version: 66.11
glider: 122
mission: 17
dive: 90
start: 4 16 113 5 32 45
data:
$ID,122
$MISSION,17
$DIVE,90
$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,-45854.852
$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,59
$R_STBD_OVSHOOT,41
$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
$GPS1,160413,052353,2457.392,-3742.838,43,0.8,43,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-71.6
$GPS2,160413,053217,2457.432,-3742.799,17,0.8,17,-13.9
$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,308.0,40767,-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,-126.5,118,2216,1544,1708,0.0,0.0,0,75,0.00,0.00,-46.70,0.000,16386,0.000,0.000,118,2216,2759,2578,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.05,-126.5,117,2216,2578,2940,3.6,-4.7,3,114,11.43,1.85,-16.70,0.000,18692,0.345,0.091,2800,3267,3367,3268,3466,0,0,0,0,0,0,14.65,14.80,15.00
$GC,332,-0.85,-126.5,2800,3268,3268,3466,39.7,-16.9,19,339,0.28,1.70,0.00,0.000,3078,0.208,0.034,2874,2211,3367,3268,3466,0,0,0,0,0,0,14.80,14.93,28.83
$GC,637,-0.76,-126.5,2874,2212,3268,3467,79.3,-11.9,40,643,0.12,1.65,0.00,0.000,2564,0.230,0.047,2913,1182,3367,3268,3467,0,0,0,0,0,0,14.88,14.97,28.83
$GC,679,-0.68,-126.5,2913,1182,3268,3467,82.9,-11.1,42,686,0.00,1.73,0.00,0.000,1030,0.000,0.036,2909,2224,3367,3268,3466,0,0,0,0,0,0,28.83,14.99,28.83
$GC,985,-0.63,-126.5,2909,2224,3268,3467,114.6,-10.2,63,992,0.12,1.73,0.00,0.000,2308,0.234,0.054,2939,3272,3367,3268,3467,0,0,0,0,0,0,14.92,15.00,28.83
$GC,1028,-0.63,-126.5,2939,3272,3268,3466,117.7,-9.8,65,1036,0.00,1.67,0.00,0.000,1030,0.000,0.034,2939,2220,3367,3268,3467,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1335,-0.63,-126.5,2938,2220,3268,3467,144.4,-8.5,86,1340,0.00,1.62,0.00,0.000,516,0.000,0.051,2938,1190,3367,3268,3467,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1416,-0.63,-126.5,2938,1190,3268,3466,151.3,-9.0,91,1422,0.00,1.65,0.00,0.000,1030,0.000,0.035,2934,2224,3367,3268,3467,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1729,-0.63,-126.5,2934,2224,3268,3468,179.5,-8.7,112,1734,0.00,1.70,0.00,0.000,516,0.000,0.045,2933,1182,3368,3268,3468,0,0,0,0,0,0,28.83,15.06,28.83
$GC,1764,-0.63,-126.5,1936,1181,3241,3465,182.2,-8.2,114,1769,0.00,1.67,0.00,0.000,1030,0.000,0.034,2928,2232,3368,3268,3468,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2077,-0.63,-126.5,2928,2232,3268,3468,209.4,-8.4,135,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2232,3368,3268,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,-0.63,-126.5,2928,2232,3268,3468,235.5,-8.6,155,2383,0.00,1.73,0.00,0.000,516,0.000,0.047,2928,1178,3369,3270,3468,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2449,-0.63,-126.5,2928,1178,3268,3468,241.1,-8.8,159,2455,0.00,1.67,0.00,0.000,1030,0.000,0.035,2923,2228,3368,3268,3468,0,0,0,0,0,0,28.83,15.09,28.83
$GC,2756,-0.63,-126.5,2922,2229,3268,3468,268.2,-8.8,173,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2229,3368,3268,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-0.63,-126.5,2923,2229,3268,3468,297.5,-10.1,183,3060,0.00,1.70,0.00,0.000,260,0.000,0.060,2915,3270,3368,3268,3468,0,0,0,0,0,0,28.83,15.08,28.83
$GC,3136,-0.63,-126.5,2915,3270,3268,3468,303.9,-10.1,185,3142,0.12,1.67,0.00,0.000,3078,0.207,0.033,2947,2204,3368,3268,3468,0,0,0,0,0,0,15.01,15.11,28.83
$GC,3451,-0.68,-126.5,2947,2204,3268,3468,334.3,-8.8,196,3456,0.00,1.60,0.00,0.000,516,0.000,0.051,2947,1194,3368,3268,3468,0,0,0,0,0,0,28.83,15.09,28.83
