version: 66.11
glider: 122
mission: 14
dive: 36
start: 8 19 112 7 52 54
data:
$ID,122
$MISSION,14
$DIVE,36
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$D_ABORT,975
$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,350
$T_MISSION,400
$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,120
$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,-43451.297
$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,2640
$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,37
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3824
$C_VBD,2431
$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
$GPS1,190812,074103,4654.742,-12536.135,41,0.7,41,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-58.2
$GPS2,190812,075223,4654.799,-12536.154,13,1.9,13,16.9
$SPEED_LIMITS,0.153,0.223
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4655.000,-12540.000
$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,248.7,4879,-27.0,-8.857
$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,-1.44,-53.1,0.0,0.0,0,87,0.00,0.00,-64.30,0.000,2,0.000,0.000,135,2149,1882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.54,-114.6,3.4,-2.0,6,133,9.00,1.80,-28.90,0.000,4,0.356,0.094,2136,1150,2902,0,0,0,0,0,0,14.19,14.45,14.66
$GC,359,-1.50,-114.6,49.5,-16.0,32,365,0.00,1.77,0.00,0.000,6,0.000,0.043,2130,2206,2910,0,0,0,0,0,0,28.83,14.57,28.83
$GC,666,-1.48,-114.6,95.9,-13.9,48,672,0.12,1.83,0.00,0.000,4,0.291,0.059,2160,1149,2911,0,0,0,0,0,0,14.40,14.59,28.83
$GC,897,-1.48,-114.6,123.8,-12.5,59,903,0.00,1.75,0.00,0.000,6,0.000,0.044,2154,2200,2912,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1211,-1.49,-114.6,164.9,-12.3,75,1216,0.00,1.80,0.00,0.000,4,0.000,0.062,2154,1151,2911,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1327,-1.49,-114.6,177.9,-12.9,80,1334,0.00,1.75,0.00,0.000,6,0.000,0.044,2146,2199,2911,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1633,-1.51,-114.6,220.2,-13.6,96,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2199,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1934,-1.53,-114.6,261.2,-13.3,111,1939,0.00,1.80,0.00,0.000,4,0.000,0.067,2139,3249,2911,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1980,-1.55,-114.6,266.9,-13.2,113,1986,0.00,1.80,0.00,0.000,6,0.000,0.045,2139,2184,2911,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2299,-1.57,-114.6,310.7,-13.8,128,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2184,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2598,-1.60,-114.6,350.8,-13.1,138,2603,0.00,1.73,0.00,0.000,4,0.000,0.065,2138,1156,2909,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2751,-1.60,-114.6,372.1,-14.0,143,2756,0.00,1.73,0.00,0.000,6,0.000,0.046,2131,2200,2908,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3085,-1.62,-114.6,418.4,-14.1,154,3090,0.00,1.77,0.00,0.000,4,0.000,0.064,2131,1156,2908,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3230,-1.62,-114.6,436.1,-14.4,158,3237,0.00,1.75,0.00,0.000,6,0.000,0.046,2123,2209,2907,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3537,-1.65,-114.6,483.7,-14.5,169,3543,0.00,1.77,0.00,0.000,4,0.000,0.068,2115,3247,2906,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3624,-1.67,-114.6,493.0,-14.6,171,3631,0.00,1.80,0.00,0.000,6,0.000,0.047,2115,2198,2906,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3931,-1.70,-114.6,537.5,-13.2,182,3936,0.00,1.83,0.00,0.000,4,0.000,0.067,2107,3245,2905,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3957,-1.72,-114.6,537.5,-13.2,182,3964,0.00,1.75,0.00,0.000,6,0.000,0.047,2107,2196,2905,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4265,-1.74,-114.6,587.8,-16.4,193,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2196,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4563,-1.77,-114.6,634.4,-15.2,203,4569,0.12,1.75,0.00,0.000,4,0.130,0.064,2048,1156,2903,0,0,0,0,0,0,14.84,14.81,28.83
