version: 66.11
glider: 122
mission: 14
dive: 29
start: 8 17 112 18 26 4
data:
$ID,122
$MISSION,14
$DIVE,29
$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,-43442.453
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,170812,181506,4657.071,-12513.390,39,1.2,39,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-55.8
$GPS2,170812,182535,4657.066,-12513.417,18,2.0,18,16.9
$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,87.8,10642,-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,-72.88,0.000,2,0.000,0.000,129,2201,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.13,-146.1,3.6,-2.5,7,142,9.85,1.95,-27.70,0.000,4,0.356,0.099,2313,3253,3306,0,0,0,0,0,0,14.19,14.44,14.66
$GC,368,-1.09,-146.1,42.6,-12.3,33,375,0.00,1.83,0.00,0.000,6,0.000,0.047,2313,2187,3310,0,0,0,0,0,0,28.83,14.57,28.83
$GC,685,-1.07,-146.1,83.7,-13.3,52,687,0.12,0.00,0.00,0.000,6,0.262,0.000,2341,2185,3312,0,0,0,0,0,0,14.42,28.83,28.83
$GC,986,-1.09,-146.1,117.6,-10.0,67,991,0.00,1.90,0.00,0.000,4,0.000,0.070,2334,3261,3312,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1151,-1.12,-146.1,135.4,-11.0,75,1156,0.00,1.80,0.00,0.000,6,0.000,0.047,2334,2198,3312,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1469,-1.14,-146.1,166.3,-9.8,91,1474,0.00,1.77,0.00,0.000,4,0.000,0.067,2334,1156,3313,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1535,-1.17,-146.1,172.7,-10.0,94,1541,0.00,1.83,0.00,0.000,6,0.000,0.048,2326,2209,3313,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1853,-1.19,-146.1,204.5,-9.8,110,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2210,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-1.22,-146.1,236.5,-11.5,125,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2210,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,-1.25,-146.1,272.5,-11.7,140,2455,0.12,0.00,0.00,0.000,6,0.119,0.000,2265,2210,3311,0,0,0,0,0,0,14.81,28.83,28.83
$GC,2763,-1.25,-146.1,313.4,-13.6,154,2769,0.00,1.83,0.00,0.000,4,0.000,0.068,2265,1155,3310,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2805,-1.25,-146.1,318.1,-13.7,155,2811,0.00,1.75,0.00,0.000,6,0.000,0.050,2257,2201,3310,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3127,-1.25,-146.1,363.7,-13.4,166,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2202,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3427,-1.25,-146.1,402.1,-12.7,176,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2201,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3727,-1.25,-146.1,438.5,-11.8,186,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2202,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4027,-1.25,-146.1,473.3,-11.7,196,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2201,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4327,-1.25,-146.1,507.2,-11.0,206,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2201,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4627,-1.25,-146.1,538.7,-10.5,216,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2201,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4928,-1.25,-146.1,570.7,-10.5,226,4933,0.00,1.83,0.00,0.000,4,0.000,0.070,2257,1150,3305,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4993,-1.25,-146.1,577.6,-10.9,228,4999,0.10,1.83,0.00,0.000,6,0.202,0.051,2288,2202,3305,0,0,0,0,0,0,14.64,14.81,28.83
$GC,5322,-1.29,-146.1,610.3,-9.5,239,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2203,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5621,-1.33,-146.1,640.2,-10.1,249,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2202,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5921,-1.37,-146.1,670.7,-10.4,259,5923,0.12,0.00,0.00,0.000,6,0.131,0.000,2227,2203,3303,0,0,0,0,0,0,14.85,28.83,28.83
$GC,6220,-1.37,-146.1,709.2,-12.9,269,6226,0.00,1.83,0.00,0.000,4,0.000,0.071,2227,1151,3302,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6302,-1.37,-146.1,716.9,-12.7,271,6308,0.00,1.77,0.00,0.000,6,0.000,0.052,2219,2209,3302,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6615,-1.37,-146.1,759.7,-13.2,282,6621,0.00,1.80,0.00,0.000,4,0.000,0.075,2212,3252,3301,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6682,-1.37,-146.1,768.1,-13.4,284,6688,0.08,1.83,0.00,0.000,6,0.176,0.051,2247,2196,3301,0,0,0,0,0,0,14.63,14.81,28.83
$GC,7011,-1.39,-146.1,805.7,-10.6,295,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2196,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7311,-1.42,-146.1,838.9,-10.7,305,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2195,3300,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7609,begin apogee
$GC,7612,-0.25,0.0,871.7,-11.9,315,7781,1.17,0.00,158.65,2.114,6,0.174,0.000,2602,2191,2706,0,0,0,0,0,0,14.64,28.83,12.90
$STATE,7782,end apogee,CONTROL_FINISHED_OK
$STATE,7782,begin climb
$GC,7784,1.13,146.1,880.4,0.0,320,7956,1.35,2.08,159.55,2.084,4,0.064,0.075,3058,1118,2111,0,0,0,0,0,0,14.02,13.73,12.71
$GC,8184,1.03,154.0,867.1,9.6,334,8199,0.15,1.83,7.35,1.669,6,0.256,0.050,3026,2163,2080,0,0,0,0,0,0,14.12,14.30,13.16
$GC,8516,0.97,176.4,833.6,9.0,345,8550,0.00,1.95,26.12,1.956,4,0.000,0.076,3026,1117,1987,0,0,1,0,0,0,28.83,14.26,13.22
