version: 66.11
glider: 122
mission: 14
dive: 25
start: 8 17 112 0 17 54
data:
$ID,122
$MISSION,14
$DIVE,25
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,300
$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,550
$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,-43436.223
$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,2690
$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,38
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3824
$C_VBD,2708
$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
$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,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170812,000835,4656.168,-12524.337,29,1.3,29,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-56.8
$GPS2,170812,001724,4656.165,-12524.351,17,1.6,17,16.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,INSHORE
$TGT_LATLONG,4657.000,-12505.000
$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,77.2,24513,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.13,-146.1,0.0,0.0,0,87,0.00,0.00,-64.30,0.000,2,0.000,0.000,132,2218,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.13,-146.1,3.1,-1.8,6,146,9.82,1.83,-40.10,0.000,4,0.356,0.098,2315,3242,3305,0,0,0,0,0,0,14.24,14.47,14.70
$GC,374,-1.09,-146.1,38.7,-11.6,34,379,0.00,1.77,0.00,0.000,6,0.000,0.049,2315,2198,3308,0,0,0,0,0,0,28.83,14.57,28.83
$GC,696,-1.07,-146.1,85.8,-13.7,55,702,0.12,1.85,0.00,0.000,4,0.256,0.068,2341,3239,3310,0,0,0,0,0,0,14.46,14.60,28.83
$GC,929,-1.07,-146.1,105.6,-8.0,66,934,0.00,1.77,0.00,0.000,6,0.000,0.049,2341,2190,3311,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1241,-1.09,-146.1,131.4,-9.1,82,1246,0.00,1.85,0.00,0.000,4,0.000,0.071,2333,3235,3311,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1398,-1.11,-146.1,146.9,-11.1,89,1404,0.00,1.75,0.00,0.000,6,0.000,0.049,2333,2198,3311,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1704,-1.13,-146.1,181.7,-10.6,105,1709,0.00,1.77,0.00,0.000,4,0.000,0.069,2333,1154,3311,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1809,-1.13,-146.1,193.1,-11.0,110,1815,0.00,1.77,0.00,0.000,6,0.000,0.049,2326,2183,3311,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2127,-1.16,-146.1,226.5,-10.2,126,2132,0.00,1.85,0.00,0.000,4,0.000,0.073,2318,3254,3311,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2190,-1.18,-146.1,233.1,-10.4,129,2195,0.00,1.77,0.00,0.000,6,0.000,0.050,2318,2196,3311,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2513,-1.20,-146.1,267.1,-10.4,145,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2196,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2813,-1.22,-146.1,297.7,-10.0,160,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2196,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-1.24,-146.1,326.6,-9.2,171,3128,0.00,1.85,0.00,0.000,4,0.000,0.073,2310,3248,3309,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3186,-1.27,-146.1,332.8,-9.6,173,3191,0.00,1.75,0.00,0.000,6,0.000,0.050,2310,2200,3309,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3520,-1.29,-146.1,365.2,-9.9,184,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2200,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3818,-1.31,-146.1,396.0,-10.6,194,3820,0.12,0.00,0.00,0.000,6,0.126,0.000,2254,2200,3307,0,0,0,0,0,0,14.86,28.83,28.83
$GC,4119,-1.31,-146.1,433.5,-12.8,204,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4418,-1.31,-146.1,471.0,-12.4,214,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4719,-1.31,-146.1,508.8,-12.6,224,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-1.31,-146.1,544.8,-11.9,234,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-1.31,-146.1,579.3,-11.5,244,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5618,-1.31,-146.1,612.4,-11.1,254,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2200,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5918,-1.31,-146.1,645.3,-11.0,264,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6218,-1.31,-146.1,679.6,-11.5,274,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6519,-1.31,-146.1,715.6,-11.9,284,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2200,3302,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6817,begin apogee
$GC,6821,-0.25,0.0,750.4,-11.7,294,6983,1.17,0.00,154.57,1.974,6,0.178,0.000,2605,2194,2706,0,0,0,0,0,0,14.67,28.83,12.98
$STATE,6984,end apogee,CONTROL_FINISHED_OK
$STATE,6984,begin climb
$GC,6986,1.13,146.1,757.1,0.0,299,7153,1.35,2.08,155.38,1.942,4,0.067,0.076,3066,1122,2110,0,0,0,0,0,0,14.04,13.81,12.85
$GC,7379,1.03,146.1,734.3,11.8,312,7385,0.20,1.83,0.00,0.000,6,0.246,0.052,3020,2166,2097,0,0,0,0,0,0,14.17,14.35,28.83
