version: 66.11
glider: 122
mission: 17
dive: 82
start: 4 14 113 3 14 44
data:
$ID,122
$MISSION,17
$DIVE,82
$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,613.25
$N_FILEKB,4
$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,-45844.41
$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,62
$R_STBD_OVSHOOT,63
$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,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
$GPS1,140413,030334,2442.805,-3726.613,37,0.7,37,-13.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-71.6
$GPS2,140413,031418,2442.779,-3726.629,17,1.3,17,-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,317.6,79112,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.05,-126.5,126,2235,1547,1705,0.0,0.0,0,70,0.00,0.00,-47.03,0.000,16386,0.000,0.000,126,2235,2731,2549,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.05,-126.5,126,2235,2550,2915,3.3,-3.2,3,108,11.38,1.75,-16.95,0.000,18692,0.350,0.086,2799,3259,3365,3272,3459,0,0,0,0,0,0,14.76,14.90,15.09
$GC,336,-0.86,-126.5,1792,3258,3242,3458,43.1,-17.3,20,341,0.28,1.67,0.00,0.000,3078,0.207,0.032,2874,2209,3366,3272,3460,0,0,0,0,0,0,14.85,14.98,28.83
$GC,649,-0.77,-126.5,2874,2209,3273,3460,84.8,-12.3,41,655,0.00,1.77,0.00,0.000,260,0.000,0.055,2869,3247,3366,3272,3460,0,0,0,0,0,0,28.83,14.96,28.83
$GC,792,-0.68,-126.5,2869,3247,3272,3460,103.2,-13.3,50,798,0.22,1.65,0.00,0.000,3078,0.193,0.034,2932,2213,3366,3272,3460,0,0,0,0,0,0,14.90,15.02,28.83
$GC,1106,-0.68,-126.5,2931,2213,3272,3460,133.4,-9.3,71,1111,0.00,1.62,0.00,0.000,516,0.000,0.047,2932,1189,3366,3272,3460,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1183,-0.68,-126.5,2932,1189,3272,3460,140.9,-9.7,76,1188,0.00,1.62,0.00,0.000,1030,0.000,0.034,2927,2212,3366,3272,3460,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1500,-0.68,-126.5,2928,2212,3272,3460,173.4,-10.6,97,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2212,3366,3272,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1801,-0.68,-126.5,2927,2212,3272,3460,206.2,-10.1,117,1807,0.00,1.73,0.00,0.000,260,0.000,0.058,2920,3267,3366,3272,3460,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1864,-0.68,-126.5,2920,3266,3272,3460,212.7,-10.4,121,1870,0.00,1.65,0.00,0.000,1030,0.000,0.031,2920,2214,3366,3272,3460,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2182,-0.68,-126.5,2920,2214,3272,3460,246.2,-10.7,142,2187,0.00,1.77,0.00,0.000,260,0.000,0.054,2914,3261,3366,3272,3461,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2305,-0.68,-126.5,1888,3260,3242,3458,259.6,-10.6,148,2310,0.00,1.65,0.00,0.000,1030,0.000,0.031,2913,2206,3366,3272,3460,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2638,-0.68,-126.5,2913,2206,3272,3461,297.9,-12.1,159,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2206,3366,3272,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-0.68,-126.5,2913,2206,3275,3461,332.5,-11.1,169,2943,0.00,1.60,0.00,0.000,516,0.000,0.048,2913,1190,3368,3276,3461,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3020,-0.68,-126.5,2913,1190,3275,3461,339.2,-10.8,171,3025,0.00,1.65,0.00,0.000,1030,0.000,0.034,2908,2227,3368,3275,3461,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3333,-0.68,-126.5,2908,2228,3275,3461,374.4,-10.6,182,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2228,3368,3275,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3632,-0.68,-126.5,2908,2228,3275,3461,405.2,-9.9,192,3637,0.00,1.70,0.00,0.000,260,0.000,0.057,2900,3271,3368,3275,3461,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3689,-0.68,-126.5,2900,3271,3275,3461,408.3,-9.7,193,3696,0.12,1.65,0.00,0.000,3078,0.207,0.031,2932,2218,3368,3275,3461,0,0,0,0,0,0,15.02,15.15,28.83
