version: 66.11
glider: 122
mission: 17
dive: 89
start: 4 15 113 22 59 38
data:
$ID,122
$MISSION,17
$DIVE,89
$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,-45853.5
$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,57
$R_STBD_OVSHOOT,65
$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
$GPS1,150413,225104,2455.614,-3740.516,33,0.9,33,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-71.5
$GPS2,150413,225911,2455.685,-3740.493,16,1.0,16,-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,301.4,45788,-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,-126.5,116,2231,1558,1684,0.0,0.0,0,75,0.00,0.00,-46.28,0.000,16386,0.000,0.000,116,2232,2724,2541,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.05,-126.5,116,2231,2541,2908,3.4,-3.4,3,114,11.55,1.80,-17.10,0.000,18692,0.350,0.092,2799,3253,3368,3271,3465,0,0,0,0,0,0,14.64,14.80,15.00
$GC,342,-0.87,-126.5,2799,3253,3271,3465,42.8,-17.6,20,348,0.25,1.67,0.00,0.000,3078,0.210,0.033,2866,2209,3368,3271,3465,0,0,0,0,0,0,14.79,14.92,28.83
$GC,656,-0.76,-126.5,2866,2210,3271,3465,86.0,-12.7,41,662,0.12,1.77,0.00,0.000,2308,0.233,0.052,2900,3249,3368,3271,3465,0,0,0,0,0,0,14.88,14.95,28.83
$GC,825,-0.71,-126.5,2900,3249,3271,3465,105.4,-11.6,52,830,0.00,1.65,0.00,0.000,1030,0.000,0.034,2900,2216,3368,3271,3465,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1142,-0.66,-126.5,2900,2216,3271,3466,141.9,-12.1,73,1148,0.12,1.65,0.00,0.000,2564,0.224,0.048,2936,1186,3368,3271,3466,0,0,0,0,0,0,14.92,15.02,28.83
$GC,1237,-0.66,-126.5,2936,1186,3271,3466,151.9,-10.5,79,1243,0.00,1.65,0.00,0.000,1030,0.000,0.035,2932,2223,3368,3271,3466,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1555,-0.66,-126.5,2932,2223,3271,3466,184.5,-9.5,100,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2223,3368,3271,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.66,-126.5,2932,2223,3271,3467,211.6,-8.6,120,1860,0.00,1.70,0.00,0.000,516,0.000,0.047,2932,1185,3369,3271,3468,0,0,0,0,0,0,28.83,15.06,28.83
$GC,1896,-0.66,-126.5,2931,1185,3271,3467,214.4,-8.6,122,1903,0.00,1.65,0.00,0.000,1030,0.000,0.035,2925,2221,3369,3271,3467,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2202,-0.66,-126.5,2925,2221,3271,3467,241.6,-8.8,143,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2221,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.66,-126.5,2925,2222,3271,3467,269.4,-8.7,157,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2221,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-0.66,-126.5,2926,2222,3271,3467,293.7,-8.1,167,2823,0.00,1.70,0.00,0.000,516,0.000,0.047,2926,1182,3369,3271,3467,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2884,-0.66,-126.5,1920,1181,3242,3466,299.2,-8.2,169,2890,0.00,1.65,0.00,0.000,1030,0.000,0.034,2920,2222,3369,3271,3467,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3213,-0.66,-126.5,2920,2221,3271,3467,326.1,-8.1,180,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2221,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3512,-0.66,-126.5,2920,2221,3271,3467,349.9,-7.9,190,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2221,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3812,-0.66,-126.5,2920,2221,3271,3467,372.0,-7.1,200,3818,0.00,1.70,0.00,0.000,516,0.000,0.047,2920,1182,3369,3271,3467,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3855,-0.66,-126.5,2920,1182,3271,3467,374.5,-7.2,201,3861,0.00,1.65,0.00,0.000,1030,0.000,0.035,2914,2218,3369,3271,3467,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4180,-0.66,-126.5,2914,2218,3271,3467,399.2,-7.4,212,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2219,3369,3271,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4478,-0.66,-126.5,2914,2218,3271,3467,422.9,-8.1,222,4484,0.00,1.70,0.00,0.000,260,0.000,0.057,2906,3261,3369,3271,3467,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4566,-0.66,-126.5,2907,3261,3271,3467,428.4,-8.5,224,4573,0.12,1.65,0.00,0.000,3078,0.207,0.033,2939,2210,3369,3271,3467,0,0,0,0,0,0,15.02,15.12,28.83