$GC,3498,-0.72,-126.5,2947,1194,3268,3468,337.4,-8.8,197,3503,0.00,1.65,0.00,0.000,1030,0.000,0.035,2943,2232,3368,3268,3468,0,0,0,0,0,0,28.83,15.11,28.83
$GC,3816,-0.72,-126.5,2943,2232,3268,3468,364.0,-7.5,208,3822,0.00,1.70,0.00,0.000,516,0.000,0.046,2943,1191,3368,3268,3468,0,0,0,0,0,0,28.83,15.10,28.83
$GC,3869,-0.72,-126.5,2943,1191,3268,3468,366.4,-7.4,209,3874,0.00,1.65,0.00,0.000,1030,0.000,0.035,2938,2225,3368,3268,3468,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4183,-0.72,-126.5,2938,2225,3268,3468,391.3,-7.6,220,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2225,3368,3268,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4481,-0.72,-126.5,2938,2226,3268,3467,416.4,-8.5,230,4487,0.00,1.70,0.00,0.000,260,0.000,0.057,2930,3268,3368,3268,3468,0,0,0,0,0,0,28.83,15.09,28.83
$GC,4529,-0.72,-126.5,2930,3268,3268,3468,419.4,-8.6,231,4535,0.00,1.65,0.00,0.000,1030,0.000,0.034,2930,2223,3368,3268,3468,0,0,0,0,0,0,28.83,15.12,28.83
$GC,4848,-0.72,-126.5,2930,2223,3268,3467,448.9,-9.1,242,4853,0.00,1.65,0.00,0.000,516,0.000,0.048,2930,1180,3367,3268,3467,0,0,0,0,0,0,28.83,15.11,28.83
$GC,4971,-0.72,-126.5,2930,1180,3268,3468,460.3,-9.2,246,4976,0.00,1.67,0.00,0.000,1030,0.000,0.036,2924,2227,3367,3268,3467,0,0,0,0,0,0,28.83,15.11,28.83
$GC,5304,-0.72,-126.5,2925,2227,3268,3466,489.4,-8.6,257,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2227,3367,3268,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.72,-126.5,2925,2227,3268,3464,512.2,-7.4,267,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2227,3366,3268,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5904,-0.72,-126.5,2924,2227,3268,3462,532.7,-6.8,277,5909,0.00,1.70,0.00,0.000,516,0.000,0.047,2925,1192,3365,3268,3462,0,0,0,0,0,0,28.83,15.10,28.83
$GC,6001,-0.72,-126.5,2925,1192,3268,3462,539.9,-7.6,280,6007,0.00,1.65,0.00,0.000,1030,0.000,0.034,2919,2229,3365,3268,3462,0,0,0,0,0,0,28.83,15.12,28.83
$GC,6330,-0.72,-126.5,2919,2229,3268,3459,568.5,-9.0,291,6336,0.00,1.70,0.00,0.000,260,0.000,0.059,2912,3266,3363,3268,3459,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6428,-0.72,-126.5,2912,3266,3268,3458,577.6,-9.6,294,6433,0.00,1.67,0.00,0.000,1030,0.000,0.034,2912,2194,3363,3268,3458,0,0,0,0,0,0,28.83,15.13,28.83
$GC,6756,-0.72,-126.5,2912,2194,3268,3457,611.5,-10.3,305,6761,0.00,1.58,0.00,0.000,516,0.000,0.049,2912,1195,3362,3269,3456,0,0,0,0,0,0,28.83,15.09,28.83
$GC,6863,-0.72,-126.5,2912,1195,3268,3456,621.3,-10.5,308,6868,0.00,1.65,0.00,0.000,1030,0.000,0.035,2906,2229,3362,3268,3456,0,0,0,0,0,0,28.83,15.11,28.83
$GC,7180,-0.72,-126.5,2906,2229,3268,3453,655.5,-10.3,319,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2229,3360,3268,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7480,-0.72,-126.5,2906,2229,3268,3451,686.5,-10.2,329,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2229,3359,3268,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7780,-0.72,-126.5,2905,2232,3267,3449,716.3,-9.8,339,7786,0.00,1.70,0.00,0.000,260,0.000,0.060,2898,3264,3358,3267,3449,0,0,0,0,0,0,28.83,15.09,28.83
$GC,7837,-0.72,-126.5,2898,3264,3267,3449,719.6,-9.7,340,7844,0.00,1.65,0.00,0.000,1030,0.000,0.034,2898,2207,3357,3267,3448,0,0,0,0,0,0,28.83,15.12,28.83
$GC,8143,-0.72,-126.5,2898,2207,3267,3447,752.7,-10.1,351,8148,0.00,1.60,0.00,0.000,516,0.000,0.050,2898,1199,3357,3267,3447,0,0,0,0,0,0,28.83,15.09,28.83
