version: 66.11
glider: 122
mission: 17
dive: 193
start: 5 8 113 14 31 14
data:
$ID,122
$MISSION,17
$DIVE,193
$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,1
$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,-45986.699
$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
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,1
$C_ROLL_DIVE,1100
$C_ROLL_CLIMB,1100
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,64
$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,1284
$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
$GPS1,080513,142158,2427.687,-3642.860,34,1.0,35,-13.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,19.6
$GPS2,080513,143045,2427.565,-3642.856,21,1.0,21,-13.6
$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,242.5,201125,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.05,-126.5,148,1098,1525,1720,0.0,0.0,0,80,0.00,0.00,-52.17,0.000,16386,0.000,0.000,148,1098,2929,2762,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.05,-126.5,148,1098,2763,3097,4.3,-5.0,3,107,11.82,0.00,-9.82,0.000,18438,0.360,0.000,2803,1096,3367,3276,3458,0,0,0,0,0,0,14.47,28.83,14.93
$GC,403,-1.05,-126.5,2803,1096,3277,3459,54.6,-15.4,25,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3368,3277,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,704,-1.05,-126.5,2803,1096,3277,3459,97.1,-13.6,45,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3368,3278,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-1.05,-126.5,2803,1097,3279,3459,136.8,-13.5,65,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3368,3278,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-1.05,-126.5,2803,1096,3280,3459,173.1,-11.9,85,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-1.05,-126.5,2803,1096,3280,3459,209.2,-12.5,105,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-1.05,-126.5,2803,1096,3280,3460,249.7,-14.5,125,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-1.05,-126.5,2803,1096,3280,3459,296.9,-15.1,136,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-1.05,-126.5,2803,1096,3280,3459,337.5,-12.9,146,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,-1.05,-126.5,2803,1096,3280,3459,370.9,-10.5,156,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3119,-1.05,-126.5,2803,1096,3280,3459,401.2,-10.3,166,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3419,-1.05,-126.5,2803,1097,3280,3459,436.7,-12.7,176,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-1.05,-126.5,2803,1096,3280,3459,476.9,-13.7,186,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4019,-1.05,-126.5,2803,1097,3280,3458,518.8,-13.8,196,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4318,-1.05,-126.5,2803,1096,3280,3458,558.5,-12.9,206,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3369,3280,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-1.05,-126.5,2803,1096,3280,3457,595.0,-11.8,216,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3368,3280,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4919,-1.05,-126.5,2803,1097,3280,3455,630.7,-12.2,226,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3367,3280,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5219,-1.05,-126.5,2803,1096,3280,3452,667.4,-12.6,236,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3366,3280,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5518,-1.05,-126.5,2803,1096,3280,3450,708.8,-14.1,246,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3365,3280,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5819,-1.05,-126.5,2803,1096,3280,3449,750.6,-13.7,256,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3364,3280,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6119,-1.05,-126.5,2802,1096,3280,3446,789.7,-12.7,266,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3363,3280,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,-1.05,-126.5,2803,1096,3280,3443,825.0,-11.6,276,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3361,3280,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6719,-1.05,-126.5,2803,1096,3280,3440,859.5,-11.4,286,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3360,3280,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7019,-1.05,-126.5,2803,1096,3280,3438,896.5,-12.9,296,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3359,3280,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,-1.05,-126.5,2803,1096,3280,3437,936.3,-13.5,306,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1096,3359,3281,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7619,-1.05,-126.5,2803,1096,3280,3434,977.7,-13.7,316,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1097,3357,3280,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7706,begin apogee
$GC,7711,-0.28,0.0,2803,1096,3280,3433,990.0,-13.6,319,7829,0.85,0.00,111.32,2.031,10246,0.184,0.000,3057,1096,2848,2767,2930,0,0,0,0,0,0,14.74,28.83,13.38
$STATE,7831,end apogee,CONTROL_FINISHED_OK
$STATE,7831,begin climb
$GC,7833,1.05,126.5,3057,1096,2765,2929,996.0,0.0,322,7957,1.30,0.00,118.90,2.003,10246,0.100,0.000,3486,1098,2333,2215,2452,0,0,0,0,0,0,14.33,28.83,13.35
