version: 66.11
glider: 122
mission: 17
dive: 100
start: 4 18 113 19 27 39
data:
$ID,122
$MISSION,17
$DIVE,100
$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,-45868.195
$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,0.015
$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,48
$R_STBD_OVSHOOT,52
$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
$GPS1,180413,191935,2511.908,-3800.281,26,1.2,26,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-13.5
$GPS2,180413,192712,2511.940,-3800.282,20,0.9,20,-13.9
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$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,243.0,98065,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.05,-126.5,111,2240,1527,1720,0.0,0.0,0,83,0.00,0.00,-52.10,0.000,16386,0.000,0.000,111,2240,2904,2733,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.05,-126.5,111,2240,2732,3075,4.1,-4.7,3,111,11.55,0.00,-10.85,0.000,18438,0.346,0.000,2806,2240,3368,3270,3466,0,0,0,0,0,0,14.62,28.83,15.00
$GC,407,-1.05,-126.5,2806,2240,3271,3467,56.8,-16.2,25,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3368,3270,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,707,-1.05,-126.5,2806,2240,3270,3468,105.3,-15.8,45,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3369,3270,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1007,-1.05,-126.5,2806,2240,3270,3470,151.5,-14.4,65,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3370,3270,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-1.05,-126.5,2806,2240,3270,3471,191.8,-12.8,85,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3370,3270,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1607,-1.05,-126.5,2806,2240,3270,3473,228.6,-12.8,105,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3371,3270,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-1.05,-126.5,2806,2240,3273,3473,270.2,-13.4,121,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3373,3273,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2222,-1.05,-126.5,2806,2241,3275,3473,311.8,-14.2,131,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3374,3275,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2522,-1.05,-126.5,2806,2240,3275,3473,355.0,-14.7,141,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3374,3275,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2822,-1.05,-126.5,2806,2240,3275,3473,398.9,-14.2,151,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3374,3275,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3122,-1.05,-126.5,2806,2240,3275,3473,440.6,-13.6,161,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3374,3275,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3422,-1.05,-126.5,2806,2240,3275,3473,480.8,-13.5,171,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3374,3275,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-1.05,-126.5,2806,2240,3275,3473,521.7,-13.7,181,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3374,3275,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-1.05,-126.5,2806,2240,3275,3472,564.4,-14.4,191,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3373,3275,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,-1.05,-126.5,2806,2241,3275,3471,604.8,-12.8,201,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3372,3275,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,-1.05,-126.5,2806,2240,3275,3468,640.2,-11.5,211,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3371,3275,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4922,-1.05,-126.5,2806,2240,3275,3466,674.5,-11.6,221,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3370,3274,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-1.05,-126.5,2806,2240,3275,3464,711.4,-12.7,231,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3369,3275,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5522,-1.05,-126.5,2806,2240,3275,3462,751.3,-13.5,241,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3368,3275,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,-1.05,-126.5,2806,2240,3274,3460,789.4,-12.5,251,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3367,3275,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6122,-1.05,-126.5,2806,2240,3275,3457,826.0,-12.1,261,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3366,3275,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6422,-1.05,-126.5,2806,2241,3275,3455,864.3,-13.1,271,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3365,3275,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6722,-1.05,-126.5,2806,2240,3275,3453,903.8,-13.2,281,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3364,3275,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,-1.05,-126.5,2806,2240,3275,3450,943.1,-13.3,291,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2240,3362,3275,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,-1.05,-126.5,2806,2240,3275,3448,980.7,-12.4,301,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2241,3361,3275,3448,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7411,begin apogee
