version: 66.11
glider: 122
mission: 17
dive: 30
start: 3 31 113 14 59 20
data:
$ID,122
$MISSION,17
$DIVE,30
$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,-45778.809
$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,53
$R_STBD_OVSHOOT,47
$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
$GPS1,310313,145104,2444.607,-3831.657,38,0.9,38,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-70.2
$GPS2,310313,145854,2444.538,-3831.818,19,1.1,19,-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,208.7,24618,-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,-126.5,131,2224,1543,1707,0.0,0.0,0,71,0.00,0.00,-46.42,0.000,16386,0.000,0.000,130,2224,2728,2543,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.05,-126.5,130,2224,2543,2914,3.3,-3.3,3,109,11.73,1.83,-17.98,0.000,18948,0.366,0.079,2803,1165,3366,3269,3464,0,0,0,0,0,0,14.64,14.80,14.97
$GC,337,-0.86,-126.5,2804,1165,3269,3465,40.8,-17.2,20,343,0.28,1.73,0.00,0.000,3078,0.226,0.037,2871,2224,3367,3269,3465,0,0,0,0,0,0,14.78,14.90,28.83
$GC,650,-0.77,-126.5,2871,2224,3269,3465,80.8,-12.4,41,657,0.12,1.75,0.00,0.000,2564,0.244,0.046,2908,1170,3368,3270,3466,0,0,0,0,0,0,14.85,14.94,28.83
$GC,883,-0.71,-126.5,1920,1171,3241,3464,107.3,-11.8,56,888,0.00,1.70,0.00,0.000,1030,0.000,0.036,2905,2224,3368,3269,3467,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1195,-0.67,-126.5,2905,2224,3269,3467,147.0,-12.0,77,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2224,3368,3269,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1495,-0.67,-126.5,2905,2224,3269,3467,180.5,-10.3,97,1501,0.00,1.73,0.00,0.000,516,0.000,0.047,2904,1174,3368,3269,3467,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1598,-0.63,-126.5,2905,1175,3269,3467,188.6,-8.4,103,1606,0.12,1.73,0.00,0.000,3078,0.161,0.035,2948,2223,3368,3269,3467,0,0,0,0,0,0,14.93,15.02,28.83
$GC,1904,-0.63,-126.5,2948,2223,3269,3468,210.1,-7.2,124,1909,0.00,1.70,0.00,0.000,260,0.000,0.058,2942,3265,3368,3269,3468,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1997,-0.63,-126.5,2942,3265,3269,3468,217.2,-7.8,130,2003,0.00,1.67,0.00,0.000,1030,0.000,0.032,2942,2195,3368,3269,3468,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2314,-0.63,-126.5,2942,2195,3269,3468,245.1,-8.9,151,2320,0.00,1.58,0.00,0.000,516,0.000,0.048,2942,1194,3368,3269,3468,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2417,-0.63,-126.5,2942,1193,3269,3469,253.9,-9.6,156,2422,0.00,1.65,0.00,0.000,1030,0.000,0.037,2937,2223,3369,3270,3468,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2740,-0.63,-126.5,2937,2222,3269,3468,287.0,-10.2,167,2746,0.00,1.70,0.00,0.000,260,0.000,0.057,2930,3268,3368,3269,3468,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2837,-0.63,-126.5,2930,3268,3269,3468,296.6,-10.3,170,2842,0.00,1.65,0.00,0.000,1030,0.000,0.033,2930,2212,3368,3269,3468,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3164,-0.63,-126.5,2930,2212,3269,3468,328.6,-9.3,181,3170,0.00,1.60,0.00,0.000,516,0.000,0.049,2929,1195,3368,3269,3468,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3227,-0.63,-126.5,2929,1194,3269,3468,334.0,-8.7,183,3232,0.00,1.65,0.00,0.000,1030,0.000,0.034,2924,2237,3368,3269,3468,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3560,-0.63,-126.5,2924,2237,3269,3468,355.5,-5.6,194,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2237,3368,3269,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3859,-0.63,-126.5,2924,2237,3269,3468,373.1,-6.2,204,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2237,3368,3269,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4159,-0.63,-126.5,2924,2237,3269,3468,393.2,-6.9,214,4164,0.00,1.65,0.00,0.000,260,0.000,0.058,2916,3255,3368,3269,3467,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4211,-0.63,-126.5,2916,3255,3269,3467,395.6,-7.0,215,4217,0.12,1.62,0.00,0.000,3078,0.216,0.033,2948,2205,3368,3269,3467,0,0,0,0,0,0,15.04,15.15,28.83
