version: 66.11
glider: 122
mission: 17
dive: 18
start: 3 28 113 13 38 33
data:
$ID,122
$MISSION,17
$DIVE,18
$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,-45763.723
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,280313,133034,2509.546,-3759.810,29,0.8,29,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-69.4
$GPS2,280313,133807,2509.560,-3759.815,17,0.9,17,-13.9
$SPEED_LIMITS,0.136,0.222
$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,34.3,6379,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.05,-126.5,133,2228,1534,1710,0.0,0.0,0,85,0.00,0.00,-61.40,0.000,16386,0.000,0.000,132,2229,3170,3032,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.05,-126.5,132,2229,3032,3310,4.4,-4.4,4,109,11.82,1.77,-4.30,0.000,18692,0.372,0.091,2801,3266,3366,3258,3474,0,0,0,0,0,0,14.64,14.79,14.97
$GC,337,-0.87,-126.5,1792,3265,3226,3472,44.7,-15.7,20,344,0.25,1.73,0.00,0.000,3078,0.226,0.041,2865,2208,3366,3258,3475,0,0,0,0,0,0,14.78,14.90,28.83
$GC,651,-0.76,-126.5,2865,2209,3258,3474,85.3,-12.7,41,657,0.12,1.83,0.00,0.000,2308,0.243,0.061,2897,3267,3366,3258,3475,0,0,0,0,0,0,14.85,14.92,28.83
$GC,883,-0.71,-126.5,2897,3267,3258,3476,112.3,-12.1,56,889,0.00,1.70,0.00,0.000,1030,0.000,0.041,2898,2218,3367,3259,3476,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1196,-0.66,-126.5,2897,2218,3258,3476,153.8,-13.5,77,1202,0.12,1.80,0.00,0.000,2308,0.239,0.058,2927,3267,3366,3257,3476,0,0,0,0,0,0,14.91,14.97,28.83
$GC,1299,-0.66,-126.5,2926,3267,3258,3476,165.5,-12.5,83,1305,0.00,1.70,0.00,0.000,1030,0.000,0.040,2926,2212,3367,3258,3477,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1604,-0.66,-126.5,2926,2212,3258,3477,206.9,-12.9,104,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2212,3367,3258,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,-0.66,-126.5,2926,2212,3258,3478,240.3,-10.2,124,1909,0.00,1.65,0.00,0.000,516,0.000,0.055,2926,1181,3367,3258,3477,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1976,-0.66,-126.5,2926,1181,3257,3477,246.3,-9.7,128,1982,0.00,1.70,0.00,0.000,1030,0.000,0.041,2920,2229,3368,3258,3478,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2283,-0.66,-126.5,2921,2229,3258,3477,272.6,-7.7,140,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2229,3368,3258,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2582,-0.66,-126.5,2921,2229,3258,3477,294.5,-7.2,150,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2229,3367,3258,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2882,-0.66,-126.5,2921,2229,3258,3477,313.7,-6.4,160,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2229,3367,3258,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3182,-0.66,-126.5,2921,2229,3258,3477,334.2,-7.0,170,3187,0.00,1.73,0.00,0.000,516,0.000,0.054,2921,1183,3367,3258,3477,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3244,-0.66,-126.5,2920,1182,3258,3477,339.3,-7.7,172,3249,0.00,1.67,0.00,0.000,1030,0.000,0.043,2914,2220,3367,3258,3477,0,0,0,0,0,0,28.83,15.12,28.83
$GC,3577,-0.66,-126.5,2914,2220,3258,3477,371.4,-10.3,183,3582,0.00,1.73,0.00,0.000,260,0.000,0.067,2907,3271,3367,3258,3477,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3663,-0.66,-126.5,2907,3271,3258,3477,378.2,-10.7,185,3670,0.00,1.70,0.00,0.000,1030,0.000,0.042,2907,2211,3367,3258,3477,0,0,0,0,0,0,28.83,15.14,28.83
