version: 66.11
glider: 122
mission: 17
dive: 53
start: 4 6 113 13 1 26
data:
$ID,122
$MISSION,17
$DIVE,53
$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,-45807.84
$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,76
$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
$GPS1,060413,125235,2408.702,-3806.627,31,0.8,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-67.9
$GPS2,060413,130059,2408.824,-3806.613,20,0.8,20,-14.1
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,S
$TGT_LATLONG,2357.000,-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,182.6,24592,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.05,-126.5,102,2251,1542,1704,0.0,0.0,0,74,0.00,0.00,-48.03,0.000,16386,0.000,0.000,102,2251,2778,2594,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.05,-126.5,102,2251,2594,2963,3.6,-3.3,3,109,11.80,1.85,-15.20,0.000,19204,0.356,0.082,2808,1182,3367,3270,3465,0,0,0,0,0,0,14.64,14.80,14.97
$GC,337,-0.87,-126.5,2808,1181,3270,3466,42.4,-16.0,20,343,0.25,1.65,0.00,0.000,3078,0.223,0.037,2869,2195,3368,3270,3466,0,0,0,0,0,0,14.78,14.88,28.83
$GC,655,-0.77,-126.5,2869,2195,3270,3466,84.5,-12.6,41,661,0.12,1.77,0.00,0.000,2308,0.243,0.057,2901,3266,3368,3270,3466,0,0,0,0,0,0,14.85,14.92,28.83
$GC,735,-0.72,-126.5,2901,3265,3270,3466,93.1,-10.8,46,740,0.00,1.70,0.00,0.000,1030,0.000,0.035,2901,2209,3368,3270,3466,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1053,-0.67,-126.5,2901,2209,3269,3467,127.7,-11.0,67,1055,0.12,0.00,0.00,0.000,2054,0.229,0.000,2931,2209,3368,3270,3467,0,0,0,0,0,0,14.90,28.83,28.83
$GC,1352,-0.67,-126.5,2931,2209,3270,3467,156.3,-9.4,87,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1652,-0.67,-126.5,2931,2209,3270,3468,183.4,-8.9,107,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1952,-0.67,-126.5,2931,2209,3270,3467,208.9,-8.6,127,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.67,-126.5,2930,2209,3270,3468,233.5,-8.3,147,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2568,-0.67,-126.5,2931,2209,3270,3468,260.3,-8.5,164,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2867,-0.67,-126.5,2931,2209,3270,3467,283.5,-7.4,174,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3368,3269,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-0.67,-126.5,2931,2209,3270,3468,305.3,-7.4,184,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3467,-0.67,-126.5,2931,2209,3270,3468,329.9,-8.4,194,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.67,-126.5,2931,2209,3270,3467,358.2,-9.8,204,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4067,-0.67,-126.5,2931,2209,3270,3467,387.8,-9.8,214,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-0.67,-126.5,2931,2209,3270,3467,414.3,-8.5,224,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4667,-0.67,-126.5,2931,2209,3270,3467,438.1,-7.8,234,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2209,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4968,-0.67,-126.5,2931,2209,3270,3465,461.6,-8.0,244,4973,0.00,1.65,0.00,0.000,516,0.000,0.054,2931,1174,3367,3270,3465,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5044,-0.67,-126.5,2931,1174,3270,3465,467.3,-8.6,246,5050,0.00,1.70,0.00,0.000,1030,0.000,0.037,2927,2232,3367,3270,3465,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