version: 66.11
glider: 122
mission: 17
dive: 17
start: 3 28 113 7 15 13
data:
$ID,122
$MISSION,17
$DIVE,17
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$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,420
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-45762.465
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,30
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.500248
$PRESSURE_SLOPE,0.0001162797
$AD7714Ch0Gain,128
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280313,070704,2506.293,-3759.177,40,0.8,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-70.7
$GPS2,280313,071447,2506.268,-3759.219,16,1.0,16,-13.9
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,26.2,12537,-15.2,-7.857,-19.53,2419
$D_GRID,990
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.05,-126.5,121,2238,1540,1710,0.0,0.0,0,70,0.00,0.00,-46.83,0.000,16386,0.000,0.000,120,2238,2710,2519,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.05,-126.5,120,2238,2519,2902,3.1,-2.7,3,111,11.93,1.83,-18.27,0.000,18948,0.374,0.086,2802,1170,3367,3270,3465,0,0,0,0,0,0,14.64,14.79,14.97
$GC,278,-0.85,-126.5,2802,1170,3270,3466,30.9,-16.5,16,287,0.30,1.70,0.00,0.000,3078,0.230,0.045,2876,2199,3368,3270,3466,0,0,0,0,0,0,14.76,14.88,28.83
$GC,585,-0.76,-126.5,2876,2199,3271,3466,75.6,-14.1,37,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2199,3368,3270,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-0.68,-126.5,2876,2199,3270,3466,115.6,-12.8,57,887,0.20,0.00,0.00,0.000,2054,0.219,0.000,2931,2199,3368,3270,3466,0,0,0,0,0,0,14.89,28.83,28.83
$GC,1184,-0.68,-126.5,2931,2199,3270,3468,143.6,-8.5,77,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2199,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-0.68,-126.5,2931,2199,3270,3467,169.0,-7.9,97,1490,0.00,1.77,0.00,0.000,260,0.000,0.065,2925,3268,3369,3270,3468,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1607,-0.68,-126.5,2925,3269,3270,3468,178.9,-8.1,105,1612,0.00,1.73,0.00,0.000,1030,0.000,0.041,2925,2201,3369,3270,3468,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1925,-0.68,-126.5,2925,2202,3270,3469,203.5,-7.7,126,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2202,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,-0.68,-126.5,2925,2202,3270,3469,228.1,-8.2,146,2230,0.00,1.65,0.00,0.000,516,0.000,0.056,2924,1171,3369,3270,3468,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2321,-0.68,-126.5,2924,1171,3270,3468,236.3,-8.8,152,2326,0.00,1.73,0.00,0.000,1030,0.000,0.042,2919,2231,3369,3270,3468,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2633,-0.68,-126.5,2919,2231,3270,3468,263.3,-8.4,168,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2231,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2934,-0.68,-126.5,2919,2231,3270,3468,288.3,-8.4,178,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2231,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-0.68,-126.5,2919,2231,3270,3468,314.5,-8.8,188,3239,0.00,1.70,0.00,0.000,260,0.000,0.067,2911,3262,3369,3270,3468,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3296,-0.68,-126.5,2911,3263,3270,3468,320.2,-9.0,190,3302,0.00,1.67,0.00,0.000,1030,0.000,0.042,2911,2216,3369,3270,3468,0,0,0,0,0,0,28.83,15.13,28.83
$GC,3630,-0.68,-126.5,2911,2216,3270,3468,349.5,-8.4,201,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2217,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-0.68,-126.5,2911,2216,3270,3468,375.2,-8.1,211,3934,0.00,1.65,0.00,0.000,516,0.000,0.057,2911,1183,3369,3270,3468,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3995,-0.68,-126.5,1920,1181,3241,3466,380.2,-8.2,213,4000,0.00,1.70,0.00,0.000,1030,0.000,0.044,2905,2227,3369,3270,3468,0,0,0,0,0,0,28.83,15.13,28.83
