version: 66.11
glider: 122
mission: 17
dive: 776
start: 9 20 113 12 0 17
data:
$ID,122
$MISSION,17
$DIVE,776
$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,-47173.512
$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
$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
$GPS1,200913,115034,2332.122,-3727.223,33,0.8,33,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-32.3
$GPS2,200913,115948,2332.160,-3727.202,19,1.1,19,-14.0
$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,333.4,171500,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-1.05,-126.5,134,1096,1481,1538,0.0,0.0,0,59,0.00,0.00,-34.20,0.000,16386,0.000,0.000,134,1097,2284,2099,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.05,-126.5,134,1097,2099,2471,3.0,-2.7,2,117,12.70,0.00,-30.38,0.000,18438,0.364,0.000,2803,1091,3366,3280,3453,0,0,0,0,0,0,14.06,28.83,14.83
$GC,418,-1.05,-126.5,2803,1091,3281,3454,56.1,-14.4,26,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3367,3281,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,719,-1.05,-126.5,2803,1091,3282,3454,101.9,-13.2,46,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3368,3282,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1018,-1.05,-126.5,2803,1091,3284,3454,140.0,-11.8,66,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3369,3284,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1319,-1.05,-126.5,2803,1091,3284,3454,176.5,-12.2,86,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1092,3369,3284,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-1.05,-126.5,2803,1091,3285,3454,214.4,-13.1,106,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3369,3285,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-1.05,-126.5,2803,1091,3285,3454,255.0,-13.0,125,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3369,3285,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-1.05,-126.5,2803,1091,3285,3454,292.6,-12.4,135,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1092,3369,3285,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-1.05,-126.5,2803,1092,3285,3453,332.1,-13.5,145,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3369,3285,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-1.05,-126.5,2803,1091,3285,3453,374.3,-14.4,155,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3369,3285,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3119,-1.05,-126.5,2803,1091,3285,3453,415.0,-13.4,165,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3369,3285,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3419,-1.05,-126.5,2803,1091,3285,3453,453.8,-12.8,175,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3368,3285,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-1.05,-126.5,2803,1091,3285,3451,491.8,-12.8,185,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3367,3284,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-1.05,-126.5,2803,1091,3285,3449,529.0,-12.4,195,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3367,3285,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4318,-1.05,-126.5,2803,1091,3285,3446,564.3,-11.7,205,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3365,3285,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-1.05,-126.5,2803,1091,3285,3443,600.3,-12.5,215,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3364,3285,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4919,-1.05,-126.5,2803,1091,3285,3441,640.8,-13.8,225,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3363,3285,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5218,-1.05,-126.5,2803,1091,3284,3438,683.4,-14.3,235,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3361,3285,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5518,-1.05,-126.5,2803,1091,3285,3436,725.1,-13.7,245,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3360,3285,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,-1.05,-126.5,2803,1091,3285,3433,764.3,-12.6,255,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3359,3285,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6118,-1.05,-126.5,2803,1091,3285,3430,799.9,-11.6,265,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3357,3285,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,-1.05,-126.5,2803,1091,3285,3428,835.8,-12.1,275,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1092,3356,3285,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6718,-1.05,-126.5,2803,1091,3285,3426,874.4,-13.3,285,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3355,3285,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7018,-1.05,-126.5,2803,1092,3285,3422,914.4,-13.4,295,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3354,3285,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,-1.05,-126.5,2803,1091,3285,3420,954.2,-13.0,305,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1091,3352,3285,3420,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7613,begin apogee
$GC,7623,-0.28,0.0,2803,1091,3285,3417,991.8,-12.4,315,7756,0.90,0.00,125.62,1.977,10246,0.194,0.000,3051,1091,2847,2790,2905,0,0,0,0,0,0,13.83,28.83,12.89
