version: 66.11
glider: 122
mission: 14
dive: 9
start: 8 15 112 9 58 1
data:
$ID,122
$MISSION,14
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$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,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,450
$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,-43101.117
$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,2745
$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,32
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3824
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,150812,094628,4655.930,-12503.530,38,1.0,38,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-59.5
$GPS2,150812,095718,4655.947,-12503.656,19,1.0,19,16.9
$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,333.1,2586,-24.1,-10.000
$D_GRID,650
$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,19,-1.34,-80.9,0.0,0.0,0,85,0.00,0.00,-63.38,0.000,2,0.000,0.000,123,2175,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.45,-146.1,3.3,-3.1,6,130,9.80,1.92,-24.23,0.000,4,0.355,0.098,2265,3245,3698,0,0,0,0,0,0,14.05,14.38,14.66
$GC,356,-1.45,-146.1,55.2,-19.2,31,362,0.00,1.85,0.00,0.000,6,0.000,0.051,2265,2199,3703,0,0,0,0,0,0,28.83,14.52,28.83
$GC,674,-1.48,-146.1,105.3,-14.6,47,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2199,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,974,-1.52,-146.1,150.1,-14.8,62,979,0.00,1.88,0.00,0.000,4,0.000,0.073,2257,3254,3703,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1016,-1.55,-146.1,156.6,-15.1,64,1022,0.00,1.80,0.00,0.000,6,0.000,0.052,2257,2195,3703,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1339,-1.59,-146.1,205.1,-15.1,80,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2195,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-1.64,-146.1,249.1,-14.8,95,1642,0.12,0.00,0.00,0.000,6,0.129,0.000,2195,2194,3703,0,0,0,0,0,0,14.73,28.83,28.83
$GC,1938,-1.64,-146.1,299.5,-16.5,110,1944,0.00,1.85,0.00,0.000,4,0.000,0.073,2187,3245,3703,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2020,-1.64,-146.1,310.2,-17.2,113,2026,0.12,1.77,0.00,0.000,6,0.263,0.053,2212,2197,3703,0,0,0,0,0,0,14.52,14.77,28.83
$GC,2334,-1.67,-146.1,363.2,-15.8,124,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2196,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,-1.70,-146.1,411.4,-16.1,134,2638,0.00,1.77,0.00,0.000,4,0.000,0.072,2213,1152,3702,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2695,-1.72,-146.1,421.7,-16.3,136,2701,0.00,1.77,0.00,0.000,6,0.000,0.053,2207,2206,3702,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3028,-1.74,-146.1,478.1,-17.2,147,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2207,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3328,-1.77,-146.1,529.5,-17.1,157,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2207,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3628,-1.81,-146.1,579.3,-15.4,167,3630,0.15,0.00,0.00,0.000,6,0.118,0.000,2147,2206,3700,0,0,0,0,0,0,14.84,28.83,28.83
$GC,3927,-1.81,-146.1,634.2,-18.5,177,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2206,3700,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4016,begin apogee
$GC,4019,-0.25,0.0,650.7,-18.5,180,4177,1.77,0.00,149.80,1.854,6,0.220,0.000,2661,2206,3100,0,0,0,0,0,0,14.58,28.83,12.92
$STATE,4179,end apogee,CONTROL_FINISHED_OK
$STATE,4179,begin climb
$GC,4181,1.45,146.1,656.6,0.0,185,4343,1.67,2.10,150.65,1.818,4,0.081,0.076,3216,1113,2502,0,0,1,0,0,0,14.04,13.85,12.84
$GC,4475,1.40,146.1,641.7,12.1,195,4480,0.00,1.85,0.00,0.000,6,0.000,0.053,3216,2162,2492,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4803,1.36,146.1,601.2,12.2,206,4805,0.15,0.00,0.00,0.000,6,0.283,0.000,3186,2162,2488,0,0,0,0,0,0,14.33,28.83,28.83