$GC,8236,-0.72,-126.5,2898,1198,3267,3447,762.4,-10.4,354,8242,0.00,1.65,0.00,0.000,1030,0.000,0.036,2892,2229,3356,3267,3446,0,0,0,0,0,0,28.83,15.11,28.83
$GC,8570,-0.72,-126.5,2892,2229,3267,3444,794.8,-9.3,365,8576,0.00,1.67,0.00,0.000,516,0.000,0.047,2892,1205,3355,3267,3444,0,0,0,0,0,0,28.83,15.09,28.83
$GC,8633,-0.72,-126.5,2892,1204,3267,3444,800.6,-9.1,367,8639,0.00,1.62,0.00,0.000,1030,0.000,0.036,2886,2220,3355,3267,3444,0,0,0,0,0,0,28.83,15.10,28.83
$GC,8968,-0.72,-126.5,2886,2220,3267,3442,827.9,-7.7,378,8970,0.12,0.00,0.00,0.000,2054,0.233,0.000,2918,2220,3354,3267,3442,0,0,0,0,0,0,14.99,28.83,28.83
$GC,9268,-0.77,-126.5,2918,2220,3267,3439,846.1,-6.2,388,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,3353,3267,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9568,-0.81,-126.5,2918,2220,3267,3437,865.3,-6.6,398,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,3352,3267,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9867,-0.85,-126.5,2918,2220,3267,3436,888.2,-8.0,408,9873,0.12,1.67,0.00,0.000,4612,0.119,0.047,2835,1207,3351,3267,3436,0,0,0,0,0,0,15.11,15.08,28.83
$GC,9925,-0.85,-126.5,2835,1207,3267,3436,891.8,-8.6,409,9932,0.17,1.65,0.00,0.000,3078,0.219,0.037,2874,2231,3351,3267,3436,0,0,0,0,0,0,14.98,15.10,28.83
$GC,10231,-0.85,-126.5,2874,2231,3267,3433,927.5,-10.7,420,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2232,3350,3267,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10530,-0.85,-126.5,2874,2231,3267,3431,960.8,-11.2,430,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2231,3349,3267,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10798,begin apogee
$GC,10803,-0.28,0.0,2874,2134,3267,3429,990.5,-10.7,439,10920,0.57,0.00,109.22,2.049,10246,0.165,0.000,3055,2134,2847,2772,2922,0,0,0,0,0,0,14.97,28.83,13.43
$STATE,10923,end apogee,CONTROL_FINISHED_OK
$STATE,10923,begin climb
$GC,10925,1.05,126.5,3055,2134,2769,2921,995.7,0.0,443,11051,1.30,1.80,117.12,2.013,10756,0.097,0.055,3493,1101,2331,2218,2444,0,0,0,0,0,0,14.35,14.21,13.35
$GC,11114,0.91,168.1,3493,1101,2218,2434,987.8,6.1,449,11159,0.20,1.75,37.83,1.971,13318,0.238,0.034,3444,2125,2162,2053,2272,0,0,0,0,0,0,14.40,14.53,13.43
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$STATE,21984,end climb,SURFACE_DEPTH_REACHED
$STATE,21985,begin surface coast
$FINISH,1.5,1.011467
$STATE,22000,end surface coast,CONTROL_FINISHED_OK
$STATE,22000,begin surface
$SM_CCo,22019,3.78,0.084,0,0,1626,300.00
$SM_GC,3.61,9.00,0.12,3.78,0.050,0.095,0.084,147,2219,1626,-9.28,-1.75,300.00,0,0,0,0,0,0,15.02,15.04,14.96
$IRIDIUM_FIX,2446.56,-3738.75,150413,222208
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.01
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.00
$XPDR_PINGS,69
$SC_FREEKB,3996928
$TM_FREEKB,7278532
$24V_AH,13.4,29.129
$10V_AH,13.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.575,139.400,388.200,3.775,0.000,0.000,0.000,302.125,17.250,0.000,18.738,3158.188,15810.726,564.755,2711.468,277.467,0.000,2128.758,0.000,2263.043,0.000,0.538,0.000
$DEVICE_MAMPS,345.015,96.390,2049.435,84.150,0.000,0.000,0.000,218.790,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21999.000,2634.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.571,12.689,0.000,0.000
$MEM,354048
$DATA_FILE_SIZE,33326,894
$CAP_FILE_SIZE,233889,0
$CFSIZE,260034560,242819072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114, 52.6,1
$GPS,160413,114105,2459.412,-3744.601,35,0.9,35,-13.9