version: 66.11
glider: 122
mission: 17
dive: 102
start: 4 19 113 3 9 51
data:
$ID,122
$MISSION,17
$DIVE,102
$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,-45870.805
$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,49
$R_STBD_OVSHOOT,77
$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
$GPS1,190413,030158,2511.007,-3758.376,38,0.8,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-13.5
$GPS2,190413,030923,2511.002,-3758.346,17,0.9,17,-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,252.1,99251,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.05,-126.5,110,2258,1527,1721,0.0,0.0,0,78,0.00,0.00,-52.47,0.000,16386,0.000,0.000,109,2258,2914,2745,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.05,-126.5,109,2258,2745,3083,4.1,-5.0,3,107,11.68,1.80,-10.18,0.000,18948,0.353,0.072,2805,1169,3367,3271,3463,0,0,0,0,0,0,14.62,14.81,14.97
$GC,215,-1.05,-126.5,1744,1169,3240,3462,28.0,-16.6,11,222,0.00,1.73,0.00,0.000,1030,0.000,0.037,2800,2196,3367,3271,3464,0,0,0,0,0,0,28.83,14.83,28.83
$GC,535,-1.05,-126.5,2800,2196,3271,3465,83.0,-16.3,32,542,0.00,1.83,0.00,0.000,260,0.000,0.057,2792,3271,3368,3271,3465,0,0,0,0,0,0,28.83,14.88,28.83
$GC,776,-1.05,-126.5,1728,3269,3240,3464,121.6,-15.9,47,783,0.00,1.77,0.00,0.000,1030,0.000,0.034,2792,2202,3368,3271,3466,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1092,-1.05,-126.5,2792,2202,3271,3468,168.1,-14.1,68,1098,0.00,1.85,0.00,0.000,260,0.000,0.055,2785,3260,3369,3271,3468,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1334,-1.05,-126.5,2785,3260,3271,3469,202.6,-13.9,83,1341,0.00,1.73,0.00,0.000,1030,0.000,0.033,2785,2205,3370,3271,3470,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1649,-1.05,-126.5,2785,2205,3271,3471,246.9,-13.9,104,1655,0.00,1.85,0.00,0.000,260,0.000,0.054,2779,3267,3371,3271,3471,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1893,-1.05,-126.5,1744,3267,3245,3468,280.4,-15.1,112,1900,0.10,1.73,0.00,0.000,3078,0.207,0.034,2808,2214,3372,3274,3471,0,0,0,0,0,0,14.88,15.03,28.83
$GC,2210,-1.05,-126.5,2808,2214,3274,3471,328.4,-14.2,123,2216,0.00,1.83,0.00,0.000,260,0.000,0.055,2804,3261,3372,3274,3471,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2451,-1.05,-126.5,2804,3261,3274,3471,360.1,-14.1,130,2457,0.00,1.70,0.00,0.000,1030,0.000,0.034,2804,2224,3372,3274,3471,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2766,-1.05,-126.5,2804,2224,3274,3470,407.3,-14.3,141,2772,0.00,1.80,0.00,0.000,260,0.000,0.056,2797,3262,3372,3274,3471,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3006,-1.05,-126.5,2797,3262,3274,3471,439.3,-14.7,148,3012,0.00,1.73,0.00,0.000,1030,0.000,0.035,2797,2216,3372,3274,3471,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3321,-1.05,-126.5,2797,2216,3274,3471,485.9,-13.9,159,3327,0.00,1.83,0.00,0.000,260,0.000,0.055,2791,3264,3372,3274,3471,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3562,-1.05,-126.5,1728,3262,3245,3468,516.2,-13.6,166,3568,0.00,1.73,0.00,0.000,1030,0.000,0.034,2791,2212,3372,3274,3470,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3876,-1.05,-126.5,2791,2212,3274,3470,563.6,-14.5,177,3883,0.00,1.83,0.00,0.000,260,0.000,0.054,2784,3262,3372,3274,3470,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4117,-1.05,-126.5,2784,3262,3274,3470,596.5,-15.0,184,4123,0.00,1.73,0.00,0.000,1030,0.000,0.034,2784,2212,3372,3274,3470,0,0,0,0,0,0,28.83,15.07,28.83