$GC,4322,-0.68,-126.5,2905,2227,3270,3468,407.9,-8.6,224,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2227,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,-0.68,-126.5,2905,2227,3270,3468,434.3,-8.8,234,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2227,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4922,-0.68,-126.5,2905,2227,3270,3466,462.2,-9.6,244,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2227,3368,3270,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-0.68,-126.5,2905,2228,3270,3465,493.2,-10.8,254,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2228,3367,3270,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-0.68,-126.5,2905,2227,3270,3464,524.0,-10.0,264,5527,0.00,1.73,0.00,0.000,260,0.000,0.069,2897,3270,3367,3270,3464,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5598,-0.68,-126.5,2897,3270,3270,3463,530.1,-9.9,266,5604,0.12,1.70,0.00,0.000,3078,0.223,0.044,2928,2216,3366,3270,3463,0,0,0,0,0,0,15.05,15.16,28.83
$GC,5917,-0.68,-126.5,2928,2216,3270,3462,558.2,-8.3,277,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2216,3365,3269,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6217,-0.68,-126.5,2928,2216,3270,3459,582.0,-7.8,287,6223,0.00,1.65,0.00,0.000,516,0.000,0.059,2928,1186,3364,3270,3459,0,0,0,0,0,0,28.83,15.13,28.83
$GC,6355,-0.68,-126.5,2928,1186,3270,3458,592.2,-8.2,291,6360,0.00,1.67,0.00,0.000,1030,0.000,0.045,2924,2219,3363,3269,3458,0,0,0,0,0,0,28.83,15.14,28.83
$GC,6672,-0.68,-126.5,2923,2221,3270,3456,619.9,-8.3,302,6678,0.00,1.73,0.00,0.000,260,0.000,0.070,2917,3268,3362,3269,3456,0,0,0,0,0,0,28.83,15.11,28.83
$GC,6719,-0.68,-126.5,2917,3269,3269,3456,622.6,-8.3,303,6724,0.00,1.70,0.00,0.000,1030,0.000,0.045,2917,2216,3362,3269,3456,0,0,0,0,0,0,28.83,15.15,28.83
$GC,7037,-0.68,-126.5,2917,2217,3270,3455,648.8,-7.5,314,7043,0.00,1.80,0.00,0.000,260,0.000,0.067,2910,3269,3362,3269,3455,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7089,-0.68,-126.5,2910,3268,3270,3454,651.4,-7.5,315,7095,0.00,1.70,0.00,0.000,1030,0.000,0.045,2910,2216,3361,3269,3454,0,0,0,0,0,0,28.83,15.15,28.83
$GC,7403,-0.68,-126.5,2910,2217,3270,3452,676.1,-7.5,326,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2217,3361,3270,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7702,-0.68,-126.5,2910,2217,3269,3450,698.2,-7.5,336,7707,0.00,1.67,0.00,0.000,516,0.000,0.061,2910,1178,3359,3269,3450,0,0,0,0,0,0,28.83,15.12,28.83
$GC,7765,-0.68,-126.5,2910,1178,3270,3450,703.1,-7.8,338,7770,0.00,1.70,0.00,0.000,1030,0.000,0.046,2903,2221,3360,3270,3450,0,0,0,0,0,0,28.83,15.13,28.83
$GC,8098,-0.68,-126.5,2904,2221,3270,3448,730.1,-8.2,349,8103,0.00,1.73,0.00,0.000,516,0.000,0.058,2903,1186,3358,3269,3448,0,0,0,0,0,0,28.83,15.12,28.83
$GC,8164,-0.68,-126.5,2903,1186,3270,3448,735.4,-8.4,351,8170,0.12,1.70,0.00,0.000,3078,0.233,0.047,2928,2224,3359,3270,3448,0,0,0,0,0,0,15.04,15.13,28.83
$GC,8493,-0.72,-126.5,2928,2224,3270,3445,760.8,-7.8,362,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2224,3358,3270,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8792,-0.76,-126.5,2927,2224,3270,3443,787.0,-9.0,372,8798,0.00,1.75,0.00,0.000,260,0.000,0.071,2922,3274,3356,3270,3443,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8835,-0.81,-126.5,2922,3274,3269,3443,790.2,-9.2,373,8841,0.00,1.75,0.00,0.000,1030,0.000,0.047,2922,2223,3356,3270,3443,0,0,0,0,0,0,28.83,15.14,28.83
