version: 66.11
glider: 122
mission: 17
dive: 437
start: 7 2 113 12 59 9
data:
$ID,122
$MISSION,17
$DIVE,437
$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,-46564.164
$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,10.5
$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,1
$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
$GPS1,020713,125025,2315.211,-3637.939,41,1.8,41,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-32.3
$GPS2,020713,125840,2315.168,-3637.966,21,1.1,21,-13.8
$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,339.2,255918,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.05,-126.5,126,1100,1537,1708,0.0,0.0,0,57,0.00,0.00,-35.00,0.000,16386,0.000,0.000,126,1100,2436,2246,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.05,-126.5,126,1100,2247,2628,3.4,-2.8,2,104,12.38,0.00,-27.77,0.000,18438,0.363,0.000,2806,1098,3368,3280,3456,0,0,0,0,0,0,14.30,28.83,14.86
$GC,399,-1.05,-126.5,2806,1098,3280,3456,47.1,-13.8,25,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3368,3280,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,701,-1.05,-126.5,2806,1098,3280,3457,90.1,-14.2,45,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3280,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-1.05,-126.5,2805,1098,3280,3458,132.6,-13.2,65,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3369,3280,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-1.05,-126.5,2806,1098,3280,3460,167.2,-11.9,85,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3370,3280,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-1.05,-126.5,2806,1098,3281,3461,204.5,-13.4,105,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3371,3281,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-1.05,-126.5,2806,1098,3281,3461,245.9,-13.8,125,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3371,3281,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-1.05,-126.5,2806,1098,3281,3461,284.9,-11.6,137,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3371,3281,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2514,-1.05,-126.5,2806,1098,3281,3461,317.7,-11.0,147,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3371,3282,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,-1.05,-126.5,2806,1098,3281,3461,351.3,-11.7,157,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3371,3281,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3114,-1.05,-126.5,2806,1098,3281,3460,387.9,-12.4,167,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3370,3281,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3415,-1.05,-126.5,2806,1098,3281,3460,424.1,-12.0,177,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3370,3281,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-1.05,-126.5,2806,1098,3281,3460,458.9,-11.3,187,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3370,3281,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4015,-1.05,-126.5,2806,1098,3281,3460,493.8,-11.9,197,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3370,3281,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-1.05,-126.5,2806,1098,3281,3459,529.8,-12.1,207,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3370,3281,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-1.05,-126.5,2806,1098,3281,3457,564.1,-11.0,217,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3369,3281,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4917,-1.05,-126.5,2806,1098,3281,3455,595.8,-10.2,227,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1098,3368,3281,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5217,-1.05,-126.5,2806,1098,3281,3453,627.7,-10.8,237,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3366,3281,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-1.05,-126.5,2806,1098,3281,3451,662.9,-12.4,247,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3365,3281,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,-1.05,-126.5,2806,1098,3281,3448,701.3,-12.8,257,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3364,3281,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-1.05,-126.5,2806,1098,3281,3446,739.4,-12.7,267,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3363,3281,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6417,-1.05,-126.5,2806,1098,3281,3443,774.5,-11.1,277,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3362,3281,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,-1.05,-126.5,2806,1098,3281,3441,806.4,-10.4,287,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3361,3281,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7016,-1.05,-126.5,2806,1098,3281,3439,836.7,-10.1,297,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3360,3281,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-1.05,-126.5,2806,1098,3281,3437,869.0,-11.1,307,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3358,3280,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7615,-1.05,-126.5,2806,1098,3281,3435,904.8,-12.3,317,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3358,3281,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,-1.05,-126.5,2805,1098,3281,3432,941.0,-11.9,327,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3356,3281,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8217,-1.05,-126.5,2806,1098,3281,3429,975.4,-11.3,337,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1098,3355,3281,3430,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8362,begin apogee
