version: 66.11
glider: 122
mission: 14
dive: 28
start: 8 17 112 13 38 5
data:
$ID,122
$MISSION,14
$DIVE,28
$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,-43440.66
$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,38
$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
$GPS1,170812,132634,4655.945,-12516.214,36,0.8,36,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-53.9
$GPS2,170812,133735,4655.948,-12516.076,17,1.3,17,16.9
$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,58.5,14138,-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,-146.1,0.0,0.0,0,86,0.00,0.00,-63.80,0.000,2,0.000,0.000,129,2200,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.13,-146.1,3.1,-1.4,6,145,9.80,1.92,-38.30,0.000,4,0.353,0.103,2317,3246,3306,0,0,0,0,0,0,14.20,14.43,14.66
$GC,157,-1.06,-146.1,8.5,-9.5,12,164,0.12,1.80,0.00,0.000,6,0.243,0.048,2344,2191,3309,0,0,0,0,0,0,14.34,14.50,28.83
$GC,463,-1.06,-146.1,44.7,-12.7,43,468,0.00,1.88,0.00,0.000,4,0.000,0.070,2338,3246,3313,0,0,0,0,0,0,28.83,14.55,28.83
$GC,694,-1.06,-146.1,72.5,-12.0,56,700,0.00,1.77,0.00,0.000,6,0.000,0.047,2338,2199,3313,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1006,-1.06,-146.1,112.7,-11.4,72,1012,0.00,1.85,0.00,0.000,4,0.000,0.070,2330,3247,3313,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1238,-1.08,-146.1,136.3,-10.2,83,1243,0.00,1.77,0.00,0.000,6,0.000,0.047,2330,2195,3313,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1551,-1.10,-146.1,167.0,-9.9,99,1556,0.00,1.85,0.00,0.000,4,0.000,0.070,2322,3246,3313,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1663,-1.12,-146.1,177.4,-10.3,104,1668,0.00,1.77,0.00,0.000,6,0.000,0.047,2321,2194,3313,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1975,-1.14,-146.1,211.1,-10.4,120,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2194,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-1.16,-146.1,243.3,-10.6,135,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2194,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2576,-1.19,-146.1,274.9,-10.6,150,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2194,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2876,-1.22,-146.1,307.7,-11.1,164,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2194,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-1.25,-146.1,341.5,-11.3,174,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2194,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3475,-1.28,-146.1,373.3,-10.3,184,3477,0.15,0.00,0.00,0.000,6,0.109,0.000,2256,2194,3309,0,0,0,0,0,0,14.87,28.83,28.83
$GC,3775,-1.28,-146.1,409.0,-11.8,194,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2194,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-1.28,-146.1,442.3,-10.8,204,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2194,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4375,-1.28,-146.1,474.7,-10.8,214,4381,0.00,1.85,0.00,0.000,4,0.000,0.073,2247,3246,3306,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4422,-1.28,-146.1,478.4,-10.8,215,4427,0.00,1.77,0.00,0.000,6,0.000,0.051,2247,2194,3306,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4739,-1.28,-146.1,518.6,-12.5,226,4745,0.12,1.77,0.00,0.000,4,0.246,0.070,2281,1149,3305,0,0,0,0,0,0,14.66,14.81,28.83
