version: 66.11
glider: 122
mission: 17
dive: 78
start: 4 13 113 1 53 20
data:
$ID,122
$MISSION,17
$DIVE,78
$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,-45839.285
$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,61
$R_STBD_OVSHOOT,57
$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
$GPS1,130413,014522,2435.014,-3718.490,42,0.8,42,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-72.0
$GPS2,130413,015253,2435.011,-3718.509,19,0.8,19,-13.8
$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,325.6,98907,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.05,-126.5,134,2223,1531,1714,0.0,0.0,0,76,0.00,0.00,-46.80,0.000,16386,0.000,0.000,134,2223,2725,2543,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.05,-126.5,133,2223,2543,2908,3.4,-3.2,3,115,11.40,1.80,-17.27,0.000,18692,0.347,0.092,2800,3253,3367,3274,3461,0,0,0,0,0,0,14.66,14.81,15.00
$GC,342,-0.86,-126.5,2800,3253,3274,3462,41.5,-16.5,20,349,0.28,1.67,0.00,0.000,3078,0.209,0.032,2874,2203,3368,3274,3462,0,0,0,0,0,0,14.80,14.95,28.83
$GC,656,-0.76,-126.5,2874,2203,3274,3462,81.4,-12.1,41,661,0.00,1.80,0.00,0.000,260,0.000,0.056,2869,3257,3368,3274,3462,0,0,0,0,0,0,28.83,14.95,28.83
$GC,809,-0.67,-126.5,2870,3257,3274,3462,100.7,-12.6,51,816,0.22,1.65,0.00,0.000,3078,0.194,0.033,2932,2214,3368,3274,3462,0,0,0,0,0,0,14.90,15.02,28.83
$GC,1128,-0.67,-126.5,2932,2214,3274,3463,133.0,-10.4,72,1133,0.00,1.62,0.00,0.000,516,0.000,0.049,2932,1191,3368,3274,3463,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1205,-0.67,-126.5,2932,1191,3274,3463,141.1,-10.8,77,1210,0.00,1.65,0.00,0.000,1030,0.000,0.034,2928,2226,3368,3274,3463,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1523,-0.67,-126.5,2928,2226,3274,3464,175.5,-10.9,98,1528,0.00,1.70,0.00,0.000,260,0.000,0.058,2921,3267,3369,3274,3464,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1585,-0.67,-126.5,2921,3267,3274,3464,182.3,-10.9,102,1591,0.00,1.65,0.00,0.000,1030,0.000,0.031,2920,2214,3369,3274,3464,0,0,0,0,0,0,28.83,15.08,28.83
$GC,1903,-0.67,-126.5,2920,2215,3274,3464,217.4,-10.9,123,1909,0.00,1.62,0.00,0.000,516,0.000,0.048,2920,1186,3369,3274,3464,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2026,-0.67,-126.5,2920,1185,3274,3464,231.5,-11.2,131,2032,0.00,1.65,0.00,0.000,1030,0.000,0.034,2915,2226,3369,3274,3464,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2344,-0.67,-126.5,2914,2226,3277,3464,267.4,-11.2,147,2349,0.00,1.70,0.00,0.000,260,0.000,0.059,2907,3268,3370,3277,3464,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2476,-0.67,-126.5,2907,3269,3277,3464,280.6,-10.8,151,2482,0.00,1.65,0.00,0.000,1030,0.000,0.031,2907,2214,3370,3277,3464,0,0,0,0,0,0,28.83,15.11,28.83
$GC,2800,-0.67,-126.5,2907,2214,3277,3464,313.0,-8.9,162,2805,0.00,1.60,0.00,0.000,516,0.000,0.048,2907,1194,3370,3277,3464,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2927,-0.67,-126.5,2906,1194,3277,3464,323.0,-8.1,166,2933,0.12,1.62,0.00,0.000,3078,0.216,0.034,2932,2221,3370,3277,3464,0,0,0,0,0,0,15.00,15.09,28.83
$GC,3256,-0.67,-126.5,2932,2222,3277,3464,344.1,-6.8,177,3261,0.00,1.70,0.00,0.000,260,0.000,0.057,2926,3267,3370,3277,3464,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3393,-0.67,-126.5,1920,3266,3248,3461,353.6,-7.8,181,3398,0.00,1.67,0.00,0.000,1030,0.000,0.031,2926,2223,3370,3277,3464,0,0,0,0,0,0,28.83,15.14,28.83
