version: 66.11
glider: 122
mission: 17
dive: 29
start: 3 31 113 8 47 30
data:
$ID,122
$MISSION,17
$DIVE,29
$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,-45777.551
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,310313,083934,2447.380,-3828.061,28,0.8,28,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-71.5
$GPS2,310313,084705,2447.296,-3828.173,17,1.2,17,-14.1
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,217.2,32570,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.05,-126.5,112,2223,1548,1703,0.0,0.0,0,71,0.00,0.00,-46.40,0.000,16386,0.000,0.000,112,2223,2730,2542,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.05,-126.5,112,2223,2543,2919,3.5,-3.5,3,109,11.88,1.85,-17.85,0.000,18692,0.369,0.090,2800,3269,3368,3270,3466,0,0,0,0,0,0,14.66,14.80,14.97
$GC,336,-0.88,-126.5,1792,3268,3241,3465,42.3,-15.9,20,342,0.25,1.70,0.00,0.000,3078,0.224,0.033,2865,2202,3368,3270,3467,0,0,0,0,0,0,14.78,14.90,28.83
$GC,649,-0.78,-126.5,2865,2202,3270,3468,83.6,-11.8,41,656,0.12,1.83,0.00,0.000,2308,0.244,0.052,2898,3275,3369,3270,3468,0,0,0,0,0,0,14.85,14.94,28.83
$GC,882,-0.73,-126.5,1888,3273,3241,3465,108.3,-10.5,56,887,0.00,1.67,0.00,0.000,1030,0.000,0.034,2897,2228,3369,3270,3468,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1195,-0.68,-126.5,2897,2229,3270,3469,141.1,-10.8,77,1197,0.12,0.00,0.00,0.000,2054,0.234,0.000,2927,2229,3369,3270,3469,0,0,0,0,0,0,14.91,28.83,28.83
$GC,1494,-0.68,-126.5,2927,2228,3270,3470,169.3,-8.9,97,1500,0.00,1.77,0.00,0.000,260,0.000,0.057,2922,3276,3370,3270,3470,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1611,-0.68,-126.5,2922,3276,3270,3470,178.7,-8.7,104,1618,0.00,1.70,0.00,0.000,1030,0.000,0.034,2922,2210,3370,3270,3470,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1918,-0.68,-126.5,2922,2210,3270,3470,203.2,-7.5,125,1924,0.00,1.62,0.00,0.000,516,0.000,0.049,2922,1183,3370,3270,3470,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2050,-0.68,-126.5,2922,1183,3270,3470,213.3,-8.4,133,2057,0.00,1.73,0.00,0.000,1030,0.000,0.034,2916,2236,3370,3270,3470,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2355,-0.68,-126.5,2916,2236,3270,3471,241.7,-9.6,154,2361,0.00,1.67,0.00,0.000,260,0.000,0.058,2909,3262,3370,3270,3470,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2422,-0.68,-126.5,2909,3262,3270,3470,248.1,-10.3,158,2428,0.00,1.67,0.00,0.000,1030,0.000,0.033,2909,2198,3370,3270,3471,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2751,-0.68,-126.5,2909,2198,3270,3470,285.9,-11.8,170,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2198,3370,3270,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3050,-0.68,-126.5,2909,2198,3270,3470,319.7,-10.8,180,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2198,3370,3270,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,-0.68,-126.5,2909,2198,3270,3470,348.1,-9.0,190,3355,0.00,1.58,0.00,0.000,516,0.000,0.049,2909,1194,3370,3270,3470,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3476,-0.68,-126.5,1904,1193,3241,3468,359.5,-9.3,194,3482,0.00,1.65,0.00,0.000,1030,0.000,0.034,2903,2235,3370,3270,3470,0,0,0,0,0,0,28.83,15.12,28.83
$GC,3805,-0.68,-126.5,2903,2235,3270,3470,392.7,-10.4,205,3810,0.00,1.67,0.00,0.000,260,0.000,0.059,2895,3263,3370,3270,3470,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3931,-0.68,-126.5,1888,3262,3241,3467,406.0,-10.9,209,3937,0.12,1.65,0.00,0.000,3078,0.220,0.033,2926,2201,3370,3270,3470,0,0,0,0,0,0,15.03,15.15,28.83
