version: 66.11
glider: 122
mission: 17
dive: 101
start: 4 18 113 23 25 8
data:
$ID,122
$MISSION,17
$DIVE,101
$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,-45869.453
$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,71
$R_STBD_OVSHOOT,48
$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
$GPS1,180413,231234,2511.077,-3759.258,31,0.7,32,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-13.5
$GPS2,180413,232442,2511.142,-3759.169,19,1.0,19,-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,286.0,98404,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.05,-126.5,104,2233,1526,1721,0.0,0.0,0,79,0.00,0.00,-53.85,0.000,16386,0.000,0.000,104,2234,2959,2792,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.05,-126.5,104,2234,2792,3127,4.0,-4.6,3,109,11.77,1.75,-9.12,0.000,18948,0.355,0.076,2807,1186,3366,3267,3466,0,0,0,0,0,0,14.55,14.76,14.93
$GC,347,-1.05,-126.5,2807,1186,3267,3467,47.4,-15.9,19,353,0.00,1.73,0.00,0.000,1030,0.000,0.036,2803,2216,3367,3268,3467,0,0,0,0,0,0,28.83,14.86,28.83
$GC,663,-1.05,-126.5,2803,2216,3267,3468,98.7,-15.8,40,669,0.00,1.75,0.00,0.000,516,0.000,0.047,2802,1191,3367,3267,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,904,-1.05,-126.5,2802,1191,3267,3469,137.2,-16.2,55,911,0.00,1.73,0.00,0.000,1030,0.000,0.037,2797,2230,3367,3267,3468,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1220,-1.05,-126.5,2796,2230,3268,3470,184.1,-13.3,76,1227,0.00,1.77,0.00,0.000,516,0.000,0.047,2797,1185,3368,3267,3470,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1464,-1.05,-126.5,1736,1184,3236,3469,216.2,-13.4,91,1470,0.00,1.73,0.00,0.000,1030,0.000,0.036,2790,2225,3369,3267,3471,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1779,-1.05,-126.5,2790,2225,3270,3471,260.5,-14.3,110,1786,0.00,1.75,0.00,0.000,516,0.000,0.047,2790,1190,3370,3270,3471,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2020,-1.05,-126.5,2790,1189,3271,3471,292.8,-15.0,117,2026,0.00,1.70,0.00,0.000,1030,0.000,0.036,2784,2221,3371,3272,3471,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2335,-1.05,-126.5,2784,2221,3272,3471,346.7,-16.6,128,2341,0.00,1.75,0.00,0.000,516,0.000,0.047,2784,1186,3371,3271,3471,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2577,-1.05,-126.5,1728,1185,3240,3469,383.4,-16.4,135,2584,0.10,1.70,0.00,0.000,3078,0.211,0.036,2807,2215,3371,3272,3471,0,0,0,0,0,0,14.90,15.04,28.83
$GC,2894,-1.05,-126.5,2807,2216,3271,3471,430.2,-13.5,146,2901,0.00,1.73,0.00,0.000,516,0.000,0.048,2807,1194,3371,3272,3471,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3136,-1.05,-126.5,2807,1194,3272,3471,460.4,-13.6,153,3142,0.00,1.70,0.00,0.000,1030,0.000,0.037,2803,2223,3371,3272,3471,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3450,-1.05,-126.5,2803,2222,3271,3471,506.6,-14.0,164,3457,0.00,1.75,0.00,0.000,516,0.000,0.049,2803,1190,3371,3271,3471,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3694,-1.05,-126.5,1760,1190,3241,3468,537.9,-13.9,171,3700,0.00,1.70,0.00,0.000,1030,0.000,0.035,2797,2224,3370,3271,3470,0,0,0,0,0,0,28.83,15.06,28.83