$GC,8777,0.89,176.4,809.6,10.1,353,8783,0.20,1.80,0.00,0.000,6,0.242,0.051,2980,2162,1980,0,0,0,0,0,0,14.29,14.50,28.83
$GC,9092,0.90,213.9,781.3,8.3,364,9134,0.00,0.00,40.60,1.965,6,0.000,0.000,2980,2162,1836,0,0,0,0,0,0,28.83,28.83,13.24
$GC,9421,0.89,229.2,750.6,9.3,375,9446,0.00,1.88,17.42,1.857,4,0.000,0.070,2980,3210,1771,0,0,0,0,0,0,28.83,14.39,13.35
$GC,9542,0.84,229.2,737.8,10.5,379,9548,0.00,1.83,0.00,0.000,6,0.000,0.053,2980,2167,1767,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9876,0.81,229.2,700.1,11.6,390,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2167,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10176,0.78,229.2,666.5,11.2,400,10181,0.12,1.85,0.00,0.000,4,0.282,0.067,2947,3211,1763,0,0,0,0,0,0,14.51,14.66,28.83
$GC,10263,0.75,229.2,659.5,11.0,402,10269,0.00,1.83,0.00,0.000,6,0.000,0.053,2947,2149,1763,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10569,0.75,229.2,623.1,11.1,413,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2149,1763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10868,0.75,229.2,589.7,11.2,423,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2149,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11169,0.76,236.7,559.4,9.7,433,11183,0.00,1.90,7.45,1.537,4,0.000,0.071,2947,3198,1743,0,0,0,0,0,0,28.83,14.72,13.69
$GC,11305,0.76,237.4,547.3,10.0,437,11310,0.00,1.77,0.00,0.000,6,0.000,0.053,2947,2161,1741,0,0,0,0,0,0,28.83,14.74,28.83
$GC,11623,0.76,238.7,514.9,9.9,448,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2161,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11922,0.76,238.7,483.9,10.1,458,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2161,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12222,0.76,238.7,452.3,10.5,468,12227,0.00,1.83,0.00,0.000,4,0.000,0.070,2947,3201,1740,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12344,0.76,238.7,439.5,10.5,472,12349,0.00,1.77,0.00,0.000,6,0.000,0.053,2947,2158,1739,0,0,0,0,0,0,28.83,14.80,28.83
$GC,12677,0.84,286.6,411.5,7.8,483,12736,0.00,0.00,54.97,1.630,6,0.000,0.000,2947,2158,1538,0,0,0,0,0,0,28.83,28.83,13.53
$GC,13037,0.91,311.8,381.0,8.8,495,13068,0.12,1.92,25.35,1.553,4,0.158,0.077,2999,1110,1436,0,0,0,0,0,0,14.57,14.40,13.54
$GC,13140,0.91,311.8,370.1,11.1,498,13145,0.00,1.80,0.00,0.000,6,0.000,0.050,2999,2158,1433,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13461,0.91,311.8,328.9,12.6,509,13467,0.00,1.83,0.00,0.000,4,0.000,0.070,2999,3204,1429,0,0,0,0,0,0,28.83,14.59,28.83
$GC,13535,0.91,311.8,320.5,13.1,511,13540,0.00,1.80,0.00,0.000,6,0.000,0.053,2999,2155,1429,0,0,0,0,0,0,28.83,14.63,28.83
$GC,13847,0.91,311.8,277.5,13.6,524,13849,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2156,1428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14148,0.91,311.8,236.0,13.4,539,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2156,1428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14452,0.91,311.8,198.5,11.8,554,14453,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2156,1427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14748,0.91,311.8,160.7,12.6,569,14749,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2156,1427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15047,0.91,311.8,126.2,10.3,584,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2156,1427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15349,0.93,311.8,95.2,11.2,599,15350,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2156,1427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15648,0.96,311.8,57.7,11.7,614,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2156,1427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15947,1.01,319.3,28.2,9.7,640,15959,0.00,1.85,3.40,0.771,4,0.000,0.070,2999,3207,1404,0,0,1,0,0,0,28.83,14.69,13.77
$GC,15991,1.08,334.3,24.1,9.3,644,16008,0.12,1.80,9.02,1.074,6,0.150,0.051,3044,2155,1344,0,0,0,0,0,0,14.68,14.70,13.92
$STATE,16214,end climb,SURFACE_DEPTH_REACHED
$STATE,16214,begin surface coast
$FINISH,1.5,1.023221
$STATE,16235,end surface coast,CONTROL_FINISHED_OK
$STATE,16235,begin surface
$SM_CCo,16253,106.57,0.108,0,0,464,550.21
$SM_GC,2.43,8.50,0.08,106.57,0.073,0.151,0.108,135,2202,464,-7.84,-1.22,550.21,0,0,0,0,0,0,14.76,14.70,14.57
$IRIDIUM_FIX,4641.78,-12638.31,170812,131349
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.38
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,18.80
$XPDR_PINGS,3
$SC_FREEKB,4012640
$TM_FREEKB,7727840
$24V_AH,12.7,18.798
$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,22.150,58.900,509.900,106.575,0.000,0.000,0.000,382.500,0.750,0.000,20.644,2183.581,11824.396,677.535,2163.829,144.313,0.000,1957.402,0.000,1589.503,0.000,0.531,0.000
$DEVICE_MAMPS,355.725,150.705,2113.695,107.865,0.000,0.000,0.000,244.800,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16247.000,3689.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.356,12.486,0.000,0.000
$MEM,296376
$DATA_FILE_SIZE,23403,668
$CAP_FILE_SIZE,159019,0
$CFSIZE,260034560,251006976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.056,353.3,1
$GPS,170812,230004,4656.926,-12510.080,41,1.0,41,16.9