version: 66.11
glider: 122
mission: 14
dive: 26
start: 8 17 112 4 30 17
data:
$ID,122
$MISSION,14
$DIVE,26
$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,-43437.941
$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,34
$R_STBD_OVSHOOT,40
$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
$GPS1,170812,041952,4655.696,-12521.862,38,0.8,38,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-56.0
$GPS2,170812,042947,4655.673,-12521.965,17,1.5,17,16.9
$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,60.9,21588,-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,-146.1,0.0,0.0,0,96,0.00,0.00,-73.85,0.000,2,0.000,0.000,136,2215,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.13,-146.1,3.5,-2.6,7,142,9.90,1.90,-28.58,0.000,4,0.359,0.102,2318,3245,3307,0,0,0,0,0,0,14.19,14.45,14.68
$GC,369,-1.10,-146.1,38.7,-13.5,33,376,0.00,1.80,0.00,0.000,6,0.000,0.049,2318,2189,3311,0,0,0,0,0,0,28.83,14.57,28.83
$GC,675,-1.08,-146.1,80.1,-12.8,53,681,0.00,1.88,0.00,0.000,4,0.000,0.070,2310,3246,3313,0,0,0,0,0,0,28.83,14.59,28.83
$GC,752,-1.06,-146.1,87.6,-11.7,56,760,0.15,1.77,0.00,0.000,6,0.230,0.048,2346,2196,3313,0,0,0,0,0,0,14.47,14.63,28.83
$GC,1059,-1.08,-146.1,118.8,-8.4,72,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2196,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,-1.11,-146.1,142.1,-8.8,87,1364,0.00,1.85,0.00,0.000,4,0.000,0.071,2339,3244,3313,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1471,-1.14,-146.1,152.5,-10.0,92,1477,0.00,1.77,0.00,0.000,6,0.000,0.049,2339,2192,3313,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1784,-1.17,-146.1,189.3,-11.8,108,1790,0.00,1.85,0.00,0.000,4,0.000,0.072,2332,3243,3312,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1881,-1.20,-146.1,198.9,-11.6,112,1889,0.00,1.77,0.00,0.000,6,0.000,0.049,2330,2192,3312,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2187,-1.23,-146.1,234.4,-10.5,128,2189,0.12,0.00,0.00,0.000,6,0.119,0.000,2270,2192,3312,0,0,0,0,0,0,14.80,28.83,28.83
$GC,2487,-1.21,-146.1,271.7,-12.3,143,2493,0.12,1.85,0.00,0.000,4,0.234,0.069,2297,3244,3312,0,0,0,0,0,0,14.61,14.75,28.83
$GC,2544,-1.21,-146.1,276.6,-11.8,145,2551,0.00,1.75,0.00,0.000,6,0.000,0.049,2297,2198,3311,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2871,-1.21,-146.1,315.3,-11.7,160,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2198,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3170,-1.21,-146.1,350.7,-11.6,170,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2199,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-1.21,-146.1,384.6,-11.1,180,3475,0.00,1.85,0.00,0.000,4,0.000,0.073,2290,3250,3309,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3533,-1.21,-146.1,391.8,-11.4,182,3538,0.00,1.77,0.00,0.000,6,0.000,0.050,2290,2194,3309,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3865,-1.21,-146.1,431.8,-12.1,193,3870,0.00,1.75,0.00,0.000,4,0.000,0.070,2290,1157,3308,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3942,-1.21,-146.1,439.2,-11.9,195,3948,0.00,1.75,0.00,0.000,6,0.000,0.051,2283,2201,3308,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4260,-1.21,-146.1,475.6,-10.5,206,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2201,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-1.21,-146.1,506.2,-10.0,216,