version: 66.11
glider: 122
mission: 17
dive: 55
start: 4 7 113 1 48 25
data:
$ID,122
$MISSION,17
$DIVE,55
$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,-45810.355
$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,87
$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
$GPS1,070413,014005,2406.049,-3805.192,31,0.8,31,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-67.0
$GPS2,070413,014759,2406.139,-3805.226,16,1.2,16,-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,178.5,19097,-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,-126.5,102,2248,1543,1704,0.0,0.0,0,73,0.00,0.00,-46.97,0.000,16386,0.000,0.000,102,2248,2740,2556,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.05,-126.5,102,2249,2556,2926,3.4,-3.0,3,112,11.80,1.85,-16.77,0.000,18948,0.359,0.081,2802,1170,3368,3271,3465,0,0,0,0,0,0,14.64,14.81,14.98
$GC,339,-0.85,-126.5,2802,1170,3270,3465,44.5,-17.7,20,346,0.28,1.65,0.00,0.000,3078,0.220,0.037,2871,2186,3368,3271,3466,0,0,0,0,0,0,14.78,14.90,28.83
$GC,653,-0.76,-126.5,2871,2186,3270,3466,87.3,-13.4,41,655,0.12,0.00,0.00,0.000,2054,0.241,0.000,2903,2186,3368,3270,3466,0,0,0,0,0,0,14.86,28.83,28.83
$GC,953,-0.71,-126.5,2903,2186,3270,3466,120.3,-10.7,61,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2187,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1254,-0.66,-126.5,2903,2187,3270,3466,150.8,-10.0,81,1256,0.12,0.00,0.00,0.000,2054,0.230,0.000,2937,2187,3369,3271,3467,0,0,0,0,0,0,14.91,28.83,28.83
$GC,1553,-0.66,-126.5,2936,2187,3270,3468,175.9,-8.2,101,1558,0.00,1.77,0.00,0.000,260,0.000,0.062,2930,3259,3369,3271,3468,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1664,-0.66,-126.5,1920,3258,3242,3465,185.8,-9.2,108,1670,0.00,1.67,0.00,0.000,1030,0.000,0.035,2930,2205,3369,3271,3468,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1977,-0.66,-126.5,2930,2206,3271,3468,215.0,-9.5,129,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2206,3369,3271,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,-0.66,-126.5,2930,2206,3270,3468,242.0,-8.8,149,2283,0.00,1.67,0.00,0.000,516,0.000,0.053,2931,1184,3369,3271,3468,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2389,-0.66,-126.5,2930,1185,3271,3468,251.2,-8.8,156,2394,0.00,1.67,0.00,0.000,1030,0.000,0.037,2924,2221,3369,3271,3468,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2707,-0.66,-126.5,2924,2221,3271,3468,277.8,-8.0,167,2713,0.00,1.73,0.00,0.000,260,0.000,0.061,2916,3273,3369,3271,3468,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2854,-0.66,-126.5,2916,3273,3271,3468,288.4,-8.6,171,2861,0.00,1.67,0.00,0.000,1030,0.000,0.036,2916,2219,3369,3270,3468,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3160,-0.66,-126.5,2916,2219,3271,3468,319.9,-10.1,182,3166,0.00,1.65,0.00,0.000,516,0.000,0.050,2916,1176,3369,3271,3468,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3212,-0.66,-126.5,2916,1176,3270,3468,323.5,-10.4,183,3217,0.00,1.67,0.00,0.000,1030,0.000,0.037,2910,2219,3369,3271,3468,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3524,-0.66,-126.5,2909,2218,3272,3468,359.2,-10.6,194,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2218,3369,3271,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,-0.66,-126.5,2910,2218,3271,3468,388.2,-8.8,204,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2219,3369,3271,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,-0.66,-126.5,2910,2218,3271,3468,409.8,-6.7,214,4130,0.00,1.73,0.00,0.000,260,0.000,0.060,2902,3269,3369,3270,3468,0,0,0,0,0,0,28.83,15.10,28.83
