version: 66.11
glider: 122
mission: 17
dive: 424
start: 6 29 113 11 55 9
data:
$ID,122
$MISSION,17
$DIVE,424
$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,-46450.695
$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,11.5
$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,1
$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
$GPS1,290613,114634,2319.601,-3633.345,39,0.8,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-32.3
$GPS2,290613,115441,2319.566,-3633.391,19,0.9,19,-13.8
$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,1.6,257741,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.05,-126.5,132,1100,1523,1719,0.0,0.0,0,57,0.00,0.00,-34.97,0.000,16386,0.000,0.000,133,1101,2426,2232,2621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.05,-126.5,132,1100,2235,2622,3.4,-3.8,2,104,12.27,0.00,-27.42,0.000,18438,0.360,0.000,2802,1096,3366,3281,3452,0,0,0,0,0,0,14.31,28.83,14.87
$GC,399,-1.05,-126.5,2802,1097,3284,3452,52.9,-15.6,25,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3368,3284,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,701,-1.05,-126.5,2802,1098,3284,3453,90.9,-11.6,45,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3368,3284,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-1.05,-126.5,2802,1098,3285,3453,126.2,-12.5,65,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3369,3285,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-1.05,-126.5,2802,1097,3286,3453,164.6,-12.3,85,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3369,3286,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-1.05,-126.5,2802,1098,3287,3453,200.0,-11.5,105,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-1.05,-126.5,2802,1098,3287,3453,234.9,-12.2,125,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2215,-1.05,-126.5,2803,1098,3287,3453,271.5,-11.4,140,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-1.05,-126.5,2802,1098,3287,3453,302.9,-10.3,150,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-1.05,-126.5,2802,1098,3287,3453,331.8,-9.7,160,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-1.05,-126.5,2802,1097,3287,3453,363.5,-11.0,170,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3415,-1.05,-126.5,2802,1097,3287,3452,400.5,-12.5,180,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3370,3287,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,-1.05,-126.5,2802,1097,3287,3452,436.8,-12.1,190,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4016,-1.05,-126.5,2802,1098,3287,3452,470.6,-10.8,200,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-1.05,-126.5,2802,1098,3287,3452,502.0,-10.3,210,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3369,3287,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-1.05,-126.5,2802,1097,3287,3450,534.4,-11.2,220,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3369,3287,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-1.05,-126.5,2802,1097,3287,3449,570.1,-12.0,230,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3368,3287,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-1.05,-126.5,2802,1098,3287,3446,607.5,-12.6,240,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3366,3287,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-1.05,-126.5,2802,1097,3287,3443,644.0,-12.1,250,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3365,3287,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,-1.05,-126.5,2802,1098,3287,3442,677.2,-10.8,260,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3364,3287,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-1.05,-126.5,2802,1098,3287,3439,709.0,-10.8,270,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3363,3287,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,-1.05,-126.5,2802,1098,3287,3437,742.8,-11.4,280,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3362,3287,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6715,-1.05,-126.5,2802,1098,3287,3436,779.9,-12.5,290,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3361,3287,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7016,-1.05,-126.5,2803,1098,3287,3432,816.7,-12.0,300,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3359,3287,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7316,-1.05,-126.5,2802,1098,3287,3430,852.3,-11.7,310,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3358,3287,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7616,-1.05,-126.5,2802,1097,3287,3428,887.8,-11.8,320,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3357,3287,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,-1.05,-126.5,2802,1097,3287,3426,924.2,-12.0,330,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1097,3356,3287,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8215,-1.05,-126.5,2802,1097,3287,3423,958.4,-11.4,340,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1098,3355,3287,3423,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8512,begin apogee