$GC,4781,-1.28,-146.1,522.7,-12.5,227,4786,0.00,1.80,0.00,0.000,6,0.000,0.050,2276,2199,3305,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5104,-1.30,-146.1,560.7,-11.7,238,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2199,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5403,-1.32,-146.1,594.4,-11.1,248,5408,0.00,1.80,0.00,0.000,4,0.000,0.070,2276,1153,3304,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5465,-1.34,-146.1,601.6,-11.2,250,5470,0.00,1.75,0.00,0.000,6,0.000,0.051,2269,2200,3304,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5798,-1.36,-146.1,637.7,-11.0,261,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2200,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6098,-1.38,-146.1,670.9,-11.3,271,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2200,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6398,-1.41,-146.1,704.0,-10.8,281,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2200,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6697,-1.43,-146.1,735.5,-10.3,291,6699,0.12,0.00,0.00,0.000,6,0.131,0.000,2200,2200,3301,0,0,0,0,0,0,14.87,28.83,28.83
$GC,6998,-1.42,-146.1,775.4,-13.5,301,7000,0.15,0.00,0.00,0.000,6,0.243,0.000,2235,2200,3301,0,0,0,0,0,0,14.65,28.83,28.83
$GC,7297,-1.42,-146.1,810.9,-11.7,311,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2200,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7597,-1.42,-146.1,846.1,-11.8,321,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2200,3298,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7806,begin apogee
$GC,7810,-0.25,0.0,871.1,-11.9,328,7978,1.23,0.00,158.68,2.108,6,0.175,0.000,2605,2201,2706,0,0,0,0,0,0,14.66,28.83,12.92
$STATE,7979,end apogee,CONTROL_FINISHED_OK
$STATE,7979,begin climb
$GC,7981,1.13,146.1,878.3,0.0,333,8153,1.35,2.08,162.88,2.115,4,0.065,0.072,3065,1110,2110,0,0,0,0,0,0,14.02,13.71,12.67
$GC,8250,1.13,221.5,877.4,6.5,342,8340,0.00,1.88,81.70,2.023,6,0.000,0.050,3065,2164,1804,0,0,0,0,0,0,28.83,14.11,12.72
$GC,8652,1.04,221.5,819.8,14.9,356,8659,0.15,1.85,0.00,0.000,4,0.271,0.068,3029,3206,1792,0,0,0,0,0,0,14.16,14.31,28.83
$GC,8741,0.94,221.5,810.7,14.4,358,8748,0.15,1.83,0.00,0.000,6,0.281,0.054,2996,2164,1791,0,0,0,0,0,0,14.21,14.39,28.83
$GC,9047,0.90,221.5,771.2,12.0,369,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2164,1790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9346,0.86,221.5,736.2,11.5,379,9352,0.12,1.85,0.00,0.000,4,0.286,0.068,2965,3206,1789,0,0,0,0,0,0,14.43,14.61,28.83
$GC,9579,0.82,221.5,712.8,10.9,386,9585,0.00,1.80,0.00,0.000,6,0.000,0.054,2964,2162,1788,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9892,0.81,221.5,677.0,10.9,397,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2162,1787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10192,0.79,221.5,643.3,11.4,407,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2163,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10491,0.79,221.5,609.7,10.9,417,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2162,1787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10791,0.79,221.5,578.0,10.5,427,10797,0.00,1.85,0.00,0.000,4,0.000,0.071,2965,3214,1786,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10944,0.76,221.5,562.0,10.4,432,10950,0.00,1.80,0.00,0.000,6,0.000,0.054,2964,2158,1786,0,0,0,0,0,0,28.83,14.79,28.83
$GC,11277,0.77,226.0,529.3,9.8,443,11283,0.00,1.83,0.00,0.000,4,0.000,0.078,2964,1100,1786,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11359,0.78,231.0,523.1,9.8,445,11372,0.00,1.80,7.90,1.532,6,0.000,0.051,2965,2170,1766,0,0,0,0,0,0,28.83,14.80,13.75
$GC,11671,0.79,234.2,490.8,9.9,456,11678,0.00,0.00,5.25,1.331,6,0.000,0.000,2966,2170,1754,0,0,0,0,0,0,28.83,28.83,13.71
$GC,11970,0.79,234.2,460.1,10.3,466,11975,0.00,1.77,0.00,0.000,4,0.000,0.071,2964,3203,1751,0,0,0,0,0,0,28.83,14.74,28.83
