version: 66.11
glider: 124
mission: 14
dive: 9
start: 11 4 112 12 9 0
data:
$ID,124
$MISSION,14
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51525
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-303429.34
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2720
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3700
$C_VBD,2509
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00134
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,69.417763
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.889965
$PRESSURE_SLOPE,0.0001157801
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043984288
$SEABIRD_T_H,0.00063808635
$SEABIRD_T_I,2.5525775e-05
$SEABIRD_T_J,3.0944329e-06
$SEABIRD_C_G,-9.6676407
$SEABIRD_C_H,1.1061285
$SEABIRD_C_I,-0.0013205735
$SEABIRD_C_J,0.00018109973
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,041112,120501,1753.444,12440.276,9,1.3,9,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.2
$GPS2,041112,120831,1753.492,12440.366,15,1.8,15,-2.0
$SPEED_LIMITS,0.173,0.314
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,247.5,262470,-13.4,-10.000,-17.68
$D_GRID,4209
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.77,-243.3,0.0,0.0,0,103,0.00,0.00,-82.85,0.000,2,0.000,0.000,40,2730,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.77,-243.3,3.2,-2.6,14,155,8.73,2.22,-30.12,0.000,4,0.263,0.073,2128,1308,3502,0,0,0,0,0,0,26.58,26.82,27.13
$GC,293,-0.72,-243.3,31.4,-14.6,44,300,0.00,2.20,0.00,0.000,6,0.000,0.050,2126,2727,3502,0,0,0,0,0,0,28.83,26.87,28.83
$GC,608,-0.63,-243.3,81.2,-14.6,66,614,0.12,1.77,0.00,0.000,4,0.155,0.063,2165,3883,3502,0,0,0,0,0,0,26.93,26.96,28.83
$GC,671,-0.71,-243.3,87.8,-11.3,69,676,0.00,1.73,0.00,0.000,6,0.000,0.057,2165,2718,3502,0,0,0,0,0,0,28.83,27.03,28.83
$GC,994,-0.89,-243.3,113.0,-6.7,85,1000,0.15,2.12,0.00,0.000,4,0.089,0.044,2096,1311,3502,0,0,0,0,0,0,27.08,27.05,28.83
$GC,1012,-1.07,-243.3,113.0,-6.7,85,1021,0.10,2.17,0.00,0.000,6,0.111,0.050,2051,2724,3502,0,0,0,0,0,0,27.04,27.03,28.83
$GC,1318,-0.99,-243.3,162.5,-16.5,101,1325,0.12,1.77,0.00,0.000,4,0.153,0.063,2090,3885,3502,0,0,0,0,0,0,27.02,27.05,28.83
$GC,1442,-1.12,-243.3,176.5,-10.7,107,1449,0.12,1.70,0.00,0.000,6,0.091,0.042,2032,2721,3502,0,0,0,0,0,0,27.10,27.13,28.83
$GC,1766,-1.12,-243.3,220.8,-13.3,123,1767,0.10,0.00,0.00,0.000,6,0.159,0.000,2060,2720,3502,0,0,0,0,0,0,27.09,28.83,28.83
$GC,2067,-1.17,-243.3,257.7,-11.7,138,2072,0.00,2.12,0.00,0.000,4,0.000,0.047,2060,1313,3500,0,0,0,0,0,0,28.83,27.13,28.83
$GC,2118,-1.23,-243.3,262.4,-11.2,140,2125,0.10,2.17,0.00,0.000,6,0.101,0.050,2013,2729,3500,0,0,0,0,0,0,27.13,27.12,28.83
$GC,2432,-1.23,-243.3,300.7,-12.0,156,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2729,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2733,-1.23,-243.3,336.7,-11.9,171,2739,0.00,1.75,0.00,0.000,4,0.000,0.066,2013,3874,3496,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2756,-1.23,-243.3,339.5,-11.8,172,2762,0.00,1.70,0.00,0.000,6,0.000,0.045,2012,2721,3496,0,0,0,0,0,0,28.83,27.18,28.83
