version: 66.11
glider: 122
mission: 14
dive: 46
start: 8 21 112 6 50 18
data:
$ID,122
$MISSION,14
$DIVE,46
$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,-43463.926
$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,44
$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
$GPS1,210812,064118,4655.957,-12521.941,24,1.4,24,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-57.4
$GPS2,210812,064950,4655.859,-12521.908,28,0.8,29,16.9
$SPEED_LIMITS,0.298,0.349
$TGT_NAME,LAUNCH
$TGT_LATLONG,4654.000,-12455.000
$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,82.7,34224,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.52,-194.7,0.0,0.0,0,87,0.00,0.00,-63.40,0.000,2,0.000,0.000,134,2148,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.52,-194.7,3.7,-2.7,6,142,8.93,1.75,-36.70,0.000,4,0.352,0.090,2142,1152,3227,0,0,0,0,0,0,14.27,14.47,14.69
$GC,368,-1.46,-194.7,58.2,-23.0,31,376,0.15,1.75,0.00,0.000,6,0.271,0.043,2168,2202,3231,0,0,0,0,0,0,14.40,14.61,28.83
$GC,674,-1.46,-194.7,121.4,-19.1,47,680,0.00,1.83,0.00,0.000,4,0.000,0.062,2168,1147,3232,0,0,0,0,0,0,28.83,14.62,28.83
$GC,866,-1.46,-194.7,154.2,-17.1,56,871,0.00,1.75,0.00,0.000,6,0.000,0.043,2163,2199,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1178,-1.46,-194.7,207.0,-16.3,72,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2199,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1479,-1.46,-194.7,256.0,-16.3,87,1484,0.00,1.80,0.00,0.000,4,0.000,0.063,2163,1152,3232,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1535,-1.46,-194.7,263.2,-16.6,89,1542,0.00,1.75,0.00,0.000,6,0.000,0.044,2156,2204,3232,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1852,-1.46,-194.7,317.5,-16.4,104,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2204,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2151,-1.48,-194.7,368.8,-17.0,114,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2204,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2452,-1.50,-194.7,419.4,-16.6,124,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2205,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2752,-1.53,-194.7,469.5,-16.9,134,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2204,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-1.56,-194.7,520.1,-16.8,144,3057,0.00,1.83,0.00,0.000,4,0.000,0.064,2155,1142,3229,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3109,-1.59,-194.7,525.5,-16.5,145,3115,0.00,1.75,0.00,0.000,6,0.000,0.045,2148,2200,3229,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3415,-1.62,-194.7,578.9,-16.7,156,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2200,3228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-1.66,-194.7,626.9,-15.9,166,3722,0.12,1.80,0.00,0.000,4,0.128,0.062,2080,1152,3227,0,0,0,0,0,0,14.84,14.83,28.83
$GC,3812,-1.66,-194.7,644.9,-18.4,169,3818,0.15,1.75,0.00,0.000,6,0.263,0.045,2105,2206,3227,0,0,0,0,0,0,14.64,14.87,28.83
$GC,4140,-1.66,-194.7,703.5,-17.4,180,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2206,3226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4440,-1.66,-194.7,755.4,-17.6,190,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2206,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-1.67,-194.7,806.7,-17.3,200,4746,0.00,1.83,0.00,0.000,4,0.000,0.066,2105,1146,3224,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4797,-1.69,-194.7,812.4,-17.2,201,4804,0.00,1.75,0.00,0.000,6,0.000,0.045,2100,2200,3224,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5104,-1.71,-194.7,867.9,-16.7,212,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2200,3224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5403,-1.73,-194.7,917.8,-17.0,222,5408,0.00,1.80,0.00,0.000,4,0.000,0.066,2099,1148,3222,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5481,-1.75,-194.7,928.5,-17.4,224,5486,0.00,1.75,0.00,0.000,6,0.000,0.046,2092,2204,3222,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,5497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5497,begin apogee
$GC,5500,-0.25,0.0,934.2,-17.4,225,5723,1.58,0.00,211.75,2.159,6,0.205,0.000,2558,2204,2430,0,0,0,0,0,0,14.65,28.83,12.81
