version: 66.11
glider: 122
mission: 17
dive: 6
start: 3 25 113 21 24 41
data:
$ID,122
$MISSION,17
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,250
$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,150
$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,350
$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,-45748.348
$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,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$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
$GPS1,250313,211734,2436.260,-3759.852,40,0.9,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.6
$GPS2,250313,212413,2436.270,-3759.884,17,1.1,18,-14.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N
$TGT_LATLONG,2513.000,-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,58.8,68024,-17.6,-10.000,-21.24,2209
$D_GRID,600
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.13,-146.0,105,2193,1340,1497,0.0,0.0,0,86,0.00,0.00,-62.15,0.000,16386,0.000,0.000,105,2193,2933,2750,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.13,-146.0,105,2193,2750,3116,3.2,-3.4,4,121,11.80,1.80,-13.00,0.000,19204,0.369,0.089,2810,1151,3447,3350,3544,0,0,1,0,0,0,14.73,14.89,15.08
$GC,349,-0.96,-146.0,2811,1151,3350,3544,43.6,-17.1,21,355,0.25,1.75,0.00,0.000,3078,0.233,0.047,2871,2217,3447,3350,3544,0,0,0,0,0,0,14.86,14.97,28.83
$GC,668,-0.90,-146.0,2872,2217,3350,3544,87.3,-13.7,42,673,0.00,1.77,0.00,0.000,516,0.000,0.057,2871,1153,3447,3350,3544,0,0,0,0,0,0,28.83,15.02,28.83
$GC,731,-0.85,-146.0,2871,1153,3349,3544,96.2,-14.1,46,737,0.15,1.73,0.00,0.000,3078,0.238,0.048,2905,2208,3447,3350,3544,0,0,0,0,0,0,14.94,15.04,28.83
$GC,1050,-0.89,-146.0,2905,2208,3349,3544,133.3,-11.2,67,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2208,3447,3350,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1349,-0.93,-146.0,2905,2208,3350,3545,165.4,-10.1,87,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2208,3447,3350,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1650,-0.97,-146.0,2905,2208,3350,3545,192.8,-8.7,107,1652,0.12,0.00,0.00,0.000,4102,0.131,0.000,2843,2208,3447,3349,3545,0,0,0,0,0,0,15.09,28.83,28.83
$GC,1949,-0.91,-146.0,2843,2209,3350,3545,228.0,-11.7,127,1951,0.17,0.00,0.00,0.000,2054,0.232,0.000,2887,2208,3447,3350,3545,0,0,0,0,0,0,14.99,28.83,28.83
$GC,2264,-0.91,-146.0,2887,2209,3349,3545,259.4,-10.0,145,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2208,3447,3349,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2564,-0.95,-146.0,2887,2208,3350,3545,291.7,-11.0,155,2570,0.00,1.73,0.00,0.000,260,0.000,0.070,2882,3251,3447,3349,3545,0,0,0,0,0,0,28.83,15.11,28.83
$GC,2661,-0.95,-146.0,1888,3249,3327,3542,302.2,-11.2,158,2666,0.00,1.70,0.00,0.000,1030,0.000,0.047,2882,2192,3447,3350,3545,0,0,1,0,0,0,28.83,15.14,28.83
$GC,2989,-0.98,-146.0,2882,2192,3349,3545,339.1,-11.1,169,2994,0.00,1.67,0.00,0.000,516,0.000,0.063,2882,1151,3447,3350,3545,0,0,0,0,0,0,28.83,15.13,28.83
$GC,3081,-0.98,-146.0,2882,1151,3349,3544,349.9,-11.3,172,3088,0.00,1.75,0.00,0.000,1030,0.000,0.050,2876,2192,3447,3350,3544,0,0,0,0,0,0,28.83,15.14,28.83
$GC,3415,-0.98,-146.0,2876,2192,3350,3544,386.8,-10.8,183,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2192,3447,3350,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3714,-0.98,-146.0,2876,2192,3349,3544,417.5,-10.4,193,3720,0.00,1.75,0.00,0.000,260,0.000,0.071,2868,3248,3447,3350,3544,0,0,0,0,0,0,28.83,15.12,28.83
