version: 66.11
glider: 122
mission: 14
dive: 27
start: 8 17 112 8 43 16
data:
$ID,122
$MISSION,14
$DIVE,27
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,870
$D_ABORT,960
$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,290
$T_MISSION,330
$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,-43439.301
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,170812,083235,4656.237,-12519.262,37,1.1,37,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-56.4
$GPS2,170812,084247,4656.364,-12519.269,23,1.1,23,16.9
$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,75.3,18077,-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,19,begin dive
$GC,20,-1.13,-146.1,0.0,0.0,0,96,0.00,0.00,-72.88,0.000,2,0.000,0.000,131,2202,2211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.13,-146.1,3.7,-3.2,7,142,9.75,1.92,-28.98,0.000,4,0.351,0.100,2314,3245,3307,0,0,0,0,0,0,14.23,14.45,14.67
$GC,368,-1.09,-146.1,39.3,-14.7,33,376,0.00,1.80,0.00,0.000,6,0.000,0.048,2314,2189,3311,0,0,0,0,0,0,28.83,14.58,28.83
$GC,675,-1.07,-146.1,84.2,-13.4,52,681,0.12,1.88,0.00,0.000,4,0.252,0.067,2340,3248,3313,0,0,0,0,0,0,14.46,14.58,28.83
$GC,907,-1.07,-146.1,110.6,-11.5,63,912,0.00,1.83,0.00,0.000,6,0.000,0.048,2341,2194,3313,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1220,-1.09,-146.1,140.1,-7.8,79,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2194,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-1.12,-146.1,166.6,-9.4,94,1526,0.00,1.88,0.00,0.000,4,0.000,0.071,2332,3255,3313,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1667,-1.15,-146.1,180.8,-10.0,101,1672,0.00,1.80,0.00,0.000,6,0.000,0.049,2332,2192,3313,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1984,-1.17,-146.1,213.4,-10.1,117,1990,0.00,1.88,0.00,0.000,4,0.000,0.071,2324,3254,3312,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2027,-1.20,-146.1,217.7,-10.0,119,2033,0.00,1.77,0.00,0.000,6,0.000,0.049,2324,2197,3313,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2350,-1.23,-146.1,250.7,-10.1,135,2356,0.00,1.85,0.00,0.000,4,0.000,0.071,2316,3249,3313,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2423,-1.25,-146.1,257.2,-10.4,138,2429,0.00,1.77,0.00,0.000,6,0.000,0.049,2316,2194,3312,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2736,-1.28,-146.1,290.8,-10.2,154,2738,0.12,0.00,0.00,0.000,6,0.122,0.000,2258,2194,3311,0,0,0,0,0,0,14.81,28.83,28.83
$GC,3057,-1.26,-146.1,331.6,-12.8,166,3062,0.00,1.75,0.00,0.000,4,0.000,0.070,2258,1157,3310,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3179,-1.23,-146.1,348.0,-13.4,170,3185,0.17,1.75,0.00,0.000,6,0.226,0.050,2293,2202,3310,0,0,0,0,0,0,14.63,14.81,28.83
$GC,3512,-1.23,-146.1,385.3,-10.7,181,3517,0.00,1.80,0.00,0.000,4,0.000,0.069,2294,1157,3309,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3553,-1.23,-146.1,388.9,-10.8,182,3558,0.00,1.75,0.00,0.000,6,0.000,0.050,2289,2201,3309,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3874,-1.23,-146.1,423.9,-10.6,193,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2201,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4175,-1.25,-146.1,457.9,-11.5,203,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2201,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,-1.26,-146.1,491.8,-11.0,213,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2201,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4775,-1.29,-146.1,525.1,-10.9,223,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2201,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-1.31,-146.1,557.8,-11.0,233,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2201,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,-1.34,-146.1,591.0,-11.2,243,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2201,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5675,-1.37,-146.1,622.3,-10.1,253,5677,0.12,0.00,0.00,0.000,6,0.130,0.000,2226,2201,3305,0,0,0,0,0,0,14.86,28.83,28.83
