version: 66.11
glider: 122
mission: 17
dive: 41
start: 4 3 113 10 3 56
data:
$ID,122
$MISSION,17
$DIVE,41
$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,-45792.648
$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,53
$R_STBD_OVSHOOT,62
$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
$GPS1,030413,095524,2423.719,-3825.522,39,0.8,39,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-66.8
$GPS2,030413,100330,2423.706,-3825.596,18,0.9,18,-14.2
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,S
$TGT_LATLONG,2357.000,-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,144.5,65750,-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,23,-1.05,-126.5,100,2223,1543,1705,0.0,0.0,0,72,0.00,0.00,-47.05,0.000,16386,0.000,0.000,100,2223,2736,2553,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.05,-126.5,99,2223,2553,2919,3.1,-1.6,3,111,11.85,1.77,-16.88,0.000,18948,0.363,0.081,2805,1180,3367,3271,3463,0,0,0,0,0,0,14.63,14.78,14.96
$GC,338,-0.87,-126.5,2805,1180,3271,3464,41.1,-14.5,20,345,0.25,1.67,0.00,0.000,3078,0.226,0.036,2866,2213,3367,3271,3464,0,0,0,0,0,0,14.77,14.89,28.83
$GC,652,-0.78,-126.5,2866,2213,3271,3464,82.2,-15.0,41,654,0.12,0.00,0.00,0.000,2054,0.243,0.000,2898,2214,3367,3271,3464,0,0,0,0,0,0,14.84,28.83,28.83
$GC,952,-0.74,-126.5,2898,2214,3271,3465,121.5,-13.0,61,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2214,3368,3271,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1252,-0.74,-126.5,2898,2214,3271,3467,151.7,-10.1,81,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2214,3368,3271,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-0.74,-126.5,2898,2214,3271,3467,183.5,-9.1,101,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2214,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.74,-126.5,2898,2214,3271,3467,207.6,-8.1,121,1857,0.00,1.73,0.00,0.000,516,0.000,0.048,2898,1167,3369,3271,3467,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1974,-0.74,-126.5,2898,1167,3271,3467,218.9,-9.3,129,1979,0.00,1.70,0.00,0.000,1030,0.000,0.037,2894,2221,3369,3271,3467,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2307,-0.74,-126.5,2895,2221,3271,3467,253.5,-11.3,150,2312,0.00,1.70,0.00,0.000,260,0.000,0.058,2886,3264,3369,3271,3467,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2403,-0.74,-126.5,2887,3264,3271,3467,264.3,-11.6,153,2409,0.00,1.67,0.00,0.000,1030,0.000,0.032,2887,2199,3369,3272,3467,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2732,-0.74,-126.5,2887,2199,3271,3467,300.0,-10.1,164,2737,0.00,1.60,0.00,0.000,516,0.000,0.049,2886,1185,3369,3271,3467,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2804,-0.70,-126.5,2886,1185,3271,3467,306.7,-10.1,166,2810,0.10,1.70,0.00,0.000,3078,0.187,0.035,2922,2223,3369,3271,3467,0,0,0,0,0,0,14.99,15.09,28.83
$GC,3128,-0.70,-126.5,2922,2223,3271,3467,335.6,-8.8,177,3133,0.00,1.70,0.00,0.000,516,0.000,0.046,2922,1182,3369,3271,3467,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3214,-0.70,-126.5,2922,1181,3271,3466,341.4,-9.0,179,3221,0.00,1.67,0.00,0.000,1030,0.000,0.034,2918,2233,3369,3271,3467,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3520,-0.70,-126.5,2918,2233,3271,3466,371.4,-9.3,190,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2234,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-0.70,-126.5,2918,2234,3271,3467,396.3,-7.6,200,3826,0.00,1.67,0.00,0.000,260,0.000,0.059,2911,3260,3369,3271,3467,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3897,-0.70,-126.5,2910,3260,3271,3466,401.0,-7.4,202,3903,0.00,1.65,0.00,0.000,1030,0.000,0.034,2910,2202,3368,3271,3466,0,0,0,0,0,0,28.83,15.14,28.83
