMID,50.82
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,24.00
$XPDR_PINGS,10
$SC_FREEKB,7898624
$24V_AH,13.64,0.000
$10V_AH,13.31,5.966
$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,23.175,81.925,448.500,100.350,0.000,0.000,0.000,349.375,2.500,0.000,22.959,0.000,5967.884,646.849,1873.830,387.641,0.000,1672.378,0.000,1191.133,0.000,0.538,0.000
$DEVICE_MAMPS,358.785,2154.240,1434.375,84.915,0.000,0.000,0.000,173.655,420.000,0.000,20.970,0.000,2.190,11.220,29.200,33.690,0.000,10.500,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8230.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.345,0.000,0.000,0.000
$MEM,194864
$DATA_FILE_SIZE,30068,831
$CAP_FILE_SIZE,90709,0
$CFSIZE,260034560,255025152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.146,51.52,1
$GPS,050317,215901,2136.907,12051.854,41,1.3,44,-3.1,0.7,73.8,6,9.9