$GC,3079,-1.23,-243.3,375.2,-10.7,188,3084,0.00,2.15,0.00,0.000,4,0.000,0.050,2013,1307,3494,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3165,-1.23,-243.3,383.3,-9.8,192,3172,0.00,2.20,-0.08,0.000,6,0.000,0.053,2012,2728,3511,0,0,0,0,0,0,28.83,27.15,26.90
$GC,3484,-1.23,-243.3,412.4,-8.7,208,3489,0.00,2.20,0.00,0.000,4,0.000,0.050,2012,1304,3510,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3507,-1.23,-243.3,414.3,-8.7,209,3512,0.00,2.20,0.00,0.000,6,0.000,0.054,2012,2720,3510,0,0,0,0,0,0,28.83,27.14,28.83
$GC,3830,-1.23,-243.3,443.5,-9.8,225,3835,0.00,2.17,0.00,0.000,4,0.000,0.051,2013,1305,3506,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3901,-1.23,-243.3,450.2,-10.5,228,3906,0.00,2.20,0.00,0.000,6,0.000,0.055,2012,2720,3505,0,0,0,0,0,0,28.83,27.14,28.83
$GC,4213,-1.23,-243.3,485.6,-11.1,244,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2720,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4514,-1.28,-243.3,519.7,-11.8,259,4519,0.00,2.17,0.00,0.000,4,0.000,0.051,2012,1303,3501,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4566,-1.32,-243.3,524.8,-11.9,261,4572,0.00,2.22,0.00,0.000,6,0.000,0.056,2013,2727,3500,0,0,0,0,0,0,28.83,27.15,28.83
$GC,4879,-1.37,-243.3,561.3,-11.0,277,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2727,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5180,-1.43,-243.3,592.9,-10.4,292,5182,0.10,0.00,0.00,0.000,6,0.120,0.000,1968,2727,3495,0,0,0,0,0,0,27.21,28.83,28.83
$GC,5480,-1.37,-243.3,629.5,-11.9,303,5482,0.12,0.00,0.00,0.000,6,0.147,0.000,2004,2727,3492,0,0,0,0,0,0,27.12,28.83,28.83
$GC,5780,-1.42,-243.3,657.2,-8.9,313,5785,0.00,2.20,0.00,0.000,4,0.000,0.055,2004,1311,3445,0,0,0,0,0,0,28.83,27.16,28.83
$GC,5843,-1.47,-243.3,663.0,-9.0,315,5849,0.10,2.22,0.00,0.000,6,0.109,0.060,1961,2718,3488,0,0,0,0,0,0,27.15,27.14,28.83
$GC,6177,-1.40,-243.3,702.2,-12.2,326,6182,0.12,2.20,0.00,0.000,4,0.151,0.055,2001,1307,3438,0,0,0,0,0,0,27.10,27.15,28.83
$GC,6194,-1.33,-243.3,702.2,-12.2,326,6200,0.00,2.22,0.00,0.000,6,0.000,0.061,2000,2718,3449,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6513,-1.38,-243.3,738.0,-10.9,337,6518,0.00,2.20,0.00,0.000,4,0.000,0.057,2001,1307,3484,0,0,0,0,0,0,28.83,27.15,28.83
$GC,6539,-1.42,-243.3,738.0,-10.9,337,6546,0.00,2.25,0.00,0.000,6,0.000,0.062,2000,2731,3483,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6847,-1.46,-243.3,771.3,-9.7,348,6852,0.00,2.22,0.00,0.000,4,0.000,0.058,1999,1310,3478,0,0,0,0,0,0,28.83,27.15,28.83
$GC,6883,-1.46,-243.3,774.5,-9.6,349,6888,0.00,2.22,0.00,0.000,6,0.000,0.061,2000,2718,3481,0,0,0,0,0,0,28.83,27.13,28.83
$GC,7212,-1.51,-243.3,805.8,-9.5,360,7218,0.10,2.20,0.00,0.000,4,0.119,0.056,1957,1311,3448,0,0,0,0,0,0,27.20,27.15,28.83
$GC,7241,-1.56,-243.3,805.8,-9.5,360,7248,0.00,2.25,0.00,0.000,6,0.000,0.062,1957,2733,3479,0,0,0,0,0,0,28.83,27.13,28.83
$GC,7547,-1.51,-243.3,844.6,-11.4,371,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2733,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7847,-1.46,-243.3,877.6,-10.9,381,7852,0.10,2.25,0.00,0.000,4,0.166,0.058,1983,1303,3475,0,0,0,0,0,0,27.11,27.14,28.83
$GC,7879,-1.46,-243.3,880.9,-10.7,382,7886,0.00,2.25,0.00,0.000,6,0.000,0.064,1983,2721,3475,0,0,0,0,0,0,28.83,27.12,28.83