$GC,7698,0.96,146.1,698.8,10.5,323,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2166,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,0.90,146.1,666.1,10.9,333,8003,0.15,1.83,0.00,0.000,4,0.277,0.070,2982,3210,2092,0,0,0,0,0,0,14.41,14.61,28.83
$GC,8230,0.85,146.1,644.0,10.1,340,8236,0.00,1.80,0.00,0.000,6,0.000,0.055,2981,2168,2090,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8543,0.87,176.7,613.6,8.6,351,8576,0.00,0.00,30.40,1.815,6,0.000,0.000,2982,2168,1987,0,0,0,0,0,0,28.83,28.83,13.49
$GC,8874,0.88,197.7,583.7,9.0,362,8903,0.00,0.00,22.75,1.750,6,0.000,0.000,2982,2168,1901,0,0,0,0,0,0,28.83,28.83,13.48
$GC,9204,0.91,228.4,554.6,8.6,373,9243,0.00,1.92,32.92,1.743,4,0.000,0.072,2982,3203,1775,0,0,1,0,0,0,28.83,14.36,13.41
$GC,9326,0.92,246.7,543.5,9.1,377,9355,0.00,1.83,19.95,1.674,6,0.000,0.055,2982,2159,1701,0,0,0,0,0,0,28.83,14.45,13.37
$GC,9656,0.94,257.0,512.4,9.5,388,9669,0.00,0.00,11.45,1.579,6,0.000,0.000,2982,2161,1660,0,0,0,0,0,0,28.83,28.83,13.51
$GC,9955,0.94,257.0,481.6,10.8,398,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2159,1655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10255,0.94,257.0,447.5,11.2,408,10260,0.00,1.85,0.00,0.000,4,0.000,0.071,2982,3210,1653,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10347,0.94,257.0,436.8,11.5,411,10352,0.00,1.83,0.00,0.000,6,0.000,0.054,2982,2157,1652,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10680,0.94,257.0,398.2,11.8,422,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2157,1653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10980,0.94,257.0,362.5,11.9,432,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2156,1651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11279,0.94,257.0,327.9,11.2,442,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2157,1652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11589,0.94,257.0,292.9,11.3,453,11594,0.00,1.85,0.00,0.000,4,0.000,0.070,2982,3211,1651,0,0,0,0,0,0,28.83,14.78,28.83
$GC,11646,0.94,257.0,288.0,11.6,455,11652,0.00,1.80,0.00,0.000,6,0.000,0.054,2982,2156,1652,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11951,0.94,257.0,252.6,11.0,471,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2156,1651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12252,0.94,257.0,221.4,10.2,486,12258,0.00,1.85,0.00,0.000,4,0.000,0.070,2982,3214,1651,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12339,0.94,257.0,212.4,10.9,490,12344,0.00,1.80,0.00,0.000,6,0.000,0.054,2982,2159,1651,0,0,0,0,0,0,28.83,14.81,28.83
$GC,12656,0.97,267.7,180.6,9.5,506,12670,0.00,0.00,11.55,1.308,6,0.000,0.000,2982,2159,1616,0,0,0,0,0,0,28.83,28.83,13.86
$GC,12957,1.02,284.4,152.5,9.2,521,12982,0.12,1.85,18.85,1.323,4,0.148,0.067,3031,3204,1547,0,0,0,0,0,0,14.71,14.62,13.82
$GC,13054,1.02,284.4,143.2,11.3,525,13060,0.00,1.80,0.00,0.000,6,0.000,0.054,3031,2158,1544,0,0,0,0,0,0,28.83,14.63,28.83
$GC,13360,1.02,284.4,105.9,11.7,541,13365,0.00,1.85,0.00,0.000,4,0.000,0.068,3031,3207,1542,0,0,0,0,0,0,28.83,14.65,28.83
$GC,13445,1.02,284.4,95.6,12.4,545,13451,0.00,1.85,0.00,0.000,6,0.000,0.053,3031,2158,1542,0,0,0,0,0,0,28.83,14.64,28.83
$GC,13762,1.02,284.4,52.5,13.9,561,13764,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2158,1542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14064,1.05,286.1,18.9,9.9,590,14069,0.00,1.83,0.00,0.000,4,0.000,0.076,3031,1104,1542,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,14256,end climb,SURFACE_DEPTH_REACHED
$STATE,14256,begin surface coast
$FINISH,1.5,1.021423
$STATE,14288,end surface coast,CONTROL_FINISHED_OK
$STATE,14289,begin surface
$SM_CCo,14309,130.43,0.106,0,0,464,550.21
$SM_GC,2.32,8.38,1.92,130.43,0.064,0.049,0.106,138,2207,464,-7.86,-1.02,550.21,0,0,0,0,0,0,14.76,14.72,14.58
$IRIDIUM_FIX,4638.64,-12528.96,160812,212147
$TT8_MAMPS,0.025466,0.025466
$HUMID,62.01
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,18.80
$XPDR_PINGS,4
$SC_FREEKB,4013664
$TM_FREEKB,7752512
$24V_AH,12.8,17.299
$10V_AH,13.3,0.000
$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,21.450,54.950,457.825,130.425,0.000,0.000,0.000,315.925,1.000,0.000,19.091,2029.512,10190.220,652.799,1979.630,131.908,0.000,1804.135,0.000,1492.501,0.000,0.531,0.000
$DEVICE_MAMPS,355.725,97.920,1973.700,106.335,0.000,0.000,0.000,240.975,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14291.000,3773.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.643,12.568,0.000,0.000
$MEM,296348
$DATA_FILE_SIZE,20101,612
$CAP_FILE_SIZE,143761,0
$CFSIZE,260034560,251535360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.053,234.9,1
$GPS,170812,041952,4655.696,-12521.862,38,0.8,38,16.9