version: 66.11
glider: 122
mission: 14
dive: 43
start: 8 20 112 20 49 46
data:
$ID,122
$MISSION,14
$DIVE,43
$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,-43460.145
$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,38
$R_STBD_OVSHOOT,43
$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
$GPS1,200812,204034,4656.007,-12527.774,34,1.1,34,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-58.4
$GPS2,200812,204918,4656.054,-12527.765,14,0.7,16,16.9
$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,94.0,41636,-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,-194.7,0.0,0.0,0,76,0.00,0.00,-53.33,0.000,2,0.000,0.000,137,2149,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.52,-194.7,3.0,-1.1,5,146,9.02,2.00,-50.35,0.000,4,0.357,0.094,2136,3242,3228,0,0,0,0,0,0,14.24,14.43,14.67
$GC,374,-1.46,-194.7,59.4,-19.9,32,380,0.15,1.77,0.00,0.000,6,0.272,0.044,2167,2192,3232,0,0,0,0,0,0,14.35,14.57,28.83
$GC,697,-1.46,-194.7,118.9,-17.8,48,703,0.00,1.85,0.00,0.000,4,0.000,0.064,2161,3243,3234,0,0,0,0,0,0,28.83,14.60,28.83
$GC,849,-1.46,-194.7,143.2,-17.4,55,854,0.00,1.75,0.00,0.000,6,0.000,0.044,2162,2200,3234,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1164,-1.46,-194.7,200.6,-18.5,71,1169,0.00,1.77,0.00,0.000,4,0.000,0.063,2162,1152,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1245,-1.46,-194.7,215.8,-17.9,75,1250,0.00,1.75,0.00,0.000,6,0.000,0.044,2154,2203,3234,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1567,-1.46,-194.7,271.3,-17.2,91,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2203,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,-1.46,-194.7,321.4,-16.3,104,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2203,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-1.48,-194.7,371.7,-16.8,114,2174,0.00,1.80,0.00,0.000,4,0.000,0.064,2154,1156,3233,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2250,-1.48,-194.7,382.7,-17.2,116,2256,0.00,1.75,0.00,0.000,6,0.000,0.044,2147,2210,3233,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2563,-1.50,-194.7,439.8,-17.3,127,2569,0.00,1.83,0.00,0.000,4,0.000,0.064,2147,1150,3232,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2645,-1.50,-194.7,451.3,-17.7,129,2650,0.00,1.75,0.00,0.000,6,0.000,0.044,2139,2209,3232,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2957,-1.50,-194.7,509.3,-17.4,140,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2210,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-1.51,-194.7,559.1,-16.8,150,3262,0.00,1.83,0.00,0.000,4,0.000,0.064,2139,1150,3230,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3309,-1.53,-194.7,564.5,-16.7,151,3315,0.00,1.75,0.00,0.000,6,0.000,0.045,2131,2209,3229,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3623,-1.55,-194.7,620.7,-16.6,162,3628,0.00,1.77,0.00,0.000,4,0.000,0.068,2123,3247,3229,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3675,-1.56,-194.7,626.3,-16.6,163,3680,0.00,1.75,0.00,0.000,6,0.000,0.045,2123,2198,3229,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3988,-1.58,-194.7,681.6,-16.5,174,3993,0.00,1.75,0.00,0.000,4,0.000,0.067,2123,1157,3228,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4081,-1.58,-194.7,696.9,-16.5,177,4086,0.00,1.73,0.00,0.000,6,0.000,0.046,2116,2197,3227,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4415,-1.60,-194.7,749.8,-15.8,188,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2198,3227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4714,-1.62,-194.7,798.6,-16.5,198,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2198,3226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5014,-1.64,-194.7,851.5,-18.1,208,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2198,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5313,-1.67,-194.7,904.4,-17.7,218,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2198,3225,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5462,begin apogee
$GC,5465,-0.25,0.0,930.8,-17.7,223,5687,1.52,0.00,212.15,2.161,6,0.204,0.000,2567,2197,2430,0,0,0,0,0,0,14.64,28.83,12.80
$STATE,5689,end apogee,CONTROL_FINISHED_OK
$STATE,5689,begin climb