$GC,4610,-1.77,-114.6,639.8,-15.5,204,4616,0.12,1.75,0.00,0.000,6,0.287,0.047,2066,2208,2903,0,0,0,0,0,0,14.57,14.84,28.83
$GC,4929,-1.77,-114.6,690.3,-15.3,215,4935,0.00,1.77,0.00,0.000,4,0.000,0.070,2061,3245,2902,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4971,-1.77,-114.6,695.4,-15.2,216,4976,0.00,1.75,0.00,0.000,6,0.000,0.047,2061,2198,2902,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5293,-1.77,-114.6,745.8,-15.2,227,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2198,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-1.77,-114.6,791.6,-15.0,237,5599,0.00,1.83,0.00,0.000,4,0.000,0.069,2053,3242,2900,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5675,-1.77,-114.6,801.2,-15.4,239,5680,0.00,1.75,0.00,0.000,6,0.000,0.047,2053,2198,2900,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5988,-1.77,-114.6,853.8,-15.7,250,5993,0.00,1.77,0.00,0.000,4,0.000,0.068,2053,1148,2899,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6074,-1.77,-114.6,864.1,-15.8,252,6080,0.00,1.75,0.00,0.000,6,0.000,0.047,2045,2204,2900,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6380,-1.77,-114.6,918.1,-16.1,263,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2204,2899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6468,begin apogee
$GC,6472,-0.25,0.0,932.3,-15.8,266,6605,1.77,0.00,126.35,2.171,6,0.227,0.000,2551,2204,2431,0,0,0,0,0,0,14.59,28.83,12.75
$STATE,6607,end apogee,CONTROL_FINISHED_OK
$STATE,6607,begin climb
$GC,6608,1.54,114.6,934.9,0.0,270,6747,1.80,1.90,129.30,2.129,4,0.080,0.067,3141,3200,1963,0,0,0,0,0,0,14.03,13.81,12.74
$GC,6974,1.51,114.6,893.4,16.7,282,6979,0.00,1.83,0.00,0.000,6,0.000,0.050,3141,2155,1955,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7288,1.48,114.6,841.3,15.4,293,7293,0.00,1.88,0.00,0.000,4,0.000,0.065,3141,3211,1951,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7520,1.44,114.6,809.1,14.7,300,7526,0.17,1.80,0.00,0.000,6,0.297,0.050,3104,2161,1951,0,0,0,0,0,0,14.35,14.60,28.83
$GC,7834,1.44,114.6,767.7,12.0,311,7839,0.00,1.88,0.00,0.000,4,0.000,0.066,3104,3202,1948,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8066,1.44,114.6,742.0,12.2,318,8071,0.00,1.77,0.00,0.000,6,0.000,0.050,3104,2160,1947,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8378,1.44,114.6,701.9,11.9,329,8383,0.00,1.83,0.00,0.000,4,0.000,0.065,3104,3205,1947,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8609,1.44,114.6,675.8,12.6,336,8614,0.00,1.77,0.00,0.000,6,0.000,0.049,3104,2162,1946,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8921,1.44,114.6,636.6,11.3,347,8926,0.00,1.83,0.00,0.000,4,0.000,0.066,3104,3207,1946,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9154,1.44,114.6,611.6,12.0,354,9159,0.00,1.77,0.00,0.000,6,0.000,0.048,3105,2160,1946,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9466,1.44,114.6,571.9,12.0,365,9471,0.00,1.83,0.00,0.000,4,0.000,0.065,3105,3208,1945,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9697,1.44,114.6,545.7,12.4,372,9702,0.00,1.80,0.00,0.000,6,0.000,0.049,3105,2159,1945,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10009,1.44,114.6,508.5,10.9,383,10014,0.00,1.83,0.00,0.000,4,0.000,0.067,3105,3205,1945,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10242,1.44,114.6,485.1,11.0,390,10247,0.00,1.77,0.00,0.000,6,0.000,0.048,3105,2156,1945,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10554,1.44,114.6,448.3,11.0,401,10560,0.00,1.80,0.00,0.000,4,0.000,0.072,3107,1111,1945,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10785,1.44,114.6,426.9,9.8,408,10791,0.00,1.75,0.00,0.000,6,0.000,0.046,3106,2161,1944,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11098,1.46,114.6,396.5,9.0,419,11103,0.00,1.85,0.00,0.000,4,0.000,0.070,3107,1106,1943,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11230,1.48,117.8,386.1,8.5,423,11235,0.00,1.77,0.00,0.000,6,0.000,0.047,3106,2169,1944,0,0,0,0,0,0,28.83,14.81,28.83
