version: 66.11
glider: 122
mission: 14
dive: 42
start: 8 20 112 17 28 36
data:
$ID,122
$MISSION,14
$DIVE,42
$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,180
$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,200
$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,-43458.879
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,200812,171734,4654.764,-12529.813,32,0.9,33,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-57.7
$GPS2,200812,172807,4654.809,-12529.896,16,0.9,18,16.9
$SPEED_LIMITS,0.298,0.349
$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,65.6,31734,-24.0,-17.222
$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,-1.52,-194.7,0.0,0.0,0,87,0.00,0.00,-64.45,0.000,2,0.000,0.000,123,2209,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.52,-194.7,3.5,-2.1,6,142,9.07,1.88,-34.65,0.000,4,0.354,0.096,2138,3234,3229,0,0,0,0,0,0,14.19,14.42,14.65
$GC,368,-1.47,-194.7,56.0,-19.4,31,376,0.00,1.77,0.00,0.000,6,0.000,0.043,2139,2187,3231,0,0,0,0,0,0,28.83,14.54,28.83
$GC,675,-1.43,-194.7,116.3,-17.6,47,682,0.15,1.85,0.00,0.000,4,0.282,0.061,2168,3235,3233,0,0,0,0,0,0,14.38,14.57,28.83
$GC,728,-1.41,-194.7,123.4,-16.4,49,734,0.00,1.75,0.00,0.000,6,0.000,0.043,2168,2195,3233,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1040,-1.41,-194.7,173.6,-15.7,65,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2195,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1341,-1.41,-194.7,221.8,-16.6,80,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2195,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-1.43,-194.7,271.7,-16.8,95,1647,0.00,1.75,0.00,0.000,4,0.000,0.064,2168,1157,3233,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1759,-1.43,-194.7,289.7,-17.5,100,1766,0.00,1.73,0.00,0.000,6,0.000,0.044,2161,2195,3233,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2075,-1.45,-194.7,347.0,-17.4,112,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2195,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,-1.47,-194.7,397.8,-16.8,122,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2195,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2675,-1.50,-194.7,446.7,-16.0,132,2681,0.00,1.77,0.00,0.000,4,0.000,0.064,2161,1158,3230,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2752,-1.52,-194.7,457.1,-16.2,134,2758,0.00,1.73,0.00,0.000,6,0.000,0.044,2154,2202,3229,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3071,-1.55,-194.7,513.0,-16.8,145,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2202,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,-1.58,-194.7,561.9,-16.3,155,3375,0.00,1.80,0.00,0.000,4,0.000,0.065,2153,1155,3228,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3437,-1.61,-194.7,572.6,-16.7,157,3442,0.00,1.77,0.00,0.000,6,0.000,0.045,2146,2196,3227,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3765,-1.64,-194.7,626.6,-16.2,168,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2196,3227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4065,-1.67,-194.7,675.3,-16.0,178,4071,0.12,1.80,0.00,0.000,4,0.128,0.063,2082,1152,3225,0,0,0,0,0,0,14.84,14.79,28.83
$GC,4173,-1.67,-194.7,693.3,-18.5,181,4178,0.00,1.75,0.00,0.000,6,0.000,0.046,2075,2202,3225,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4490,-1.67,-194.7,753.8,-18.1,192,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2201,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-1.67,-194.7,806.7,-17.3,202,4796,0.00,1.80,0.00,0.000,4,0.000,0.066,2075,1158,3224,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4853,-1.67,-194.7,818.1,-17.9,204,4859,0.15,1.75,0.00,0.000,6,0.264,0.047,2101,2208,3223,0,0,0,0,0,0,14.58,14.84,28.83
$GC,5188,-1.69,-194.7,872.2,-15.6,215,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2208,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,-1.72,-194.7,920.4,-15.9,225,5492,0.00,1.83,0.00,0.000,4,0.000,0.067,2100,1151,3222,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5529,-1.74,-194.7,925.8,-15.8,226,5534,0.00,1.75,0.00,0.000,6,0.000,0.047,2095,2202,3222,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,5549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5549,begin apogee
$GC,5553,-0.25,0.0,930.8,-15.8,227,5774,1.58,0.00,211.25,2.160,6,0.207,0.000,2557,2202,2430,0,0,0,0,0,0,14.62,28.83,12.80
