version: 66.11
glider: 122
mission: 14
dive: 11
start: 8 15 112 18 23 20
data:
$ID,122
$MISSION,14
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,54196
$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,450
$N_FILEKB,8
$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,-43103.641
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2159
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3824
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,-23.867105
$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,49
$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
$GPS1,150812,181134,4656.875,-12509.390,44,1.1,45,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-62.4
$GPS2,150812,182250,4656.808,-12509.517,17,0.9,18,16.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4655.000,-12540.000
$TGT_RADIUS,2000.000
$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,258.9,38707,-17.6,-10.000
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-1.13,-146.1,0.0,0.0,0,75,0.00,0.00,-52.85,0.000,2,0.000,0.000,127,2189,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.13,-146.1,3.8,-4.5,5,124,10.00,1.90,-31.12,0.000,4,0.349,0.099,2369,3243,3697,0,0,0,0,0,0,14.19,14.39,14.63
$GC,352,-1.15,-146.1,38.9,-12.4,32,357,0.00,1.80,0.00,0.000,6,0.000,0.052,2369,2198,3701,0,0,0,0,0,0,28.83,14.52,28.83
$GC,665,-1.17,-146.1,69.0,-9.9,53,670,0.00,1.88,0.00,0.000,4,0.000,0.074,2362,3245,3703,0,0,0,0,0,0,28.83,14.56,28.83
$GC,896,-1.21,-146.1,96.2,-13.1,64,901,0.00,1.80,0.00,0.000,6,0.000,0.051,2362,2194,3703,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1208,-1.25,-146.1,135.6,-10.5,80,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2194,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-1.30,-146.1,166.6,-9.9,95,1512,0.12,0.00,0.00,0.000,6,0.129,0.000,2296,2194,3704,0,0,0,0,0,0,14.71,28.83,28.83
$GC,1809,-1.30,-146.1,202.9,-12.2,110,1811,0.12,0.00,0.00,0.000,6,0.242,0.000,2323,2194,3703,0,0,0,0,0,0,14.54,28.83,28.83
$GC,2109,-1.33,-146.1,236.3,-10.8,125,2114,0.00,1.88,0.00,0.000,4,0.000,0.074,2317,3251,3703,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2135,-1.36,-146.1,239.0,-11.1,126,2141,0.00,1.83,0.00,0.000,6,0.000,0.052,2317,2203,3704,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2453,-1.39,-146.1,276.7,-11.7,142,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2202,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-1.42,-146.1,310.5,-11.0,156,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2203,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,-1.45,-146.1,347.9,-13.1,166,3065,0.12,0.00,0.00,0.000,6,0.125,0.000,2261,2203,3702,0,0,0,0,0,0,14.81,28.83,28.83
$GC,3363,-1.45,-146.1,393.8,-15.1,176,3369,0.00,1.85,0.00,0.000,4,0.000,0.075,2253,3250,3702,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3420,-1.45,-146.1,398.4,-14.8,177,3426,0.00,1.77,0.00,0.000,6,0.000,0.054,2253,2199,3702,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3726,-1.45,-146.1,442.5,-13.2,188,3731,0.00,1.77,0.00,0.000,4,0.000,0.073,2253,1153,3701,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3802,-1.45,-146.1,451.1,-13.6,190,3808,0.12,1.75,0.00,0.000,6,0.242,0.053,2274,2196,3701,0,0,0,0,0,0,14.63,14.81,28.83
