version: 66.11
glider: 122
mission: 17
dive: 85
start: 4 14 113 22 7 3
data:
$ID,122
$MISSION,17
$DIVE,85
$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,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,-45848.277
$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,80
$R_STBD_OVSHOOT,66
$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
$GPS1,140413,215753,2448.686,-3732.531,41,1.1,41,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-71.8
$GPS2,140413,220635,2448.719,-3732.527,20,1.1,20,-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,305.1,64351,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.05,-126.5,109,2181,1568,1680,0.0,0.0,0,75,0.00,0.00,-46.97,0.000,16386,0.000,0.000,107,2181,2756,2571,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.05,-126.5,107,2181,2571,2943,3.5,-3.4,3,113,11.77,1.88,-15.65,0.000,18692,0.359,0.086,2800,3244,3367,3265,3469,0,0,0,0,0,0,14.65,14.81,15.00
$GC,341,-0.86,-126.5,2799,3244,3266,3470,44.4,-17.2,20,348,0.28,1.62,0.00,0.000,3078,0.210,0.032,2873,2225,3367,3265,3470,0,0,0,0,0,0,14.81,14.93,28.83
$GC,656,-0.77,-126.5,2873,2225,3265,3470,85.5,-12.5,41,661,0.00,1.75,0.00,0.000,260,0.000,0.055,2869,3251,3367,3265,3470,0,0,0,0,0,0,28.83,14.97,28.83
$GC,869,-0.67,-126.5,2869,3251,3266,3470,112.2,-12.2,55,875,0.22,1.65,0.00,0.000,3078,0.193,0.034,2931,2214,3367,3265,3469,0,0,0,0,0,0,14.91,15.03,28.83
$GC,1188,-0.67,-126.5,2931,2214,3265,3470,142.0,-9.1,76,1193,0.00,1.62,0.00,0.000,516,0.000,0.050,2931,1190,3367,3265,3470,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1265,-0.67,-126.5,2931,1190,3265,3470,148.9,-8.9,81,1270,0.00,1.62,0.00,0.000,1030,0.000,0.034,2927,2213,3367,3265,3470,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1583,-0.67,-126.5,2927,2213,3265,3471,177.4,-8.9,102,1588,0.00,1.67,0.00,0.000,516,0.000,0.046,2926,1189,3368,3265,3471,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1695,-0.67,-126.5,2926,1188,3265,3471,187.0,-8.7,109,1700,0.00,1.65,0.00,0.000,1030,0.000,0.034,2921,2227,3368,3265,3471,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2008,-0.67,-126.5,2921,2227,3266,3471,215.3,-8.7,130,2013,0.00,1.70,0.00,0.000,260,0.000,0.057,2913,3268,3368,3265,3471,0,0,0,0,0,0,28.83,15.06,28.83
$GC,2064,-0.67,-126.5,2913,3268,3265,3471,220.0,-9.5,133,2071,0.00,1.67,0.00,0.000,1030,0.000,0.031,2913,2204,3368,3265,3471,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2370,-0.67,-126.5,2913,2203,3265,3471,251.3,-9.9,154,2375,0.00,1.60,0.00,0.000,516,0.000,0.048,2913,1187,3368,3265,3471,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2452,-0.67,-126.5,2913,1186,3265,3471,257.8,-10.3,156,2457,0.00,1.65,0.00,0.000,1030,0.000,0.034,2908,2227,3368,3266,3471,0,0,0,0,0,0,28.83,15.10,28.83
$GC,2765,-0.67,-126.5,2908,2227,3265,3471,293.0,-10.8,167,2770,0.00,1.70,0.00,0.000,260,0.000,0.058,2900,3268,3368,3266,3471,0,0,0,0,0,0,28.83,15.08,28.83
$GC,2811,-0.67,-126.5,2900,3268,3265,3471,296.6,-10.9,168,2817,0.12,1.65,0.00,0.000,3078,0.210,0.031,2932,2215,3368,3266,3471,0,0,0,0,0,0,15.01,15.12,28.83