5362,-0.67,-126.5,2927,2233,3270,3463,498.6,-9.6,257,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2233,3366,3270,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5662,-0.67,-126.5,2927,2235,3270,3462,525.6,-8.7,267,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2233,3366,3270,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5963,-0.67,-126.5,2927,2233,3270,3459,549.3,-7.2,277,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2233,3364,3270,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6262,-0.67,-126.5,2927,2233,3270,3457,569.3,-6.4,287,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2233,3363,3270,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,-0.67,-126.5,2927,2233,3270,3456,590.7,-7.6,297,6568,0.00,1.73,0.00,0.000,516,0.000,0.050,2927,1183,3363,3270,3456,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6614,-0.67,-126.5,2927,1183,3270,3456,593.3,-7.7,298,6620,0.00,1.67,0.00,0.000,1030,0.000,0.037,2921,2226,3363,3270,3456,0,0,0,0,0,0,28.83,15.14,28.83
$GC,6927,-0.67,-126.5,2921,2226,3270,3453,621.3,-8.5,309,6932,0.00,1.70,0.00,0.000,260,0.000,0.063,2914,3259,3361,3270,3453,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6973,-0.67,-126.5,2913,3259,3270,3453,624.2,-8.6,310,6979,0.00,1.67,0.00,0.000,1030,0.000,0.037,2914,2203,3361,3270,3452,0,0,0,0,0,0,28.83,15.14,28.83
$GC,7293,-0.67,-126.5,2914,2203,3270,3451,653.1,-8.4,321,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2203,3360,3270,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7591,-0.67,-126.5,2914,2203,3270,3450,677.0,-8.0,331,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2203,3360,3270,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7892,-0.67,-126.5,2914,2203,3270,3447,701.8,-8.4,341,7897,0.00,1.62,0.00,0.000,516,0.000,0.053,2913,1184,3358,3270,3447,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7994,-0.67,-126.5,2913,1184,3270,3446,710.2,-8.9,344,7999,0.00,1.67,0.00,0.000,1030,0.000,0.038,2908,2224,3358,3270,3446,0,0,0,0,0,0,28.83,15.13,28.83
$GC,8317,-0.67,-126.5,2908,2225,3269,3444,741.5,-9.5,355,8322,0.00,1.73,0.00,0.000,260,0.000,0.063,2901,3270,3356,3269,3444,0,0,0,0,0,0,28.83,15.09,28.83
$GC,8434,-0.67,-126.5,2901,3270,3269,3444,750.5,-9.7,358,8441,0.12,1.67,0.00,0.000,3078,0.212,0.038,2932,2216,3356,3269,3444,0,0,0,0,0,0,15.03,15.13,28.83
$GC,8741,-0.72,-126.5,2932,2217,3269,3443,776.9,-7.3,369,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2216,3356,3269,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9040,-0.78,-126.5,2932,2216,3269,3441,797.1,-6.4,379,9045,0.00,1.62,0.00,0.000,516,0.000,0.053,2932,1197,3354,3268,3440,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9097,-0.84,-126.5,2932,1197,3269,3440,799.3,-6.4,380,9104,0.15,1.65,0.00,0.000,5126,0.103,0.038,2848,2224,3354,3269,3439,0,0,0,0,0,0,15.13,15.12,28.83
$GC,9403,-0.78,-126.5,2849,2223,3269,3438,830.3,-9.9,391,9405,0.17,0.00,0.00,0.000,2054,0.210,0.000,2895,2223,3353,3269,3438,0,0,0,0,0,0,15.02,28.83,28.83
$GC,9702,-0.78,-126.5,2895,2223,3269,3437,855.6,-8.5,401,9707,0.00,1.73,0.00,0.000,260,0.000,0.064,2889,3264,3353,3269,3437,0,0,0,0,0,0,28.83,15.09,28.83
$GC,9764,-0.78,-126.5,2889,3264,3269,3437,861.3,-8.9,403,9769,0.00,1.67,0.00,0.000,1030,0.000,0.038,2889,2211,3352,3269,3436,0,0,0,0,0,0,28.83,15.14,28.83