$GC,4121,-1.46,-146.1,491.4,-12.2,201,4126,0.00,1.83,0.00,0.000,4,0.000,0.076,2268,3250,3701,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4186,-1.48,-146.1,499.4,-12.5,203,4191,0.00,1.80,0.00,0.000,6,0.000,0.054,2268,2192,3700,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4513,-1.48,-146.1,542.1,-13.4,214,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2191,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-1.50,-146.1,583.5,-14.0,224,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2191,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5113,-1.52,-146.1,622.6,-12.6,234,5118,0.00,1.88,0.00,0.000,4,0.000,0.076,2260,3252,3698,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5150,-1.54,-146.1,626.6,-12.5,235,5155,0.00,1.77,0.00,0.000,6,0.000,0.054,2260,2200,3698,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5477,-1.56,-146.1,669.3,-12.9,246,5483,0.00,1.80,0.00,0.000,4,0.000,0.074,2260,1145,3698,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5525,-1.58,-146.1,673.7,-12.8,247,5530,0.00,1.77,0.00,0.000,6,0.000,0.054,2253,2200,3698,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5842,-1.59,-146.1,717.9,-13.5,258,5848,0.00,1.83,0.00,0.000,4,0.000,0.077,2245,3253,3697,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5935,-1.61,-146.1,730.4,-13.4,261,5941,0.00,1.83,0.00,0.000,6,0.000,0.054,2245,2204,3697,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6269,-1.63,-146.1,773.2,-12.7,272,6275,0.00,1.80,0.00,0.000,4,0.000,0.075,2245,1150,3696,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6362,-1.63,-146.1,785.5,-13.0,275,6367,0.00,1.77,0.00,0.000,6,0.000,0.054,2237,2201,3696,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6694,-1.64,-146.1,827.0,-12.5,286,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2201,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6994,-1.66,-146.1,865.4,-12.9,296,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2202,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7294,-1.68,-146.1,903.9,-13.1,306,7299,0.00,1.83,0.00,0.000,4,0.000,0.078,2229,3253,3694,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7326,-1.70,-146.1,908.4,-13.3,307,7332,0.00,1.80,0.00,0.000,6,0.000,0.055,2229,2194,3695,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7660,-1.73,-146.1,953.6,-13.6,318,7662,0.12,0.00,0.00,0.000,6,0.129,0.000,2173,2194,3694,0,0,0,0,0,0,14.85,28.83,28.83
$STATE,7928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7928,begin apogee
$GC,7931,-0.25,0.0,994.2,-15.2,327,8128,1.65,0.00,167.55,2.152,6,0.190,0.000,2657,2188,3100,0,0,0,0,4,0,14.60,28.83,12.72
$STATE,8130,end apogee,CONTROL_FINISHED_OK
$STATE,8130,begin climb
$GC,8131,1.13,146.1,1004.7,0.0,333,8332,1.35,1.98,171.32,2.131,4,0.064,0.073,3126,3205,2504,0,0,1,0,4,0,14.02,13.72,12.49
$GC,8559,1.38,410.5,1026.8,-2.3,348,9065,0.20,1.85,355.90,1.922,6,0.127,0.056,3193,2159,1425,0,0,0,0,27,0,14.23,14.26,12.41
$GC,9372,1.22,410.5,882.2,24.1,375,9378,0.20,1.90,0.00,0.000,4,0.291,0.078,3145,1108,1419,0,0,0,0,0,0,14.07,14.23,28.83
$GC,9605,1.10,410.5,833.3,22.9,382,9610,0.20,1.85,0.00,0.000,6,0.257,0.054,3098,2171,1419,0,0,0,0,0,0,14.20,14.44,28.83
$GC,9919,1.00,410.5,765.4,19.7,393,9924,0.00,1.92,0.00,0.000,4,0.000,0.081,3098,1111,1417,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10150,0.91,410.5,724.2,19.4,400,10156,0.22,1.80,0.00,0.000,6,0.245,0.055,3042,2162,1417,0,0,0,0,0,0,14.39,14.62,28.83
$GC,10464,0.86,410.5,667.7,17.1,411,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2161,1416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10764,0.82,410.5,616.5,16.5,421,10770,0.12,1.83,0.00,0.000,4,0.272,0.071,3009,3210,1416,0,0,0,0,0,0,14.49,14.67,28.83
$GC,10792,0.78,410.5,616.5,16.5,421,10799,0.00,1.83,0.00,0.000,6,0.000,0.058,3009,2155,1416,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11098,0.76,410.5,568.4,14.4,432,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2156,1416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11397,0.74,410.5,524.9,14.6,442,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2155,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11697,0.74,410.5,480.8,14.6,452,11702,0.00,1.88,0.00,0.000,4,0.000,0.073,3008,3213,1416,0,0,0,0,0,0,28.83,14.73,28.83
