version: 66.11
glider: 124
mission: 14
dive: 31
start: 11 8 112 12 12 53
data:
$ID,124
$MISSION,14
$DIVE,31
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,980
$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,340
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,1.0275
$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,-303572.44
$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,2600
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$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
$GPS1,081112,120235,1802.366,12432.070,40,1.4,40,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-63.0
$GPS2,081112,121225,1802.423,12432.267,15,1.8,15,-2.0
$SPEED_LIMITS,0.161,0.278
$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,251.1,244640,-14.2,-9.314,-18.51
$D_GRID,4728
$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,16,begin dive
$GC,18,-0.73,-194.6,0.0,0.0,0,73,0.00,0.00,-52.85,0.000,2,0.000,0.000,43,2607,1546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.73,-194.6,3.2,-1.4,9,172,8.88,2.20,-77.57,0.000,4,0.262,0.067,2133,1185,3304,0,0,0,0,0,0,26.21,26.50,26.80
$GC,373,-0.67,-194.6,38.8,-15.4,56,381,0.00,2.22,0.00,0.000,6,0.000,0.047,2133,2608,3304,0,0,0,0,0,0,28.83,26.65,28.83
$GC,679,-0.67,-194.6,89.0,-14.2,75,684,0.00,1.98,0.00,0.000,4,0.000,0.060,2133,3888,3304,0,0,0,0,0,0,28.83,26.77,28.83
$GC,731,-0.67,-194.6,94.3,-13.2,77,736,0.00,1.95,0.00,0.000,6,0.000,0.041,2134,2574,3304,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1044,-0.77,-194.6,125.9,-8.7,93,1049,0.00,2.03,0.00,0.000,4,0.000,0.059,2133,3880,3304,0,0,0,0,0,0,28.83,26.86,28.83
$GC,1203,-0.98,-194.6,136.8,-7.6,100,1210,0.15,1.90,0.00,0.000,6,0.087,0.040,2070,2591,3305,0,0,0,0,0,0,26.94,26.94,28.83
$GC,1506,-0.98,-194.6,178.0,-14.0,116,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2590,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1807,-0.98,-194.6,216.2,-12.1,131,1813,0.00,2.10,0.00,0.000,4,0.000,0.045,2070,1196,3305,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1870,-0.98,-194.6,223.3,-11.3,134,1876,0.00,2.17,0.00,0.000,6,0.000,0.045,2070,2617,3305,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2193,-1.03,-194.6,257.5,-9.9,150,2198,0.00,1.92,0.00,0.000,4,0.000,0.061,2070,3873,3304,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2265,-1.11,-194.6,263.3,-9.5,153,2270,0.00,1.88,0.00,0.000,6,0.000,0.041,2070,2606,3304,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2578,-1.19,-194.6,294.2,-9.9,169,2579,0.10,0.00,0.00,0.000,6,0.114,0.000,2025,2608,3303,0,0,0,0,0,0,27.09,28.83,28.83
$GC,2878,-1.19,-194.6,329.3,-11.4,184,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2606,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3178,-1.19,-194.6,362.4,-11.4,199,3184,0.00,1.98,0.00,0.000,4,0.000,0.063,2024,3878,3301,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3241,-1.19,-194.6,369.8,-11.6,202,3247,0.00,1.90,0.00,0.000,6,0.000,0.044,2024,2598,3300,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3564,-1.19,-194.6,405.6,-10.3,218,3569,0.00,2.15,0.00,0.000,4,0.000,0.049,2024,1191,3297,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3636,-1.19,-194.6,412.0,-10.4,221,3641,0.00,2.17,0.00,0.000,6,0.000,0.049,2024,2597,3297,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3948,-1.19,-194.6,443.5,-9.7,237,3953,0.00,1.98,0.00,0.000,4,0.000,0.064,2025,3878,3294,0,0,0,0,0,0,28.83,27.07,28.83