$GC,3997,-0.68,-126.5,2932,2218,3275,3461,431.3,-6.1,204,4002,0.00,1.62,0.00,0.000,516,0.000,0.047,2933,1185,3368,3275,3461,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4090,-0.68,-126.5,2933,1185,3275,3461,437.2,-6.2,207,4095,0.00,1.65,0.00,0.000,1030,0.000,0.034,2929,2223,3368,3275,3461,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4423,-0.68,-126.5,2929,2224,3275,3460,460.8,-7.3,218,4428,0.00,1.70,0.00,0.000,260,0.000,0.057,2921,3269,3367,3275,3460,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4560,-0.68,-126.5,1888,3267,3246,3458,470.4,-7.8,222,4566,0.00,1.65,0.00,0.000,1030,0.000,0.032,2921,2218,3367,3275,3460,0,0,0,0,0,0,28.83,15.13,28.83
$GC,4879,-0.68,-126.5,2921,2218,3275,3458,495.1,-7.3,233,4884,0.00,1.65,0.00,0.000,516,0.000,0.047,2921,1196,3366,3275,3458,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5012,-0.68,-126.5,2921,1196,3275,3457,504.5,-7.5,237,5018,0.00,1.65,0.00,0.000,1030,0.000,0.033,2915,2238,3366,3275,3457,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5336,-0.68,-126.5,2915,2238,3275,3455,529.9,-7.9,248,5341,0.00,1.67,0.00,0.000,260,0.000,0.057,2908,3264,3365,3275,3455,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5402,-0.68,-126.5,2908,3264,3275,3454,535.2,-8.2,250,5408,0.00,1.65,0.00,0.000,1030,0.000,0.031,2908,2196,3364,3275,3454,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5732,-0.68,-126.5,2908,2197,3275,3452,566.1,-9.7,261,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2197,3363,3275,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6031,-0.68,-126.5,2908,2197,3275,3450,595.7,-9.6,271,6036,0.00,1.55,0.00,0.000,516,0.000,0.047,2908,1208,3362,3274,3450,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6108,-0.68,-126.5,2908,1208,3275,3450,601.9,-9.5,273,6114,0.00,1.60,0.00,0.000,1030,0.000,0.033,2902,2224,3362,3275,3450,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6427,-0.68,-126.5,2902,2224,3275,3447,631.5,-8.3,284,6432,0.00,1.70,0.00,0.000,260,0.000,0.058,2896,3263,3361,3275,3447,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6478,-0.68,-126.5,2895,3263,3275,3446,634.4,-8.3,285,6484,0.15,1.62,0.00,0.000,3078,0.198,0.032,2935,2210,3360,3275,3446,0,0,0,0,0,0,15.00,15.14,28.83
$GC,6793,-0.73,-126.5,2935,2210,3275,3444,656.9,-6.6,296,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2210,3360,3276,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7093,-0.78,-126.5,2935,2210,3275,3442,679.1,-7.8,306,7099,0.12,1.58,0.00,0.000,4612,0.116,0.047,2849,1216,3358,3275,3442,0,0,0,0,0,0,15.14,15.10,28.83
$GC,7157,-0.78,-126.5,2849,1216,3275,3442,686.3,-9.5,308,7163,0.20,1.60,0.00,0.000,3078,0.202,0.035,2898,2220,3358,3275,3442,0,0,0,0,0,0,15.01,15.12,28.83
$GC,7490,-0.78,-126.5,2898,2220,3275,3439,719.2,-10.0,319,7495,0.00,1.65,0.00,0.000,516,0.000,0.046,2898,1205,3357,3275,3439,0,0,0,0,0,0,28.83,15.10,28.83
$GC,7523,-0.78,-126.5,2898,1205,3275,3439,722.6,-10.2,320,7528,0.00,1.62,0.00,0.000,1030,0.000,0.034,2896,2220,3357,3275,3439,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7856,-0.78,-126.5,2895,2220,3275,3437,757.5,-10.3,331,7861,0.00,1.70,0.00,0.000,260,0.000,0.058,2887,3263,3356,3275,3437,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7963,-0.78,-126.5,2887,3263,3275,3436,767.2,-10.3,334,7969,0.00,1.65,0.00,0.000,1030,0.000,0.034,2887,2230,3355,3275,3436,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8282,-0.78,-126.5,2887,2230,3275,3434,799.8,-9.6,345,8287,0.00,1.62,0.00,0.000,516,0.000,0.049,2887,1207,3354,3275,3434,0,0,0,0,0,0,28.83,15.09,28.83