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2201,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4860,-1.23,-146.1,534.9,-9.3,226,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2201,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5160,-1.25,-146.1,562.5,-9.2,236,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2201,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5461,-1.27,-146.1,589.7,-9.1,246,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2201,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5760,-1.29,-146.1,617.8,-9.6,256,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2201,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6060,-1.32,-146.1,648.0,-10.4,266,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2201,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6360,-1.35,-146.1,680.3,-11.0,276,6365,0.00,1.83,0.00,0.000,4,0.000,0.076,2275,3253,3304,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6461,-1.38,-146.1,691.0,-11.6,279,6466,0.00,1.77,0.00,0.000,6,0.000,0.052,2275,2198,3304,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6784,-1.41,-146.1,729.4,-11.6,290,6786,0.12,0.00,0.00,0.000,6,0.135,0.000,2210,2198,3303,0,0,0,0,0,0,14.85,28.83,28.83
$STATE,6931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6932,begin apogee
$GC,6935,-0.25,0.0,750.9,-14.7,295,7098,1.35,0.00,155.12,1.971,6,0.188,0.000,2606,2194,2707,0,0,0,0,0,0,14.63,28.83,12.93
$STATE,7099,end apogee,CONTROL_FINISHED_OK
$STATE,7100,begin climb
$GC,7101,1.13,146.1,758.8,0.0,300,7267,1.35,2.08,156.18,1.937,4,0.070,0.075,3064,1121,2110,0,0,0,0,0,0,14.02,13.80,12.80
$GC,7343,1.20,250.4,757.9,5.2,308,7463,0.00,1.83,111.78,1.958,6,0.000,0.050,3065,2160,1686,0,0,0,0,0,0,28.83,14.12,12.67
$GC,7782,1.12,250.4,698.8,14.1,323,7787,0.00,1.88,0.00,0.000,4,0.000,0.071,3065,3215,1676,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7859,1.05,250.4,689.4,14.6,325,7866,0.17,1.85,0.00,0.000,6,0.277,0.055,3027,2161,1675,0,0,0,0,0,0,14.22,14.40,28.83
$GC,8180,1.00,250.4,646.3,12.8,336,8185,0.00,1.88,0.00,0.000,4,0.000,0.070,3027,3215,1674,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8272,0.95,250.4,634.1,13.1,339,8278,0.12,1.85,0.00,0.000,6,0.275,0.055,3001,2156,1673,0,0,0,0,0,0,14.40,14.59,28.83
$GC,8606,0.93,250.4,595.8,11.4,350,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2156,1673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8906,0.90,250.4,560.4,11.7,360,8911,0.00,1.85,0.00,0.000,4,0.000,0.070,3001,3206,1672,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8962,0.88,250.4,556.2,11.9,361,8970,0.00,1.83,0.00,0.000,6,0.000,0.054,3001,2156,1672,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9269,0.86,250.4,515.5,12.5,372,9271,0.15,0.00,0.00,0.000,6,0.267,0.000,2966,2156,1671,0,0,0,0,0,0,14.54,28.83,28.83
$GC,9568,0.86,250.4,482.6,11.0,382,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2156,1671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9868,0.86,250.4,451.4,10.3,392,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2155,1671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10168,0.86,250.4,420.3,10.6,402,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2156,1671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10468,0.86,250.4,388.9,10.3,412,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2155,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10769,0.87,250.4,357.0,10.7,422,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2155,1670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11068,0.89,250.4,325.5,10.1,432,11073,0.00,1.80,0.00,0.000,4,0.000,0.079,2965,1111,1670,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11145,0.91,251.3,319.3,10.0,434,11151,0.00,1.77,0.00,0.000,6,0.000,0.051,2965,2170,1670,0,0,0,0,0,0,28.83,14.82,28.83