$GC,4873,-0.70,-126.5,2939,2210,3271,3467,453.0,-7.3,235,4879,0.00,1.65,0.00,0.000,516,0.000,0.051,2939,1199,3369,3271,3467,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4967,-0.70,-126.5,2939,1198,3271,3467,460.4,-7.7,238,4972,0.00,1.62,0.00,0.000,1030,0.000,0.036,2936,2221,3369,3271,3467,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5300,-0.70,-126.5,2936,2221,3271,3465,485.9,-7.7,249,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2221,3368,3271,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5600,-0.70,-126.5,2936,2221,3271,3464,509.2,-7.9,259,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2221,3367,3271,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5900,-0.74,-126.5,2936,2221,3271,3462,533.1,-7.7,269,5905,0.00,1.67,0.00,0.000,516,0.000,0.046,2936,1194,3366,3271,3462,0,0,0,0,0,0,28.83,15.10,28.83
$GC,5987,-0.74,-126.5,2936,1194,3271,3462,538.0,-7.7,271,5994,0.00,1.70,0.00,0.000,1030,0.000,0.036,2930,2225,3366,3270,3462,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6293,-0.74,-126.5,2930,2225,3271,3459,561.3,-6.4,282,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2225,3365,3271,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6593,-0.74,-126.5,2930,2225,3271,3458,579.9,-6.3,292,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2225,3364,3271,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6892,-0.74,-126.5,2930,2225,3271,3456,603.4,-8.6,302,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2225,3363,3271,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7192,-0.74,-126.5,2930,2225,3271,3454,630.9,-9.5,312,7198,0.00,1.70,0.00,0.000,260,0.000,0.059,2923,3263,3362,3270,3454,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7250,-0.74,-126.5,2923,3263,3271,3453,634.4,-9.7,313,7256,0.00,1.65,0.00,0.000,1030,0.000,0.033,2923,2207,3362,3271,3453,0,0,0,0,0,0,28.83,15.13,28.83
$GC,7555,-0.74,-126.5,2923,2206,3271,3451,665.8,-9.1,324,7560,0.00,1.60,0.00,0.000,516,0.000,0.050,2922,1197,3361,3271,3451,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7607,-0.74,-126.5,2922,1197,3271,3451,668.8,-8.9,325,7613,0.00,1.65,0.00,0.000,1030,0.000,0.034,2917,2233,3361,3271,3451,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7920,-0.74,-126.5,2917,2232,3271,3450,698.1,-8.8,336,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2232,3360,3271,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8220,-0.74,-126.5,2917,2232,3271,3448,722.4,-7.9,346,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2232,3359,3271,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8521,-0.74,-126.5,2917,2232,3271,3446,744.2,-7.2,356,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2232,3358,3270,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8820,-0.74,-126.5,2916,2235,3270,3444,766.9,-7.8,366,8826,0.00,1.70,0.00,0.000,260,0.000,0.060,2909,3265,3357,3270,3444,0,0,0,0,0,0,28.83,15.08,28.83
$GC,8872,-0.74,-126.5,2909,3265,3270,3444,769.5,-7.9,367,8878,0.00,1.65,0.00,0.000,1030,0.000,0.034,2909,2212,3357,3270,3444,0,0,0,0,0,0,28.83,15.12,28.83