$GC,10097,-0.78,-126.5,2889,2211,3268,3435,892.5,-9.6,414,10102,0.00,1.62,0.00,0.000,516,0.000,0.054,2889,1195,3352,3269,3435,0,0,0,0,0,0,28.83,15.10,28.83
$GC,10229,-0.78,-126.5,2889,1195,3269,3433,904.7,-9.9,418,10234,0.00,1.70,0.00,0.000,1030,0.000,0.040,2884,2216,3351,3269,3434,0,0,0,0,0,0,28.83,15.11,28.83
$GC,10552,-0.78,-126.5,2884,2216,3269,3431,936.6,-9.5,429,10557,0.00,1.75,0.00,0.000,260,0.000,0.064,2876,3268,3350,3269,3432,0,0,0,0,0,0,28.83,15.08,28.83
$GC,10633,-0.78,-126.5,2876,3268,3269,3430,942.8,-9.6,431,10639,0.00,1.67,0.00,0.000,1030,0.000,0.039,2876,2222,3349,3269,3430,0,0,0,0,0,0,28.83,15.11,28.83
$GC,10946,-0.78,-126.5,2876,2222,3269,3429,974.7,-9.7,442,10952,0.00,1.70,0.00,0.000,516,0.000,0.055,2876,1193,3349,3269,3429,0,0,0,0,0,0,28.83,15.09,28.83
$GC,11053,-0.78,-126.5,2876,1193,3269,3428,983.9,-9.9,445,11059,0.00,1.67,0.00,0.000,1030,0.000,0.040,2870,2223,3348,3269,3428,0,0,0,0,0,0,28.83,15.10,28.83
$STATE,11099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11099,begin apogee
$GC,11104,-0.28,0.0,2870,2119,3269,3428,990.1,-9.9,447,11221,0.60,0.00,109.25,2.064,10246,0.172,0.000,3054,2120,2847,2774,2921,0,0,0,0,0,0,15.00,28.83,13.38
$STATE,11224,end apogee,CONTROL_FINISHED_OK
$STATE,11224,begin climb
$GC,11225,1.05,126.5,3054,2120,2773,2920,994.8,0.0,451,11348,1.33,0.00,117.88,2.025,10758,0.104,0.000,3489,2119,2333,2221,2446,0,0,0,0,0,0,14.30,28.83,13.29
$GC,11641,0.88,126.5,3490,2119,2218,2428,961.2,10.7,465,11647,0.20,1.83,0.00,0.000,4356,0.253,0.054,3435,3165,2321,2215,2428,0,0,0,0,0,0,14.63,14.74,28.83
$GC,11753,0.73,126.5,2560,3163,2150,2420,952.1,9.9,468,11759,0.22,1.73,0.00,0.000,5126,0.236,0.040,3384,2127,2321,2214,2428,0,0,0,0,0,0,14.69,14.82,28.83
$GC,12067,0.70,138.5,3383,2127,2214,2425,927.0,7.3,479,12080,0.00,0.00,10.27,1.795,8198,0.000,0.000,3383,2127,2284,2177,2392,0,0,0,0,0,0,28.83,28.83,13.93
$GC,12368,0.67,148.2,3383,2127,2176,2386,904.4,7.4,489,12381,0.00,0.00,10.38,1.785,8198,0.000,0.000,3383,2127,2244,2136,2353,0,0,0,0,0,0,28.83,28.83,13.95
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$STATE,22963,end climb,SURFACE_DEPTH_REACHED
$STATE,22964,begin surface coast
$FINISH,1.5,1.012020
$STATE,22980,end surface coast,CONTROL_FINISHED_OK
$STATE,22980,begin surface
$SM_CCo,22998,16.60,0.083,0,0,1626,300.00
$SM_GC,2.40,9.18,0.08,16.60,0.049,0.145,0.083,136,2264,1626,-9.28,-1.61,300.00,0,0,0,0,0,0,14.97,14.96,14.92
$IRIDIUM_FIX,2359.20,-3808.24,060413,060624
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.16
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.00
$XPDR_PINGS,41
$SC_FREEKB,4006400
$TM_FREEKB,7511028
$24V_AH,13.3,17.831
$10V_AH,13.8,0.000
$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
$DEVICE_SECS,24.425,103.075,366.125,16.600,0.000,0.000,0.000,303.700,10.250,0.000,21.135,3157.895,16960.674,537.526,2652.754,204.874,0.000,2014.991,0.000,2180.909,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22979.000,5387.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.550,12.694,0.000,0.000
$MEM,354072
$DATA_FILE_SIZE,33312,937
$CAP_FILE_SIZE,225192,0
$CFSIZE,260034560,247111680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,352.5,1
$GPS,060413,192628,2407.328,-3806.021,45,0.9,45,-14.1