$GC,5975,-1.36,-146.1,659.6,-12.6,263,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2201,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6275,-1.36,-146.1,696.2,-11.9,273,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2201,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6575,-1.36,-146.1,730.2,-11.6,283,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2201,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6874,-1.36,-146.1,765.6,-12.0,293,6880,0.00,1.83,0.00,0.000,4,0.000,0.073,2226,1152,3302,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6931,-1.36,-146.1,769.6,-12.1,294,6938,0.15,1.75,0.00,0.000,6,0.240,0.052,2254,2200,3302,0,0,0,0,0,0,14.64,14.85,28.83
$GC,7238,-1.38,-146.1,803.6,-9.9,305,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7538,-1.40,-146.1,835.6,-10.7,315,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2200,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7838,-1.43,-146.1,868.4,-11.2,325,7843,0.00,1.80,0.00,0.000,4,0.000,0.076,2248,3249,3301,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,7868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7868,begin apogee
$GC,7874,-0.25,0.0,872.3,-11.5,326,8044,1.20,0.00,159.95,2.098,6,0.176,0.000,2606,2163,2706,0,0,0,0,0,0,14.62,28.83,12.84
$STATE,8045,end apogee,CONTROL_FINISHED_OK
$STATE,8046,begin climb
$GC,8047,1.13,146.1,881.5,0.0,331,8221,1.35,2.03,163.55,2.075,4,0.066,0.071,3062,3224,2110,0,0,1,0,0,0,14.01,13.73,12.58
$GC,8448,1.03,163.4,870.2,9.2,345,8474,0.17,1.88,18.25,1.929,6,0.282,0.054,3027,2168,2040,0,0,0,0,0,0,14.09,14.28,13.07
$GC,8773,0.96,169.5,839.5,9.7,356,8788,0.00,1.90,6.93,1.640,4,0.000,0.071,3026,3199,2016,0,0,1,0,0,0,28.83,14.40,13.26
$GC,9015,0.87,169.5,812.3,11.3,364,9021,0.22,1.83,0.00,0.000,6,0.270,0.054,2975,2151,2012,0,0,0,0,0,0,14.32,14.53,28.83
$GC,9349,0.88,204.7,783.6,8.4,375,9397,0.00,1.98,39.78,1.971,4,0.000,0.071,2974,3213,1872,0,0,1,0,0,0,28.83,14.29,13.24
$GC,9624,0.84,204.7,756.5,10.4,384,9629,0.00,1.85,0.00,0.000,6,0.000,0.054,2974,2153,1864,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9952,0.81,204.7,722.2,10.5,395,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2154,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10252,0.78,204.7,690.4,10.7,405,10254,0.15,0.00,0.00,0.000,6,0.257,0.000,2938,2153,1861,0,0,0,0,0,0,14.53,28.83,28.83
$GC,10551,0.79,211.0,661.4,9.7,415,10562,0.00,1.88,5.93,1.503,4,0.000,0.069,2938,3215,1847,0,0,0,0,0,0,28.83,14.69,13.54
$GC,10668,0.79,211.0,651.7,10.5,418,10674,0.00,1.83,0.00,0.000,6,0.000,0.054,2938,2155,1846,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10974,0.79,214.1,618.7,9.9,429,10981,0.00,0.00,4.97,1.372,6,0.000,0.000,2938,2158,1835,0,0,0,0,0,0,28.83,28.83,13.54
$GC,11274,0.81,226.2,590.0,9.4,439,11292,0.00,0.00,15.35,1.730,6,0.000,0.000,2938,2155,1786,0,0,0,0,0,0,28.83,28.83,13.61
$GC,11574,0.84,243.7,561.3,9.2,449,11597,0.00,0.00,20.90,1.731,6,0.000,0.000,2938,2155,1714,0,0,0,0,0,0,28.83,28.83,13.55
$GC,11874,0.88,263.8,534.3,9.1,459,11905,0.12,1.92,21.58,1.704,4,0.148,0.072,2987,3205,1631,0,0,1,0,0,0,14.62,14.45,13.53
$GC,12017,0.86,263.8,520.5,11.1,463,12023,0.00,1.83,0.00,0.000,6,0.000,0.054,2987,2158,1627,0,0,0,0,0,0,28.83,14.54,28.83