$GC,8372,-0.28,0.0,2806,1098,3281,3429,992.0,-11.0,342,8497,0.88,0.00,117.57,2.012,10246,0.189,0.000,3054,1098,2847,2768,2927,0,0,0,0,0,0,14.14,28.83,13.20
$STATE,8499,end apogee,CONTROL_FINISHED_OK
$STATE,8499,begin climb
$GC,8503,1.05,126.5,3053,1098,2766,2925,997.8,0.0,345,8638,1.35,0.00,124.65,1.994,10246,0.108,0.000,3491,1098,2330,2213,2448,0,0,0,0,0,0,14.23,28.83,13.12
$GC,8935,1.08,142.3,3491,1097,2207,2440,979.0,7.2,361,8952,0.00,0.00,15.55,1.864,8198,0.000,0.000,3491,1098,2268,2150,2386,0,0,0,0,0,0,28.83,28.83,13.50
$GC,9235,1.09,150.5,3491,1098,2145,2380,956.2,7.5,371,9246,0.00,0.00,8.73,1.739,8198,0.000,0.000,3491,1098,2236,2118,2354,0,0,0,0,0,0,28.83,28.83,13.55
$GC,9535,1.11,161.3,3491,1098,2115,2348,933.8,7.4,381,9549,0.00,0.00,11.90,1.803,8198,0.000,0.000,3491,1098,2191,2075,2308,0,0,0,0,0,0,28.83,28.83,13.61
$GC,9835,1.11,161.3,3491,1098,2073,2302,909.7,8.3,391,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1098,2188,2073,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10135,1.11,161.3,3491,1098,2072,2301,883.6,8.8,401,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1098,2186,2072,2301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10436,1.11,161.3,3491,1098,2069,2301,857.6,8.5,411,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1098,2185,2069,2302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10735,1.12,166.5,3491,1098,2068,2301,833.8,7.6,421,10741,0.00,0.00,4.43,1.369,8198,0.000,0.000,3491,1098,2171,2055,2288,0,0,0,0,0,0,28.83,28.83,13.38
$GC,11035,1.16,192.8,3491,1098,2055,2288,812.7,6.7,431,11066,0.00,0.00,29.30,1.802,8198,0.000,0.000,3491,1098,2062,1951,2174,0,0,0,0,0,0,28.83,28.83,13.66
$GC,11365,1.18,199.4,3491,1098,1951,2167,788.3,7.6,442,11375,0.12,0.00,7.47,1.590,10246,0.129,0.000,3544,1097,2037,1929,2145,0,0,0,0,0,0,14.69,28.83,13.50
$GC,11664,1.18,199.4,3544,1098,1928,2141,760.2,9.8,452,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1098,2034,1928,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11964,1.18,199.4,3544,1098,1928,2140,727.8,11.3,462,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,2034,1928,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12265,1.18,199.4,3544,1098,1925,2140,689.2,13.4,472,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,2032,1925,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12565,1.18,199.4,3544,1097,1925,2140,648.0,13.7,482,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,2032,1925,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12864,1.18,199.4,3544,1098,1925,2140,612.7,10.5,492,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,2032,1925,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13165,1.18,203.3,3544,1098,1925,2140,587.8,7.7,502,13170,0.00,0.00,3.88,1.115,8198,0.000,0.000,3544,1098,2021,1913,2130,0,0,0,0,0,0,28.83,28.83,13.50
$GC,13465,1.21,222.8,3544,1098,1913,2130,566.4,7.0,512,13493,0.00,0.00,22.52,1.506,8198,0.000,0.000,3544,1098,1938,1839,2038,0,0,0,0,0,0,28.83,28.83,13.82
$GC,13795,1.21,222.8,3544,1098,1839,2036,538.5,9.2,523,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1098,1936,1838,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14094,1.21,222.8,3544,1098,1839,2036,507.0,10.7,533,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,1937,1839,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14396,1.21,222.8,3544,1098,1839,2036,475.5,10.2,543,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,1937,1839,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14695,1.21,222.8,3543,1098,1839,2036,448.5,8.7,553,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,1937,1839,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14995,1.21,222.9,3544,1098,1839,2036,424.6,7.9,563,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,1937,1839,2036,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,18594,1.21,222.9,3544,1098,1839,2036,75.9,8.6,742,18596,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1098,1937,1839,2036,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19431,end climb,SURFACE_DEPTH_REACHED
$STATE,19431,begin surface coast
$FINISH,1.7,1.011376
$STATE,19448,end surface coast,CONTROL_FINISHED_OK
$STATE,19448,begin surface
$SM_CCo,19471,37.47,0.082,0,0,1627,300.00
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$IRIDIUM_FIX,2305.10,-3639.06,020713,070710
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.99
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,36
$SC_FREEKB,3908448
$24V_AH,13.1,120.556
$10V_AH,13.5,0.000
$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,24.350,0.000,346.000,37.475,0.000,0.000,0.000,249.350,9.000,0.000,22.182,1996.184,14375.056,392.580,2622.761,604.178,0.000,1365.878,0.000,2402.961,0.000,0.538,0.000
$DEVICE_MAMPS,362.610,0.000,2011.950,81.855,0.000,0.000,0.000,205.020,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19462.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.672,0.000,0.000,0.000
$MEM,353980
$DATA_FILE_SIZE,23385,799
$CAP_FILE_SIZE,280659,0
$CFSIZE,260034560,211308544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,823
$CURRENT,0.184,179.1,1
$GPS,020713,182535,2314.817,-3638.356,40,0.7,40,-13.8