$GC,8519,-0.28,0.0,2802,1098,3286,3421,991.1,-10.7,350,8644,0.88,0.00,116.70,2.020,10246,0.188,0.000,3052,1098,2847,2766,2929,0,0,0,0,0,0,14.21,28.83,13.20
$STATE,8646,end apogee,CONTROL_FINISHED_OK
$STATE,8646,begin climb
$GC,8649,1.05,126.5,3052,1097,2765,2929,996.0,0.0,353,8788,1.35,0.00,124.80,1.994,10246,0.111,0.000,3487,1098,2329,2210,2449,0,0,0,0,0,0,14.23,28.83,13.11
$GC,9085,1.07,137.4,3487,1097,2205,2441,973.9,7.4,369,9098,0.00,0.00,10.73,1.791,8198,0.000,0.000,3487,1097,2287,2169,2406,0,0,0,0,0,0,28.83,28.83,13.54
$GC,9386,1.10,151.4,3487,1097,2166,2401,951.9,7.3,379,9403,0.00,0.00,14.88,1.856,8198,0.000,0.000,3487,1097,2231,2112,2350,0,0,0,0,0,0,28.83,28.83,13.62
$GC,9685,1.11,158.9,3487,1097,2109,2345,929.0,7.5,389,9696,0.00,0.00,8.32,1.711,8198,0.000,0.000,3487,1097,2202,2084,2320,0,0,0,0,0,0,28.83,28.83,13.57
$GC,9985,1.11,158.9,3487,1097,2080,2314,904.1,8.3,399,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1097,2197,2080,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10284,1.11,158.9,3487,1097,2081,2313,878.9,8.4,409,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1097,2196,2080,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10585,1.11,158.9,3487,1097,2077,2313,853.6,8.4,419,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2195,2077,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10885,1.14,178.6,3487,1097,2075,2313,831.2,7.0,429,10913,0.00,0.00,20.62,1.801,8198,0.000,0.000,3488,1097,2118,2002,2235,0,0,0,0,0,0,28.83,28.83,13.74
$GC,11215,1.17,194.9,3487,1097,2000,2231,807.0,7.2,440,11236,0.12,0.00,17.48,1.760,10246,0.127,0.000,3541,1097,2055,1941,2169,0,0,0,0,0,0,14.71,28.83,13.69
$GC,11516,1.17,194.9,3541,1097,1940,2163,781.4,8.5,450,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2051,1940,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11816,1.17,194.9,3541,1097,1938,2163,755.9,8.7,460,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2050,1937,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12115,1.17,194.9,3541,1098,1937,2163,729.7,8.7,470,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2050,1937,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12415,1.17,194.9,3541,1097,1937,2162,703.3,8.8,480,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2049,1937,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12715,1.17,194.9,3541,1097,1938,2162,674.5,9.9,490,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2050,1938,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13015,1.17,194.9,3541,1097,1937,2162,643.8,10.2,500,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2049,1937,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13317,1.17,194.9,3541,1097,1935,2161,613.3,10.1,510,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2048,1935,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13618,1.17,194.9,3541,1097,1934,2161,583.5,9.9,520,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1097,2048,1935,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13917,1.17,194.9,3541,1097,1935,2162,554.2,9.8,530,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1097,2048,1935,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14216,1.17,194.9,3541,1097,1935,2161,524.3,10.1,540,14217,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2048,1935,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14516,1.17,194.9,3541,1097,1935,2161,496.1,9.0,550,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2048,1935,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14816,1.17,194.9,3541,1097,1935,2161,471.0,8.0,560,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1097,2048,1935,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15118,1.20,216.2,3541,1097,1935,2162,449.0,7.0,570,15144,0.00,0.00,21.27,1.362,8198,0.000,0.000,3541,1097,1967,1861,2073,0,0,0,0,0,0,28.83,28.83,13.88
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$STATE,19792,end climb,SURFACE_DEPTH_REACHED
$STATE,19792,begin surface coast
$FINISH,1.6,1.025244
$STATE,19809,end surface coast,CONTROL_FINISHED_OK
$STATE,19809,begin surface
$SM_CCo,19831,34.40,0.083,0,0,1627,300.00
$SM_GC,2.95,9.62,0.00,34.40,0.048,0.000,0.083,137,1099,1627,-9.30,-0.03,300.00,0,0,0,0,0,0,14.71,28.83,14.64
$IRIDIUM_FIX,2312.13,-3632.01,290613,060624
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.08
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.70
$XPDR_PINGS,27
$SC_FREEKB,3911776
$24V_AH,13.1,116.868
$10V_AH,13.5,0.000
$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,24.250,0.000,348.275,34.400,0.000,0.000,0.000,243.975,6.750,0.000,20.125,2046.119,14630.216,397.909,2660.777,602.948,0.000,1379.771,0.000,2469.912,0.000,0.538,0.000
$DEVICE_MAMPS,360.315,0.000,2019.600,83.385,0.000,0.000,0.000,208.845,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19824.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.645,0.000,0.000,0.000
$MEM,354024
$DATA_FILE_SIZE,26659,815
$CAP_FILE_SIZE,286002,0
$CFSIZE,260034560,212262912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,839
$CURRENT,0.085,178.2,1
$GPS,290613,172729,2319.445,-3633.821,37,0.9,37,-13.8