$GC,8419,-0.78,-126.5,1864,1205,3247,3430,811.1,-9.3,349,8425,0.00,1.62,0.00,0.000,1030,0.000,0.035,2881,2220,3354,3275,3433,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8737,-0.78,-126.5,2882,2220,3275,3430,839.1,-8.3,360,8742,0.00,1.70,0.00,0.000,260,0.000,0.059,2874,3260,3352,3275,3430,0,0,0,0,0,0,28.83,15.08,28.83
$GC,8789,-0.78,-126.5,2874,3260,3275,3429,841.8,-8.3,361,8794,0.00,1.62,0.00,0.000,1030,0.000,0.034,2874,2222,3352,3276,3429,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9101,-0.78,-126.5,2874,2222,3275,3430,870.9,-8.9,372,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2222,3351,3275,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9402,-0.78,-126.5,2874,2222,3275,3426,897.0,-8.8,382,9407,0.00,1.62,0.00,0.000,516,0.000,0.050,2873,1201,3351,3275,3427,0,0,0,0,0,0,28.83,15.09,28.83
$GC,9513,-0.78,-126.5,2873,1201,3275,3426,905.3,-8.9,385,9518,0.00,1.65,0.00,0.000,1030,0.000,0.036,2869,2228,3350,3275,3426,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9826,-0.78,-126.5,2869,2228,3274,3423,933.8,-8.4,396,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2227,3348,3275,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10126,-0.78,-126.5,2869,2228,3275,3421,961.6,-9.7,406,10131,0.00,1.70,0.00,0.000,260,0.000,0.059,2861,3260,3348,3275,3421,0,0,0,0,0,0,28.83,15.07,28.83
$GC,10203,-0.78,-126.5,2861,3260,3275,3421,968.0,-9.9,408,10209,0.12,1.65,0.00,0.000,3078,0.216,0.034,2894,2212,3348,3275,3421,0,0,0,0,0,0,15.00,15.12,28.83
$STATE,10430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10430,begin apogee
$GC,10435,-0.28,0.0,2894,2143,3275,3419,991.7,-9.8,416,10552,0.52,0.00,108.10,2.047,10246,0.158,0.000,3060,2143,2848,2773,2923,0,0,0,0,0,0,15.00,28.83,13.47
$STATE,10555,end apogee,CONTROL_FINISHED_OK
$STATE,10555,begin climb
$GC,10556,1.05,126.5,3061,2142,2770,2923,997.3,0.0,420,10678,1.30,0.00,117.62,2.014,10246,0.095,0.000,3490,2142,2333,2219,2448,0,0,0,0,0,0,14.37,28.83,13.39
$GC,10972,0.87,126.5,3490,2142,2213,2433,970.2,9.1,434,10978,0.20,1.77,0.00,0.000,4356,0.248,0.051,3435,3165,2323,2214,2433,0,0,0,0,0,0,14.66,14.77,28.83
$GC,11067,0.71,126.5,3435,3165,2211,2432,962.4,8.4,437,11073,0.22,1.77,0.00,0.000,5126,0.231,0.037,3382,2121,2321,2211,2432,0,0,0,0,0,0,14.71,14.84,28.83
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$STATE,21627,end climb,SURFACE_DEPTH_REACHED
$STATE,21627,begin surface coast
$FINISH,1.4,1.023287
$STATE,21643,end surface coast,CONTROL_FINISHED_OK
$STATE,21643,begin surface
$SM_CCo,21663,148.38,0.081,0,0,348,613.25
$SM_GC,2.23,8.98,0.15,148.38,0.046,0.091,0.081,147,2207,348,-9.28,-1.92,613.25,0,0,0,0,0,0,15.02,15.02,14.92
$IRIDIUM_FIX,2429.95,-3731.08,140413,030348
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.65
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.00
$XPDR_PINGS,35
$SC_FREEKB,3998976
$TM_FREEKB,7309272
$24V_AH,13.4,26.647
$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,24.600,131.475,371.300,148.375,0.000,0.000,0.000,202.625,8.750,0.000,17.936,3225.983,15587.171,713.479,2669.882,249.297,0.000,2162.521,0.000,2312.927,0.000,0.539,0.000
$DEVICE_MAMPS,349.605,205.785,2047.140,81.090,0.000,0.000,0.000,149.175,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21641.000,4657.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.525,12.768,0.000,0.000
$MEM,354148
$DATA_FILE_SIZE,30029,866
$CAP_FILE_SIZE,227452,0
$CFSIZE,260034560,243666944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045, 83.7,1
$GPS,140413,091934,2444.392,-3728.642,36,0.8,36,-13.8