$GC,3999,-1.19,-194.6,447.5,-9.7,239,4006,0.00,1.92,-0.08,0.000,6,0.000,0.044,2026,2585,3314,0,0,0,0,0,0,28.83,27.11,26.88
$GC,4313,-1.19,-194.6,478.0,-9.6,255,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2585,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4613,-1.19,-194.6,507.8,-9.9,270,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2586,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4914,-1.19,-194.6,536.4,-9.4,285,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2586,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5214,-1.23,-194.6,565.0,-9.4,300,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2585,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-1.28,-194.6,591.3,-8.2,315,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2585,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,-1.34,-194.6,614.4,-7.6,327,5820,0.00,2.15,0.00,0.000,4,0.000,0.054,2024,1190,3259,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5872,-1.40,-194.6,617.2,-7.7,328,5880,0.10,2.22,0.00,0.000,6,0.119,0.054,1983,2608,3302,0,0,0,0,0,0,27.10,27.10,28.83
$GC,6179,-1.35,-194.6,650.0,-10.5,339,6185,0.10,2.20,0.00,0.000,4,0.164,0.051,2009,1193,3299,0,0,0,0,0,0,27.07,27.10,28.83
$GC,6212,-1.35,-194.6,653.4,-10.5,340,6217,0.00,2.22,0.00,0.000,6,0.000,0.054,2009,2615,3299,0,0,0,0,0,0,28.83,27.10,28.83
$GC,6546,-1.35,-194.6,687.7,-10.6,351,6551,0.00,1.95,0.00,0.000,4,0.000,0.070,2009,3876,3298,0,0,0,0,0,0,28.83,27.08,28.83
$GC,6602,-1.39,-194.6,691.2,-10.6,352,6611,0.00,1.92,0.00,0.000,6,0.000,0.050,2009,2601,3297,0,0,0,0,0,0,28.83,27.12,28.83
$GC,6909,-1.43,-194.6,724.9,-10.2,363,6914,0.00,2.17,0.00,0.000,4,0.000,0.054,2009,1191,3295,0,0,0,0,0,0,28.83,27.10,28.83
$GC,6942,-1.43,-194.6,728.3,-10.1,364,6947,0.00,2.22,0.00,0.000,6,0.000,0.055,2009,2606,3295,0,0,0,0,0,0,28.83,27.09,28.83
$GC,7277,-1.47,-194.6,760.0,-9.3,375,7282,0.12,1.98,0.00,0.000,4,0.103,0.069,1954,3878,3292,0,0,0,0,0,0,27.13,27.07,28.83
$GC,7334,-1.47,-194.6,764.0,-9.8,376,7342,0.10,1.95,0.00,0.000,6,0.169,0.051,1978,2592,3292,0,0,0,0,0,0,27.03,27.10,28.83
$GC,7640,-1.47,-194.6,800.2,-10.6,387,7645,0.00,2.05,0.00,0.000,4,0.000,0.070,1979,3889,3290,0,0,0,0,0,0,28.83,27.07,28.83
$GC,7667,-1.47,-194.6,800.2,-10.6,387,7674,0.00,1.98,0.00,0.000,6,0.000,0.051,1979,2590,3290,0,0,0,0,0,0,28.83,27.10,28.83
$GC,7973,-1.47,-194.6,833.0,-9.7,398,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2589,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8274,-1.47,-194.6,862.4,-10.0,408,8279,0.00,2.20,0.00,0.000,4,0.000,0.057,1979,1183,3288,0,0,0,0,0,0,28.83,27.09,28.83
$GC,8339,-1.47,-194.6,868.9,-10.2,410,8345,0.00,2.25,0.00,0.000,6,0.000,0.057,1979,2603,3287,0,0,0,0,0,0,28.83,27.09,28.83
$GC,8668,-1.47,-194.6,903.6,-10.7,421,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2602,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8967,-1.47,-194.6,935.7,-10.6,431,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2602,3285,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9115,begin apogee
$GC,9121,-0.17,0.0,951.9,-10.8,436,9277,0.82,0.00,149.27,1.312,6,0.115,0.000,2263,1598,2509,0,0,0,0,0,0,27.03,28.83,24.25
$STATE,9279,end apogee,CONTROL_FINISHED_OK
$STATE,9279,begin climb
$GC,9281,0.73,194.6,959.7,0.0,441,9453,0.55,2.47,161.23,1.266,4,0.060,0.058,2466,3007,1713,0,0,0,0,0,0,25.25,24.96,24.13
$GC,9500,0.49,259.8,951.4,7.1,448,9561,0.22,2.38,54.62,1.228,6,0.127,0.054,2406,1596,1449,0,0,0,0,0,0,25.53,25.58,24.18