$GC,4010,-1.05,-126.5,2796,2224,3272,3467,584.5,-13.7,182,4016,0.00,1.75,0.00,0.000,516,0.000,0.049,2797,1192,3369,3271,3468,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4250,-1.05,-126.5,2797,1192,3271,3466,615.7,-14.1,189,4257,0.00,1.70,0.00,0.000,1030,0.000,0.037,2791,2217,3368,3271,3466,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4565,-1.05,-126.5,2790,2217,3271,3464,663.3,-14.1,200,4572,0.00,1.73,0.00,0.000,516,0.000,0.047,2791,1194,3367,3271,3464,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4809,-1.05,-126.5,1728,1192,3241,3460,695.4,-14.4,207,4815,0.00,1.70,0.00,0.000,1030,0.000,0.036,2785,2223,3366,3271,3462,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5124,-1.05,-126.5,2785,2224,3271,3460,744.6,-14.6,218,5130,0.00,1.75,0.00,0.000,516,0.000,0.049,2785,1190,3366,3272,3460,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5365,-1.05,-126.5,2785,1190,3271,3458,777.1,-14.5,225,5372,0.10,1.70,0.00,0.000,3078,0.210,0.037,2808,2217,3364,3271,3458,0,0,0,0,0,0,14.91,15.06,28.83
$GC,5681,-1.05,-126.5,2808,2217,3271,3456,821.0,-12.9,236,5687,0.00,1.75,0.00,0.000,516,0.000,0.047,2808,1186,3363,3271,3456,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5923,-1.05,-126.5,2809,1186,3272,3453,849.5,-12.8,243,5929,0.00,1.73,0.00,0.000,1030,0.000,0.037,2804,2224,3362,3271,3453,0,0,0,0,0,0,28.83,15.05,28.83
$GC,6238,-1.05,-126.5,2804,2224,3271,3451,891.5,-12.2,254,6245,0.00,1.75,0.00,0.000,516,0.000,0.049,2804,1194,3361,3271,3451,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6479,-1.05,-126.5,2804,1194,3272,3449,918.4,-11.9,261,6486,0.00,1.70,0.00,0.000,1030,0.000,0.037,2798,2219,3360,3271,3449,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6794,-1.05,-126.5,2798,2220,3271,3446,958.1,-11.9,272,6801,0.00,1.75,0.00,0.000,516,0.000,0.050,2798,1188,3358,3271,3446,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7038,-1.05,-126.5,1760,1187,3240,3441,986.1,-12.9,279,7044,0.00,1.73,0.00,0.000,1030,0.000,0.037,2791,2222,3357,3271,3443,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,7050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7050,begin apogee
$GC,7055,-0.28,0.0,2791,2105,3271,3443,990.6,-12.8,280,7174,0.88,0.00,112.10,2.020,10246,0.181,0.000,3055,2105,2847,2768,2926,0,0,0,0,0,0,14.89,28.83,13.45
$STATE,7176,end apogee,CONTROL_FINISHED_OK
$STATE,7176,begin climb
$GC,7177,1.05,126.5,3055,2105,2768,2924,994.7,0.0,283,7308,1.30,1.98,117.47,1.997,10500,0.098,0.055,3488,3166,2330,2213,2447,0,0,0,0,0,0,14.33,14.23,13.39
$GC,7544,1.48,126.5,2576,3165,2139,2428,966.8,11.0,294,7551,0.35,1.75,0.00,0.000,3078,0.066,0.037,3638,2145,2322,2209,2436,0,0,0,0,0,0,14.73,14.74,28.83
$GC,7866,1.91,126.5,3638,2145,2206,2435,919.9,13.9,305,7873,0.35,1.80,0.00,0.000,2308,0.090,0.052,3768,3165,2320,2206,2435,0,0,0,0,0,0,14.88,14.87,28.83
$GC,8107,2.35,126.5,3104,3163,2136,2427,882.2,17.4,312,8114,0.32,1.77,0.00,0.000,3078,0.071,0.038,3895,2113,2318,2202,2435,0,0,0,0,0,0,14.92,14.92,28.83
$GC,8424,2.78,126.5,3895,2113,2202,2435,818.2,19.2,323,8431,0.05,1.88,0.00,0.000,2308,0.308,0.063,3902,3159,2319,2203,2435,0,0,0,0,0,0,14.90,14.94,28.83
$GC,8668,3.21,126.5,3408,3157,2130,2427,773.7,19.8,330,8675,0.00,1.77,0.00,0.000,3078,0.000,0.047,3902,2128,2317,2199,2435,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8984,3.21,126.5,3902,2128,2199,2435,706.5,20.5,341,8991,0.00,1.83,0.00,0.000,2308,0.000,0.062,3899,3163,2317,2199,2435,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9226,3.21,126.5,3899,3163,2196,2435,660.5,20.8,348,9233,0.00,1.80,0.00,0.000,3078,0.000,0.047,3899,2111,2315,2196,2435,0,0,0,0,0,0,28.83,15.00,28.83