$GC,5102,1.34,146.1,567.3,11.3,216,5107,0.00,1.85,0.00,0.000,4,0.000,0.073,3185,3215,2486,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5334,1.30,146.1,540.6,12.6,223,5339,0.00,1.83,0.00,0.000,6,0.000,0.057,3185,2160,2485,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5647,1.28,146.1,501.5,11.4,234,5652,0.00,1.85,0.00,0.000,4,0.000,0.073,3185,3208,2483,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5880,1.25,146.1,476.2,11.7,241,5886,0.15,1.83,0.00,0.000,6,0.312,0.057,3153,2160,2482,0,0,0,0,0,0,14.50,14.74,28.83
$GC,6193,1.26,151.8,443.0,9.5,252,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2160,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,1.27,159.9,414.7,9.3,262,6512,0.00,1.88,11.55,1.523,4,0.000,0.073,3153,3199,2448,0,0,1,0,0,0,28.83,14.69,13.66
$GC,6668,1.27,159.9,399.4,10.2,267,6675,0.00,1.80,0.00,0.000,6,0.000,0.057,3153,2156,2446,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6974,1.27,159.9,364.3,10.7,278,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2156,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7275,1.27,160.0,333.2,10.0,288,7280,0.00,1.85,0.00,0.000,4,0.000,0.072,3152,3210,2444,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7340,1.27,160.0,326.7,10.0,290,7346,0.00,1.85,0.00,0.000,6,0.000,0.057,3152,2163,2444,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7649,1.29,160.0,294.6,10.2,301,7655,0.00,1.83,0.00,0.000,4,0.000,0.071,3152,3206,2443,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7755,1.29,160.0,283.2,11.2,306,7760,0.00,1.80,0.00,0.000,6,0.000,0.057,3153,2157,2443,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8072,1.31,160.0,250.8,10.0,322,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2157,2443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8373,1.33,160.1,220.3,10.0,337,8378,0.00,1.85,0.00,0.000,4,0.000,0.072,3152,3208,2441,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8604,1.33,160.1,196.9,10.2,348,8609,0.00,1.80,0.00,0.000,6,0.000,0.057,3152,2160,2443,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8916,1.35,160.1,163.5,10.9,364,8922,0.00,1.85,0.00,0.000,4,0.000,0.071,3152,3210,2442,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9022,1.35,160.1,152.3,10.7,369,9027,0.00,1.88,0.00,0.000,6,0.000,0.056,3153,2127,2442,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9340,1.42,184.8,125.0,7.9,385,9369,0.12,0.00,26.12,1.297,6,0.163,0.000,3203,2128,2344,0,0,0,0,0,0,14.68,28.83,13.76
$GC,9659,1.42,184.8,88.6,12.1,401,9665,0.00,1.92,0.00,0.000,4,0.000,0.071,3203,3213,2335,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9890,1.42,184.8,61.4,11.7,412,9895,0.00,1.83,0.00,0.000,6,0.000,0.056,3203,2158,2334,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10203,1.45,201.7,32.7,8.6,438,10225,0.00,1.92,15.73,1.162,4,0.000,0.078,3203,1099,2276,0,0,0,0,0,0,28.83,14.57,13.77
$GC,10451,1.55,247.2,14.0,6.2,462,10479,0.12,1.83,23.35,0.145,6,0.153,0.051,3248,2166,2092,0,0,0,0,0,0,14.59,14.64,14.50
$STATE,10576,end climb,SURFACE_DEPTH_REACHED
$STATE,10576,begin surface coast
$FINISH,1.2,1.013199
$STATE,10597,end surface coast,CONTROL_FINISHED_OK
$STATE,10597,begin surface
$SM_CCo,10615,95.85,0.106,0,0,1264,450.13
$SM_GC,2.06,9.30,0.00,95.85,0.089,0.000,0.106,136,2175,1264,-8.02,-0.71,450.13,0,0,0,0,0,0,14.67,28.83,14.53
$IRIDIUM_FIX,4638.64,-12504.42,150812,070702
$TT8_MAMPS,0.025466,0.025466
$HUMID,62.87
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,18.80
$XPDR_PINGS,1
$SC_FREEKB,4017696
$TM_FREEKB,7848896
$24V_AH,12.8,12.064
$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,23.500,51.800,377.200,95.850,0.000,0.000,0.000,399.350,0.250,0.000,20.922,1746.255,7089.985,520.880,1917.318,113.193,0.000,1661.316,0.000,1322.185,0.000,0.531,0.000
$DEVICE_MAMPS,354.960,97.920,1853.595,106.335,0.000,0.000,0.000,250.920,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10598.000,4268.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.178,12.645,0.000,0.000
$MEM,296324
$DATA_FILE_SIZE,16757,477
$CAP_FILE_SIZE,123889,0
$CFSIZE,260034560,253247488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.140,230.3,1
$GPS,150812,125751,4656.780,-12505.123,25,1.4,39,16.9