$STATE,7759,end apogee,CONTROL_FINISHED_OK
$STATE,7759,begin climb
$GC,7763,1.05,126.5,3051,1091,2788,2904,999.0,0.0,318,7905,1.38,0.00,132.05,1.972,10246,0.125,0.000,3485,1092,2332,2244,2421,0,0,0,0,0,0,14.21,28.83,12.95
$GC,8189,1.19,207.5,3485,1092,2235,2413,988.2,4.4,334,8278,0.15,0.00,86.45,1.939,10246,0.097,0.000,3556,1092,2003,1928,2079,0,0,0,0,0,0,14.68,28.83,13.01
$GC,8583,1.19,209.2,3556,1092,1925,2069,959.1,7.8,347,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1997,1925,2069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8879,1.20,212.0,3556,1092,1924,2067,936.2,7.7,357,8884,0.00,0.00,3.45,1.121,8198,0.000,0.000,3556,1092,1985,1913,2057,0,0,0,0,0,0,28.83,28.83,13.19
$GC,9179,1.20,212.0,3556,1092,1913,2057,912.2,8.0,367,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1985,1913,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9478,1.20,212.0,3556,1092,1913,2057,887.2,8.3,377,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1985,1914,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9778,1.20,212.0,3556,1092,1914,2057,862.3,8.3,387,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1985,1913,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,1.20,212.0,3556,1092,1913,2056,837.5,8.0,397,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1985,1914,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10378,1.21,219.7,3556,1092,1913,2056,814.5,7.5,407,10390,0.00,0.00,10.52,1.676,8198,0.000,0.000,3556,1092,1954,1885,2023,0,0,0,0,0,0,28.83,28.83,13.30
$GC,10679,1.21,219.7,3556,1092,1885,2019,790.7,7.9,417,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1951,1884,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10979,1.21,219.7,3556,1092,1885,2019,767.0,7.9,427,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1951,1884,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11279,1.21,220.7,3556,1092,1882,2019,743.4,7.8,437,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1950,1881,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11578,1.21,220.7,3556,1092,1881,2019,719.6,8.0,447,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1950,1881,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11878,1.24,240.5,3556,1092,1883,2019,697.7,7.0,457,11905,0.00,0.00,23.83,1.645,8198,0.000,0.000,3556,1092,1867,1809,1926,0,0,0,0,0,0,28.83,28.83,13.30
$GC,12208,1.30,272.8,3556,1092,1809,1923,675.4,6.5,468,12246,0.00,0.00,35.70,1.634,8198,0.000,0.000,3556,1092,1737,1690,1784,0,0,0,0,0,0,28.83,28.83,13.26
$GC,12538,1.31,282.6,3556,1092,1690,1777,651.3,7.4,479,12552,0.00,0.00,11.75,1.538,8198,0.000,0.000,3556,1092,1696,1655,1738,0,0,0,0,0,0,28.83,28.83,13.31
$GC,12838,1.31,282.6,3556,1092,1655,1734,627.0,8.5,489,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13138,1.31,282.6,3556,1092,1654,1733,599.2,9.6,499,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13439,1.31,282.6,3556,1092,1655,1733,571.0,9.3,509,13440,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13739,1.31,282.6,3556,1092,1655,1733,544.7,8.5,519,13740,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1693,1654,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14038,1.31,282.6,3556,1092,1655,1733,520.1,8.2,529,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14338,1.31,282.6,3556,1092,1655,1733,495.4,8.3,539,14339,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14638,1.31,282.6,3556,1092,1655,1733,467.8,9.6,549,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14938,1.31,282.6,3556,1092,1655,1733,435.6,11.1,559,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1693,1654,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15239,1.31,282.6,3556,1092,1655,1733,402.6,10.8,569,15240,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1733,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16138,1.31,282.6,3556,1092,1655,1733,319.8,10.3,599,16139,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1092,1694,1655,1733,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19748,end climb,SURFACE_DEPTH_REACHED
$STATE,19748,begin surface coast
$FINISH,1.7,1.016557
$STATE,19770,end surface coast,CONTROL_FINISHED_OK
$STATE,19770,begin surface
$SM_CCo,19855,0.00,0.000,0,0,1524,325.27
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$IRIDIUM_FIX,2323.87,-3725.09,200913,060637
$TT8_MAMPS,0.025466,0.025466
$HUMID,56.81
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,38
$SC_FREEKB,3821600
$24V_AH,12.9,226.035
$10V_AH,12.1,0.000
$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,25.250,0.000,470.500,0.000,0.000,0.000,0.000,245.825,9.500,0.000,20.094,1987.068,14348.613,480.271,2648.957,919.234,0.000,1500.131,0.000,2493.205,0.000,0.538,0.000
$DEVICE_MAMPS,364.140,0.000,1976.760,0.000,0.000,0.000,0.000,208.080,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.638,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,26681,815
$CAP_FILE_SIZE,284541,0
$CFSIZE,260034560,185720832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,839
$CURRENT,0.165,159.9,1
$GPS,200913,173228,2332.043,-3726.971,39,0.8,39,-14.0