$GC,12330,0.84,263.8,485.4,10.1,474,12336,0.00,1.83,0.00,0.000,4,0.000,0.078,2987,1110,1625,0,0,0,0,0,0,28.83,14.60,28.83
$GC,12397,0.84,263.8,478.8,10.1,476,12402,0.00,1.77,0.00,0.000,6,0.000,0.051,2987,2162,1625,0,0,0,0,0,0,28.83,14.68,28.83
$GC,12725,0.84,263.8,444.5,10.4,487,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2161,1624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13024,0.84,263.8,411.1,10.9,497,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2162,1624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13324,0.84,263.8,377.6,11.1,507,13330,0.00,1.80,0.00,0.000,4,0.000,0.072,2987,3207,1623,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13436,0.84,263.8,366.6,11.7,510,13441,0.00,1.80,0.00,0.000,6,0.000,0.054,2987,2153,1622,0,0,0,0,0,0,28.83,14.78,28.83
$GC,13748,0.84,263.8,328.2,11.5,521,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2154,1623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14048,0.84,263.8,292.4,12.1,532,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2154,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14348,0.84,263.8,255.3,12.6,547,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2154,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14648,0.84,263.8,217.7,12.5,562,14654,0.00,1.85,0.00,0.000,4,0.000,0.070,2987,3211,1622,0,0,0,0,0,0,28.83,14.79,28.83
$GC,14725,0.84,263.8,209.7,12.6,565,14732,0.00,1.83,0.00,0.000,6,0.000,0.054,2987,2169,1622,0,0,0,0,0,0,28.83,14.80,28.83
$GC,15030,0.84,263.8,170.0,12.5,581,15031,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2169,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15332,0.86,263.8,135.0,11.2,596,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2169,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15632,0.90,275.6,105.6,9.4,611,15652,0.00,0.00,12.40,1.242,6,0.000,0.000,2987,2169,1584,0,0,0,0,0,0,28.83,28.83,13.91
$GC,15951,0.95,287.8,73.6,9.4,627,15972,0.00,0.00,14.35,1.219,6,0.000,0.000,2987,2170,1533,0,0,0,0,0,0,28.83,28.83,13.87
$GC,16272,1.00,291.6,46.2,9.8,644,16281,0.00,0.00,4.85,0.975,6,0.000,0.000,2987,2170,1519,0,0,0,0,0,0,28.83,28.83,13.83
$GC,16581,1.14,344.3,18.6,7.6,675,16618,0.20,1.90,28.33,0.173,4,0.114,0.068,3068,3205,1302,0,0,0,0,0,0,14.64,14.61,14.52
$GC,16719,1.20,378.3,6.8,8.4,688,16741,0.00,1.80,15.93,0.125,6,0.000,0.053,3068,2155,1164,0,0,0,0,0,0,28.83,14.62,14.54
$STATE,16797,end climb,SURFACE_DEPTH_REACHED
$STATE,16797,begin surface coast
$FINISH,1.5,1.002314
$STATE,16818,end surface coast,CONTROL_FINISHED_OK
$STATE,16818,begin surface
$SM_CCo,16835,85.70,0.107,0,0,463,550.21
$SM_GC,2.38,8.48,0.08,85.70,0.060,0.152,0.107,135,2198,463,-7.85,-1.24,550.21,0,0,0,0,0,0,14.73,14.66,14.56
$IRIDIUM_FIX,4638.64,-12524.57,170812,040439
$TT8_MAMPS,0.025466,0.025466
$HUMID,62.56
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,18.90
$XPDR_PINGS,1
$SC_FREEKB,4013152
$TM_FREEKB,7739904
$24V_AH,12.6,18.035
$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,22.350,66.250,533.025,85.700,0.000,0.000,0.000,362.750,0.250,0.000,25.154,2331.268,12080.197,710.503,2268.202,151.340,0.000,2018.306,0.000,1702.755,0.000,0.531,0.000
$DEVICE_MAMPS,351.135,152.235,2098.395,107.100,0.000,0.000,0.000,247.095,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16833.000,3980.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.429,12.511,0.000,0.000
$MEM,296316
$DATA_FILE_SIZE,23417,698
$CAP_FILE_SIZE,168771,0
$CFSIZE,260034560,251252736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0
$CURRENT,0.052,227.2,1
$GPS,170812,132634,4655.945,-12516.214,36,0.8,36,16.9