$GC,4260,-0.68,-126.5,2926,2201,3270,3470,433.9,-7.3,220,4265,0.00,1.58,0.00,0.000,516,0.000,0.049,2927,1198,3370,3270,3470,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4353,-0.68,-126.5,2927,1198,3270,3470,440.2,-6.7,223,4358,0.00,1.62,0.00,0.000,1030,0.000,0.034,2923,2226,3370,3270,3470,0,0,0,0,0,0,28.83,15.14,28.83
$GC,4686,-0.68,-126.5,2923,2226,3270,3468,462.8,-7.1,234,4691,0.00,1.67,0.00,0.000,260,0.000,0.058,2915,3256,3369,3270,3468,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4839,-0.68,-126.5,2915,3257,3270,3467,474.7,-7.8,239,4844,0.00,1.62,0.00,0.000,1030,0.000,0.034,2917,2210,3368,3270,3467,0,0,0,0,0,0,28.83,15.15,28.83
$GC,5172,-0.68,-126.5,2915,2211,3270,3466,504.2,-9.4,250,5177,0.00,1.60,0.00,0.000,516,0.000,0.049,2915,1194,3368,3270,3466,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5234,-0.68,-126.5,2915,1194,3270,3465,510.7,-9.9,252,5240,0.00,1.62,0.00,0.000,1030,0.000,0.035,2909,2220,3367,3270,3465,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5568,-0.68,-126.5,2909,2221,3270,3463,546.5,-10.7,263,5573,0.00,1.70,0.00,0.000,260,0.000,0.059,2902,3262,3366,3270,3463,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5619,-0.68,-126.5,2902,3262,3270,3463,550.1,-10.7,264,5624,0.00,1.62,0.00,0.000,1030,0.000,0.034,2902,2215,3366,3270,3463,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5931,-0.68,-126.5,2901,2215,3270,3462,583.1,-9.4,275,5936,0.00,1.60,0.00,0.000,516,0.000,0.050,2902,1200,3365,3270,3461,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6084,-0.68,-126.5,2901,1200,3271,3460,597.1,-9.1,280,6090,0.12,1.62,0.00,0.000,3078,0.228,0.036,2926,2222,3365,3270,3461,0,0,0,0,0,0,15.04,15.14,28.83
$GC,6418,-0.68,-126.5,2926,2223,3270,3458,618.4,-5.7,291,6423,0.00,1.70,0.00,0.000,260,0.000,0.060,2921,3263,3364,3270,3458,0,0,0,0,0,0,28.83,15.11,28.83
$GC,6495,-0.68,-126.5,2921,3263,3270,3457,622.0,-5.5,293,6501,0.00,1.62,0.00,0.000,1030,0.000,0.034,2921,2217,3363,3270,3457,0,0,0,0,0,0,28.83,15.14,28.83
$GC,6814,-0.68,-126.5,2921,2216,3270,3456,640.9,-6.1,304,6820,0.00,1.60,0.00,0.000,516,0.000,0.050,2921,1201,3362,3269,3456,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6910,-0.68,-126.5,1936,1200,3242,3453,647.5,-6.9,307,6916,0.00,1.62,0.00,0.000,1030,0.000,0.035,2915,2222,3362,3269,3455,0,0,0,0,0,0,28.83,15.13,28.83
$GC,7239,-0.68,-126.5,2915,2223,3270,3452,674.4,-8.2,318,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2223,3361,3270,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7538,-0.68,-126.5,2915,2223,3270,3451,701.5,-9.7,328,7544,0.00,1.70,0.00,0.000,260,0.000,0.060,2908,3261,3360,3270,3451,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7610,-0.68,-126.5,2908,3261,3270,3450,708.0,-10.1,330,7615,0.00,1.62,0.00,0.000,1030,0.000,0.034,2908,2218,3360,3270,3450,0,0,0,0,0,0,28.83,15.15,28.83
$GC,7933,-0.68,-126.5,2908,2218,3270,3449,744.0,-10.8,341,7938,0.00,1.60,0.00,0.000,516,0.000,0.051,2908,1205,3359,3270,3449,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8039,-0.68,-126.5,2908,1205,3270,3448,753.9,-10.6,344,8044,0.00,1.62,0.00,0.000,1030,0.000,0.036,2902,2224,3359,3270,3448,0,0,0,0,0,0,28.83,15.13,28.83
$GC,8357,-0.68,-126.5,2902,2224,3270,3445,783.5,-8.1,355,8362,0.00,1.70,0.00,0.000,260,0.000,0.061,2895,3259,3357,3269,3445,0,0,0,0,0,0,28.83,15.10,28.83
$GC,8428,-0.68,-126.5,2895,3259,3270,3444,788.6,-7.9,357,8434,0.12,1.62,0.00,0.000,3078,0.217,0.035,2926,2219,3357,3270,3444,0,0,0,0,0,0,15.03,15.14,28.83