$GC,4157,-0.66,-126.5,2902,3269,3270,3468,412.0,-6.8,215,4164,0.12,1.67,0.00,0.000,3078,0.212,0.036,2934,2209,3369,3270,3468,0,0,0,0,0,0,15.04,15.14,28.83
$GC,4491,-0.66,-126.5,2934,2209,3270,3468,431.8,-6.5,226,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2209,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4791,-0.66,-126.5,2934,2209,3271,3467,454.8,-8.3,236,4796,0.00,1.62,0.00,0.000,516,0.000,0.051,2934,1185,3368,3270,3467,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4848,-0.66,-126.5,2934,1185,3271,3467,457.8,-8.6,237,4854,0.00,1.67,0.00,0.000,1030,0.000,0.037,2930,2234,3368,3270,3467,0,0,0,0,0,0,28.83,15.13,28.83
$GC,5153,-0.66,-126.5,2930,2234,3270,3465,489.2,-9.5,248,5159,0.00,1.67,0.00,0.000,260,0.000,0.061,2924,3257,3367,3270,3465,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5230,-0.66,-126.5,2923,3257,3271,3465,495.1,-9.4,250,5235,0.00,1.65,0.00,0.000,1030,0.000,0.036,2923,2214,3367,3270,3465,0,0,0,0,0,0,28.83,15.15,28.83
$GC,5548,-0.66,-126.5,2922,2214,3270,3463,521.8,-7.4,261,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2214,3366,3270,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5848,-0.66,-126.5,2922,2214,3270,3461,542.9,-7.0,271,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2214,3365,3270,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6147,-0.66,-126.5,2922,2214,3271,3457,566.3,-8.2,281,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2214,3363,3270,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,-0.66,-126.5,2922,2213,3271,3458,592.8,-9.0,291,6453,0.00,1.62,0.00,0.000,516,0.000,0.052,2922,1191,3363,3270,3457,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6554,-0.66,-126.5,2922,1191,3270,3456,601.5,-9.5,294,6559,0.00,1.65,0.00,0.000,1030,0.000,0.037,2917,2221,3363,3270,3457,0,0,0,0,0,0,28.83,15.13,28.83
$GC,6871,-0.66,-126.5,2917,2221,3270,3454,632.4,-9.3,305,6877,0.00,1.73,0.00,0.000,260,0.000,0.062,2909,3267,3362,3270,3454,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6968,-0.66,-126.5,2909,3267,3270,3453,641.0,-9.2,308,6973,0.00,1.67,0.00,0.000,1030,0.000,0.037,2909,2214,3361,3270,3453,0,0,0,0,0,0,28.83,15.14,28.83
$GC,7297,-0.66,-126.5,2909,2214,3270,3451,669.6,-8.3,319,7302,0.00,1.62,0.00,0.000,516,0.000,0.052,2909,1193,3360,3270,3451,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7398,-0.66,-126.5,2909,1193,3270,3451,677.5,-8.4,322,7403,0.12,1.65,0.00,0.000,3078,0.216,0.037,2934,2220,3360,3270,3451,0,0,0,0,0,0,15.03,15.12,28.83
$GC,7722,-0.71,-126.5,2934,2220,3270,3449,700.1,-6.6,333,7728,0.00,1.73,0.00,0.000,260,0.000,0.062,2928,3268,3359,3270,3449,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7816,-0.76,-126.5,2928,3268,3270,3448,706.7,-6.8,336,7822,0.00,1.67,0.00,0.000,1030,0.000,0.037,2928,2214,3359,3270,3448,0,0,0,0,0,0,28.83,15.14,28.83
$GC,8150,-0.81,-126.5,2928,2214,3270,3446,729.9,-6.9,347,8156,0.12,1.65,0.00,0.000,4612,0.118,0.050,2845,1185,3358,3271,3446,0,0,0,0,0,0,15.13,15.11,28.83
$GC,8213,-0.81,-126.5,2845,1184,3270,3445,736.3,-8.4,349,8219,0.17,1.67,0.00,0.000,3078,0.216,0.037,2884,2225,3357,3270,3445,0,0,0,0,0,0,15.02,15.12,28.83
$GC,8546,-0.81,-126.5,2884,2225,3270,3443,766.1,-9.0,360,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2225,3356,3270,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,-0.81,-126.5,2884,2225,3270,3441,792.5,-8.7,370,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2225,3355,3270,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9146,-0.81,-126.5,2884,2225,3270,3439,820.0,-9.4,380,9151,0.00,1.73,0.00,0.000,260,0.000,0.063,2879,3268,3354,3270,3439,0,0,0,0,0,0,28.83,15.10,28.83