$GC,9543,3.21,126.5,3899,2111,2196,2435,592.5,19.5,359,9550,0.00,1.85,0.00,0.000,2308,0.000,0.061,3898,3163,2315,2196,2435,0,0,0,0,0,0,28.83,14.98,28.83
$GC,9785,3.21,126.5,3898,3163,2196,2435,549.3,19.4,366,9791,0.00,1.80,0.00,0.000,3078,0.000,0.046,3898,2111,2315,2196,2435,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10100,3.21,126.5,3898,2111,2196,2433,485.8,18.2,377,10106,0.00,1.85,0.00,0.000,2308,0.000,0.060,3898,3166,2314,2196,2433,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10342,3.21,126.5,3898,3166,2196,2433,442.9,19.6,384,10348,0.00,1.80,0.00,0.000,3078,0.000,0.046,3897,2114,2314,2196,2432,0,0,0,0,0,0,28.83,15.01,28.83
$GC,10658,3.21,126.5,3898,2114,2196,2432,381.3,18.3,395,10665,0.00,1.83,0.00,0.000,2308,0.000,0.060,3898,3160,2314,2196,2433,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10900,3.21,126.5,3456,3158,2128,2425,342.2,17.5,402,10906,0.00,1.77,0.00,0.000,3078,0.000,0.045,3899,2118,2314,2196,2433,0,0,0,0,0,0,28.83,15.01,28.83
$GC,11216,3.21,126.5,3898,2118,2196,2433,281.0,18.1,413,11222,0.00,1.83,0.00,0.000,2308,0.000,0.059,3897,3164,2314,2196,2433,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11460,3.21,126.5,3456,3162,2129,2425,237.3,18.3,422,11466,0.00,1.77,0.00,0.000,3078,0.000,0.045,3897,2122,2314,2196,2433,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11775,3.21,126.5,3898,2122,2196,2433,180.4,17.7,443,11782,0.00,1.83,0.00,0.000,2308,0.000,0.058,3898,3167,2314,2196,2433,0,0,0,0,0,0,28.83,14.97,28.83
$GC,12017,3.21,126.5,3456,3165,2128,2425,137.7,18.1,458,12023,0.00,1.80,0.00,0.000,3078,0.000,0.044,3898,2112,2314,2196,2433,0,0,0,0,0,0,28.83,14.97,28.83
$GC,12332,3.21,126.5,3897,2112,2196,2433,81.3,16.9,479,12338,0.00,1.83,0.00,0.000,2308,0.000,0.057,3898,3160,2314,2196,2433,0,0,0,0,0,0,28.83,14.95,28.83
$GC,12574,3.21,126.5,3424,3158,2126,2425,41.6,16.7,494,12581,0.00,1.77,0.00,0.000,3078,0.000,0.043,3901,2115,2314,2196,2433,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,12812,end climb,SURFACE_DEPTH_REACHED
$STATE,12812,begin surface coast
$FINISH,1.5,1.012923
$STATE,12829,end surface coast,CONTROL_FINISHED_OK
$STATE,12829,begin surface
$SM_CCo,12851,78.05,0.083,0,0,1626,300.00
$SM_GC,2.65,10.90,0.15,78.05,0.089,0.083,0.083,138,2248,1626,-9.28,-1.53,300.00,0,0,0,0,0,0,15.00,15.01,14.90
$IRIDIUM_FIX,2505.59,-3801.27,180413,191939
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.98
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.20
$XPDR_PINGS,40
$SC_FREEKB,3994112
$TM_FREEKB,7236168
$24V_AH,13.4,32.293
$10V_AH,13.7,0.000
$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,26.125,81.550,229.575,78.050,0.000,0.000,0.000,541.675,10.000,0.000,20.161,2570.700,5810.214,343.913,4563.357,374.218,0.000,2086.349,0.000,3972.423,0.000,0.538,0.000
$DEVICE_MAMPS,354.960,83.385,2019.600,82.620,0.000,0.000,0.000,227.970,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12822.000,3151.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.683,12.707,0.000,0.000
$MEM,354156
$DATA_FILE_SIZE,16767,511
$CAP_FILE_SIZE,400553,0
$CFSIZE,260034560,241479680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,1432
$CURRENT,0.620, 51.5,1
$GPS,190413,030158,2511.007,-3758.376,38,0.8,38,-13.9