version: 66.11
glider: 124
mission: 14
dive: 15
start: 11 5 112 11 59 0
data:
$ID,124
$MISSION,14
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,800
$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,220
$T_MISSION,250
$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,-303551.78
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$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,0
$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
$GPS1,051112,115106,1756.295,12441.083,28,1.0,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-64.1
$GPS2,051112,115831,1756.397,12441.256,9,1.2,9,-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,246.3,262595,-13.4,-10.000,-17.68
$D_GRID,4289
$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,-243.3,0.0,0.0,0,85,0.00,0.00,-65.57,0.000,2,0.000,0.000,44,2712,1503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.77,-243.3,3.0,-2.4,11,201,8.70,1.80,-94.75,0.000,4,0.260,0.080,2131,3878,3500,0,0,0,0,0,0,26.38,26.62,26.95
$GC,403,-0.77,-243.3,38.2,-14.7,61,410,0.00,1.75,0.00,0.000,6,0.000,0.042,2132,2701,3500,0,0,0,0,0,0,28.83,26.81,28.83
$GC,720,-0.77,-243.3,88.4,-14.2,81,725,0.00,1.83,0.00,0.000,4,0.000,0.062,2132,3878,3499,0,0,0,0,0,0,28.83,26.87,28.83
$GC,806,-0.83,-243.3,99.7,-13.5,85,811,0.00,1.73,0.00,0.000,6,0.000,0.041,2132,2723,3500,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1124,-1.00,-243.3,131.2,-8.2,101,1131,0.15,2.12,0.00,0.000,4,0.084,0.044,2062,1308,3499,0,0,0,0,0,0,27.02,26.98,28.83
$GC,1208,-1.00,-243.3,141.9,-12.8,105,1214,0.00,2.20,0.00,0.000,6,0.000,0.050,2062,2734,3501,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1531,-1.00,-243.3,178.6,-11.2,121,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2734,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1832,-1.00,-243.3,214.0,-11.8,136,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2734,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2133,-1.00,-243.3,247.4,-10.6,151,2138,0.00,2.17,0.00,0.000,4,0.000,0.047,2062,1310,3500,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2169,-1.00,-243.3,249.9,-10.6,152,2176,0.00,2.17,0.00,0.000,6,0.000,0.050,2062,2718,3500,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2476,-1.06,-243.3,281.7,-9.6,168,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2718,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2776,-1.15,-243.3,309.5,-8.8,183,2782,0.00,2.15,0.00,0.000,4,0.000,0.047,2062,1310,3498,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2799,-1.24,-243.3,311.6,-8.8,184,2805,0.12,2.17,0.00,0.000,6,0.092,0.050,2007,2720,3498,0,0,0,0,0,0,27.13,27.10,28.83
$GC,3123,-1.19,-243.3,350.5,-12.2,200,3129,0.12,2.15,0.00,0.000,4,0.148,0.047,2049,1314,3497,0,0,0,0,0,0,27.07,27.12,28.83
$GC,3155,-1.19,-243.3,352.9,-11.9,201,3161,0.00,2.17,0.00,0.000,6,0.000,0.050,2049,2719,3496,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3469,-1.29,-243.3,382.2,-9.6,217,3475,0.12,2.15,0.00,0.000,4,0.093,0.046,1988,1315,3495,0,0,0,0,0,0,27.17,27.13,28.83
$GC,3507,-1.35,-243.3,385.2,-10.3,218,3514,0.00,2.20,0.00,0.000,6,0.000,0.052,1987,2733,3494,0,0,0,0,0,0,28.83,27.11,28.83