$GC,4526,-0.68,-126.5,2948,2206,3269,3466,419.1,-7.7,226,4532,0.00,1.58,0.00,0.000,516,0.000,0.050,2948,1204,3367,3269,3466,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4614,-0.72,-126.5,2948,1204,3269,3466,424.5,-8.2,228,4621,0.00,1.62,0.00,0.000,1030,0.000,0.034,2944,2230,3367,3269,3466,0,0,0,0,0,0,28.83,15.14,28.83
$GC,4920,-0.77,-126.5,2944,2230,3269,3464,454.6,-9.3,239,4927,0.12,1.67,0.00,0.000,4356,0.116,0.055,2859,3261,3366,3269,3464,0,0,0,0,0,0,15.15,15.11,28.83
$GC,4978,-0.77,-126.5,2858,3261,3269,3463,458.7,-9.9,240,4985,0.17,1.62,0.00,0.000,3078,0.207,0.033,2905,2216,3366,3269,3463,0,0,0,0,0,0,15.04,15.16,28.83
$GC,5284,-0.77,-126.5,2905,2216,3269,3462,495.2,-10.7,251,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2216,3365,3269,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5584,-0.77,-126.5,2905,2216,3269,3460,525.6,-9.4,261,5590,0.00,1.60,0.00,0.000,516,0.000,0.049,2906,1198,3364,3269,3460,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5656,-0.77,-126.5,2906,1199,3269,3459,531.4,-9.2,263,5661,0.00,1.62,0.00,0.000,1030,0.000,0.034,2902,2223,3364,3269,3459,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5979,-0.77,-126.5,2902,2223,3269,3457,559.6,-8.3,274,5985,0.00,1.67,0.00,0.000,516,0.000,0.047,2902,1196,3363,3269,3457,0,0,0,0,0,0,28.83,15.13,28.83
$GC,6061,-0.77,-126.5,2902,1196,3269,3457,565.2,-8.8,276,6067,0.00,1.62,0.00,0.000,1030,0.000,0.035,2896,2220,3363,3270,3457,0,0,0,0,0,0,28.83,15.14,28.83
$GC,6374,-0.77,-126.5,2896,2220,3269,3455,596.7,-9.8,287,6380,0.00,1.67,0.00,0.000,260,0.000,0.059,2888,3255,3362,3269,3455,0,0,0,0,0,0,28.83,15.11,28.83
$GC,6481,-0.77,-126.5,2888,3255,3269,3454,606.4,-10.4,290,6486,0.00,1.62,0.00,0.000,1030,0.000,0.034,2888,2212,3361,3269,3454,0,0,0,0,0,0,28.83,15.15,28.83
$GC,6799,-0.77,-126.5,2888,2212,3269,3452,641.8,-10.7,301,6804,0.00,1.60,0.00,0.000,516,0.000,0.050,2888,1197,3360,3269,3452,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6891,-0.77,-126.5,2888,1197,3269,3451,651.3,-10.3,304,6898,0.00,1.67,0.00,0.000,1030,0.000,0.036,2882,2220,3360,3269,3451,0,0,0,0,0,0,28.83,15.13,28.83
$GC,7225,-0.77,-126.5,2882,2220,3269,3450,682.5,-9.0,315,7231,0.00,1.70,0.00,0.000,260,0.000,0.060,2875,3267,3359,3269,3450,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7278,-0.77,-126.5,2875,3267,3269,3450,685.5,-8.9,316,7283,0.00,1.65,0.00,0.000,1030,0.000,0.034,2874,2215,3359,3269,3450,0,0,0,0,0,0,28.83,15.15,28.83
$GC,7590,-0.77,-126.5,2874,2215,3269,3447,715.1,-8.8,327,7595,0.00,1.62,0.00,0.000,516,0.000,0.051,2875,1190,3358,3269,3447,0,0,0,0,0,0,28.83,15.12,28.83
$GC,7707,-0.77,-126.5,2874,1190,3269,3446,724.1,-9.6,330,7714,0.12,1.65,0.00,0.000,3078,0.244,0.036,2901,2221,3357,3269,3446,0,0,0,0,0,0,15.03,15.14,28.83