$GC,7416,-0.28,0.0,2806,2088,3275,3447,991.6,-12.2,304,7534,0.82,0.00,112.47,2.026,10246,0.180,0.000,3058,2088,2848,2769,2927,0,0,0,0,0,0,14.94,28.83,13.44
$STATE,7536,end apogee,CONTROL_FINISHED_OK
$STATE,7536,begin climb
$GC,7538,1.05,126.5,3058,2088,2768,2925,995.3,0.0,307,7661,1.30,0.00,118.20,2.000,10246,0.096,0.000,3491,2089,2333,2216,2450,0,0,0,0,0,0,14.34,28.83,13.38
$GC,7952,1.48,126.5,3491,2089,2212,2434,958.7,11.4,322,7955,0.40,0.00,0.00,0.000,2054,0.080,0.000,3644,2089,2323,2212,2434,0,0,0,0,0,0,14.78,28.83,28.83
$GC,8252,1.91,126.5,3644,2088,2208,2434,913.2,14.9,332,8255,0.35,0.00,0.00,0.000,2054,0.090,0.000,3769,2089,2321,2208,2434,0,0,0,0,0,0,14.88,28.83,28.83
$GC,8553,2.35,126.5,3770,2089,2205,2434,860.9,17.0,342,8555,0.40,0.00,0.00,0.000,2054,0.093,0.000,3901,2088,2319,2205,2434,0,0,0,0,0,0,14.91,28.83,28.83
$GC,8853,2.78,126.5,3901,2088,2205,2434,802.2,20.2,352,8854,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2088,2319,2205,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9153,3.21,126.5,3901,2088,2202,2434,743.2,19.3,362,9154,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2088,2318,2202,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9452,3.21,126.5,3901,2088,2202,2434,685.5,19.7,372,9454,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2088,2318,2202,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9752,3.21,126.5,3901,2089,2199,2434,631.5,17.8,382,9754,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2088,2316,2199,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10052,3.21,126.5,3901,2088,2199,2434,580.1,16.5,392,10054,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2316,2199,2434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10352,3.21,126.5,3901,2089,2199,2431,526.7,17.7,402,10354,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10652,3.21,126.5,3901,2089,2198,2431,471.2,18.3,412,10654,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2314,2198,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10953,3.21,126.5,3901,2088,2199,2431,415.4,18.7,422,10954,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11253,3.21,126.5,3901,2089,2199,2431,360.7,18.5,432,11254,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11552,3.21,126.5,3901,2089,2199,2431,309.4,17.2,442,11554,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11853,3.21,126.5,3901,2089,2198,2431,257.0,17.5,452,11854,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12153,3.21,126.5,3901,2089,2199,2431,204.2,17.9,470,12154,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2088,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12453,3.21,126.5,3901,2089,2199,2431,150.7,17.8,490,12454,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12753,3.21,126.5,3901,2089,2199,2431,97.1,18.1,510,12755,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2314,2198,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13053,3.21,126.5,3901,2089,2199,2431,44.6,16.5,530,13054,0.00,0.00,0.00,0.000,2054,0.000,0.000,3901,2089,2315,2199,2431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13305,end climb,SURFACE_DEPTH_REACHED
$STATE,13305,begin surface coast
$FINISH,1.5,1.014665
$STATE,13322,end surface coast,CONTROL_FINISHED_OK
$STATE,13322,begin surface
$SM_CCo,13343,78.15,0.083,0,0,1626,300.00
$SM_GC,2.66,10.70,0.22,78.15,0.073,0.071,0.083,149,2221,1626,-9.28,-1.44,300.00,0,0,0,0,0,0,15.00,15.00,14.92
$IRIDIUM_FIX,2505.59,-3804.62,180413,141412
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.02
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.20
$XPDR_PINGS,26
$SC_FREEKB,3994368
$TM_FREEKB,7241004
$24V_AH,13.4,32.031
$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,25.525,0.425,230.675,78.150,0.000,0.000,0.000,256.000,6.500,0.000,21.106,1431.867,9964.237,308.152,1964.969,209.288,0.000,1102.387,0.000,1627.192,0.000,0.537,0.000
$DEVICE_MAMPS,345.780,74.970,2026.485,83.385,0.000,0.000,0.000,208.845,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13318.000,1447.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.654,12.841,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,16755,548
$CAP_FILE_SIZE,204382,0
$CFSIZE,260034560,241750016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,574
$CURRENT,0.582, 63.3,1
$GPS,180413,231234,2511.077,-3759.258,31,0.7,32,-13.9