$GC,11784,0.72,410.5,471.4,14.8,454,11791,0.12,1.83,0.00,0.000,6,0.287,0.058,2984,2153,1416,0,0,0,0,0,0,14.52,14.75,28.83
$GC,12091,0.72,410.5,428.3,12.6,465,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2153,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12389,0.72,410.5,391.0,12.3,475,12394,0.00,1.85,0.00,0.000,4,0.000,0.073,2986,3205,1416,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12445,0.72,410.5,386.9,12.5,476,12452,0.00,1.83,0.00,0.000,6,0.000,0.058,2984,2155,1416,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12751,0.72,410.5,347.6,11.8,487,12757,0.00,1.85,0.00,0.000,4,0.000,0.073,2984,3208,1415,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12787,0.72,410.5,343.6,11.8,488,12793,0.00,1.85,0.00,0.000,6,0.000,0.057,2984,2129,1415,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13116,0.74,410.5,301.8,12.9,499,13121,0.00,1.77,0.00,0.000,4,0.000,0.081,2984,1106,1415,0,0,0,0,0,0,28.83,14.74,28.83
$GC,13152,0.76,410.5,297.4,13.0,500,13158,0.00,1.77,0.00,0.000,6,0.000,0.054,2984,2159,1415,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13458,0.78,410.5,255.4,14.1,516,13463,0.00,1.80,0.00,0.000,4,0.000,0.073,2986,3204,1415,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13503,0.79,410.5,249.3,14.1,518,13509,0.00,1.80,0.00,0.000,6,0.000,0.057,2983,2156,1415,0,0,0,0,0,0,28.83,14.77,28.83
$GC,13826,0.82,410.5,205.9,12.8,534,13831,0.00,1.83,0.00,0.000,4,0.000,0.081,2984,1106,1415,0,0,0,0,0,0,28.83,14.70,28.83
$GC,13862,0.85,410.5,203.0,12.8,535,13870,0.00,1.77,0.00,0.000,6,0.000,0.054,2984,2159,1415,0,0,0,0,0,0,28.83,14.76,28.83
$GC,14168,0.88,410.5,165.2,11.0,551,14170,0.15,0.00,0.00,0.000,6,0.139,0.000,3038,2159,1415,0,0,0,0,0,0,14.70,28.83,28.83
$GC,14468,0.88,410.5,123.9,15.5,566,14473,0.00,1.88,0.00,0.000,4,0.000,0.080,3038,1103,1415,0,0,0,0,0,0,28.83,14.67,28.83
$GC,14494,0.88,410.5,120.6,15.4,567,14500,0.00,1.83,0.00,0.000,6,0.000,0.054,3038,2167,1416,0,0,0,0,0,0,28.83,14.74,28.83
$GC,14812,0.88,410.5,75.7,14.8,583,14813,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2167,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15113,0.90,410.5,40.9,10.1,602,15114,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2167,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15413,0.96,432.1,9.1,9.0,632,15425,0.00,0.00,10.70,0.138,6,0.000,0.000,3040,2167,1338,0,0,0,0,0,0,28.83,28.83,14.56
$STATE,15501,end climb,SURFACE_DEPTH_REACHED
$STATE,15501,begin surface coast
$FINISH,1.5,1.014033
$STATE,15523,end surface coast,CONTROL_FINISHED_OK
$STATE,15523,begin surface
$SM_CCo,15539,8.45,0.117,0,0,1265,450.13
$SM_GC,3.53,8.43,0.00,8.45,0.068,0.000,0.117,128,2177,1265,-8.02,-0.68,450.13,0,0,0,0,0,0,14.78,28.83,14.59
$IRIDIUM_FIX,4638.64,-12508.82,150812,131348
$TT8_MAMPS,0.025466,0.025466
$HUMID,64.05
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,18.70
$XPDR_PINGS,1
$SC_FREEKB,4017184
$TM_FREEKB,7834848
$24V_AH,12.4,13.031
$10V_AH,12.8,0.000
$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,23.275,80.400,705.475,8.450,0.000,0.000,0.000,414.450,0.250,0.000,19.622,2101.995,10810.334,824.249,2345.493,143.989,0.000,2286.864,0.000,1716.341,0.000,0.532,0.000
$DEVICE_MAMPS,348.840,98.685,2151.945,117.045,0.000,0.000,0.000,248.625,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15534.000,4356.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.426,12.685,0.000,0.000
$MEM,296356
$DATA_FILE_SIZE,23373,643
$CAP_FILE_SIZE,165516,0
$CFSIZE,260034560,252928000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,35,1,0
$CURRENT,0.060,219.7,1
$GPS,150812,224334,4656.896,-12512.977,26,1.2,26,16.9