$GC,11553,1.51,117.8,355.3,9.3,434,11559,0.00,1.77,0.00,0.000,4,0.000,0.066,3107,3208,1943,0,0,0,0,0,0,28.83,14.76,28.83
$GC,11785,1.51,117.8,334.3,10.1,441,11790,0.00,1.77,0.00,0.000,6,0.000,0.047,3106,2156,1943,0,0,0,0,0,0,28.83,14.80,28.83
$GC,12099,1.53,117.8,301.3,10.0,452,12104,0.00,1.83,0.00,0.000,4,0.000,0.066,3107,3205,1944,0,0,0,0,0,0,28.83,14.76,28.83
$GC,12331,1.53,117.8,277.6,10.6,463,12336,0.00,1.77,0.00,0.000,6,0.000,0.047,3106,2155,1943,0,0,0,0,0,0,28.83,14.80,28.83
$GC,12643,1.56,117.8,242.9,10.9,479,12649,0.10,1.83,0.00,0.000,4,0.173,0.063,3143,3201,1943,0,0,0,0,0,0,14.76,14.76,28.83
$GC,12875,1.56,117.8,215.5,12.2,490,12881,0.00,1.75,0.00,0.000,6,0.000,0.047,3146,2163,1943,0,0,0,0,0,0,28.83,14.80,28.83
$GC,13187,1.56,117.8,179.1,11.4,506,13192,0.00,1.83,0.00,0.000,4,0.000,0.066,3146,3206,1943,0,0,0,0,0,0,28.83,14.72,28.83
$GC,13419,1.56,117.8,151.1,12.3,517,13424,0.00,1.77,0.00,0.000,6,0.000,0.047,3146,2158,1943,0,0,0,0,0,0,28.83,14.75,28.83
$GC,13731,1.56,117.8,117.5,11.6,533,13736,0.00,1.80,0.00,0.000,4,0.000,0.070,3148,1110,1943,0,0,0,0,0,0,28.83,14.69,28.83
$GC,13761,1.56,117.8,114.8,11.9,534,13767,0.00,1.77,0.00,0.000,6,0.000,0.045,3148,2159,1943,0,0,0,0,0,0,28.83,14.74,28.83
$GC,14075,1.58,117.8,78.5,9.1,550,14080,0.00,1.77,0.00,0.000,4,0.000,0.067,3148,3201,1943,0,0,0,0,0,0,28.83,14.66,28.83
$GC,14307,1.60,120.7,58.5,8.5,561,14313,0.00,1.77,0.00,0.000,6,0.000,0.047,3148,2157,1943,0,0,0,0,0,0,28.83,14.68,28.83
$GC,14621,1.66,134.8,36.1,7.3,586,14643,0.00,1.92,17.33,1.187,4,0.000,0.065,3147,3211,1881,0,0,0,0,0,0,28.83,14.64,13.90
$GC,14719,1.73,157.0,29.7,6.4,595,14742,0.15,1.83,14.93,1.141,6,0.144,0.047,3202,2153,1789,0,0,0,0,0,0,14.58,14.63,13.87
$GC,15049,1.95,267.7,13.1,-3.6,628,15115,0.17,1.92,56.35,0.148,4,0.129,0.063,3269,3202,1337,0,0,0,0,0,0,14.57,14.55,14.47
$GC,15163,1.95,267.7,5.8,11.7,639,15168,0.00,1.80,0.00,0.000,6,0.000,0.049,3271,2154,1333,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,15194,end climb,SURFACE_DEPTH_REACHED
$STATE,15194,begin surface coast
$FINISH,1.8,1.022321
$STATE,15204,end surface coast,CONTROL_FINISHED_OK
$STATE,15205,begin surface
$SM_CCo,15223,126.25,0.106,0,0,299,522.73
$SM_CCo,15352,-0.60,0.000,0,0,300,522.73
$SM_CCo,15355,0.17,0.176,0,0,300,522.73
$SM_GC,2.61,9.30,0.00,0.17,0.079,0.000,0.176,134,2154,300,-7.71,-1.30,522.73,0,0,0,0,0,0,14.66,28.83,14.52
$IRIDIUM_FIX,4638.64,-12528.96,190812,010108
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.31
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,19.10
$XPDR_PINGS,4
$SC_FREEKB,4010848
$TM_FREEKB,7682080
$24V_AH,12.7,21.344
$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,22.850,104.125,344.250,126.425,0.000,0.000,0.000,411.300,1.000,0.000,15.244,2745.401,9744.759,597.435,2777.001,171.206,0.000,2150.013,0.000,2145.987,0.000,0.531,0.000
$DEVICE_MAMPS,356.490,94.095,2171.070,175.950,0.000,0.000,0.000,248.625,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15219.000,3790.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.625,12.434,0.000,0.000
$MEM,296328
$DATA_FILE_SIZE,23389,643
$CAP_FILE_SIZE,182215,0
$CFSIZE,260034560,249978880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162,288.0,1
$GPS,190812,121005,4654.533,-12539.278,35,1.1,35,17.0