$GC,3813,-1.29,-243.3,430.9,-13.9,234,3815,0.12,0.00,-0.10,0.000,6,0.148,0.000,2022,2733,3512,0,0,0,0,0,0,27.08,28.83,27.07
$GC,4113,-1.34,-243.3,462.5,-10.0,249,4118,0.00,2.20,0.00,0.000,4,0.000,0.051,2023,1305,3510,0,0,0,0,0,0,28.83,27.14,28.83
$GC,4140,-1.39,-243.3,464.7,-10.0,250,4147,0.10,2.22,0.00,0.000,6,0.112,0.054,1981,2734,3510,0,0,0,0,0,0,27.13,27.12,28.83
$GC,4459,-1.33,-243.3,502.6,-11.5,266,4465,0.12,2.17,0.00,0.000,4,0.150,0.050,2022,1313,3508,0,0,0,0,0,0,27.09,27.13,28.83
$GC,4491,-1.33,-243.3,505.1,-11.3,267,4497,0.00,2.20,0.00,0.000,6,0.000,0.055,2022,2719,3508,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4805,-1.40,-243.3,537.2,-10.7,283,4811,0.10,2.17,0.00,0.000,4,0.110,0.049,1980,1305,3505,0,0,0,0,0,0,27.18,27.14,28.83
$GC,4842,-1.45,-243.3,540.1,-11.1,284,4850,0.00,2.20,0.00,0.000,6,0.000,0.057,1980,2719,3505,0,0,0,0,0,0,28.83,27.12,28.83
$GC,5148,-1.41,-243.3,582.3,-12.2,300,5154,0.00,1.83,0.00,0.000,4,0.000,0.071,1980,3888,3503,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5195,-1.41,-243.3,587.5,-12.1,302,5201,0.00,1.75,0.00,0.000,6,0.000,0.049,1980,2723,3502,0,0,0,0,0,0,28.83,27.16,28.83
$GC,5524,-1.41,-243.3,625.5,-11.6,315,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2723,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,-1.41,-243.3,659.9,-11.4,325,5828,0.00,2.20,0.00,0.000,4,0.000,0.054,1980,1306,3500,0,0,0,0,0,0,28.83,27.13,28.83
$STATE,5853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5853,begin apogee
$GC,5859,-0.17,0.0,663.5,-11.3,326,6045,0.80,0.00,180.45,1.072,6,0.104,0.000,2260,1811,2509,0,0,0,0,0,0,27.09,28.83,24.60
$STATE,6046,end apogee,CONTROL_FINISHED_OK
$STATE,6046,begin climb
$GC,6048,0.77,243.3,673.6,0.0,332,6250,0.57,2.38,190.73,1.037,4,0.054,0.060,2475,3201,1515,0,0,0,0,0,0,25.43,25.26,24.55
$GC,6437,0.60,243.3,647.2,10.9,345,6443,0.17,2.28,0.00,0.000,6,0.129,0.054,2430,1797,1481,0,0,0,0,0,0,26.25,26.30,28.83
$GC,6761,0.68,302.3,619.6,8.3,356,6814,0.00,2.35,45.80,1.014,4,0.000,0.067,2430,390,1275,0,0,0,0,0,0,28.83,25.79,25.11
$GC,6861,0.75,359.2,611.9,8.4,359,6914,0.12,2.28,46.00,0.994,6,0.090,0.051,2485,1800,1044,0,0,0,0,0,0,26.11,26.10,24.82
$GC,7211,0.69,359.2,569.0,12.2,375,7213,0.12,0.00,0.00,0.000,6,0.132,0.000,2448,1802,1036,0,0,0,0,0,0,26.46,28.83,28.83
$GC,7513,0.72,382.5,539.7,9.3,390,7533,0.00,0.00,18.10,0.948,6,0.000,0.000,2448,1802,948,0,0,0,0,0,0,28.83,28.83,25.65
$GC,7832,0.85,436.8,512.7,8.4,406,7881,0.12,2.38,43.05,0.972,4,0.092,0.063,2512,384,726,0,0,0,0,0,0,26.72,25.86,25.20
$GC,7968,0.78,436.8,497.8,12.5,412,7976,0.15,2.30,0.00,0.000,6,0.122,0.052,2467,1809,723,0,0,0,0,0,0,26.20,26.24,28.83
$GC,8274,0.78,436.8,464.3,10.7,428,8279,0.00,2.30,0.00,0.000,4,0.000,0.066,2468,390,721,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8320,0.82,436.8,459.6,10.7,430,8326,0.00,2.22,0.00,0.000,6,0.000,0.052,2466,1803,703,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8638,0.82,436.8,422.2,12.2,446,8644,0.00,2.28,0.00,0.000,4,0.000,0.067,2467,380,720,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8690,0.88,436.8,416.9,12.2,448,8696,0.10,2.22,0.00,0.000,6,0.111,0.053,2519,1801,719,0,0,0,0,0,0,26.81,26.81,28.83