$GC,3130,-0.67,-126.5,2932,2216,3265,3471,326.5,-8.6,179,3136,0.00,1.62,0.00,0.000,516,0.000,0.050,2932,1189,3368,3266,3471,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3193,-0.67,-126.5,2932,1188,3265,3471,332.1,-8.6,181,3198,0.00,1.65,0.00,0.000,1030,0.000,0.034,2928,2227,3368,3265,3471,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3526,-0.67,-126.5,2928,2226,3265,3471,361.1,-8.8,192,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2227,3368,3265,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,-0.67,-126.5,2928,2228,3267,3470,389.4,-9.6,202,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2228,3368,3267,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4125,-0.67,-126.5,2928,2228,3267,3470,416.6,-9.0,212,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2228,3368,3267,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4426,-0.67,-126.5,2928,2228,3268,3469,441.8,-8.3,222,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2228,3368,3268,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4725,-0.67,-126.5,2928,2228,3267,3467,464.0,-7.2,232,4730,0.00,1.70,0.00,0.000,260,0.000,0.060,2920,3264,3367,3267,3467,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4792,-0.67,-126.5,1920,3262,3239,3464,468.6,-7.2,234,4798,0.00,1.65,0.00,0.000,1030,0.000,0.031,2920,2213,3367,3267,3468,0,0,0,0,0,0,28.83,15.14,28.83
$GC,5121,-0.67,-126.5,2920,2213,3267,3465,494.4,-7.9,245,5126,0.00,1.62,0.00,0.000,516,0.000,0.050,2920,1185,3366,3267,3465,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5193,-0.67,-126.5,2920,1185,3267,3465,500.0,-8.3,247,5199,0.00,1.70,0.00,0.000,1030,0.000,0.034,2915,2229,3365,3267,3464,0,0,0,0,0,0,28.83,15.12,28.83
$GC,5517,-0.67,-126.5,2915,2229,3267,3463,531.6,-10.0,258,5522,0.00,1.70,0.00,0.000,516,0.000,0.044,2915,1184,3365,3267,3463,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5569,-0.67,-126.5,2915,1185,3267,3463,535.0,-10.2,259,5574,0.00,1.65,0.00,0.000,1030,0.000,0.034,2909,2227,3364,3267,3462,0,0,0,0,0,0,28.83,15.13,28.83
$GC,5882,-0.67,-126.5,2909,2227,3267,3460,568.5,-10.0,270,5887,0.00,1.70,0.00,0.000,260,0.000,0.060,2901,3263,3363,3267,3460,0,0,0,0,0,0,28.83,15.09,28.83
$GC,5914,-0.67,-126.5,2901,3263,3267,3460,571.9,-10.0,271,5920,0.12,1.65,0.00,0.000,3078,0.210,0.031,2933,2200,3364,3268,3460,0,0,0,0,0,0,15.02,15.14,28.83
$GC,6248,-0.72,-126.5,2933,2199,3267,3458,597.0,-7.0,282,6253,0.00,1.55,0.00,0.000,516,0.000,0.048,2933,1212,3362,3267,3458,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6300,-0.76,-126.5,2933,1212,3267,3458,599.2,-6.9,283,6306,0.00,1.60,0.00,0.000,1030,0.000,0.034,2929,2224,3362,3267,3457,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6615,-0.80,-126.5,2930,2224,3267,3456,622.4,-7.1,294,6621,0.12,1.70,0.00,0.000,4356,0.116,0.054,2837,3263,3361,3267,3456,0,0,0,0,0,0,15.13,15.09,28.83
$GC,6680,-0.80,-126.5,2837,3263,3267,3455,629.1,-8.8,296,6686,0.20,1.62,0.00,0.000,3078,0.201,0.031,2892,2216,3361,3267,3455,0,0,0,0,0,0,15.00,15.14,28.83
$GC,7013,-0.80,-126.5,2891,2216,3267,3452,662.1,-10.1,307,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2216,3359,3267,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,-0.80,-126.5,2892,2216,3267,3451,692.6,-10.3,317,7318,0.00,1.77,0.00,0.000,260,0.000,0.054,2886,3264,3358,3267,3450,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7369,-0.80,-126.5,2886,3264,3267,3450,695.9,-10.3,318,7376,0.00,1.62,0.00,0.000,1030,0.000,0.032,2886,2220,3358,3267,3450,0,0,0,0,0,0,28.83,15.14,28.83
$GC,7675,-0.80,-126.5,2886,2220,3267,3448,730.1,-10.2,329,7681,0.00,1.60,0.00,0.000,516,0.000,0.049,2886,1208,3358,3268,3448,0,0,0,0,0,0,28.83,15.10,28.83
$GC,7747,-0.80,-126.5,2886,1208,3267,3448,736.8,-10.4,331,7752,0.00,1.60,0.00,0.000,1030,0.000,0.034,2881,2218,3357,3267,3447,0,0,0,0,0,0,28.83,15.12,28.83
