version: 66.11
glider: 122
mission: 17
dive: 329
start: 6 8 113 3 1 35
data:
$ID,122
$MISSION,17
$DIVE,329
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-46159.766
$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
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,1
$C_ROLL_DIVE,1100
$C_ROLL_CLIMB,1100
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,64
$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,1284
$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,48
$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
$GPS1,080613,025034,2341.057,-3623.904,35,0.8,35,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-19.4
$GPS2,080613,030105,2341.069,-3624.004,17,0.9,18,-13.7
$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,262.0,252957,-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,24,-1.05,-126.5,123,1100,1527,1715,0.0,0.0,0,62,0.00,0.00,-35.28,0.000,16386,0.000,0.000,123,1101,2435,2244,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.05,-126.5,122,1101,2245,2626,3.3,-3.7,2,108,12.32,0.00,-28.10,0.000,18438,0.363,0.000,2805,1098,3367,3284,3450,0,0,0,0,0,0,14.31,28.83,14.84
$GC,404,-1.05,-126.5,2805,1098,3284,3451,45.7,-13.5,25,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1097,3367,3284,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,704,-1.05,-126.5,2805,1098,3284,3451,87.3,-14.0,45,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3285,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-1.05,-126.5,2805,1098,3286,3451,128.9,-14.2,65,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3286,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-1.05,-126.5,2805,1098,3286,3451,167.7,-11.5,85,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3286,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-1.05,-126.5,2805,1098,3287,3452,201.8,-10.8,105,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,-1.05,-126.5,2805,1098,3287,3451,237.2,-12.1,125,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,-1.05,-126.5,2805,1098,3287,3451,277.5,-13.2,139,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-1.05,-126.5,2805,1098,3287,3451,317.7,-13.3,149,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,-1.05,-126.5,2805,1098,3287,3451,358.6,-13.7,159,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-1.05,-126.5,2805,1098,3287,3451,399.2,-13.3,169,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-1.05,-126.5,2805,1098,3288,3451,438.0,-12.7,179,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-1.05,-126.5,2805,1098,3286,3451,475.5,-12.2,189,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-1.05,-126.5,2805,1097,3287,3450,509.8,-10.8,199,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3287,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-1.05,-126.5,2805,1098,3287,3450,541.8,-10.8,209,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3287,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-1.05,-126.5,2805,1098,3287,3449,576.2,-11.8,219,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3287,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4921,-1.05,-126.5,2805,1098,3287,3446,614.5,-13.3,229,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3366,3287,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-1.05,-126.5,2805,1098,3287,3443,655.4,-13.2,239,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3365,3287,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5520,-1.05,-126.5,2805,1097,3287,3442,692.4,-12.2,249,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3364,3287,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,-1.05,-126.5,2805,1098,3287,3439,726.1,-10.7,259,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3363,3287,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6120,-1.05,-126.5,2805,1098,3287,3437,757.4,-10.6,269,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3362,3287,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6420,-1.05,-126.5,2805,1098,3287,3435,789.1,-10.7,279,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3361,3287,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6721,-1.05,-126.5,2805,1098,3286,3432,824.2,-11.8,289,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3359,3287,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7020,-1.05,-126.5,2805,1098,3287,3429,858.6,-11.4,299,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3358,3287,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7320,-1.05,-126.5,2805,1098,3287,3428,890.6,-10.3,309,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3357,3287,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7620,-1.05,-126.5,2805,1098,3287,3425,920.9,-10.2,319,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1098,3356,3287,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7920,-1.05,-126.5,2805,1098,3287,3422,952.5,-10.7,329,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3354,3287,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8221,-1.05,-126.5,2804,1098,3285,3421,984.4,-10.8,339,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3353,3285,3421,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8276,begin apogee