$GC,3761,-0.98,-146.0,2869,3248,3349,3544,420.7,-10.3,194,3766,0.00,1.73,0.00,0.000,1030,0.000,0.050,2868,2194,3446,3349,3544,0,0,0,0,0,0,28.83,15.16,28.83
$GC,4078,-0.98,-146.0,2870,2194,3349,3542,456.6,-11.2,205,4084,0.00,1.67,0.00,0.000,516,0.000,0.065,2868,1156,3446,3350,3542,0,0,0,0,0,0,28.83,15.14,28.83
$GC,4155,-0.98,-146.0,2868,1155,3349,3542,463.7,-11.0,207,4160,0.00,1.73,0.00,0.000,1030,0.000,0.050,2862,2208,3445,3349,3542,0,0,0,0,0,0,28.83,15.14,28.83
$GC,4472,-0.98,-146.0,2862,2209,3349,3539,501.2,-11.5,218,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2209,3444,3350,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4772,-0.98,-146.0,2862,2209,3349,3537,535.6,-11.4,228,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2209,3443,3349,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5072,-0.98,-146.0,2862,2209,3350,3535,570.9,-12.0,238,5078,0.00,1.73,0.00,0.000,260,0.000,0.073,2856,3246,3442,3349,3535,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5154,-0.98,-146.0,2856,3246,3349,3535,578.8,-12.4,240,5160,0.00,1.73,0.00,0.000,1030,0.000,0.052,2855,2198,3442,3350,3534,0,0,0,0,0,0,28.83,15.15,28.83
$STATE,5315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5315,begin apogee
$GC,5320,-0.25,0.0,2855,2151,3349,3533,601.9,-12.8,246,5447,0.77,0.00,120.45,1.540,10246,0.185,0.000,3092,2151,2847,2788,2907,0,0,0,0,0,0,15.04,28.83,13.85
$STATE,5449,end apogee,CONTROL_FINISHED_OK
$STATE,5449,begin climb
$GC,5450,1.13,146.0,3092,2151,2787,2904,607.1,0.0,250,5580,1.35,0.00,125.28,1.506,10246,0.109,0.000,3539,2151,2253,2157,2349,0,0,0,0,0,0,14.47,28.83,13.76
$GC,5858,0.92,146.0,3539,2151,2154,2329,565.9,13.3,264,5863,0.22,1.83,0.00,0.000,4356,0.256,0.066,3478,3196,2241,2153,2329,0,0,0,0,0,0,14.76,14.85,28.83
$GC,5956,0.76,146.0,3478,3196,2153,2328,554.5,12.3,267,5963,0.22,1.80,0.00,0.000,5126,0.245,0.053,3422,2125,2240,2153,2328,0,0,0,0,0,0,14.81,14.92,28.83
$GC,6285,0.76,146.0,3423,2125,2154,2324,519.6,11.1,278,6291,0.00,1.83,0.00,0.000,260,0.000,0.067,3422,3188,2239,2154,2324,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6367,0.76,146.0,3422,3188,2153,2324,512.0,11.7,280,6372,0.00,1.75,0.00,0.000,1030,0.000,0.052,3426,2134,2239,2153,2325,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6679,0.76,146.0,3426,2134,2154,2322,473.6,11.1,291,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2134,2237,2153,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6980,0.78,158.4,3426,2134,2154,2321,443.6,9.4,301,6991,0.00,0.00,9.00,1.252,8198,0.000,0.000,3426,2134,2203,2114,2292,0,0,0,0,0,0,28.83,28.83,14.45
$GC,7279,0.85,201.5,3426,2134,2112,2285,418.7,8.0,311,7323,0.00,1.80,36.65,1.324,8708,0.000,0.075,3426,1104,2024,1939,2110,0,0,0,0,0,0,28.83,14.82,14.29
$GC,7414,0.90,230.8,3426,1104,1939,2103,408.3,8.6,315,7445,0.12,1.73,25.45,1.292,11270,0.145,0.050,3476,2145,1908,1831,1986,0,0,0,0,0,0,14.90,14.91,14.21
$GC,7763,0.90,230.8,3477,2144,1830,1975,366.7,11.7,327,7768,0.00,1.75,0.00,0.000,260,0.000,0.070,3476,3184,1902,1829,1975,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7880,0.86,230.8,3476,3184,1829,1975,354.7,12.7,330,7888,0.00,1.75,0.00,0.000,1030,0.000,0.052,3480,2138,1902,1829,1975,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8186,0.82,230.8,3480,2138,1829,1971,312.9,12.6,341,8192,0.12,1.73,0.00,0.000,4612,0.271,0.069,3451,1093,1900,1829,1972,0,0,0,0,0,0,14.94,15.02,28.83