$STATE,5776,end apogee,CONTROL_FINISHED_OK
$STATE,5776,begin climb
$GC,5777,1.52,194.7,939.1,0.0,234,6004,1.75,1.88,214.23,2.116,4,0.070,0.062,3139,3200,1635,0,0,0,0,0,0,13.95,13.54,12.49
$GC,6230,1.45,194.7,883.9,18.9,249,6236,0.15,1.83,0.00,0.000,6,0.292,0.048,3110,2168,1627,0,0,0,0,0,0,14.02,14.20,28.83
$GC,6549,1.44,205.3,827.8,16.6,260,6567,0.00,1.90,11.50,1.817,4,0.000,0.064,3109,3205,1593,0,0,1,0,0,0,28.83,14.38,13.33
$GC,6793,1.39,205.3,784.9,17.9,268,6799,0.00,1.83,0.00,0.000,6,0.000,0.049,3110,2149,1590,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7122,1.37,212.4,728.7,16.8,279,7137,0.00,1.88,9.23,1.707,4,0.000,0.061,3109,3204,1564,0,0,0,0,0,0,28.83,14.57,13.51
$GC,7364,1.33,212.4,685.7,17.7,287,7370,0.17,1.80,0.00,0.000,6,0.294,0.049,3071,2153,1562,0,0,0,0,0,0,14.42,14.63,28.83
$GC,7698,1.39,246.5,634.9,15.2,298,7741,0.00,1.88,37.80,1.833,4,0.000,0.061,3071,3201,1425,0,0,0,0,0,0,28.83,14.40,13.43
$GC,7881,1.39,246.5,604.2,17.5,304,7887,0.00,1.85,0.00,0.000,6,0.000,0.049,3071,2164,1421,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8211,1.42,261.9,549.1,16.3,315,8234,0.00,1.88,16.50,1.683,4,0.000,0.065,3070,3201,1362,0,0,1,0,0,0,28.83,14.50,13.56
$GC,8461,1.42,261.9,507.3,17.3,323,8466,0.00,1.80,0.00,0.000,6,0.000,0.049,3071,2154,1358,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8784,1.47,281.2,453.1,16.1,334,8815,0.12,1.90,20.90,1.619,4,0.156,0.063,3122,3198,1282,0,0,0,0,0,0,14.66,14.52,13.62
$GC,8886,1.47,281.2,435.1,18.5,337,8891,0.00,1.80,0.00,0.000,6,0.000,0.050,3122,2156,1280,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9209,1.47,281.2,372.1,19.0,348,9214,0.00,1.85,0.00,0.000,4,0.000,0.062,3122,3212,1279,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9375,1.45,281.2,342.7,19.4,353,9380,0.00,1.80,0.00,0.000,6,0.000,0.050,3122,2159,1278,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9682,1.45,281.2,284.6,17.9,365,9688,0.00,1.83,0.00,0.000,4,0.000,0.062,3122,3212,1278,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9849,1.45,281.2,254.0,18.8,373,9854,0.00,1.80,0.00,0.000,6,0.000,0.050,3122,2155,1278,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10166,1.45,281.2,195.2,18.4,389,10171,0.00,1.83,0.00,0.000,4,0.000,0.062,3122,3204,1278,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10267,1.45,281.2,175.8,19.1,394,10273,0.00,1.77,0.00,0.000,6,0.000,0.050,3122,2158,1277,0,0,0,0,0,0,28.83,14.75,28.83
$GC,10590,1.49,290.5,119.3,16.7,410,10605,0.00,1.90,9.43,1.218,4,0.000,0.062,3122,3204,1244,0,0,0,0,0,0,28.83,14.70,13.89
$GC,10772,1.49,290.5,86.5,18.2,419,10777,0.00,1.77,0.00,0.000,6,0.000,0.049,3122,2156,1242,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11084,1.57,317.4,36.5,15.6,438,11116,0.00,1.92,25.77,1.209,4,0.000,0.063,3122,3205,1134,0,0,0,0,0,0,28.83,14.54,13.85
$GC,11199,1.62,323.6,17.2,16.9,449,11210,0.12,1.80,2.92,0.171,6,0.148,0.049,3166,2156,1109,0,0,0,0,0,0,14.55,14.57,14.46
$STATE,11308,end climb,SURFACE_DEPTH_REACHED
$STATE,11308,begin surface coast
$FINISH,1.6,1.010865
$STATE,11318,end surface coast,CONTROL_FINISHED_OK
$STATE,11318,begin surface
$SM_CCo,11336,101.90,0.108,0,0,299,522.73
$SM_CCo,11440,-0.73,0.000,0,0,300,522.73
$SM_CCo,11444,0.00,0.000,0,0,301,522.73
$SM_GC,2.57,8.85,0.00,0.00,0.066,0.000,0.000,137,2153,301,-7.70,-1.36,522.73,0,0,0,0,0,0,14.66,28.83,28.83
$IRIDIUM_FIX,4638.64,-12528.96,200812,111149
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.81
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,18.70
$XPDR_PINGS,4
$SC_FREEKB,4009312
$TM_FREEKB,7644032
$24V_AH,12.5,23.548
$10V_AH,12.9,0.000
$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,22.250,68.950,559.525,101.900,0.000,0.000,0.000,377.950,1.000,0.000,18.765,1838.326,7346.807,694.645,2065.019,134.322,0.000,1942.237,0.000,1490.649,0.000,0.532,0.000
$DEVICE_MAMPS,354.195,95.625,2159.595,107.865,0.000,0.000,0.000,250.155,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11329.000,2485.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.283,12.352,0.000,0.000
$MEM,296288
$DATA_FILE_SIZE,16773,461
$CAP_FILE_SIZE,136017,0
$CFSIZE,260034560,249155584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$CURRENT,0.133,320.1,1
$GPS,200812,204034,4656.007,-12527.774,34,1.1,34,16.9