version: 66.13
glider: 124
mission: 18
dive: 4
start: 11 17 116 20 15 12
data:
$ID,124
$MISSION,18
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51522
$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,578.71997
$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,2310
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2015
$C_ROLL_CLIMB,2015
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3975
$C_VBD,3400
$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,4
$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,-164.62802
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$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,0.0043072151
$SEABIRD_T_H,0.00062209059
$SEABIRD_T_I,2.2553675e-05
$SEABIRD_T_J,2.3422158e-06
$SEABIRD_C_G,-10.301154
$SEABIRD_C_H,1.1593448
$SEABIRD_C_I,-0.0055314875
$SEABIRD_C_J,0.00041876768
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,171116,200652,4744.0083,-12223.9990,14,2.7,54,18.2,0.3,10.0,5,16.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.2
$GPS2,171116,201452,4744.0889,-12223.9658,10,1.2,38,18.2,0.3,7.9,6,6.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,181.6,1688,-17.6,-10.000,-21.21,2209
$D_GRID,172
$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,9,-1.21,-146.6,66,2050,1021,1050,0.0,0.0,0,134,0.00,0.00,-122.53,0.000,16386,0.000,0.000,65,2050,3690,3823,3558,0,0,0,0,0,0,14.89,28.83,14.91
$GC,137,-1.21,-146.6,65,2051,3824,3559,3.1,-1.2,22,161,8.73,2.60,-8.43,0.000,18724,0.405,2.166,2033,3426,3977,4094,3860,0,0,0,0,0,0,14.45,13.71,14.73
$GC,177,-0.77,-146.6,2033,3426,4095,3862,11.3,-18.5,29,183,0.38,2.38,0.00,0.000,3206,0.236,0.060,2138,2011,3977,4094,3861,0,0,0,0,0,0,14.55,14.66,14.72
$GC,243,-0.88,-146.6,2139,2010,4094,3860,18.1,-8.5,42,249,0.00,2.47,0.00,0.000,676,0.000,0.076,2139,601,3976,4094,3859,0,0,0,0,0,0,14.88,14.65,14.90
$GC,274,-1.02,-146.6,2139,601,4094,3861,21.0,-9.4,48,282,0.17,2.55,0.00,0.000,5286,0.129,0.070,2070,2020,3976,4092,3861,0,0,0,0,0,0,14.69,14.68,14.77
$GC,342,-0.96,-146.6,2071,2021,4094,3861,29.0,-12.4,61,348,0.12,0.00,0.00,0.000,2182,0.260,0.000,2101,2020,3977,4094,3861,0,0,0,0,0,0,14.64,14.79,14.77
$GC,408,-1.03,-146.6,2101,2021,4095,3861,35.4,-9.2,74,414,0.00,2.53,0.00,0.000,676,0.000,0.068,2101,605,3977,4094,3861,0,0,0,0,0,0,14.92,14.73,14.95
$GC,450,-1.15,-146.6,2100,605,4095,3861,39.7,-9.4,82,456,0.15,2.53,0.00,0.000,5286,0.141,0.069,2041,2020,3977,4094,3861,0,0,0,0,0,0,14.75,14.73,14.83
$GC,516,-1.03,-146.6,2042,2020,4094,3861,47.4,-12.9,95,522,0.15,0.00,0.00,0.000,2182,0.255,0.000,2085,2020,3977,4094,3861,0,0,0,0,0,0,14.63,14.77,14.73
$GC,582,-1.03,-146.6,2085,2020,4095,3861,54.1,-9.3,108,588,0.00,0.00,0.00,0.000,38,0.000,0.000,2085,2020,3977,4094,3861,0,0,0,0,0,0,14.97,14.98,14.99
$GC,768,-1.03,-146.6,2085,2020,4094,3861,70.3,-8.8,145,774,0.00,2.53,0.00,0.000,548,0.000,0.067,2085,596,3977,4094,3861,0,0,0,0,0,0,14.98,14.78,15.00
$GC,789,-1.03,-146.6,2084,597,4095,3861,72.4,-10.0,149,795,0.00,2.55,0.00,0.000,1062,0.000,0.070,2085,2022,3977,4094,3861,0,0,0,0,0,0,14.87,14.78,14.88
$GC,975,-1.03,-146.6,2085,2024,4094,3861,88.2,-8.6,186,981,0.00,2.50,0.00,0.000,548,0.000,0.067,2085,605,3977,4094,3860,0,0,0,0,0,0,15.01,14.78,15.03
$GC,991,-1.03,-146.6,2085,605,4095,3861,89.9,-9.4,189,997,0.00,2.53,0.00,0.000,1062,0.000,0.067,2084,2022,3977,4094,3861,0,0,0,0,0,0,14.88,14.79,14.90
$GC,1177,-1.03,-146.6,2084,2022,4095,3861,108.3,-9.7,226,1183,0.00,2.50,0.00,0.000,548,0.000,0.067,2085,601,3977,4094,3861,0,0,0,0,0,0,15.03,14.80,15.05