$GC,9278,-0.81,-126.5,2879,3268,3270,3438,832.0,-9.8,384,9284,0.00,1.67,0.00,0.000,1030,0.000,0.038,2879,2222,3354,3270,3438,0,0,0,0,0,0,28.83,15.14,28.83
$GC,9602,-0.81,-126.5,2879,2222,3270,3437,863.9,-9.6,395,9607,0.00,1.65,0.00,0.000,516,0.000,0.054,2879,1192,3354,3271,3437,0,0,0,0,0,0,28.83,15.09,28.83
$GC,9653,-0.81,-126.5,2878,1192,3270,3437,867.2,-9.5,396,9659,0.00,1.67,0.00,0.000,1030,0.000,0.038,2873,2228,3353,3270,3437,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9966,-0.81,-126.5,2873,2228,3270,3434,899.7,-9.9,407,9972,0.00,1.73,0.00,0.000,260,0.000,0.065,2869,3268,3352,3270,3435,0,0,0,0,0,0,28.83,15.09,28.83
$GC,10068,-0.81,-126.5,2869,3268,3270,3434,909.2,-10.0,410,10074,0.00,1.67,0.00,0.000,1030,0.000,0.039,2869,2224,3352,3270,3434,0,0,0,0,0,0,28.83,15.13,28.83
$GC,10393,-0.81,-126.5,2869,2224,3270,3431,942.8,-10.4,421,10398,0.00,1.67,0.00,0.000,516,0.000,0.055,2869,1186,3350,3270,3431,0,0,0,0,0,0,28.83,15.09,28.83
$GC,10449,-0.81,-126.5,2869,1186,3270,3430,946.3,-10.4,422,10456,0.00,1.70,0.00,0.000,1030,0.000,0.039,2863,2234,3350,3270,3431,0,0,0,0,0,0,28.83,15.11,28.83
$GC,10755,-0.81,-126.5,2863,2234,3270,3429,980.7,-10.3,433,10761,0.00,1.75,0.00,0.000,516,0.000,0.054,2863,1183,3349,3270,3428,0,0,0,0,0,0,28.83,15.09,28.83
$GC,10818,-0.81,-126.5,2863,1184,3270,3428,987.4,-10.2,435,10825,0.12,1.70,0.00,0.000,3078,0.234,0.040,2887,2229,3349,3270,3428,0,0,0,0,0,0,15.00,15.11,28.83
$STATE,10850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10851,begin apogee
$GC,10855,-0.28,0.0,2887,2110,3270,3428,990.6,-10.1,436,10973,0.52,0.00,109.35,2.060,10246,0.165,0.000,3053,2111,2847,2773,2921,0,0,0,0,0,0,15.00,28.83,13.43
$STATE,10975,end apogee,CONTROL_FINISHED_OK
$STATE,10975,begin climb
$GC,10977,1.05,126.5,3053,2111,2770,2920,994.8,0.0,440,11099,1.35,0.00,118.03,2.020,10246,0.102,0.000,3493,2111,2333,2220,2446,0,0,0,0,0,0,14.31,28.83,13.35
$GC,11392,0.87,126.5,3493,2111,2214,2430,958.7,11.0,454,11394,0.25,0.00,0.00,0.000,4102,0.243,0.000,3429,2111,2322,2214,2430,0,0,0,0,0,0,14.64,28.83,28.83
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$STATE,22032,end climb,SURFACE_DEPTH_REACHED
$STATE,22033,begin surface coast
$FINISH,1.6,1.013281
$STATE,22049,end surface coast,CONTROL_FINISHED_OK
$STATE,22050,begin surface
$SM_CCo,22068,26.25,0.081,0,0,1626,300.00
$SM_GC,2.91,8.90,0.15,26.25,0.044,0.085,0.081,135,2244,1626,-9.30,-1.81,300.00,0,0,0,0,0,0,15.04,15.05,14.97
$IRIDIUM_FIX,2359.20,-3813.41,060413,191945
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.43
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.00
$XPDR_PINGS,33
$SC_FREEKB,4005888
$TM_FREEKB,7495856
$24V_AH,13.3,18.444
$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,24.575,123.150,344.575,26.250,0.000,0.000,0.000,282.100,8.250,0.000,17.667,3162.544,15951.073,583.722,2657.132,208.427,0.000,2055.607,0.000,2218.364,0.000,0.538,0.000
$DEVICE_MAMPS,358.785,84.915,2060.145,81.090,0.000,0.000,0.000,224.145,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22046.000,5178.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.595,12.712,0.000,0.000
$MEM,354096
$DATA_FILE_SIZE,33317,898
$CAP_FILE_SIZE,225197,0
$CFSIZE,260034560,246886400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,344.7,1
$GPS,070413,075758,2404.728,-3804.680,36,0.8,36,-14.1