$GC,8238,0.82,230.8,3451,1093,1829,1971,308.9,12.5,342,8243,0.00,1.73,0.00,0.000,1030,0.000,0.050,3451,2143,1900,1829,1971,0,0,0,0,0,0,28.83,15.06,28.83
$GC,8551,0.82,230.8,3451,2143,1829,1971,269.5,12.3,353,8556,0.00,1.73,0.00,0.000,260,0.000,0.070,3451,3181,1900,1829,1971,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8633,0.82,230.8,3451,3181,1829,1971,261.2,13.0,355,8638,0.00,1.73,0.00,0.000,1030,0.000,0.051,3452,2139,1900,1829,1971,0,0,0,0,0,0,28.83,15.09,28.83
$GC,8945,0.82,230.8,3452,2139,1829,1971,217.1,13.3,374,8950,0.00,1.73,0.00,0.000,516,0.000,0.073,3453,1094,1900,1829,1971,0,0,0,0,0,0,28.83,15.04,28.83
$GC,9062,0.82,230.8,3453,1093,1829,1971,202.8,13.2,381,9069,0.00,1.73,0.00,0.000,1030,0.000,0.049,3452,2147,1900,1829,1971,0,0,0,0,0,0,28.83,15.08,28.83
$GC,9368,0.82,230.8,3452,2148,1829,1971,163.1,12.4,402,9373,0.00,1.73,0.00,0.000,260,0.000,0.068,3452,3185,1900,1829,1971,0,0,0,0,0,0,28.83,15.05,28.83
$GC,9460,0.82,230.8,3453,3185,1829,1971,150.9,13.3,408,9465,0.00,1.75,0.00,0.000,1030,0.000,0.050,3452,2128,1900,1829,1971,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9777,0.82,230.8,3453,2127,1829,1971,113.5,11.3,429,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2127,1900,1829,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10077,0.82,230.8,3453,2127,1829,1971,79.7,11.3,449,10082,0.00,1.70,0.00,0.000,516,0.000,0.070,3453,1095,1900,1829,1971,0,0,0,0,0,0,28.83,15.04,28.83
$GC,10128,0.86,230.8,3453,1095,1829,1971,74.4,11.3,452,10134,0.00,1.73,0.00,0.000,1030,0.000,0.047,3453,2151,1900,1829,1971,0,0,0,0,0,0,28.83,15.07,28.83
$GC,10442,0.90,230.8,3453,2151,1829,1971,38.9,11.2,473,10447,0.00,1.73,0.00,0.000,260,0.000,0.067,3452,3189,1900,1829,1971,0,0,0,0,0,0,28.83,15.04,28.83
$GC,10553,0.90,230.8,3453,3189,1830,1971,26.0,12.0,480,10559,0.00,1.75,0.00,0.000,1030,0.000,0.051,3453,2133,1900,1829,1972,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,10775,end climb,SURFACE_DEPTH_REACHED
$STATE,10775,begin surface coast
$FINISH,1.2,1.014867
$STATE,10792,end surface coast,CONTROL_FINISHED_OK
$STATE,10792,begin surface
$SM_CCo,10811,52.90,0.080,0,0,1422,350.04
$SM_GC,2.14,9.25,0.12,52.90,0.065,0.124,0.080,145,2201,1422,-9.37,-1.39,350.04,0,0,0,0,0,0,15.09,15.05,15.02
$IRIDIUM_FIX,2427.58,-3759.98,250313,191958
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.29
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.70
$XPDR_PINGS,39
$SC_FREEKB,4018432
$TM_FREEKB,7862600
$24V_AH,13.8,3.547
$10V_AH,14.0,0.000
$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,24.575,59.500,316.825,52.900,0.000,0.000,0.000,232.825,9.750,0.000,18.960,1699.852,7423.906,471.536,1570.270,112.098,0.000,1379.860,0.000,1213.337,0.000,0.538,0.000
$DEVICE_MAMPS,368.730,214.200,1539.945,79.560,0.000,0.000,0.000,226.440,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10784.000,4298.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.474,12.612,0.000,0.000
$MEM,354156
$DATA_FILE_SIZE,16792,496
$CAP_FILE_SIZE,123169,0
$CFSIZE,260034560,252383232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.160,305.2,1
$GPS,260313,002703,2438.009,-3759.534,34,1.0,36,-14.0