$GC,4217,-0.70,-126.5,2910,2203,3270,3466,423.9,-6.8,213,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2202,3368,3271,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4515,-0.70,-126.5,2910,2203,3271,3465,448.8,-9.0,223,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2203,3367,3271,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4816,-0.70,-126.5,2910,2203,3271,3464,478.3,-10.0,233,4821,0.00,1.58,0.00,0.000,516,0.000,0.050,2910,1202,3367,3271,3463,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4902,-0.70,-126.5,2910,1202,3271,3463,485.0,-10.4,235,4909,0.00,1.67,0.00,0.000,1030,0.000,0.035,2905,2224,3367,3271,3463,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5209,-0.70,-126.5,2905,2224,3271,3461,517.3,-9.3,246,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2224,3366,3271,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5508,-0.70,-126.5,2905,2224,3271,3458,543.6,-8.7,256,5513,0.00,1.70,0.00,0.000,260,0.000,0.060,2897,3261,3364,3271,3458,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5564,-0.70,-126.5,1920,3260,3244,3455,546.5,-8.8,257,5571,0.00,1.65,0.00,0.000,1030,0.000,0.034,2897,2209,3364,3271,3458,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5871,-0.70,-126.5,2897,2209,3271,3457,578.2,-9.9,268,5876,0.00,1.60,0.00,0.000,516,0.000,0.050,2897,1197,3364,3271,3457,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5982,-0.70,-126.5,2897,1197,3271,3456,587.7,-10.1,271,5988,0.12,1.65,0.00,0.000,3078,0.226,0.036,2923,2229,3363,3271,3456,0,0,0,0,0,0,15.03,15.14,28.83
$GC,6297,-0.70,-126.5,2923,2230,3270,3454,617.6,-9.1,282,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2230,3362,3271,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,-0.70,-126.5,2923,2230,3271,3452,646.2,-9.7,292,6601,0.00,1.70,0.00,0.000,260,0.000,0.060,2917,3267,3361,3271,3451,0,0,0,0,0,0,28.83,15.11,28.83
$GC,6659,-0.70,-126.5,2917,3267,3271,3451,652.0,-9.4,294,6664,0.00,1.65,0.00,0.000,1030,0.000,0.035,2917,2213,3361,3271,3451,0,0,0,0,0,0,28.83,15.14,28.83
$GC,6992,-0.70,-126.5,2917,2213,3270,3450,681.0,-8.3,305,6997,0.00,1.60,0.00,0.000,516,0.000,0.050,2917,1203,3360,3271,3450,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7064,-0.70,-126.5,2917,1203,3271,3449,686.4,-8.3,307,7069,0.00,1.67,0.00,0.000,1030,0.000,0.037,2911,2221,3360,3271,3449,0,0,0,0,0,0,28.83,15.12,28.83
$GC,7387,-0.70,-126.5,2911,2221,3271,3447,711.4,-7.4,318,7392,0.00,1.67,0.00,0.000,516,0.000,0.048,2911,1198,3358,3270,3446,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7450,-0.70,-126.5,2911,1198,3271,3446,716.1,-7.4,320,7455,0.00,1.65,0.00,0.000,1030,0.000,0.037,2906,2227,3358,3270,3446,0,0,0,0,0,0,28.83,15.12,28.83
$GC,7784,-0.70,-126.5,2906,2228,3271,3444,744.0,-9.0,331,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2228,3357,3271,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,-0.70,-126.5,2906,2228,3271,3442,771.6,-9.1,341,8088,0.00,1.70,0.00,0.000,260,0.000,0.061,2898,3260,3356,3270,3443,0,0,0,0,0,0,28.83,15.10,28.83
$GC,8178,-0.70,-126.5,1920,3258,3243,3439,779.9,-9.2,344,8183,0.00,1.65,0.00,0.000,1030,0.000,0.036,2898,2212,3356,3271,3442,0,0,0,0,0,0,28.83,15.14,28.83
$GC,8507,-0.70,-126.5,2898,2212,3271,3439,807.8,-7.8,355,8512,0.00,1.62,0.00,0.000,516,0.000,0.052,2898,1192,3355,3271,3439,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8678,-0.70,-126.5,2898,1192,3271,3438,820.9,-8.7,360,8684,0.12,1.67,0.00,0.000,3078,0.227,0.037,2923,2230,3354,3271,3438,0,0,0,0,0,0,15.02,15.11,28.83