$GC,5691,1.52,194.7,943.0,0.0,230,5914,1.70,0.00,216.60,2.125,6,0.059,0.000,3141,2198,1636,0,0,0,0,0,0,13.95,28.83,12.48
$GC,6214,1.47,197.6,880.9,17.1,248,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2198,1628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6514,1.41,197.6,828.6,17.6,258,6519,0.17,1.77,0.00,0.000,4,0.279,0.063,3099,3209,1627,0,0,0,0,0,0,14.26,14.48,28.83
$GC,6746,1.37,201.1,792.6,17.0,265,6758,0.00,1.80,6.57,1.613,6,0.000,0.050,3098,2163,1611,0,0,0,0,0,0,28.83,14.59,13.44
$GC,7058,1.35,208.3,737.6,16.8,276,7076,0.00,1.88,10.07,1.750,4,0.000,0.065,3098,3205,1581,0,0,1,0,0,0,28.83,14.56,13.52
$GC,7302,1.32,208.3,693.7,18.5,284,7308,0.15,1.80,0.00,0.000,6,0.308,0.049,3066,2153,1578,0,0,0,0,0,0,14.42,14.64,28.83
$GC,7631,1.35,228.1,638.8,16.0,295,7660,0.00,1.88,22.80,1.804,4,0.000,0.062,3066,3208,1499,0,0,0,0,0,0,28.83,14.52,13.54
$GC,7886,1.35,228.1,596.7,17.3,303,7892,0.00,1.80,0.00,0.000,6,0.000,0.050,3066,2161,1496,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8205,1.40,259.0,543.9,15.4,314,8244,0.00,1.85,32.70,1.734,4,0.000,0.061,3066,3201,1374,0,0,0,0,0,0,28.83,14.44,13.51
$GC,8471,1.42,268.0,503.9,16.7,322,8487,0.00,1.80,10.23,1.550,6,0.000,0.049,3066,2158,1337,0,0,0,0,0,0,28.83,14.58,13.57
$GC,8809,1.48,292.1,446.0,15.8,334,8841,0.12,1.92,25.33,1.618,4,0.158,0.063,3119,3201,1239,0,0,0,0,0,0,14.61,14.45,13.55
$GC,8917,1.48,292.1,428.1,18.3,337,8923,0.00,1.80,0.00,0.000,6,0.000,0.050,3120,2161,1236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9236,1.48,292.1,367.2,18.2,348,9241,0.00,1.83,0.00,0.000,4,0.000,0.062,3120,3202,1235,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9317,1.48,292.1,355.6,18.3,350,9322,0.00,1.80,0.00,0.000,6,0.000,0.050,3120,2150,1235,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9640,1.48,292.1,291.7,18.8,362,9645,0.00,1.83,0.00,0.000,4,0.000,0.061,3120,3203,1234,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9771,1.48,292.1,267.5,19.7,368,9776,0.00,1.77,0.00,0.000,6,0.000,0.049,3120,2161,1234,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10084,1.48,292.1,209.5,17.6,384,10089,0.00,1.83,0.00,0.000,4,0.000,0.063,3120,3209,1233,0,0,0,0,0,0,28.83,14.74,28.83
$GC,10172,1.48,292.1,193.8,18.4,388,10177,0.00,1.80,0.00,0.000,6,0.000,0.049,3121,2154,1233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10489,1.50,292.1,136.9,18.1,404,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2154,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10790,1.55,302.0,84.2,16.6,419,10805,0.00,1.85,9.40,1.193,4,0.000,0.060,3121,3211,1198,0,0,0,0,0,0,28.83,14.69,13.90
$GC,10887,1.57,302.0,70.1,17.2,423,10893,0.00,1.80,0.00,0.000,6,0.000,0.048,3120,2152,1197,0,0,0,0,0,0,28.83,14.70,28.83
$GC,11193,1.75,376.1,21.1,12.8,448,11239,0.22,1.85,39.62,1.119,4,0.116,0.059,3206,3202,895,0,0,0,0,0,0,14.66,14.48,13.85
$STATE,11326,end climb,SURFACE_DEPTH_REACHED
$STATE,11326,begin surface coast
$FINISH,1.7,1.019070
$STATE,11337,end surface coast,CONTROL_FINISHED_OK
$STATE,11337,begin surface
$SM_CCo,11357,77.65,0.107,0,0,299,522.73
$SM_CCo,11437,-0.82,0.000,0,0,300,522.73
$SM_CCo,11441,0.00,0.000,0,0,300,522.73
$SM_GC,2.55,9.05,1.77,0.00,0.071,0.047,0.000,137,2206,300,-7.70,1.30,522.73,0,0,0,0,0,0,14.61,14.54,28.83
$IRIDIUM_FIX,4638.64,-12528.96,200812,171737
$TT8_MAMPS,0.026215,0.026215
$HUMID,63.15
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,18.70
$XPDR_PINGS,3
$SC_FREEKB,4009056
$TM_FREEKB,7640128
$24V_AH,12.5,23.957
$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,22.125,65.025,585.475,77.650,0.000,0.000,0.000,325.200,0.750,0.000,17.085,1751.392,7535.497,723.360,1834.062,129.002,0.000,1837.547,0.000,1370.513,0.000,0.532,0.000
$DEVICE_MAMPS,357.255,94.095,2161.125,107.100,0.000,0.000,0.000,231.795,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11338.000,2407.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.309,12.490,0.000,0.000
$MEM,296452
$DATA_FILE_SIZE,16775,462
$CAP_FILE_SIZE,128170,0
$CFSIZE,260034560,249057280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.106,289.6,1
$GPS,210812,000135,4655.818,-12525.767,28,1.3,28,16.9