$GC,3969,-0.66,-126.5,2907,2211,3258,3477,414.1,-10.9,196,3974,0.00,1.65,0.00,0.000,516,0.000,0.057,2906,1178,3367,3258,3477,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4070,-0.66,-126.5,2907,1177,3258,3477,424.5,-11.2,199,4076,0.15,1.70,0.00,0.000,3078,0.223,0.044,2938,2224,3367,3258,3477,0,0,0,0,0,0,15.03,15.13,28.83
$GC,4394,-0.66,-126.5,2938,2224,3258,3475,455.1,-9.0,210,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2224,3366,3258,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4693,-0.66,-126.5,2938,2224,3258,3474,480.3,-8.0,220,4698,0.00,1.73,0.00,0.000,260,0.000,0.067,2932,3268,3366,3258,3474,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4774,-0.66,-126.5,2932,3268,3258,3473,485.3,-7.9,222,4779,0.00,1.70,0.00,0.000,1030,0.000,0.043,2932,2208,3365,3258,3473,0,0,0,0,0,0,28.83,15.15,28.83
$GC,5087,-0.66,-126.5,2932,2208,3258,3471,509.8,-7.2,233,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2208,3364,3258,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,-0.66,-126.5,2932,2209,3258,3470,532.9,-7.9,243,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2209,3364,3258,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,-0.66,-126.5,2932,2209,3258,3468,557.0,-8.1,253,5691,0.00,1.65,0.00,0.000,516,0.000,0.058,2932,1179,3362,3258,3467,0,0,0,0,0,0,28.83,15.13,28.83
$GC,5767,-0.66,-126.5,2932,1179,3258,3468,562.1,-8.2,255,5772,0.00,1.70,0.00,0.000,1030,0.000,0.044,2926,2227,3362,3258,3467,0,0,0,0,0,0,28.83,15.14,28.83
$GC,6079,-0.66,-126.5,2926,2227,3257,3465,590.2,-8.3,266,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2227,3361,3258,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6380,-0.66,-126.5,2926,2227,3257,3464,615.5,-8.5,276,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2227,3361,3258,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6679,-0.66,-126.5,2925,2227,3258,3462,642.0,-8.9,286,6684,0.00,1.73,0.00,0.000,260,0.000,0.069,2918,3267,3360,3258,3462,0,0,0,0,0,0,28.83,15.11,28.83
$GC,6735,-0.66,-126.5,2919,3267,3258,3462,644.9,-9.0,287,6742,0.00,1.70,0.00,0.000,1030,0.000,0.044,2919,2213,3360,3258,3462,0,0,0,0,0,0,28.83,15.15,28.83
$GC,7042,-0.66,-126.5,2919,2213,3257,3460,676.0,-9.4,298,7047,0.00,1.65,0.00,0.000,516,0.000,0.060,2918,1185,3359,3258,3460,0,0,0,0,0,0,28.83,15.12,28.83
$GC,7104,-0.66,-126.5,2918,1185,3258,3459,682.1,-9.7,300,7109,0.00,1.70,0.00,0.000,1030,0.000,0.045,2913,2229,3358,3258,3459,0,0,0,0,0,0,28.83,15.13,28.83
$GC,7438,-0.66,-126.5,2913,2229,3258,3458,712.3,-8.9,311,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2229,3357,3258,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7737,-0.66,-126.5,2913,2229,3258,3456,736.5,-7.6,321,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2229,3357,3258,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8038,-0.66,-126.5,2913,2229,3258,3454,755.9,-5.9,331,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2229,3356,3258,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8337,-0.66,-126.5,2913,2229,3258,3452,771.7,-5.1,341,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2229,3355,3258,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8637,-0.66,-126.5,2913,2229,3258,3451,786.1,-4.7,351,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2229,3354,3258,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8937,-0.66,-126.5,2913,2229,3258,3449,801.6,-5.2,361,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2229,3354,3258,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9238,-0.66,-126.5,2913,2228,3258,3447,819.2,-6.1,371,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2229,3352,3258,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9536,-0.66,-126.5,2913,2229,3258,3445,841.7,-8.0,381,9541,0.00,1.73,0.00,0.000,260,0.000,0.072,2906,3264,3351,3257,3445,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9612,-0.66,-126.5,2905,3264,3258,3445,847.2,-8.8,383,9618,0.12,1.70,0.00,0.000,3078,0.220,0.047,2935,2216,3351,3257,3445,0,0,0,0,0,0,15.04,15.14,28.83
