version: 66.11
glider: 122
mission: 14
dive: 23
start: 8 16 112 19 10 30
data:
$ID,122
$MISSION,14
$DIVE,23
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,520
$D_ABORT,600
$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,140
$T_MISSION,180
$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,-43433.703
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,160812,185852,4656.590,-12526.507,37,1.1,37,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-56.0
$GPS2,160812,191001,4656.617,-12526.560,28,0.9,28,16.9
$SPEED_LIMITS,0.214,0.276
$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,111.6,27265,-21.2,-12.381
$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,-1.30,-146.1,0.0,0.0,0,96,0.00,0.00,-73.32,0.000,2,0.000,0.000,128,2210,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.30,-146.1,3.5,-2.7,7,146,9.68,1.88,-30.70,0.000,4,0.362,0.096,2267,1139,3307,0,0,0,0,0,0,14.25,14.49,14.70
$GC,374,-1.28,-146.1,43.2,-15.1,34,379,0.00,1.80,0.00,0.000,6,0.000,0.049,2262,2201,3310,0,0,0,0,0,0,28.83,14.62,28.83
$GC,686,-1.28,-146.1,91.9,-15.9,52,692,0.00,1.85,0.00,0.000,4,0.000,0.067,2262,1138,3311,0,0,0,0,0,0,28.83,14.64,28.83
$GC,843,-1.28,-146.1,113.6,-15.0,59,849,0.00,1.80,0.00,0.000,6,0.000,0.050,2254,2202,3311,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1149,-1.28,-146.1,157.5,-13.3,75,1154,0.00,1.83,0.00,0.000,4,0.000,0.066,2254,1141,3311,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1234,-1.28,-146.1,169.1,-14.1,79,1241,0.08,1.83,0.00,0.000,6,0.219,0.050,2277,2198,3311,0,0,0,0,0,0,14.53,14.70,28.83
$GC,1553,-1.31,-146.1,210.9,-13.4,95,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2198,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-1.35,-146.1,250.6,-13.0,110,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2199,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-1.39,-146.1,289.6,-13.1,125,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2198,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2463,-1.44,-146.1,328.9,-12.6,137,2470,0.15,1.80,0.00,0.000,4,0.119,0.071,2191,3248,3310,0,0,0,0,0,0,14.84,14.79,28.83
$GC,2527,-1.46,-146.1,338.4,-13.6,139,2534,0.00,1.77,0.00,0.000,6,0.000,0.050,2191,2189,3310,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2861,-1.46,-146.1,390.0,-15.5,150,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2189,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,-1.46,-146.1,437.0,-15.5,160,3166,0.00,1.88,0.00,0.000,4,0.000,0.073,2183,3257,3308,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3306,-1.46,-146.1,456.8,-16.2,164,3313,0.15,1.77,0.00,0.000,6,0.246,0.051,2217,2199,3308,0,0,0,0,0,0,14.63,14.84,28.83
$GC,3613,-1.48,-146.1,503.8,-13.7,175,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2199,3307,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3731,begin apogee
$GC,3734,-0.25,0.0,520.5,-13.9,179,3888,1.33,0.00,146.07,1.711,6,0.194,0.000,2606,2194,2706,0,0,0,0,0,0,14.65,28.83,13.19
$STATE,3890,end apogee,CONTROL_FINISHED_OK
$STATE,3890,begin climb
$GC,3891,1.30,146.1,526.2,0.0,184,4043,1.52,0.00,147.43,1.675,6,0.080,0.000,3113,2193,2112,0,0,0,0,0,0,14.10,28.83,13.09
