version: 66.11
glider: 122
mission: 17
dive: 344
start: 6 11 113 13 33 23
data:
$ID,122
$MISSION,17
$DIVE,344
$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,-46178.637
$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
$GPS1,110613,132231,2338.412,-3623.462,41,0.9,41,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-19.4
$GPS2,110613,133253,2338.377,-3623.461,19,0.9,20,-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,352.9,255800,-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,25,-1.05,-126.5,129,1100,1528,1714,0.0,0.0,0,62,0.00,0.00,-35.50,0.000,16386,0.000,0.000,129,1100,2429,2237,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-1.05,-126.5,129,1100,2238,2623,3.1,-2.9,2,109,12.30,0.00,-27.67,0.000,18438,0.364,0.000,2807,1097,3366,3281,3452,0,0,0,0,0,0,14.35,28.83,14.84
$GC,404,-1.05,-126.5,2807,1098,3283,3452,51.3,-16.9,25,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1097,3367,3283,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,704,-1.05,-126.5,2807,1098,3284,3452,96.3,-14.7,45,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3368,3284,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-1.05,-126.5,2807,1098,3285,3452,131.9,-10.7,65,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1097,3368,3284,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-1.05,-126.5,2807,1098,3285,3452,163.5,-10.3,85,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3368,3285,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1605,-1.05,-126.5,2807,1098,3286,3453,197.4,-11.8,105,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1098,3369,3286,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,-1.05,-126.5,2807,1098,3285,3452,233.4,-12.3,125,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,-1.05,-126.5,2807,1098,3286,3453,271.2,-11.7,140,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3286,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2521,-1.05,-126.5,2807,1098,3286,3453,308.0,-12.4,150,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3286,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,-1.05,-126.5,2807,1098,3286,3452,343.2,-11.6,160,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3286,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-1.05,-126.5,2807,1098,3286,3452,380.0,-12.0,170,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3286,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-1.05,-126.5,2807,1098,3286,3452,415.9,-12.1,180,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3286,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-1.05,-126.5,2807,1098,3286,3452,453.1,-12.5,190,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3286,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-1.05,-126.5,2808,1098,3286,3452,492.6,-13.2,200,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3369,3286,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4320,-1.05,-126.5,2807,1098,3286,3451,531.5,-12.7,210,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3368,3286,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-1.05,-126.5,2807,1098,3286,3450,568.3,-11.9,220,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3368,3286,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4921,-1.05,-126.5,2807,1098,3286,3448,602.9,-11.3,230,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3367,3286,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-1.05,-126.5,2807,1098,3286,3446,638.1,-11.9,240,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3366,3286,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-1.05,-126.5,2807,1098,3286,3443,676.4,-14.0,250,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1098,3364,3286,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,-1.05,-126.5,2806,1098,3285,3441,715.6,-8.5,260,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1099,3363,3285,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6026,end dive,NO_VERTICAL_VELOCITY
$STATE,6027,begin apogee
$GC,6033,-0.28,0.0,2806,1099,3285,3438,716.5,0.0,267,6145,0.85,0.00,107.53,1.659,10246,0.190,0.000,3052,1099,2849,2768,2930,0,0,0,0,0,0,14.47,28.83,13.53
$STATE,6147,end apogee,CONTROL_FINISHED_OK
$STATE,6147,begin climb
$GC,6150,1.05,126.5,3052,1099,2768,2929,722.6,0.0,270,6271,1.30,0.00,114.47,1.626,10246,0.093,0.000,3495,1099,2332,2206,2458,0,0,0,0,0,0,14.38,28.83,13.46
$GC,6570,1.05,126.5,3495,1099,2201,2439,664.4,14.4,285,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1099,2319,2200,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6870,1.05,126.5,3495,1099,2201,2436,635.4,13.2,295,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1099,2318,2201,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7169,1.12,168.0,3495,1099,2201,2435,614.4,6.1,305,7207,0.00,0.00,35.85,1.528,8198,0.000,0.000,3495,1099,2164,2050,2279,0,0,0,0,0,0,28.83,28.83,13.86