$GC,4432,-1.05,-126.5,2784,2213,3274,3467,645.5,-14.3,195,4438,0.00,1.83,0.00,0.000,260,0.000,0.054,2777,3262,3370,3274,3467,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4673,-1.05,-126.5,2777,3262,3274,3466,678.5,-14.9,202,4680,0.10,1.73,0.00,0.000,3078,0.207,0.034,2808,2209,3370,3274,3466,0,0,0,0,0,0,14.92,15.07,28.83
$GC,4989,-1.05,-126.5,2808,2209,3274,3464,722.6,-12.7,213,4995,0.00,1.85,0.00,0.000,260,0.000,0.054,2802,3271,3369,3274,3464,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5229,-1.05,-126.5,2802,3271,3274,3463,749.9,-12.5,220,5235,0.00,1.73,0.00,0.000,1030,0.000,0.035,2802,2226,3368,3274,3462,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5544,-1.05,-126.5,2802,2225,3274,3460,790.6,-12.1,231,5550,0.00,1.83,0.00,0.000,260,0.000,0.055,2796,3270,3367,3274,3460,0,0,0,0,0,0,28.83,15.03,28.83
$GC,5785,-1.05,-126.5,2797,3270,3274,3458,818.7,-12.9,238,5792,0.00,1.75,0.00,0.000,1030,0.000,0.035,2796,2214,3366,3274,3458,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6100,-1.05,-126.5,2796,2214,3274,3456,863.8,-13.9,249,6107,0.00,1.83,0.00,0.000,260,0.000,0.055,2790,3258,3365,3274,3456,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6340,-1.05,-126.5,1768,3257,3245,3451,895.0,-14.3,256,6346,0.00,1.73,0.00,0.000,1030,0.000,0.036,2790,2218,3364,3274,3454,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6655,-1.05,-126.5,2790,2218,3274,3451,943.8,-14.4,267,6661,0.00,1.83,0.00,0.000,260,0.000,0.057,2783,3261,3362,3274,3451,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6897,-1.05,-126.5,2783,3262,3274,3449,976.6,-14.9,274,6903,0.00,1.73,0.00,0.000,1030,0.000,0.036,2784,2223,3362,3274,3450,0,0,0,0,0,0,28.83,15.06,28.83
$STATE,6970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6970,begin apogee
$GC,6975,-0.28,0.0,2783,2095,3274,3449,991.2,-15.1,277,7138,0.90,0.00,156.27,1.627,10246,0.185,0.000,3054,2095,2847,2769,2926,0,0,0,0,0,0,14.90,28.83,13.59
$STATE,7140,end apogee,CONTROL_FINISHED_OK
$STATE,7140,begin climb
$GC,7142,1.05,126.5,3054,2095,2768,2924,998.4,0.0,281,7271,1.30,1.77,117.90,1.991,10756,0.097,0.061,3493,1112,2330,2215,2445,0,0,0,0,0,0,14.34,14.21,13.37
$GC,7507,1.48,126.5,2592,1111,2142,2426,974.1,10.9,292,7516,0.35,1.73,0.00,0.000,3078,0.067,0.035,3636,2134,2323,2212,2434,0,0,0,0,0,0,14.72,14.73,28.83
$GC,7813,1.91,126.5,3636,2134,2208,2434,925.6,15.1,303,7820,0.35,1.83,0.00,0.000,2564,0.086,0.057,3770,1103,2321,2208,2434,0,0,0,0,0,0,14.87,14.85,28.83
$GC,8056,2.35,126.5,3770,1103,2205,2433,883.8,18.8,310,8063,0.35,1.70,0.00,0.000,3078,0.075,0.036,3895,2121,2319,2205,2434,0,0,0,0,0,0,14.90,14.93,28.83
$GC,8373,2.78,126.5,3895,2121,2201,2434,815.3,19.7,321,8379,0.00,1.77,0.00,0.000,2564,0.000,0.066,3895,1114,2317,2201,2434,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8613,3.21,126.5,3895,1113,2201,2433,772.3,19.3,328,8619,0.00,1.70,0.00,0.000,3078,0.000,0.044,3895,2105,2317,2201,2434,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8928,3.21,126.5,3896,2105,2199,2433,708.4,18.5,339,8935,0.00,1.75,0.00,0.000,2564,0.000,0.063,3896,1109,2316,2199,2433,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9167,3.21,126.5,3895,1109,2199,2433,665.6,19.8,346,9173,0.00,1.73,0.00,0.000,3078,0.000,0.044,3895,2117,2316,2199,2433,0,0,0,0,0,0,28.83,14.99,28.83