$GC,4333,1.26,146.1,490.6,12.6,199,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2193,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,1.25,169.7,455.7,11.0,209,4663,0.00,0.00,22.48,1.567,6,0.000,0.000,3113,2193,2014,0,0,0,0,0,0,28.83,28.83,13.59
$GC,4964,1.23,183.3,417.3,11.6,220,4986,0.00,1.88,14.48,1.492,4,0.000,0.072,3113,3207,1958,0,0,0,0,0,0,28.83,14.52,13.64
$GC,5214,1.19,183.3,386.5,13.1,228,5220,0.17,1.80,0.00,0.000,6,0.286,0.054,3075,2168,1953,0,0,0,0,0,0,14.44,14.64,28.83
$GC,5537,1.23,208.6,349.1,10.9,239,5569,0.00,1.92,25.40,1.499,4,0.000,0.071,3075,3215,1856,0,0,1,0,0,0,28.83,14.53,13.67
$GC,5675,1.24,216.1,334.4,12.0,243,5693,0.00,1.85,8.48,1.326,6,0.000,0.055,3075,2145,1826,0,0,0,0,0,0,28.83,14.59,13.68
$GC,6001,1.26,225.2,294.4,11.9,255,6021,0.00,1.95,10.32,1.354,4,0.000,0.070,3075,3211,1789,0,0,1,0,0,0,28.83,14.60,13.74
$GC,6083,1.26,225.2,283.9,12.8,259,6090,0.00,1.85,0.00,0.000,6,0.000,0.054,3075,2165,1787,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6407,1.26,226.1,243.1,12.3,275,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2165,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6707,1.28,238.9,207.6,11.6,290,6727,0.00,0.00,14.95,1.344,6,0.000,0.000,3075,2165,1735,0,0,0,0,0,0,28.83,28.83,13.83
$GC,7026,1.28,238.9,166.2,13.6,306,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2165,1729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7328,1.30,238.9,126.9,12.4,321,7333,0.00,1.85,0.00,0.000,4,0.000,0.070,3075,3214,1728,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7379,1.30,243.4,121.6,12.1,323,7392,0.12,1.83,5.57,1.069,6,0.155,0.054,3120,2149,1715,0,0,0,0,0,0,14.69,14.72,13.84
$GC,7690,1.30,243.4,76.6,15.9,339,7696,0.00,1.80,0.00,0.000,4,0.000,0.076,3120,1107,1712,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7732,1.30,243.4,69.5,16.5,341,7739,0.00,1.80,0.00,0.000,6,0.000,0.051,3120,2174,1712,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8046,1.38,287.8,29.4,9.8,365,8076,0.00,0.00,28.23,1.179,6,0.000,0.000,3120,2174,1534,0,0,0,0,0,0,28.83,28.83,13.85
$STATE,8285,end climb,SURFACE_DEPTH_REACHED
$STATE,8285,begin surface coast
$FINISH,1.3,1.011255
$STATE,8295,end surface coast,CONTROL_FINISHED_OK
$STATE,8295,begin surface
$SM_CCo,8312,128.48,0.105,0,0,464,550.21
$SM_GC,2.30,8.77,0.00,128.48,0.074,0.000,0.105,133,2181,464,-7.87,-0.54,550.21,0,0,0,0,0,0,14.70,28.83,14.55
$IRIDIUM_FIX,4638.64,-12520.17,160812,171753
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.89
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,18.70
$XPDR_PINGS,3
$SC_FREEKB,4014176
$TM_FREEKB,7763744
$24V_AH,13.1,16.700
$10V_AH,13.5,0.000
$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,21.975,36.725,423.400,128.475,0.000,0.000,0.000,402.750,0.750,0.000,29.454,1282.114,5550.081,632.729,1551.886,108.778,0.000,1593.622,0.000,952.017,0.000,0.532,0.000
$DEVICE_MAMPS,361.845,96.390,1711.305,104.805,0.000,0.000,0.000,248.625,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8289.000,3097.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.668,12.377,0.000,0.000
$MEM,296408
$DATA_FILE_SIZE,13439,390
$CAP_FILE_SIZE,99248,0
$CFSIZE,260034560,251781120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.122,302.7,1
$GPS,160812,213228,4656.184,-12525.758,37,1.1,37,16.9