$GC,8993,-0.75,-126.5,2923,2230,3271,3437,843.4,-6.5,371,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2231,3354,3271,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9292,-0.80,-126.5,2923,2230,3271,3435,862.7,-6.5,381,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2230,3353,3271,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9592,-0.85,-126.5,2923,2231,3270,3433,882.9,-6.8,391,9598,0.12,1.70,0.00,0.000,4356,0.119,0.059,2838,3263,3351,3270,3433,0,0,0,0,0,0,15.13,15.09,28.83
$GC,9689,-0.85,-126.5,2838,3262,3271,3432,892.3,-9.4,394,9695,0.10,1.70,0.00,0.000,3078,0.197,0.037,2870,2220,3352,3271,3433,0,0,0,0,0,0,15.01,15.12,28.83
$GC,10018,-0.85,-126.5,2870,2220,3271,3430,922.5,-8.9,405,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2220,3350,3271,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10317,-0.85,-126.5,2870,2220,3272,3429,951.8,-10.1,415,10322,0.00,1.65,0.00,0.000,516,0.000,0.054,2870,1189,3350,3271,3429,0,0,0,0,0,0,28.83,15.10,28.83
$GC,10430,-0.85,-126.5,2870,1189,3271,3428,962.0,-11.1,418,10435,0.00,1.67,0.00,0.000,1030,0.000,0.038,2867,2225,3349,3271,3428,0,0,0,0,0,0,28.83,15.11,28.83
$STATE,10680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10680,begin apogee
$GC,10685,-0.28,0.0,2866,2115,3271,3427,991.9,-11.0,427,10803,0.62,0.00,110.85,2.075,10246,0.174,0.000,3059,2115,2847,2775,2920,0,0,0,0,0,0,15.02,28.83,13.38
$STATE,10805,end apogee,CONTROL_FINISHED_OK
$STATE,10805,begin climb
$GC,10807,1.05,126.5,3058,2114,2774,2919,997.0,0.0,431,10931,1.30,0.00,119.43,2.036,10502,0.103,0.000,3486,2115,2334,2222,2446,0,0,0,0,0,0,14.26,28.83,13.28
$GC,11223,0.88,126.5,3485,2114,2219,2426,958.0,13.2,445,11228,0.17,1.70,0.00,0.000,4612,0.259,0.057,3440,1106,2323,2219,2427,0,0,0,0,0,0,14.61,14.71,28.83
$GC,11311,0.73,126.5,3439,1106,2219,2425,950.1,13.1,447,11318,0.15,1.73,0.00,0.000,5126,0.210,0.037,3388,2127,2322,2219,2426,0,0,0,0,0,0,14.66,14.79,28.83
$GC,11617,0.68,126.5,3387,2127,2219,2422,914.9,10.2,458,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2127,2320,2219,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11917,0.64,134.0,3388,2127,2219,2421,889.8,7.5,468,11928,0.12,1.73,4.53,1.425,12548,0.260,0.060,3351,3153,2303,2199,2408,0,0,0,0,0,0,14.85,14.90,13.97
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$STATE,21553,end climb,SURFACE_DEPTH_REACHED
$STATE,21553,begin surface coast
$FINISH,1.5,1.013516
$STATE,21568,end surface coast,CONTROL_FINISHED_OK
$STATE,21569,begin surface
$SM_CCo,21587,22.62,0.081,0,0,1626,300.00
$SM_GC,2.17,8.95,0.15,22.62,0.047,0.083,0.081,146,2257,1626,-9.28,-1.78,300.00,0,0,0,0,0,0,15.00,15.02,14.94
$IRIDIUM_FIX,2413.38,-3827.77,030413,030342
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.40
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.70
$XPDR_PINGS,49
$SC_FREEKB,4009472
$TM_FREEKB,7604644
$24V_AH,13.3,14.148
$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,24.425,108.675,348.075,22.625,0.000,0.000,0.000,291.550,12.250,0.000,18.828,3087.504,15637.001,516.530,2646.580,202.643,0.000,1992.537,0.000,2198.403,0.000,0.538,0.000
$DEVICE_MAMPS,362.610,86.445,2075.445,81.090,0.000,0.000,0.000,224.910,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21565.000,5215.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.618,12.640,0.000,0.000
$MEM,354048
$DATA_FILE_SIZE,30048,884
$CAP_FILE_SIZE,217744,0
$CFSIZE,260034560,248352768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,254.9,1
$GPS,030413,160529,2421.670,-3823.836,42,0.9,42,-14.2