$GC,8283,-0.28,0.0,2805,1098,3284,3421,991.2,-11.1,341,8402,0.85,0.00,113.28,2.020,10246,0.188,0.000,3052,1098,2848,2768,2929,0,0,0,0,0,0,14.48,28.83,13.30
$STATE,8404,end apogee,CONTROL_FINISHED_OK
$STATE,8404,begin climb
$GC,8406,1.05,126.5,3052,1098,2766,2929,995.8,0.0,344,8534,1.35,0.00,122.65,1.991,10246,0.112,0.000,3486,1097,2333,2215,2452,0,0,0,0,0,0,14.25,28.83,13.21
$GC,8820,1.06,130.2,3487,1098,2208,2441,973.6,7.7,359,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2324,2208,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9120,1.09,149.6,3487,1098,2205,2437,951.5,7.0,369,9149,0.00,0.00,21.75,1.895,8198,0.000,0.000,3486,1098,2237,2121,2354,0,0,0,0,0,0,28.83,28.83,13.71
$GC,9450,1.09,150.4,3486,1098,2116,2349,926.0,7.8,380,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2232,2115,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9750,1.10,153.4,3487,1098,2115,2348,902.5,7.7,390,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2232,2116,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10049,1.11,162.5,3487,1098,2113,2347,879.8,7.5,400,10064,0.00,0.00,12.45,1.784,8198,0.000,0.000,3487,1098,2187,2070,2304,0,0,0,0,0,0,28.83,28.83,13.84
$GC,10350,1.11,162.5,3486,1098,2067,2298,855.4,8.2,410,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2183,2067,2299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10649,1.11,162.5,3486,1098,2067,2298,830.5,8.3,420,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2182,2067,2298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10949,1.11,162.5,3487,1098,2064,2297,804.3,9.0,430,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2180,2064,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11250,1.11,162.5,3487,1098,2064,2297,773.1,10.9,440,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2180,2064,2297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11551,1.11,162.5,3487,1098,2064,2297,741.8,10.1,450,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2180,2064,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11850,1.11,162.5,3486,1098,2061,2296,714.7,8.5,460,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2178,2061,2296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12151,1.16,190.8,3486,1098,2061,2297,692.5,6.7,470,12181,0.12,0.00,27.67,1.655,10246,0.129,0.000,3540,1098,2072,1958,2186,0,0,0,0,0,0,14.79,28.83,13.88
$GC,12481,1.17,193.6,3539,1098,1958,2181,666.3,7.7,481,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2069,1958,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12779,1.17,193.6,3540,1098,1958,2180,639.1,10.1,491,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2069,1958,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13079,1.17,193.6,3540,1097,1955,2180,604.3,12.0,501,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13379,1.17,193.6,3539,1098,1955,2180,565.4,13.2,511,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13680,1.17,193.6,3539,1098,1955,2180,530.5,10.6,521,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13979,1.17,193.6,3540,1098,1955,2180,504.5,8.2,531,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14279,1.17,193.6,3539,1098,1955,2180,479.5,8.7,541,14280,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14579,1.17,193.6,3540,1098,1955,2180,451.1,10.1,551,14580,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14879,1.17,193.6,3539,1098,1955,2180,415.7,12.1,561,14880,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16379,1.17,193.6,3540,1098,1955,2180,251.6,11.9,611,16380,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1098,2067,1955,2180,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18941,end climb,SURFACE_DEPTH_REACHED
$STATE,18941,begin surface coast
$FINISH,1.5,1.013732
$STATE,18960,end surface coast,CONTROL_FINISHED_OK
$STATE,18960,begin surface
$SM_CCo,18982,50.50,0.084,0,0,1626,300.00
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$IRIDIUM_FIX,2330.93,-3612.19,070613,212125
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.15
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,19.90
$XPDR_PINGS,19
$SC_FREEKB,3935712
$TM_FREEKB,5717256
$24V_AH,13.2,91.196
$10V_AH,13.6,0.000
$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,24.450,0.000,304.175,50.500,0.000,0.000,0.000,324.925,4.750,0.000,18.560,1972.090,14063.162,363.991,2684.676,569.137,0.000,1399.019,0.000,2328.820,0.000,0.539,0.000
$DEVICE_MAMPS,363.375,0.000,2020.365,84.150,0.000,0.000,0.000,213.435,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18966.000,4594.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.724,12.735,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,23352,782
$CAP_FILE_SIZE,278767,0
$CFSIZE,260034560,220000256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,806
$CURRENT,0.293,168.1,1
$GPS,080613,082004,2340.859,-3624.056,38,0.8,38,-13.7