$GC,11464,0.97,270.4,287.9,9.1,447,11486,0.12,0.00,19.50,1.470,6,0.144,0.000,3013,2170,1605,0,0,0,0,0,0,14.78,28.83,13.83
$GC,11783,0.98,276.6,255.3,9.7,463,11793,0.00,0.00,7.78,1.289,6,0.000,0.000,3013,2170,1580,0,0,0,0,0,0,28.83,28.83,13.76
$GC,12082,0.98,276.6,224.9,10.4,478,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2170,1577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12383,0.98,276.6,192.1,11.1,493,12388,0.00,1.77,0.00,0.000,4,0.000,0.070,3013,3202,1577,0,0,0,0,0,0,28.83,14.72,28.83
$GC,12449,0.98,276.6,184.9,11.6,496,12455,0.00,1.83,0.00,0.000,6,0.000,0.054,3013,2163,1576,0,0,0,0,0,0,28.83,14.73,28.83
$GC,12767,0.98,276.6,150.5,10.3,512,12772,0.00,1.83,0.00,0.000,4,0.000,0.070,3014,3203,1576,0,0,0,0,0,0,28.83,14.72,28.83
$GC,12869,0.98,276.6,139.5,10.9,517,12874,0.00,1.80,0.00,0.000,6,0.000,0.054,3013,2149,1576,0,0,0,0,0,0,28.83,14.73,28.83
$GC,13191,0.98,276.6,106.1,10.3,533,13196,0.00,1.80,0.00,0.000,4,0.000,0.076,3014,1110,1576,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13234,0.98,276.6,101.6,10.8,535,13239,0.00,1.77,0.00,0.000,6,0.000,0.050,3014,2159,1576,0,0,0,0,0,0,28.83,14.75,28.83
$GC,13556,1.00,276.6,66.8,10.3,551,13562,0.00,1.80,0.00,0.000,4,0.000,0.070,3014,3201,1576,0,0,0,0,0,0,28.83,14.68,28.83
$GC,13688,1.00,276.6,54.3,10.3,557,13693,0.00,1.83,0.00,0.000,6,0.000,0.053,3013,2165,1576,0,0,0,0,0,0,28.83,14.71,28.83
$GC,14001,1.09,317.7,27.5,8.1,586,14033,0.00,1.92,26.08,1.158,4,0.000,0.069,3014,3208,1411,0,0,0,0,0,0,28.83,14.58,13.70
$GC,14136,1.13,320.2,14.7,9.9,599,14142,0.12,1.83,0.00,0.000,6,0.148,0.053,3058,2151,1399,0,0,0,0,0,0,14.59,14.60,28.83
$STATE,14297,end climb,SURFACE_DEPTH_REACHED
$STATE,14297,begin surface coast
$FINISH,1.4,1.013796
$STATE,14328,end surface coast,CONTROL_FINISHED_OK
$STATE,14328,begin surface
$SM_CCo,14347,113.80,0.107,0,0,465,550.21
$SM_GC,2.32,8.68,0.08,113.80,0.081,0.150,0.107,133,2196,465,-7.86,-1.36,550.21,0,0,0,0,0,0,14.71,14.65,14.54
$IRIDIUM_FIX,4638.64,-12522.00,170812,000002
$TT8_MAMPS,0.025466,0.025466
$HUMID,62.12
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,18.90
$XPDR_PINGS,3
$SC_FREEKB,4013408
$TM_FREEKB,7746208
$24V_AH,12.7,17.654
$10V_AH,13.2,0.000
$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,22.500,65.775,476.425,113.800,0.000,0.000,0.000,360.300,0.750,0.000,18.963,1984.988,10300.849,650.203,1997.778,131.169,0.000,1852.969,0.000,1454.278,0.000,0.531,0.000
$DEVICE_MAMPS,358.785,149.940,1971.405,107.100,0.000,0.000,0.000,243.270,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14335.000,3978.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.811,12.525,0.000,0.000
$MEM,296340
$DATA_FILE_SIZE,20078,618
$CAP_FILE_SIZE,149249,0
$CFSIZE,260034560,251404288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,307.0,1
$GPS,170812,083235,4656.237,-12519.262,37,1.1,37,16.9