$GC,7500,1.17,194.0,3497,1100,2047,2270,598.0,6.8,316,7528,0.00,0.00,24.52,1.502,8198,0.000,0.000,3497,1100,2058,1948,2168,0,0,0,0,0,0,28.83,28.83,13.88
$GC,7829,1.17,194.0,3497,1100,1948,2162,574.8,10.9,327,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2055,1948,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8129,1.17,194.0,3497,1101,1944,2162,548.5,8.7,337,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2053,1944,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8429,1.17,194.0,3497,1101,1944,2159,521.3,10.2,347,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1100,2051,1944,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8730,1.17,194.0,3497,1101,1944,2156,499.1,9.5,357,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2050,1944,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9030,1.17,194.0,3497,1101,1944,2154,474.1,8.4,367,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1100,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9330,1.17,194.0,3497,1100,1944,2155,448.1,8.4,377,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9630,1.17,194.0,3497,1100,1944,2154,421.1,9.5,387,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9930,1.17,194.0,3497,1101,1944,2154,391.8,10.2,397,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10230,1.17,194.0,3497,1101,1944,2154,359.7,10.7,407,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10531,1.17,194.0,3497,1101,1944,2154,328.4,10.2,417,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10830,1.17,194.0,3497,1101,1944,2154,296.5,10.6,427,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11129,1.17,194.0,3497,1101,1944,2154,268.4,9.0,437,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11431,1.17,194.0,3497,1101,1944,2154,240.9,9.3,450,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11730,1.17,194.0,3497,1101,1944,2154,211.9,9.7,470,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12029,1.17,194.0,3497,1101,1944,2154,181.3,10.4,490,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2050,1944,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12329,1.17,194.0,3497,1101,1944,2154,154.5,8.3,510,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12629,1.17,194.0,3497,1101,1944,2154,130.5,8.0,530,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2049,1944,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12932,1.18,204.5,3497,1101,1944,2155,108.4,7.4,550,12944,0.00,0.00,9.52,0.890,8198,0.000,0.000,3496,1101,2015,1911,2119,0,0,0,0,0,0,28.83,28.83,14.21
$GC,13247,1.18,204.5,3497,1101,1911,2117,84.1,8.3,571,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2014,1911,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13544,1.18,204.5,3497,1100,1910,2117,54.9,10.3,591,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2013,1910,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13844,1.18,204.5,3497,1101,1910,2117,28.0,7.9,611,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2014,1910,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14145,1.18,204.5,3496,1100,1910,2117,5.2,8.1,631,14146,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1101,2013,1910,2117,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14186,end climb,SURFACE_DEPTH_REACHED
$STATE,14186,begin surface coast
$FINISH,1.6,1.025359
$STATE,14202,end surface coast,CONTROL_FINISHED_OK
$STATE,14205,begin surface
$SM_CCo,14229,46.47,0.083,0,0,1627,300.00
$SM_GC,3.08,9.62,0.00,46.47,0.063,0.000,0.083,137,1100,1627,-9.30,0.00,300.00,0,0,0,0,0,0,14.78,28.83,14.69
$IRIDIUM_FIX,2330.93,-3623.96,110613,070726
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,19.90
$XPDR_PINGS,25
$SC_FREEKB,3931936
$TM_FREEKB,5611768
$24V_AH,13.5,95.343
$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,24.075,0.000,291.900,46.475,0.000,0.000,0.000,304.700,6.250,0.000,20.519,1608.747,10181.987,333.037,2249.981,510.244,0.000,1237.543,0.000,1915.409,0.000,0.537,0.000
$DEVICE_MAMPS,364.140,0.000,1658.520,83.385,0.000,0.000,0.000,217.260,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14206.000,4942.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.195,12.766,0.000,0.000
$MEM,354008
$DATA_FILE_SIZE,20044,635
$CAP_FILE_SIZE,227011,0
$CFSIZE,260034560,218677248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,659
$CURRENT,0.142,154.0,1
$GPS,110613,173235,2338.167,-3623.534,39,0.8,39,-13.7