$GC,3710,-0.67,-126.5,2926,2223,3277,3464,382.7,-9.5,192,3715,0.00,1.62,0.00,0.000,516,0.000,0.047,2926,1188,3370,3277,3464,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3772,-0.67,-126.5,2926,1187,3277,3464,389.0,-9.8,194,3777,0.00,1.65,0.00,0.000,1030,0.000,0.034,2921,2227,3370,3277,3464,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4106,-0.67,-126.5,2921,2228,3277,3464,422.9,-10.2,205,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2227,3370,3277,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4405,-0.67,-126.5,2921,2228,3277,3464,450.7,-8.9,215,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2228,3370,3277,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4705,-0.67,-126.5,2921,2228,3277,3463,476.3,-8.3,225,4710,0.00,1.70,0.00,0.000,260,0.000,0.058,2913,3269,3370,3277,3463,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4811,-0.67,-126.5,2913,3268,3277,3463,484.1,-8.3,228,4816,0.00,1.65,0.00,0.000,1030,0.000,0.032,2913,2217,3369,3276,3463,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5129,-0.67,-126.5,2913,2217,3277,3462,508.5,-7.1,239,5135,0.00,1.62,0.00,0.000,516,0.000,0.047,2913,1184,3369,3277,3462,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5227,-0.67,-126.5,2913,1184,3277,3461,515.2,-7.2,242,5232,0.00,1.65,0.00,0.000,1030,0.000,0.034,2907,2225,3368,3276,3461,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5556,-0.67,-126.5,2908,2225,3277,3459,539.4,-7.3,253,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2225,3367,3277,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5855,-0.67,-126.5,2907,2225,3276,3457,564.0,-8.7,263,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2225,3367,3277,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6154,-0.67,-126.5,2907,2225,3277,3455,592.0,-9.5,273,6159,0.00,1.70,0.00,0.000,260,0.000,0.059,2900,3265,3366,3277,3455,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6247,-0.67,-126.5,2900,3265,3277,3454,601.2,-10.1,276,6253,0.12,1.65,0.00,0.000,3078,0.207,0.032,2932,2197,3365,3277,3454,0,0,0,0,0,0,15.02,15.13,28.83
$GC,6581,-0.72,-126.5,2932,2197,3277,3451,630.6,-8.7,287,6587,0.00,1.55,0.00,0.000,516,0.000,0.048,2932,1211,3364,3277,3451,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6629,-0.76,-126.5,2932,1210,3276,3451,633.7,-8.8,288,6634,0.00,1.60,0.00,0.000,1030,0.000,0.033,2929,2223,3364,3277,3451,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6948,-0.80,-126.5,2929,2223,3277,3449,664.5,-9.5,299,6953,0.12,1.70,0.00,0.000,4356,0.117,0.055,2836,3263,3363,3277,3449,0,0,0,0,0,0,15.13,15.09,28.83
$GC,7061,-0.80,-126.5,2836,3263,3276,3448,676.6,-12.2,302,7067,0.20,1.62,0.00,0.000,3078,0.202,0.032,2890,2212,3362,3277,3448,0,0,0,0,0,0,15.01,15.14,28.83
$GC,7375,-0.80,-126.5,2891,2212,3277,3446,713.3,-10.5,313,7381,0.00,1.58,0.00,0.000,516,0.000,0.047,2891,1211,3361,3277,3446,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7487,-0.80,-126.5,2891,1211,3276,3445,723.3,-10.7,316,7493,0.00,1.60,0.00,0.000,1030,0.000,0.034,2887,2216,3361,3277,3445,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7800,-0.80,-126.5,2887,2216,3277,3443,756.7,-9.6,327,7805,0.00,1.73,0.00,0.000,260,0.000,0.060,2880,3267,3360,3277,3443,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7877,-0.80,-126.5,2880,3267,3277,3443,762.8,-9.7,329,7882,0.00,1.62,0.00,0.000,1030,0.000,0.033,2879,2220,3359,3277,3442,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8195,-0.80,-126.5,2880,2221,3277,3440,795.6,-9.9,340,8201,0.00,1.62,0.00,0.000,516,0.000,0.049,2879,1215,3358,3276,3440,0,0,0,0,0,0,28.83,15.08,28.83