$GC,9159,-0.81,-126.5,2922,2223,3269,3442,822.8,-10.0,384,9164,0.00,1.70,0.00,0.000,516,0.000,0.062,2921,1173,3355,3270,3441,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9205,-0.81,-126.5,2921,1173,3269,3441,826.0,-10.0,385,9210,0.00,1.73,0.00,0.000,1030,0.000,0.047,2915,2224,3355,3270,3441,0,0,0,0,0,0,28.83,15.13,28.83
$GC,9522,-0.81,-126.5,2915,2224,3270,3439,858.2,-9.1,396,9528,0.00,1.75,0.00,0.000,260,0.000,0.072,2908,3273,3354,3270,3439,0,0,0,0,0,0,28.83,15.10,28.83
$GC,9569,-0.81,-126.5,2908,3273,3270,3439,861.3,-9.0,397,9574,0.00,1.73,0.00,0.000,1030,0.000,0.047,2908,2214,3354,3270,3438,0,0,0,0,0,0,28.83,15.14,28.83
$GC,9888,-0.81,-126.5,2908,2214,3270,3437,888.2,-7.6,408,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2214,3353,3269,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10187,-0.81,-126.5,2908,2214,3270,3436,907.3,-6.1,418,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2214,3353,3270,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10487,-0.81,-126.5,2907,2214,3269,3435,924.4,-5.7,428,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2214,3351,3269,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10787,-0.81,-126.5,2907,2215,3269,3432,943.3,-6.7,438,10793,0.00,1.67,0.00,0.000,516,0.000,0.065,2908,1184,3350,3269,3432,0,0,0,0,0,0,28.83,15.11,28.83
$GC,10855,-0.81,-126.5,2907,1184,3269,3431,948.1,-7.2,440,10860,0.00,1.70,0.00,0.000,1030,0.000,0.050,2901,2217,3350,3269,3431,0,0,0,0,0,0,28.83,15.12,28.83
$GC,11183,-0.81,-126.5,2901,2217,3270,3429,976.1,-8.8,451,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2217,3350,3270,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11360,begin apogee
$GC,11365,-0.28,0.0,2901,2118,3270,3428,992.6,-9.3,457,11483,0.50,0.00,110.30,2.101,10246,0.177,0.000,3055,2118,2847,2775,2920,0,0,0,0,0,0,15.04,28.83,13.40
$STATE,11485,end apogee,CONTROL_FINISHED_OK
$STATE,11485,begin climb
$GC,11487,1.05,126.5,3054,2118,2775,2919,998.3,0.0,461,11612,1.38,0.00,118.53,2.059,10758,0.111,0.000,3494,2118,2332,2222,2443,0,0,0,0,0,0,14.26,28.83,13.30
$GC,11934,0.88,126.5,3494,2118,2220,2425,966.7,9.3,476,11936,0.22,0.00,0.00,0.000,4102,0.249,0.000,3438,2118,2322,2220,2425,0,0,0,0,0,0,14.65,28.83,28.83
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$STATE,22386,end climb,SURFACE_DEPTH_REACHED
$STATE,22386,begin surface coast
$FINISH,1.4,1.011927
$STATE,22401,end surface coast,CONTROL_FINISHED_OK
$STATE,22401,begin surface
$SM_CCo,22420,29.67,0.083,0,0,1626,300.00
$SM_GC,2.64,9.07,0.17,29.67,0.058,0.102,0.083,149,2220,1626,-9.28,-1.47,300.00,0,0,0,0,0,0,15.02,15.00,14.96
$IRIDIUM_FIX,2456.07,-3758.34,280313,000043
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.29
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.80
$XPDR_PINGS,37
$SC_FREEKB,4015616
$TM_FREEKB,7784280
$24V_AH,13.3,6.829
$10V_AH,13.7,0.000
$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,24.400,100.675,330.800,29.675,0.000,0.000,0.000,271.425,9.250,0.000,17.333,3041.669,16599.352,532.700,2534.486,197.674,0.000,1930.403,0.000,2110.016,0.000,0.537,0.000
$DEVICE_MAMPS,374.085,101.745,2100.690,83.385,0.000,0.000,0.000,229.500,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22398.000,5197.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.590,12.658,0.000,0.000
$MEM,354108
$DATA_FILE_SIZE,33352,912
$CAP_FILE_SIZE,214511,0
$CFSIZE,260034560,251101184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,289.7,1
$GPS,280313,133034,2509.546,-3759.810,29,0.8,29,-13.9