$GC,8071,-0.80,-126.5,2881,2218,3267,3445,772.6,-10.8,342,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2218,3356,3267,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8370,-0.80,-126.5,2881,2218,3267,3443,804.5,-10.6,352,8375,0.00,1.70,0.00,0.000,260,0.000,0.059,2873,3253,3355,3267,3443,0,0,0,0,0,0,28.83,15.07,28.83
$GC,8443,-0.80,-126.5,2873,3253,3267,3442,811.3,-10.6,354,8448,0.00,1.62,0.00,0.000,1030,0.000,0.034,2873,2215,3354,3267,3442,0,0,0,0,0,0,28.83,15.13,28.83
$GC,8766,-0.80,-126.5,2873,2215,3267,3440,846.3,-10.3,365,8772,0.00,1.65,0.00,0.000,516,0.000,0.050,2873,1207,3353,3267,3440,0,0,0,0,0,0,28.83,15.08,28.83
$GC,8891,-0.80,-126.5,2873,1206,3267,3439,859.1,-10.3,369,8896,0.00,1.62,0.00,0.000,1030,0.000,0.035,2867,2225,3353,3267,3439,0,0,0,0,0,0,28.83,15.11,28.83
$GC,9225,-0.80,-126.5,2868,2226,3267,3437,891.4,-9.5,380,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2226,3352,3267,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,-0.80,-126.5,2868,2225,3268,3436,919.6,-9.2,390,9529,0.00,1.70,0.00,0.000,260,0.000,0.059,2860,3259,3351,3267,3435,0,0,0,0,0,0,28.83,15.08,28.83
$GC,9590,-0.80,-126.5,1872,3257,3240,3432,925.7,-9.4,392,9596,0.12,1.65,0.00,0.000,3078,0.221,0.034,2891,2213,3351,3267,3435,0,0,0,0,0,0,14.99,15.12,28.83
$GC,9918,-0.80,-126.5,2891,2213,3267,3432,952.2,-7.9,403,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2213,3349,3267,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10218,-0.80,-126.5,2891,2213,3267,3430,976.2,-8.4,413,10223,0.00,1.62,0.00,0.000,516,0.000,0.051,2891,1195,3348,3267,3429,0,0,0,0,0,0,28.83,15.09,28.83
$GC,10280,-0.80,-126.5,2891,1195,3267,3429,981.0,-8.1,415,10286,0.00,1.65,0.00,0.000,1030,0.000,0.035,2887,2225,3348,3267,3429,0,0,0,0,0,0,28.83,15.11,28.83
$STATE,10401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10401,begin apogee
$GC,10406,-0.28,0.0,2887,2119,3267,3429,991.1,-8.2,419,10523,0.55,0.00,109.60,2.047,10246,0.161,0.000,3059,2118,2847,2789,2905,0,0,0,0,0,0,14.99,28.83,13.45
$STATE,10526,end apogee,CONTROL_FINISHED_OK
$STATE,10526,begin climb
$GC,10528,1.05,126.5,3059,2118,2789,2904,994.1,0.0,423,10651,1.33,0.00,119.03,2.008,10246,0.095,0.000,3497,2118,2333,2240,2426,0,0,0,0,0,0,14.36,28.83,13.37
$GC,10944,0.86,126.5,3497,2118,2238,2408,955.8,11.8,437,10950,0.22,1.67,0.00,0.000,4612,0.241,0.054,3439,1112,2323,2238,2408,0,0,0,0,0,0,14.67,14.78,28.83
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$STATE,21975,end climb,SURFACE_DEPTH_REACHED
$STATE,21975,begin surface coast
$FINISH,1.4,1.003836
$STATE,21991,end surface coast,CONTROL_FINISHED_OK
$STATE,21992,begin surface
$SM_CCo,22011,23.45,0.082,0,0,1626,300.00
$SM_GC,2.37,9.05,0.08,23.45,0.057,0.169,0.082,153,2178,1626,-9.28,-2.12,300.00,0,0,0,0,0,0,15.01,14.99,14.97
$IRIDIUM_FIX,2437.06,-3727.32,140413,151504
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.73
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.00
$XPDR_PINGS,57
$SC_FREEKB,3998208
$TM_FREEKB,7297204
$24V_AH,13.4,27.581
$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,24.700,135.075,346.075,23.450,0.000,0.000,0.000,318.675,14.250,0.000,21.437,3212.413,15736.624,581.602,2748.303,272.981,0.000,2138.113,0.000,2279.028,0.000,0.539,0.000
$DEVICE_MAMPS,358.785,169.065,2047.140,81.855,0.000,0.000,0.000,215.730,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21991.000,2796.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.575,12.694,0.000,0.000
$MEM,354092
$DATA_FILE_SIZE,33364,893
$CAP_FILE_SIZE,230456,0
$CFSIZE,260034560,243376128
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077, 46.6,1
$GPS,150413,041534,2450.357,-3734.688,33,0.8,33,-13.8