$GC,8013,-0.77,-126.5,2900,2222,3269,3444,755.0,-9.8,341,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2221,3356,3269,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8312,-0.77,-126.5,2900,2221,3269,3443,784.9,-9.7,351,8317,0.00,1.70,0.00,0.000,260,0.000,0.060,2894,3258,3355,3269,3442,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8423,-0.77,-126.5,2894,3258,3269,3441,793.4,-9.2,354,8429,0.00,1.62,0.00,0.000,1030,0.000,0.034,2894,2216,3355,3269,3441,0,0,0,0,0,0,28.83,15.14,28.83
$GC,8737,-0.77,-126.5,2894,2216,3269,3439,817.5,-6.3,365,8743,0.00,1.62,0.00,0.000,516,0.000,0.051,2895,1192,3354,3269,3439,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8810,-0.77,-126.5,2894,1192,3269,3438,821.3,-6.0,367,8815,0.00,1.65,0.00,0.000,1030,0.000,0.036,2888,2224,3353,3269,3438,0,0,0,0,0,0,28.83,15.13,28.83
$GC,9133,-0.77,-126.5,2888,2224,3269,3436,844.0,-7.6,378,9139,0.00,1.70,0.00,0.000,260,0.000,0.062,2882,3263,3353,3269,3437,0,0,0,0,0,0,28.83,15.10,28.83
$GC,9256,-0.77,-126.5,2881,3262,3269,3436,854.6,-8.6,382,9262,0.00,1.65,0.00,0.000,1030,0.000,0.035,2881,2214,3352,3269,3436,0,0,0,0,0,0,28.83,15.14,28.83
$GC,9590,-0.77,-126.5,2882,2213,3269,3434,888.1,-10.6,393,9596,0.00,1.62,0.00,0.000,516,0.000,0.053,2880,1192,3351,3269,3434,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9777,-0.77,-126.5,2881,1192,3269,3432,910.0,-12.1,399,9783,0.00,1.65,0.00,0.000,1030,0.000,0.037,2874,2221,3350,3268,3432,0,0,0,0,0,0,28.83,15.12,28.83
$GC,10105,-0.77,-126.5,2874,2221,3269,3432,950.9,-12.4,410,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2221,3349,3269,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10405,-0.77,-126.5,2874,2221,3269,3428,985.6,-11.3,420,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2221,3348,3269,3428,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10463,begin apogee
$GC,10468,-0.28,0.0,2874,2107,3269,3428,992.0,-10.9,422,10585,0.60,0.00,109.05,2.079,10246,0.178,0.000,3057,2107,2847,2775,2920,0,0,0,0,0,0,15.02,28.83,13.39
$STATE,10588,end apogee,CONTROL_FINISHED_OK
$STATE,10588,begin climb
$GC,10589,1.05,126.5,3057,2107,2774,2919,997.4,0.0,426,10715,1.35,1.92,118.28,2.039,10500,0.106,0.054,3494,3163,2331,2221,2441,0,0,0,0,0,0,14.28,14.12,13.28
$GC,10768,0.87,143.3,3493,3164,2218,2434,988.0,7.1,432,10793,0.25,1.75,15.85,1.909,13318,0.252,0.039,3433,2143,2262,2154,2371,0,0,0,0,0,0,14.29,14.42,13.47
$GC,11101,0.77,143.3,3433,2143,2153,2360,957.2,9.1,443,11103,0.12,0.00,0.00,0.000,4102,0.265,0.000,3402,2143,2257,2154,2360,0,0,0,0,0,0,14.66,28.83,28.83
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$STATE,21582,end climb,SURFACE_DEPTH_REACHED
$STATE,21582,begin surface coast
$FINISH,1.5,1.011247
$STATE,21599,end surface coast,CONTROL_FINISHED_OK
$STATE,21599,begin surface
$SM_CCo,21618,16.23,0.083,0,0,1626,300.00
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$IRIDIUM_FIX,2434.69,-3829.95,310313,080837
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.67
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.80
$XPDR_PINGS,41
$SC_FREEKB,4012288
$TM_FREEKB,7687464
$24V_AH,13.3,10.770
$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
$DEVICE_SECS,24.925,138.775,363.675,16.225,0.000,0.000,0.000,274.225,10.250,0.000,20.011,3186.393,15384.122,609.204,2715.361,201.546,0.000,2120.317,0.000,2277.928,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.524,12.672,0.000,0.000
$MEM,354076
$DATA_FILE_SIZE,30042,873
$CAP_FILE_SIZE,230135,0
$CFSIZE,260034560,249581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.182,261.9,1
$GPS,310313,210104,2441.434,-3834.824,28,0.9,28,-14.2