$GC,9482,3.21,126.5,3896,2117,2199,2431,600.1,19.6,357,9489,0.03,1.77,0.00,0.000,2564,0.365,0.060,3908,1112,2315,2199,2431,0,0,0,0,0,0,14.99,14.98,28.83
$GC,9724,3.21,126.5,3456,1111,2129,2423,555.9,20.1,364,9731,0.00,1.73,0.00,0.000,3078,0.000,0.046,3908,2116,2315,2199,2431,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10041,3.21,126.5,3908,2115,2199,2431,490.9,19.7,375,10047,0.00,1.77,0.00,0.000,2564,0.000,0.062,3908,1104,2315,2199,2431,0,0,0,0,0,0,28.83,14.99,28.83
$GC,10281,3.21,126.5,3488,1103,2132,2423,446.8,20.1,382,10287,0.00,1.73,0.00,0.000,3078,0.000,0.043,3908,2118,2315,2199,2431,0,0,0,0,0,0,28.83,15.01,28.83
$GC,10597,3.21,126.5,3907,2118,2195,2431,383.0,19.3,393,10603,0.00,1.77,0.00,0.000,2564,0.000,0.061,3908,1104,2313,2195,2431,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10838,3.21,126.5,3464,1102,2127,2423,341.7,18.8,400,10844,0.00,1.73,0.00,0.000,3078,0.000,0.042,3908,2122,2313,2195,2431,0,0,0,0,0,0,28.83,15.01,28.83
$GC,11154,3.21,126.5,3908,2122,2195,2431,280.6,18.2,411,11160,0.00,1.77,0.00,0.000,2564,0.000,0.060,3908,1103,2313,2195,2431,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11395,3.21,126.5,3456,1102,2127,2423,235.2,19.4,420,11401,0.00,1.73,0.00,0.000,3078,0.000,0.041,3907,2123,2313,2195,2431,0,0,0,0,0,0,28.83,15.00,28.83
$GC,11710,3.21,126.5,3908,2123,2195,2431,175.0,18.5,441,11717,0.00,1.77,0.00,0.000,2564,0.000,0.060,3907,1105,2313,2195,2431,0,0,0,0,0,0,28.83,14.96,28.83
$GC,11952,3.21,126.5,3456,1104,2128,2423,130.5,17.6,456,11958,0.00,1.73,0.00,0.000,3078,0.000,0.041,3907,2124,2313,2195,2431,0,0,0,0,0,0,28.83,14.96,28.83
$GC,12267,3.21,126.5,3908,2124,2195,2431,78.6,16.0,477,12273,0.00,1.77,0.00,0.000,2564,0.000,0.060,3907,1105,2313,2195,2431,0,0,0,0,0,0,28.83,14.93,28.83
$GC,12511,3.21,126.5,3907,1105,2195,2431,40.1,15.8,492,12518,0.00,1.73,0.00,0.000,3078,0.000,0.043,3908,2119,2313,2195,2431,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,12734,end climb,SURFACE_DEPTH_REACHED
$STATE,12735,begin surface coast
$FINISH,1.6,1.012470
$STATE,12750,end surface coast,CONTROL_FINISHED_OK
$STATE,12750,begin surface
$SM_CCo,12772,77.93,0.082,0,0,1626,300.00
$SM_GC,2.72,11.10,0.15,77.93,0.102,0.100,0.082,140,2253,1626,-9.29,-0.99,300.00,0,0,0,0,0,0,14.98,14.97,14.90
$IRIDIUM_FIX,2500.82,-3756.47,180413,232321
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.74
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.20
$XPDR_PINGS,36
$SC_FREEKB,3993856
$TM_FREEKB,7231400
$24V_AH,13.4,32.537
$10V_AH,13.6,0.000
$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,26.250,81.475,274.175,77.925,0.000,0.000,0.000,230.700,9.000,0.000,18.897,2477.394,5846.670,361.784,4264.660,334.798,0.000,1804.612,0.000,3948.004,0.000,0.537,0.000
$DEVICE_MAMPS,364.905,115.515,1990.530,81.855,0.000,0.000,0.000,214.200,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12754.000,3113.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.661,12.699,0.000,0.000
$MEM,354072
$DATA_FILE_SIZE,16765,508
$CAP_FILE_SIZE,392318,0
$CFSIZE,260034560,241360896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1417
$CURRENT,0.575,158.8,1
$GPS,190413,064502,2511.067,-3757.807,18,0.9,18,-13.9