$GC,9185,-0.74,-126.5,2909,2212,3270,3443,799.3,-9.1,378,9191,0.00,1.60,0.00,0.000,516,0.000,0.050,2909,1206,3356,3270,3442,0,0,0,0,0,0,28.83,15.09,28.83
$GC,9267,-0.74,-126.5,2909,1206,3270,3442,805.5,-9.4,380,9273,0.00,1.62,0.00,0.000,1030,0.000,0.035,2904,2223,3356,3270,3442,0,0,0,0,0,0,28.83,15.10,28.83
$GC,9580,-0.74,-126.5,2904,2223,3270,3440,838.1,-9.8,391,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2223,3354,3270,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9881,-0.74,-126.5,2904,2223,3270,3438,866.7,-9.3,401,9886,0.00,1.70,0.00,0.000,260,0.000,0.060,2896,3256,3354,3270,3438,0,0,0,0,0,0,28.83,15.07,28.83
$GC,9937,-0.74,-126.5,2896,3256,3270,3438,869.8,-9.4,402,9944,0.00,1.62,0.00,0.000,1030,0.000,0.035,2896,2220,3354,3270,3438,0,0,0,0,0,0,28.83,15.11,28.83
$GC,10243,-0.74,-126.5,2896,2220,3270,3437,900.8,-9.3,413,10249,0.00,1.62,0.00,0.000,516,0.000,0.051,2895,1200,3353,3270,3437,0,0,0,0,0,0,28.83,15.08,28.83
$GC,10306,-0.74,-126.5,2895,1200,3270,3436,906.8,-9.6,415,10312,0.00,1.65,0.00,0.000,1030,0.000,0.036,2890,2229,3353,3270,3437,0,0,0,0,0,0,28.83,15.10,28.83
$GC,10640,-0.74,-126.5,2890,2229,3270,3434,938.5,-9.4,426,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2229,3352,3270,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10940,-0.74,-126.5,2890,2229,3270,3433,966.2,-9.0,436,10945,0.00,1.70,0.00,0.000,260,0.000,0.061,2883,3258,3351,3270,3432,0,0,0,0,0,0,28.83,15.05,28.83
$GC,11017,-0.74,-126.5,2883,3258,3270,3431,972.0,-9.2,438,11022,0.00,1.65,0.00,0.000,1030,0.000,0.035,2883,2211,3350,3270,3431,0,0,0,0,0,0,28.83,15.10,28.83
$STATE,11213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11213,begin apogee
$GC,11218,-0.28,0.0,2883,2148,3270,3429,991.9,-9.3,445,11335,0.55,0.00,109.68,2.044,10246,0.162,0.000,3054,2148,2848,2774,2922,0,0,0,0,0,0,14.97,28.83,13.43
$STATE,11338,end apogee,CONTROL_FINISHED_OK
$STATE,11338,begin climb
$GC,11339,1.05,126.5,3054,2148,2774,2920,996.0,0.0,449,11465,1.33,1.85,117.55,2.013,10500,0.098,0.054,3489,3168,2331,2219,2443,0,0,0,0,0,0,14.35,14.22,13.35
$GC,11552,0.84,126.5,2640,3166,2151,2426,984.1,8.4,456,11558,0.28,1.77,0.00,0.000,5126,0.239,0.037,3423,2119,2325,2216,2434,0,0,0,0,0,0,14.44,14.57,28.83
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$STATE,22924,end climb,SURFACE_DEPTH_REACHED
$STATE,22924,begin surface coast
$FINISH,1.4,1.003794
$STATE,22941,end surface coast,CONTROL_FINISHED_OK
$STATE,22941,begin surface
$SM_CCo,22960,9.32,0.084,0,0,1627,300.00
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$IRIDIUM_FIX,2446.56,-3736.87,150413,161643
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.17
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.50
$XPDR_PINGS,50
$SC_FREEKB,3997184
$TM_FREEKB,7282548
$24V_AH,13.4,28.812
$10V_AH,13.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.125,111.950,382.650,9.325,0.000,0.000,0.000,293.775,12.500,0.000,17.418,3104.119,16935.301,576.602,2573.952,260.574,0.000,2033.768,0.000,2148.428,0.000,0.538,0.000
$DEVICE_MAMPS,350.370,204.255,2044.080,84.150,0.000,0.000,0.000,215.730,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22938.000,2672.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.501,12.712,0.000,0.000
$MEM,353988
$DATA_FILE_SIZE,33331,920
$CAP_FILE_SIZE,225734,0
$CFSIZE,260034560,242937856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080, 39.6,1
$GPS,160413,052353,2457.392,-3742.838,43,0.8,43,-13.9