$GC,12122,0.79,234.2,443.9,10.7,471,12128,0.00,1.80,0.00,0.000,6,0.000,0.054,2964,2150,1751,0,0,0,0,0,0,28.83,14.77,28.83
$GC,12456,0.81,249.5,411.6,9.3,482,12480,0.00,1.88,18.60,1.588,4,0.000,0.068,2964,3213,1689,0,0,0,0,0,0,28.83,14.66,13.77
$GC,12551,0.81,249.5,401.8,10.1,485,12556,0.00,1.83,0.00,0.000,6,0.000,0.053,2964,2152,1685,0,0,0,0,0,0,28.83,14.67,28.83
$GC,12879,0.81,249.5,366.2,10.9,496,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2152,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13178,0.81,249.5,334.5,10.7,506,13184,0.00,1.85,0.00,0.000,4,0.000,0.069,2964,3207,1684,0,0,0,0,0,0,28.83,14.71,28.83
$GC,13275,0.81,249.5,324.0,11.3,509,13280,0.00,1.80,0.00,0.000,6,0.000,0.052,2964,2155,1683,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13593,0.83,249.5,289.9,10.5,521,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2155,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13893,0.85,249.5,256.6,11.2,536,13898,0.00,1.85,0.00,0.000,4,0.000,0.070,2963,3210,1683,0,0,0,0,0,0,28.83,14.76,28.83
$GC,13964,0.85,249.5,249.4,11.4,539,13970,0.00,1.80,0.00,0.000,6,0.000,0.052,2964,2156,1682,0,0,0,0,0,0,28.83,14.79,28.83
$GC,14277,0.87,249.5,214.4,10.3,555,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2156,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14578,0.89,249.5,183.8,10.4,570,14579,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2156,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14878,0.96,272.3,154.7,8.9,585,14908,0.12,1.92,23.73,1.333,4,0.145,0.070,3015,3203,1597,0,0,0,0,0,0,14.74,14.64,13.88
$GC,15020,0.96,272.3,137.7,12.4,592,15025,0.00,1.80,0.00,0.000,6,0.000,0.052,3015,2158,1594,0,0,0,0,0,0,28.83,14.64,28.83
$GC,15342,0.96,272.3,101.1,11.3,608,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2157,1592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15643,0.96,272.3,65.5,10.6,623,15648,0.00,1.83,0.00,0.000,4,0.000,0.067,3015,3204,1592,0,0,0,0,0,0,28.83,14.66,28.83
$GC,15748,0.96,272.3,54.7,10.4,628,15753,0.00,1.83,0.00,0.000,6,0.000,0.051,3015,2145,1592,0,0,0,0,0,0,28.83,14.66,28.83
$GC,16055,0.98,272.3,24.7,10.0,656,16057,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2145,1592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16356,1.19,370.1,2.8,5.4,686,16379,0.15,0.00,19.65,0.109,2,0.133,0.000,3079,2139,1428,0,0,0,0,0,0,14.65,28.83,28.83
$STATE,16380,end climb,SURFACE_DEPTH_REACHED
$STATE,16380,begin surface coast
$FINISH,1.5,1.011849
$STATE,16406,end surface coast,CONTROL_FINISHED_OK
$STATE,16406,begin surface
$SM_CCo,16425,116.20,0.107,0,0,464,550.21
$SM_GC,2.50,8.62,0.10,116.20,0.075,0.132,0.107,131,2195,464,-7.85,-1.16,550.21,0,0,0,0,0,0,14.76,14.69,14.57
$IRIDIUM_FIX,4638.64,-12517.60,170812,080829
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.41
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,18.90
$XPDR_PINGS,2
$SC_FREEKB,4012896
$TM_FREEKB,7733696
$24V_AH,12.7,18.410
$10V_AH,13.1,0.000
$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,22.375,65.975,478.375,116.200,0.000,0.000,0.000,414.500,0.500,0.000,18.715,2289.988,11820.100,654.569,2294.965,149.427,0.000,2011.839,0.000,1679.157,0.000,0.534,0.000
$DEVICE_MAMPS,352.665,131.580,2115.225,107.100,0.000,0.000,0.000,239.445,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16418.000,3934.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.525,12.513,0.000,0.000
$MEM,296320
$DATA_FILE_SIZE,23398,691
$CAP_FILE_SIZE,165439,0
$CFSIZE,260034560,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,327.4,1
$GPS,170812,181506,4657.071,-12513.390,39,1.2,39,16.9