$GC,1203,-1.03,-146.6,2084,600,4095,3861,111.2,-11.2,231,1209,0.00,2.53,0.00,0.000,1030,0.000,0.067,2085,2022,3977,4094,3860,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1389,-1.03,-146.6,2085,2023,4095,3861,128.3,-7.3,268,1396,0.00,0.00,0.00,0.000,38,0.000,0.000,2084,2022,3977,4094,3861,0,0,0,0,0,0,15.06,15.09,15.08
$GC,1577,-1.03,-146.6,2085,2023,4094,3861,144.5,-9.1,305,1583,0.00,2.50,0.00,0.000,548,0.000,0.067,2084,600,3977,4094,3861,0,0,0,0,0,0,15.07,14.83,15.08
$STATE,1637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1637,begin apogee
$GC,1645,-0.29,0.0,2085,2021,4095,3861,150.4,-9.2,317,1758,0.50,0.00,102.65,1.203,10246,0.190,0.000,2243,2021,3399,3502,3296,0,0,0,0,1,0,14.75,14.35,13.78
$STATE,1759,end apogee,CONTROL_FINISHED_OK
$STATE,1759,begin climb
$GC,1763,1.21,146.6,2243,2022,3504,3297,153.3,0.0,337,1906,0.95,0.00,139.57,0.915,10246,0.090,0.000,2584,2022,2799,2851,2747,0,0,0,0,0,0,14.35,14.24,13.82
$GC,2090,0.65,146.6,2584,2062,2844,2728,95.7,23.6,397,2096,0.50,2.55,0.00,0.000,4740,0.321,0.069,2471,604,2784,2843,2726,0,0,0,0,0,0,14.42,14.59,14.58
$GC,2122,0.42,146.6,2471,604,2843,2726,89.5,16.6,403,2128,0.28,2.55,0.00,0.000,5254,0.256,0.067,2398,2018,2784,2843,2725,0,0,0,0,0,0,14.49,14.59,14.67
$GC,2308,0.50,220.0,2398,2019,2844,2725,75.1,6.6,440,2384,0.00,0.00,70.85,0.848,8230,0.000,0.000,2398,2018,2492,2572,2412,0,0,0,0,0,0,14.90,14.42,14.02
$GC,2564,0.63,240.8,2397,2057,2567,2392,54.2,9.0,489,2589,0.12,2.58,17.50,0.819,10916,0.153,0.074,2458,611,2405,2499,2311,0,0,0,0,0,0,14.64,14.48,14.16
$GC,2674,0.71,240.8,2458,611,2495,2296,41.3,11.3,510,2680,0.00,2.53,0.00,0.000,1158,0.000,0.070,2457,2025,2394,2494,2294,0,0,1,0,0,0,14.72,14.64,14.74
$GC,2740,0.71,240.8,2458,2025,2496,2296,32.9,12.6,523,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2025,2394,2494,2295,0,0,0,0,0,0,14.86,14.89,14.88
$GC,2805,0.71,240.8,2458,2025,2496,2296,24.5,13.6,536,2812,0.00,2.53,0.00,0.000,516,0.000,0.074,2458,608,2394,2494,2295,0,0,1,0,0,0,14.89,14.69,14.91
$GC,2843,0.79,240.8,2458,609,2495,2293,19.5,12.9,543,2849,0.10,2.53,0.00,0.000,3206,0.176,0.068,2500,2020,2393,2494,2292,0,0,0,0,0,0,14.70,14.71,14.79
$GC,2909,0.65,240.8,2501,2020,2496,2293,9.0,16.4,556,2916,0.17,2.53,0.00,0.000,4740,0.265,0.070,2458,611,2393,2494,2293,0,0,0,0,0,0,14.57,14.69,14.68
$GC,2941,0.73,240.8,2459,611,2498,2292,5.0,10.9,562,2947,0.00,2.53,0.00,0.000,1158,0.000,0.068,2458,2018,2393,2494,2292,0,0,0,0,0,0,14.81,14.73,14.83
$STATE,2960,end climb,SURFACE_DEPTH_REACHED
$STATE,2960,begin surface coast
$FINISH,1.1,1.010047
$STATE,2985,end surface coast,CONTROL_FINISHED_OK
$STATE,2985,begin surface
$SM_CCo,3001,179.00,0.092,0,0,1037,578.91
$SM_GC,1.92,6.65,0.05,179.00,0.078,0.216,0.092,56,2003,1037,-10.27,1.10,578.91,0,0,0,0,0,0,14.74,14.75,14.70
$IRIDIUM_FIX,4726.11,-12219.67,171116,200855
$TT8_MAMPS,0.038199,0.426181
$HUMID,52.95
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.70
$XPDR_PINGS,2
$SC_FREEKB,4018080
$24V_AH,13.71,0.000
$10V_AH,13.84,1.570
$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,18.975,55.600,330.575,179.000,0.000,0.000,0.000,267.700,2.000,0.000,41.876,0.000,1434.700,650.646,1410.628,169.007,0.000,1414.533,0.000,824.570,0.000,14.852,0.000
$DEVICE_MAMPS,404.685,2166.480,1202.580,91.800,0.000,0.000,0.000,154.530,420.000,0.000,21.720,0.000,2.190,8.420,26.400,31.640,0.000,11.800,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2995.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.769,0.000,0.000,0.000
$MEM,194088
$DATA_FILE_SIZE,20064,571
$CAP_FILE_SIZE,71216,0
$CFSIZE,260165632,258523136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$CURRENT,0.075,340.87,1
$GPS,171116,210858,4743.868,-12224.216,8,1.8,18,18.2,0.3,36.7,4,7.1