$GC,9869,0.62,298.7,920.6,8.0,461,9909,0.10,2.45,31.10,1.213,4,0.104,0.060,2449,3011,1290,0,0,0,0,0,0,26.31,25.55,24.74
$GC,9975,0.62,298.7,910.3,10.4,464,9981,0.00,2.35,0.00,0.000,6,0.000,0.055,2455,1597,1287,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10294,0.57,298.7,872.0,11.7,475,10300,0.12,2.33,0.00,0.000,4,0.140,0.059,2414,3013,1284,0,0,0,0,0,0,26.40,26.41,28.83
$GC,10327,0.57,298.7,868.4,11.5,476,10333,0.00,2.30,0.00,0.000,6,0.000,0.055,2416,1595,1283,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10661,0.64,298.7,837.1,9.4,487,10667,0.10,2.30,0.00,0.000,4,0.109,0.059,2460,3011,1281,0,0,0,0,0,0,26.70,26.63,28.83
$GC,10688,0.70,298.7,837.1,9.4,487,10697,0.00,2.28,0.00,0.000,6,0.000,0.056,2467,1585,1281,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10995,0.62,298.7,796.2,12.1,498,10997,0.12,0.00,0.00,0.000,6,0.143,0.000,2431,1585,1279,0,0,0,0,0,0,26.72,28.83,28.83
$GC,11295,0.65,316.6,769.0,8.7,508,11315,0.00,2.40,14.52,1.124,4,0.000,0.060,2430,3018,1215,0,0,0,0,0,0,28.83,26.45,25.60
$GC,11381,0.66,321.9,763.1,9.1,510,11392,0.00,2.30,5.93,0.917,6,0.000,0.055,2430,1597,1196,0,0,0,0,0,0,28.83,26.52,25.53
$GC,11720,0.74,344.4,731.2,8.6,522,11752,0.12,2.40,19.75,1.128,4,0.096,0.060,2488,3014,1104,0,0,0,0,0,0,26.69,26.17,25.35
$GC,11794,0.74,344.4,723.8,9.9,524,11799,0.15,2.33,0.00,0.000,6,0.137,0.054,2455,1590,1103,0,0,0,0,0,0,26.22,26.27,28.83
$GC,12117,0.74,344.4,690.1,10.0,535,12123,0.00,2.33,0.00,0.000,4,0.000,0.061,2455,3019,1096,0,0,0,0,0,0,28.83,26.57,28.83
$GC,12139,0.74,344.4,690.1,10.0,535,12144,0.00,2.30,0.00,0.000,6,0.000,0.056,2455,1597,1100,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12451,0.74,344.4,654.9,10.7,546,12456,0.00,2.30,0.00,0.000,4,0.000,0.061,2455,3014,1099,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12497,0.74,344.4,651.2,11.0,547,12503,0.00,2.28,0.00,0.000,6,0.000,0.056,2455,1597,1099,0,0,0,0,0,0,28.83,26.72,28.83
$GC,12816,0.74,344.4,615.1,10.7,558,12821,0.00,2.30,0.00,0.000,4,0.000,0.060,2455,3026,1097,0,0,0,0,0,0,28.83,26.79,28.83
$GC,12842,0.74,344.4,615.1,10.7,558,12849,0.00,2.30,0.00,0.000,6,0.000,0.057,2455,1594,1098,0,0,0,0,0,0,28.83,26.79,28.83
$GC,13148,0.74,344.4,581.5,9.5,572,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1594,1098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13449,0.74,344.4,553.1,9.4,587,13454,0.00,2.28,0.00,0.000,4,0.000,0.060,2455,3024,1099,0,0,0,0,0,0,28.83,26.88,28.83
$GC,13481,0.74,344.4,550.8,9.6,588,13486,0.00,2.28,0.00,0.000,6,0.000,0.057,2455,1598,1099,0,0,0,0,0,0,28.83,26.89,28.83
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$STATE,18766,end climb,SURFACE_DEPTH_REACHED
$STATE,18766,begin surface coast
$FINISH,2.3,1.020659
$STATE,18783,end surface coast,CONTROL_FINISHED_OK
$STATE,18783,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,58.11
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.70
$XPDR_PINGS,19
$SC_FREEKB,4008384
$24V_AH,24.1,6.089
$10V_AH,10.3,5.255
$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,19.850,165.275,521.975,0.000,0.000,0.000,0.000,358.425,4.750,0.000,16.405,2757.353,13312.141,713.471,2440.983,221.338,0.000,2203.457,0.000,1956.284,0.000,0.537,0.000
$DEVICE_MAMPS,262.395,70.380,1311.975,0.000,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.715,0.000,0.000,0.000
$MEM,329088
$DATA_FILE_SIZE,33374,886
$CAP_FILE_SIZE,208758,0
$CFSIZE,260034560,247697408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 57.8,1
$GPS,081112,172829,1802.621,12431.731,40,1.1,40,-2.0