$GC,9932,-0.73,-126.5,2935,2216,3258,3443,878.4,-10.0,394,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2217,3350,3258,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10231,-0.80,-126.5,2936,2216,3258,3442,910.1,-10.8,404,10237,0.12,1.67,0.00,0.000,4612,0.119,0.060,2865,1185,3350,3258,3442,0,0,0,0,0,0,15.14,15.11,28.83
$GC,10309,-0.80,-126.5,2865,1185,3257,3441,918.7,-12.1,406,10315,0.12,1.70,0.00,0.000,3078,0.240,0.047,2888,2223,3349,3258,3441,0,0,0,0,0,0,15.03,15.13,28.83
$GC,10628,-0.80,-126.5,2888,2223,3258,3439,959.2,-11.5,417,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2222,3348,3258,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10927,-0.80,-126.5,2888,2222,3258,3437,989.4,-9.5,427,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2222,3348,3258,3438,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10956,begin apogee
$GC,10960,-0.28,0.0,2888,2121,3258,3437,992.1,-9.3,428,11078,0.52,0.00,110.22,2.088,10246,0.176,0.000,3052,2121,2847,2773,2922,0,0,0,0,0,0,15.04,28.83,13.40
$STATE,11080,end apogee,CONTROL_FINISHED_OK
$STATE,11081,begin climb
$GC,11082,1.05,126.5,3052,2121,2773,2921,996.4,0.0,432,11212,1.35,1.92,118.28,2.043,10756,0.111,0.070,3494,1084,2331,2221,2441,0,0,0,0,0,0,14.26,14.09,13.28
$GC,11269,0.86,126.5,3493,1084,2221,2431,985.2,8.1,438,11275,0.25,1.80,0.00,0.000,5126,0.236,0.045,3432,2131,2326,2221,2431,0,0,0,0,0,0,14.31,14.42,28.83
$GC,11593,0.76,126.5,3432,2131,2221,2423,951.6,10.0,449,11599,0.12,1.77,0.00,0.000,4356,0.272,0.065,3397,3172,2322,2221,2423,0,0,0,0,0,0,14.69,14.77,28.83
$GC,11766,0.68,126.5,3397,3172,2216,2422,936.7,9.6,454,11771,0.00,1.77,0.00,0.000,1030,0.000,0.050,3397,2122,2318,2215,2422,0,0,0,0,0,0,28.83,14.85,28.83
$GC,12080,0.62,126.5,3397,2122,2216,2422,905.2,9.5,465,12082,0.17,0.00,0.00,0.000,4102,0.241,0.000,3353,2122,2318,2215,2422,0,0,0,0,0,0,14.83,28.83,28.83
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$STATE,21791,end climb,SURFACE_DEPTH_REACHED
$STATE,21791,begin surface coast
$FINISH,1.5,1.011132
$STATE,21807,end surface coast,CONTROL_FINISHED_OK
$STATE,21807,begin surface
$SM_CCo,21886,0.00,0.000,0,0,1582,310.80
$SM_GC,2.47,9.18,0.10,0.00,0.051,0.132,0.000,140,2210,1582,-9.28,-1.64,310.80,0,0,0,0,0,0,15.00,14.97,28.83
$IRIDIUM_FIX,2458.45,-3758.34,280313,070711
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.77
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.70
$XPDR_PINGS,37
$SC_FREEKB,4015360
$TM_FREEKB,7777520
$24V_AH,13.3,7.140
$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,24.875,114.925,392.025,0.000,0.000,0.000,0.000,262.750,9.250,0.000,17.897,3000.112,16040.882,524.082,2579.426,186.825,0.000,1976.012,0.000,2156.595,0.000,0.538,0.000
$DEVICE_MAMPS,371.790,132.345,2088.450,0.000,0.000,0.000,0.000,231.030,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.427,12.651,0.000,0.000
$MEM,354128
$DATA_FILE_SIZE,30048,865
$CAP_FILE_SIZE,216652,0
$CFSIZE,260034560,250990592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,243.6,1
$GPS,280313,194434,2511.749,-3759.578,36,0.9,36,-13.9