$GC,9004,0.79,436.8,366.7,15.7,464,9010,0.15,2.25,0.00,0.000,4,0.131,0.064,2468,387,718,0,0,0,0,0,0,26.84,26.86,28.83
$GC,9061,0.79,436.8,361.0,14.2,466,9067,0.00,2.20,0.00,0.000,6,0.000,0.052,2468,1800,718,0,0,0,0,0,0,28.83,26.89,28.83
$GC,9367,0.86,436.8,325.5,10.2,482,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1801,718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9669,1.01,477.7,297.3,8.8,497,9709,0.12,2.30,30.85,0.828,4,0.099,0.065,2537,383,561,0,0,1,0,0,0,27.02,26.41,25.79
$GC,9781,0.94,477.7,283.1,14.3,502,9786,0.12,2.25,0.00,0.000,6,0.128,0.050,2502,1808,559,0,0,0,0,0,0,26.50,26.55,28.83
$GC,10094,0.94,477.7,242.0,12.7,518,10100,0.00,2.28,0.00,0.000,4,0.000,0.063,2501,389,558,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10171,1.00,477.7,234.6,12.0,521,10178,0.00,2.20,0.00,0.000,6,0.000,0.049,2501,1802,557,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10477,1.06,477.7,198.6,11.8,537,10483,0.10,2.25,0.00,0.000,4,0.106,0.060,2553,388,557,0,0,0,0,0,0,26.94,26.86,28.83
$GC,10509,1.06,477.7,195.6,12.1,538,10515,0.10,2.20,0.00,0.000,6,0.134,0.047,2524,1808,557,0,0,0,0,0,0,26.84,26.89,28.83
$GC,10822,1.06,477.7,156.7,10.7,554,10828,0.00,2.22,0.00,0.000,4,0.000,0.061,2524,388,557,0,0,0,0,0,0,28.83,26.92,28.83
$GC,10885,1.12,477.7,150.5,10.1,557,10890,0.00,2.17,0.00,0.000,6,0.000,0.046,2524,1804,557,0,0,0,0,0,0,28.83,26.96,28.83
$GC,11209,1.35,545.5,120.8,8.0,573,11270,0.17,2.33,50.45,0.662,4,0.080,0.060,2619,385,284,0,0,1,0,0,0,27.03,26.29,25.77
$GC,11333,1.26,545.5,104.2,14.4,579,11339,0.17,2.22,0.00,0.000,6,0.119,0.044,2565,1808,283,0,0,0,0,0,0,26.40,26.46,28.83
$GC,11656,1.43,583.4,71.3,8.9,595,11672,0.12,2.25,8.65,0.532,4,0.093,0.059,2635,388,243,0,0,1,0,0,0,26.77,26.61,26.14
$GC,11745,1.43,583.4,60.7,12.9,599,11751,0.10,2.17,0.00,0.000,6,0.142,0.043,2607,1804,243,0,0,0,0,0,0,26.63,26.70,28.83
$GC,12053,1.43,583.4,21.4,12.1,628,12060,0.00,2.22,0.00,0.000,4,0.000,0.057,2607,388,242,0,0,0,0,0,0,28.83,26.82,28.83
$GC,12193,1.51,583.4,5.2,11.1,655,12200,0.10,2.15,0.00,0.000,6,0.103,0.042,2660,1805,242,0,0,0,0,0,0,26.89,26.89,28.83
$STATE,12210,end climb,SURFACE_DEPTH_REACHED
$STATE,12210,begin surface coast
$FINISH,1.8,0.996241
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12314,0.00,0.000,0,0,242,556.10
$SM_GC,2.68,6.80,1.38,0.00,0.045,0.050,0.000,42,2713,242,-10.31,-1.07,556.10,0,0,1,0,0,0,26.85,26.89,28.83
$IRIDIUM_FIX,1749.63,12439.85,051112,080857
$TT8_MAMPS,0.027713,0.027713
$HUMID,59.88
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.80
$XPDR_PINGS,18
$SC_FREEKB,4014400
$24V_AH,24.5,2.824
$10V_AH,10.3,3.186
$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,19.925,108.575,614.075,0.000,0.000,0.000,0.000,293.150,4.500,0.000,11.314,2009.124,7980.962,709.900,1901.113,162.448,0.000,1916.550,0.000,1512.505,0.000,0.539,0.000
$DEVICE_MAMPS,260.100,79.560,1071.765,0.000,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12266.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.190,0.000,0.000,0.000
$MEM,329732
$DATA_FILE_SIZE,23473,663
$CAP_FILE_SIZE,154867,0
$CFSIZE,260034560,249384960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.334, 59.5,1
$GPS,051112,152550,1756.833,12441.196,39,2.1,58,-2.0