$STATE,5724,end apogee,CONTROL_FINISHED_OK
$STATE,5724,begin climb
$GC,5726,1.52,194.7,944.4,0.0,232,5955,1.73,2.12,216.52,2.126,4,0.057,0.070,3149,1121,1636,0,0,1,0,0,0,13.97,13.50,12.48
$GC,6157,1.45,194.7,901.2,18.0,246,6164,0.17,1.83,0.00,0.000,6,0.249,0.044,3112,2168,1630,0,0,0,0,0,0,14.00,14.19,28.83
$GC,6464,1.43,209.3,845.9,16.4,257,6487,0.00,1.85,16.15,1.895,4,0.000,0.066,3111,3207,1576,0,0,0,0,0,0,28.83,14.34,13.28
$GC,6704,1.37,209.3,802.9,18.1,265,6710,0.00,1.80,0.00,0.000,6,0.000,0.048,3111,2160,1573,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7038,1.35,216.6,746.4,16.8,276,7052,0.12,1.90,9.00,1.704,4,0.314,0.063,3081,3204,1548,0,0,1,0,0,0,14.42,14.57,13.50
$GC,7280,1.36,238.5,707.2,15.9,284,7310,0.00,1.80,25.83,1.862,6,0.000,0.049,3081,2151,1458,0,0,0,0,0,0,28.83,14.64,13.41
$GC,7611,1.38,251.0,653.4,16.5,295,7627,0.00,0.00,14.18,1.738,6,0.000,0.000,3081,2151,1407,0,0,0,0,0,0,28.83,28.83,13.50
$GC,7909,1.38,251.0,601.2,17.4,305,7914,0.00,1.85,0.00,0.000,4,0.000,0.062,3081,3203,1403,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8141,1.38,251.0,563.7,17.5,312,8146,0.00,1.77,0.00,0.000,6,0.000,0.048,3081,2160,1402,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8454,1.39,255.9,507.0,16.9,323,8468,0.00,1.90,5.75,1.371,4,0.000,0.063,3081,3204,1386,0,0,0,0,0,0,28.83,14.69,13.66
$GC,8545,1.39,257.2,491.0,17.1,326,8550,0.00,1.77,0.00,0.000,6,0.000,0.048,3081,2160,1385,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8877,1.42,274.2,435.8,16.2,337,8908,0.00,1.92,20.00,1.596,4,0.000,0.063,3081,3209,1312,0,0,0,0,0,0,28.83,14.59,13.69
$GC,9009,1.42,274.2,414.5,17.3,341,9014,0.00,1.80,0.00,0.000,6,0.000,0.048,3081,2159,1309,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9333,1.45,280.3,358.0,16.9,352,9347,0.00,1.88,6.93,1.336,4,0.000,0.063,3081,3195,1287,0,0,0,0,0,0,28.83,14.65,13.72
$GC,9449,1.46,288.8,342.4,16.7,355,9465,0.00,1.77,10.15,1.410,6,0.000,0.048,3081,2156,1252,0,0,0,0,0,0,28.83,14.69,13.73
$GC,9777,1.50,299.5,284.7,16.6,368,9798,0.12,1.90,11.20,1.382,4,0.162,0.063,3138,3203,1208,0,0,0,0,0,0,14.67,14.61,13.76
$GC,9925,1.48,299.5,256.1,20.7,375,9930,0.00,1.83,0.00,0.000,6,0.000,0.048,3138,2163,1206,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10242,1.48,299.5,190.3,20.6,391,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2165,1206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10543,1.48,299.5,128.4,21.1,406,10548,0.00,1.83,0.00,0.000,4,0.000,0.062,3138,3209,1206,0,0,0,0,0,0,28.83,14.71,28.83
$GC,10774,1.48,299.5,82.3,20.8,417,10781,0.00,1.83,0.00,0.000,6,0.000,0.047,3138,2161,1206,0,0,0,0,0,0,28.83,14.69,28.83
$GC,11088,1.63,371.5,31.1,12.9,439,11139,0.00,1.85,44.03,1.182,4,0.000,0.070,3138,1115,914,0,0,0,0,0,0,28.83,14.47,13.81
$STATE,11291,end climb,SURFACE_DEPTH_REACHED
$STATE,11291,begin surface coast
$FINISH,1.5,1.023389
$STATE,11303,end surface coast,CONTROL_FINISHED_OK
$STATE,11303,begin surface
$SM_CCo,11322,80.00,0.108,0,0,299,522.73
$SM_CCo,11405,-0.70,0.000,0,0,299,522.73
$SM_CCo,11409,-0.03,0.000,0,0,299,522.73
$SM_GC,2.44,8.85,1.90,-0.03,0.070,0.047,0.000,133,2205,299,-7.71,-1.16,522.73,0,0,1,0,0,0,14.62,14.58,14.11
$IRIDIUM_FIX,4638.64,-12527.13,210812,030311
$TT8_MAMPS,0.025466,0.025466
$HUMID,63.86
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,18.70
$XPDR_PINGS,2
$SC_FREEKB,4008288
$TM_FREEKB,7628640
$24V_AH,12.5,25.178
$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,21.925,61.975,591.475,80.000,0.000,0.000,0.000,303.700,0.500,0.000,30.395,1770.884,7443.146,688.483,1895.949,132.722,0.000,1838.600,0.000,1437.728,0.000,0.532,0.000
$DEVICE_MAMPS,351.900,90.270,2158.830,107.865,0.000,0.000,0.000,234.090,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11303.000,2290.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.237,12.547,0.000,0.000
$MEM,296428
$DATA_FILE_SIZE,16750,460
$CAP_FILE_SIZE,130487,0
$CFSIZE,260034560,248750080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0
$CURRENT,0.149,314.2,1
$GPS,210812,100135,4656.459,-12519.828,28,1.3,28,16.9