$GC,8288,-0.80,-126.5,2879,1215,3277,3439,804.7,-9.8,343,8294,0.00,1.60,0.00,0.000,1030,0.000,0.035,2873,2219,3357,3276,3439,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8622,-0.80,-126.5,2873,2219,3277,3438,836.1,-8.8,354,8628,0.00,1.73,0.00,0.000,260,0.000,0.060,2869,3264,3357,3277,3437,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8679,-0.80,-126.5,2869,3264,3276,3437,839.1,-8.8,355,8686,0.00,1.62,0.00,0.000,1030,0.000,0.034,2869,2223,3356,3276,3437,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8985,-0.80,-126.5,2869,2223,3277,3436,866.6,-8.5,366,8990,0.00,1.62,0.00,0.000,516,0.000,0.050,2869,1200,3356,3277,3436,0,0,0,0,0,0,28.83,15.09,28.83
$GC,9047,-0.80,-126.5,2869,1200,3276,3435,872.1,-8.8,368,9053,0.00,1.65,0.00,0.000,1030,0.000,0.036,2864,2229,3356,3277,3435,0,0,0,0,0,0,28.83,15.10,28.83
$GC,9380,-0.80,-126.5,2864,2229,3277,3432,903.0,-9.5,379,9386,0.00,1.70,0.00,0.000,260,0.000,0.060,2856,3261,3355,3277,3433,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9457,-0.80,-126.5,2856,3261,3277,3432,909.3,-9.9,381,9463,0.10,1.67,0.00,0.000,3078,0.183,0.034,2889,2220,3354,3276,3432,0,0,0,0,0,0,14.98,15.10,28.83
$GC,9776,-0.80,-126.5,2889,2220,3277,3429,937.4,-8.3,392,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2220,3352,3276,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10076,-0.80,-126.5,2889,2220,3277,3428,961.3,-7.7,402,10082,0.00,1.62,0.00,0.000,516,0.000,0.050,2888,1197,3352,3277,3428,0,0,0,0,0,0,28.83,15.08,28.83
$GC,10144,-0.80,-126.5,2889,1197,3277,3428,966.2,-7.4,404,10149,0.00,1.65,0.00,0.000,1030,0.000,0.036,2885,2224,3352,3277,3428,0,0,0,0,0,0,28.83,15.10,28.83
$GC,10473,-0.80,-126.5,2885,2224,3276,3426,989.7,-7.0,415,10478,0.00,1.73,0.00,0.000,260,0.000,0.061,2878,3268,3351,3277,3426,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,10504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10504,begin apogee
$GC,10511,-0.28,0.0,2878,2142,3276,3425,992.1,-7.0,416,10626,0.57,0.00,108.97,2.055,10246,0.164,0.000,3057,2142,2848,2773,2924,0,0,0,0,0,0,14.99,28.83,13.45
$STATE,10629,end apogee,CONTROL_FINISHED_OK
$STATE,10629,begin climb
$GC,10631,1.05,126.5,3056,2142,2770,2923,993.8,0.0,420,10752,1.30,0.00,116.62,2.012,10758,0.096,0.000,3490,2142,2333,2217,2449,0,0,0,0,0,0,14.33,28.83,13.38
$GC,11046,0.87,126.5,3490,2142,2213,2434,951.0,12.3,434,11052,0.20,1.77,0.00,0.000,4356,0.250,0.051,3435,3165,2323,2213,2434,0,0,0,0,0,0,14.65,14.77,28.83
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$STATE,21240,end climb,SURFACE_DEPTH_REACHED
$STATE,21241,begin surface coast
$FINISH,1.4,1.011154
$STATE,21256,end surface coast,CONTROL_FINISHED_OK
$STATE,21256,begin surface
$SM_CCo,21276,24.80,0.082,0,0,1626,300.00
$SM_GC,2.44,8.98,0.15,24.80,0.050,0.095,0.082,148,2234,1626,-9.28,-1.92,300.00,0,0,0,0,0,0,15.02,15.02,14.97
$IRIDIUM_FIX,2422.84,-3719.67,120413,202024
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.38
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.10
$XPDR_PINGS,42
$SC_FREEKB,4000000
$TM_FREEKB,7328296
$24V_AH,13.4,25.429
$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,24.200,138.425,342.100,24.800,0.000,0.000,0.000,263.925,10.500,0.000,20.248,3135.710,15118.375,559.715,2696.677,239.293,0.000,2076.819,0.000,2285.985,0.000,0.538,0.000
$DEVICE_MAMPS,346.545,94.860,2054.790,81.855,0.000,0.000,0.000,218.790,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21251.000,2527.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.619,12.878,0.000,0.000
$MEM,354116
$DATA_FILE_SIZE,30066,854
$CAP_FILE_SIZE,224800,0
$CFSIZE,260034560,244191232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018, 90.1,1
$GPS,130413,074935,2436.870,-3720.544,32,1.0,32,-13.8