version: 66.11
glider: 122
mission: 14
dive: 24
start: 8 16 112 21 42 4
data:
$ID,122
$MISSION,14
$DIVE,24
$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,-43434.965
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,160812,213228,4656.184,-12525.758,37,1.1,37,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-57.1
$GPS2,160812,214135,4656.213,-12525.789,24,1.0,24,16.9
$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,84.9,26323,-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,-73.03,0.000,2,0.000,0.000,133,2184,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.30,-146.1,3.6,-2.8,7,146,9.48,0.00,-31.20,0.000,6,0.352,0.000,2265,2184,3306,0,0,0,0,0,0,14.26,28.83,14.70
$GC,454,-1.29,-146.1,55.7,-13.7,41,459,0.00,1.88,0.00,0.000,4,0.000,0.072,2259,3247,3310,0,0,0,0,0,0,28.83,14.57,28.83
$GC,531,-1.29,-146.1,63.5,-12.3,44,538,0.00,1.80,0.00,0.000,6,0.000,0.049,2260,2188,3310,0,0,0,0,0,0,28.83,14.64,28.83
$GC,838,-1.29,-146.1,99.4,-11.4,60,843,0.00,1.77,0.00,0.000,4,0.000,0.067,2259,1146,3311,0,0,0,0,0,0,28.83,14.66,28.83
$GC,920,-1.29,-146.1,109.8,-12.6,64,925,0.00,1.77,0.00,0.000,6,0.000,0.050,2252,2197,3312,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1242,-1.29,-146.1,154.4,-13.7,80,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2197,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1542,-1.31,-146.1,193.6,-12.9,95,1548,0.00,1.80,0.00,0.000,4,0.000,0.067,2252,1154,3312,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1584,-1.31,-146.1,199.4,-13.3,97,1589,0.00,1.77,0.00,0.000,6,0.000,0.050,2244,2207,3311,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1906,-1.32,-146.1,241.5,-12.8,113,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2207,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2207,-1.34,-146.1,280.1,-12.8,128,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2207,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-1.36,-146.1,319.9,-12.9,141,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2207,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-1.38,-146.1,358.3,-12.8,151,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2207,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,-1.41,-146.1,396.3,-12.7,161,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2207,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,-1.44,-146.1,435.4,-13.5,171,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2207,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-1.47,-146.1,476.2,-13.5,181,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2207,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4016,-1.51,-146.1,516.6,-13.6,191,4018,0.12,0.00,0.00,0.000,6,0.124,0.000,2183,2207,3307,0,0,0,0,0,0,14.88,28.83,28.83
$STATE,4045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4045,begin apogee
$GC,4049,-0.25,0.0,521.0,-13.8,192,4202,1.45,0.00,147.18,1.707,6,0.200,0.000,2602,2208,2707,0,0,0,0,0,0,14.66,28.83,13.16
$STATE,4204,end apogee,CONTROL_FINISHED_OK
$STATE,4204,begin climb
$GC,4205,1.30,146.1,527.6,0.0,197,4357,1.55,0.00,147.45,1.685,6,0.082,0.000,3116,2208,2112,0,0,0,0,0,0,14.09,28.83,13.05
$GC,4647,1.27,153.3,493.1,12.0,212,4661,0.00,1.85,5.90,1.300,4,0.000,0.072,3116,3214,2083,0,0,0,0,0,0,28.83,14.42,13.47
$GC,4777,1.21,153.3,477.2,13.1,216,4784,0.17,1.83,0.00,0.000,6,0.295,0.054,3079,2164,2080,0,0,0,0,0,0,14.31,14.51,28.83
$GC,5102,1.22,174.7,438.7,11.2,227,5131,0.00,0.00,23.45,1.576,6,0.000,0.000,3079,2165,1994,0,0,0,0,0,0,28.83,28.83,13.58
$GC,5431,1.23,177.7,399.3,12.2,238,5436,0.00,1.85,0.00,0.000,4,0.000,0.070,3078,3207,1986,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5508,1.21,177.7,391.3,12.4,240,5513,0.00,1.80,0.00,0.000,6,0.000,0.054,3078,2159,1986,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5826,1.21,177.7,348.8,12.9,251,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2159,1985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,1.21,177.7,309.3,13.2,261,6130,0.00,1.83,0.00,0.000,4,0.000,0.070,3078,3205,1984,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6297,1.19,177.7,287.2,13.9,268,6302,0.00,1.80,0.00,0.000,6,0.000,0.054,3079,2151,1983,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6609,1.19,177.7,244.9,13.1,284,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2151,1982,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6910,1.21,189.4,207.8,11.7,299,6931,0.00,1.92,14.00,1.346,4,0.000,0.070,3078,3204,1935,0,0,0,0,0,0,28.83,14.71,13.89
$GC,7080,1.22,195.4,187.4,12.0,307,7097,0.00,1.80,7.43,1.210,6,0.000,0.054,3078,2160,1911,0,0,0,0,0,0,28.83,14.70,13.84
$GC,7396,1.29,240.8,153.2,9.8,323,7451,0.00,1.92,45.65,1.334,4,0.000,0.077,3078,1110,1725,0,0,0,0,0,0,28.83,14.42,13.69
$GC,7538,1.31,240.8,136.9,12.8,330,7543,0.00,1.80,0.00,0.000,6,0.000,0.050,3078,2162,1720,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7861,1.33,240.8,93.3,14.7,346,7866,0.12,1.83,0.00,0.000,4,0.155,0.067,3130,3209,1716,0,0,0,0,0,0,14.61,14.60,28.83
$GC,8044,1.31,240.8,63.8,15.3,355,8049,0.00,1.83,0.00,0.000,6,0.000,0.054,3130,2146,1715,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8356,1.32,247.9,20.1,12.0,381,8366,0.00,0.00,2.75,0.570,6,0.000,0.000,3130,2146,1696,0,0,0,0,0,0,28.83,28.83,13.75
$STATE,8535,end climb,SURFACE_DEPTH_REACHED
$STATE,8535,begin surface coast
$FINISH,1.2,1.024422
$STATE,8556,end surface coast,CONTROL_FINISHED_OK
$STATE,8556,begin surface
$SM_CCo,8575,147.80,0.106,0,0,464,550.21
$SM_GC,2.18,8.77,0.10,147.80,0.076,0.131,0.106,133,2215,464,-7.85,-1.10,550.21,0,0,0,0,0,0,14.77,14.71,14.57
$IRIDIUM_FIX,4638.64,-12528.96,160812,191900
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.41
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,18.70
$XPDR_PINGS,2
$SC_FREEKB,4013920
$TM_FREEKB,7758528
$24V_AH,13.1,16.960
$10V_AH,13.4,0.000
$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,21.675,32.950,393.800,147.800,0.000,0.000,0.000,332.275,0.500,0.000,25.395,1284.536,5864.462,632.390,1401.127,101.492,0.000,1498.307,0.000,926.178,0.000,0.532,0.000
$DEVICE_MAMPS,351.900,130.815,1707.480,106.335,0.000,0.000,0.000,237.915,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8550.000,3237.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.715,12.558,0.000,0.000
$MEM,296504
$DATA_FILE_SIZE,13435,401
$CAP_FILE_SIZE,97017,0
$CFSIZE,260034560,251686912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,298.7,1
$GPS,170812,000835,4656.168,-12524.337,29,1.3,29,16.9