$GC,8248,1.05,126.5,3487,1097,2207,2439,965.9,10.7,337,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1097,2323,2207,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8548,1.05,126.5,3487,1098,2203,2436,933.1,10.9,347,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2320,2204,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8848,1.05,126.5,3486,1097,2201,2436,899.9,10.7,357,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2318,2201,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9149,1.05,126.5,3486,1098,2201,2435,871.4,9.0,367,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1097,2318,2201,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9449,1.11,163.0,3487,1097,2201,2434,850.8,6.3,377,9484,0.00,0.00,32.45,1.839,8198,0.000,0.000,3486,1098,2184,2067,2302,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9779,1.11,163.0,3487,1097,2063,2294,823.3,9.4,388,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1097,2178,2063,2294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,1.11,163.0,3486,1098,2060,2292,791.4,11.2,398,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1098,2176,2060,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10379,1.11,163.0,3486,1098,2060,2292,753.3,13.2,408,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1098,2176,2060,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10679,1.11,163.0,3486,1097,2060,2290,711.1,14.0,418,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1097,2175,2060,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10979,1.11,163.0,3486,1097,2060,2290,672.6,11.8,428,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1097,2175,2060,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11279,1.14,176.0,3487,1098,2057,2290,646.7,7.3,438,11293,0.00,0.00,11.80,1.541,8198,0.000,0.000,3486,1097,2131,2015,2248,0,0,0,0,0,0,28.83,28.83,14.15
$GC,11580,1.25,244.8,3486,1097,2014,2242,630.5,4.9,448,11649,0.20,0.00,66.22,1.588,10246,0.103,0.000,3562,1098,1851,1752,1950,0,0,0,0,0,0,14.91,28.83,13.80
$GC,11941,1.25,244.8,3563,1097,1751,1939,588.1,13.8,460,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1098,1845,1751,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12238,1.25,244.8,3562,1097,1751,1938,537.8,17.8,470,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1098,1844,1751,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12539,1.25,244.8,3562,1097,1751,1937,479.2,19.5,480,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1098,1844,1751,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12839,1.25,244.8,3563,1097,1751,1937,425.9,17.1,490,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1097,1844,1751,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13140,1.25,244.8,3563,1097,1752,1938,379.3,14.6,500,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1097,1844,1751,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13439,1.25,244.8,3562,1097,1751,1937,336.8,14.1,510,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1097,1844,1751,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13739,1.25,244.8,3562,1097,1751,1938,289.3,16.6,520,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1098,1844,1751,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14040,1.25,244.8,3562,1097,1751,1938,234.6,19.4,532,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1097,1844,1751,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14339,1.25,244.8,3562,1097,1751,1938,174.9,19.4,552,14340,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1097,1844,1751,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14640,1.25,244.8,3562,1098,1751,1937,124.1,16.0,572,14641,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1097,1844,1751,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14939,1.25,244.8,3562,1098,1751,1938,78.8,14.2,592,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1098,1844,1751,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15239,1.25,244.8,3562,1097,1751,1937,35.9,14.5,612,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1097,1844,1751,1938,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,15477,end climb,SURFACE_DEPTH_REACHED
$STATE,15477,begin surface coast
$FINISH,1.6,1.011629
$STATE,15493,end surface coast,CONTROL_FINISHED_OK
$STATE,15493,begin surface
$SM_CCo,15513,25.60,0.087,0,0,1626,300.00
$SM_GC,2.42,9.65,0.00,25.60,0.057,0.000,0.087,144,1098,1626,-9.30,-0.08,300.00,0,0,0,0,0,0,14.91,28.83,14.85
$IRIDIUM_FIX,2420.48,-3646.04,080513,090939
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.51
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,20.40
$XPDR_PINGS,27
$SC_FREEKB,3970560
$TM_FREEKB,6638756
$24V_AH,13.3,55.243
$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,23.825,0.000,340.700,25.600,0.000,0.000,0.000,272.900,6.750,0.000,22.892,1609.958,11534.944,356.130,2221.780,334.029,0.000,1234.684,0.000,1871.956,0.000,0.540,0.000
$DEVICE_MAMPS,359.550,0.000,2031.075,87.210,0.000,0.000,0.000,217.260,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15492.000,3462.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.596,12.589,0.000,0.000
$MEM,354000
$DATA_FILE_SIZE,20083,629
$CAP_FILE_SIZE,229242,0
$CFSIZE,260034560,232529920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,655
$CURRENT,0.227, 36.4,1
$GPS,080513,185129,2426.438,-3642.602,42,0.9,42,-13.6