$GC,8214,-1.46,-243.3,912.9,-9.8,393,8220,0.00,2.22,0.00,0.000,4,0.000,0.060,1982,1305,3370,0,0,0,0,0,0,28.83,27.14,28.83
$GC,8266,-1.46,-243.3,916.3,-9.8,394,8271,0.00,2.25,0.00,0.000,6,0.000,0.064,1982,2719,3472,0,0,0,0,0,0,28.83,27.11,28.83
$GC,8578,-1.46,-243.3,949.7,-10.0,405,8584,0.00,2.22,0.00,0.000,4,0.000,0.060,1982,1303,3471,0,0,0,0,0,0,28.83,27.13,28.83
$GC,8629,-1.46,-243.3,953.0,-10.1,406,8635,0.00,2.28,0.00,0.000,6,0.000,0.065,1983,2730,3471,0,0,0,0,0,0,28.83,27.10,28.83
$GC,8942,-1.46,-243.3,985.6,-9.6,417,8948,0.00,2.25,0.00,0.000,4,0.000,0.061,1982,1305,3469,0,0,0,0,0,0,28.83,27.13,28.83
$GC,8985,-1.46,-243.3,988.8,-9.6,418,8991,0.00,2.28,0.00,0.000,6,0.000,0.066,1982,2732,3469,0,0,0,0,0,0,28.83,27.10,28.83
$STATE,9006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9006,begin apogee
$GC,9012,-0.17,0.0,991.9,-9.5,419,9202,0.80,0.00,183.95,1.338,6,0.109,0.000,2262,1906,2509,0,0,0,0,0,0,27.05,28.83,24.32
$STATE,9204,end apogee,CONTROL_FINISHED_OK
$STATE,9204,begin climb
$GC,9205,0.77,243.3,999.2,0.0,425,9413,0.57,2.47,199.18,1.284,4,0.055,0.068,2484,487,1516,0,0,0,0,0,0,25.31,25.08,24.30
$GC,9642,0.60,243.3,951.5,14.5,440,9648,0.20,2.33,0.00,0.000,6,0.119,0.058,2423,1916,1505,0,0,0,0,0,0,26.26,26.32,28.83
$GC,9974,0.60,243.3,915.8,10.1,451,9980,0.00,2.35,0.00,0.000,4,0.000,0.073,2427,486,1503,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10086,0.60,243.3,906.3,10.3,454,10092,0.00,2.28,0.00,0.000,6,0.000,0.059,2427,1913,1503,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10400,0.60,274.0,875.8,9.1,465,10430,0.00,2.42,24.05,1.213,4,0.000,0.072,2427,484,1374,0,0,1,0,0,0,28.83,26.17,25.39
$GC,10523,0.56,293.4,864.2,9.4,469,10547,0.00,2.30,17.10,1.165,6,0.000,0.058,2427,1901,1311,0,0,0,0,0,0,28.83,26.40,25.20
$GC,10854,0.61,328.8,833.5,9.0,480,10894,0.00,2.42,29.65,1.197,4,0.000,0.070,2427,489,1146,0,0,1,0,0,0,28.83,25.84,25.08
$GC,10936,0.65,358.6,827.8,9.1,482,10970,0.00,2.33,25.70,1.168,6,0.000,0.057,2427,1913,1046,0,0,0,0,0,0,28.83,26.09,24.80
$GC,11277,0.73,418.3,796.1,8.3,494,11283,0.10,0.85,0.00,0.000,4,0.106,0.064,2473,1417,1004,0,0,0,1,0,1,26.51,26.46,28.83
$STATE,11288,end climb,UNCOMMANDED_BLEED_DETECTED
$SM_CCo,11299,161.00,1.186,0,0,244,555.60
$SM_GC,2.86,6.32,0.00,0.00,0.050,0.000,0.000,37,1416,242,-10.34,-13.65,556.10,0,0,0,0,0,0,27.10,28.83,28.83
$IRIDIUM_FIX,1745.10,12438.56,041112,121201
$TT8_MAMPS,0.030709,0.030709
$HUMID,62.75
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,17.30
$XPDR_PINGS,18
$SC_FREEKB,4016704
$24V_AH,24.3,1.733
$10V_AH,10.4,2.452
$FG_AHR_24Vo,69.418
$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,18.200,102.225,479.625,161.000,0.000,0.000,0.000,0.000,4.500,0.000,16.114,1886.993,14994.432,725.876,1311.333,111.317,0.000,1633.689,0.000,1257.152,0.000,0.539,0.000
$DEVICE_MAMPS,263.160,73.440,1337.985,1185.750,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.389,0.000,0.000,0.000
$MEM,329780
$DATA_FILE_SIZE,16786,494
$CAP_FILE_SIZE,159845,11
$CFSIZE,260034560,249946112
$ERRORS,0,0,0,0,0,0,0,0,0,1,1,0,2,0,0,0
$EOP_CODE,UNCOMMANDED_BLEED_DETECTED
$RECOV_CODE,UNCOMMANDED_BLEED
$GPS,041112,172606,1753.728,12440.875,37,1.0,37,-2.0