$GC,8753,-0.73,-126.5,2928,2220,3270,3443,809.6,-6.4,368,8758,0.00,1.62,0.00,0.000,516,0.000,0.052,2926,1196,3356,3270,3443,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8825,-0.78,-126.5,2926,1196,3270,3442,813.9,-6.7,370,8830,0.00,1.65,0.00,0.000,1030,0.000,0.037,2923,2226,3356,3270,3442,0,0,0,0,0,0,28.83,15.13,28.83
$GC,9149,-0.83,-126.5,2923,2226,3270,3439,836.8,-7.1,381,9155,0.12,1.70,0.00,0.000,4356,0.119,0.058,2836,3264,3354,3270,3439,0,0,0,0,0,0,15.13,15.10,28.83
$GC,9236,-0.83,-126.5,2836,3264,3270,3438,843.2,-8.5,383,9244,0.17,1.65,0.00,0.000,3078,0.219,0.035,2882,2216,3354,3270,3439,0,0,0,0,0,0,15.02,15.14,28.83
$GC,9543,-0.83,-126.5,2882,2216,3270,3437,873.8,-8.8,394,9548,0.00,1.67,0.00,0.000,516,0.000,0.053,2882,1194,3353,3270,3437,0,0,0,0,0,0,28.83,15.10,28.83
$GC,9644,-0.83,-126.5,2882,1194,3270,3437,882.8,-9.6,397,9649,0.00,1.65,0.00,0.000,1030,0.000,0.037,2879,2223,3353,3270,3437,0,0,0,0,0,0,28.83,15.12,28.83
$GC,9967,-0.83,-126.5,2878,2223,3270,3435,913.6,-9.3,408,9973,0.00,1.70,0.00,0.000,516,0.000,0.050,2878,1191,3352,3270,3435,0,0,0,0,0,0,28.83,15.11,28.83
$GC,10030,-0.83,-126.5,2878,1191,3270,3435,919.9,-9.5,410,10035,0.00,1.65,0.00,0.000,1030,0.000,0.037,2872,2220,3352,3270,3435,0,0,0,0,0,0,28.83,15.11,28.83
$GC,10363,-0.83,-126.5,2872,2220,3270,3432,953.0,-10.1,421,10369,0.00,1.73,0.00,0.000,260,0.000,0.063,2865,3267,3350,3269,3432,0,0,0,0,0,0,28.83,15.09,28.83
$GC,10440,-0.83,-126.5,2865,3267,3270,3432,959.8,-10.3,423,10446,0.00,1.65,0.00,0.000,1030,0.000,0.036,2865,2223,3351,3270,3432,0,0,0,0,0,0,28.83,15.14,28.83
$STATE,10726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10726,begin apogee
$GC,10732,-0.28,0.0,2865,2122,3270,3429,991.5,-10.8,433,10849,0.62,0.00,110.60,2.081,10246,0.177,0.000,3057,2123,2848,2775,2921,0,0,0,0,0,0,15.02,28.83,13.33
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10851,begin climb
$GC,10853,1.05,126.5,3057,2123,2775,2919,996.9,0.0,437,10980,1.33,1.90,117.85,2.043,10500,0.106,0.055,3491,3162,2331,2222,2440,0,0,0,0,0,0,14.26,14.11,13.27
$GC,11114,0.86,126.5,3491,3162,2218,2429,981.5,10.1,445,11120,0.28,1.75,0.00,0.000,5126,0.249,0.040,3425,2129,2323,2218,2429,0,0,0,0,0,0,14.45,14.58,28.83
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$STATE,21686,end climb,SURFACE_DEPTH_REACHED
$STATE,21686,begin surface coast
$FINISH,1.5,1.021679
$STATE,21702,end surface coast,CONTROL_FINISHED_OK
$STATE,21702,begin surface
$SM_CCo,21722,12.48,0.084,0,0,1626,300.00
$SM_GC,3.17,9.05,0.10,12.48,0.051,0.136,0.084,144,2211,1626,-9.28,-1.70,300.00,0,0,0,0,0,0,15.02,14.99,14.97
$IRIDIUM_FIX,2439.44,-3826.24,310313,020213
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.16
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.90
$XPDR_PINGS,41
$SC_FREEKB,4012544
$TM_FREEKB,7695000
$24V_AH,13.3,10.458
$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,25.200,131.800,367.550,12.475,0.000,0.000,0.000,263.600,10.250,0.000,17.666,3290.256,15303.273,544.561,2830.970,210.566,0.000,2110.185,0.000,2404.633,0.000,0.538,0.000
$DEVICE_MAMPS,369.495,136.170,2080.800,84.150,0.000,0.000,0.000,227.970,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21697.000,5020.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.547,12.697,0.000,0.000
$MEM,354132
$DATA_FILE_SIZE,33342,880
$CAP_FILE_SIZE,230310,0
$CFSIZE,260034560,249696256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.169,264.7,1
$GPS,310313,145104,2444.607,-3831.657,38,0.9,38,-14.1