version: 66.11
glider: 124
mission: 14
dive: 76
start: 11 18 112 9 20 41
data:
$ID,124
$MISSION,14
$DIVE,76
$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,1
$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,-303628.97
$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,2250
$PITCH_DBAND,1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,21
$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,0.00039999999
$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
$GPS1,181112,091336,1809.239,12424.653,28,1.3,28,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.17
$_SM_ANGLEo,-62.2
$GPS2,181112,092013,1809.170,12424.824,15,1.5,15,-2.1
$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,280.3,229337,-14.2,-9.314,-18.51
$D_GRID,5300
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.69,-194.6,0.0,0.0,0,26,0.00,0.00,-6.80,0.000,2,0.000,0.000,39,2503,368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.69,-194.6,3.0,0.0,1,239,7.90,2.22,-193.38,0.000,4,0.230,0.080,2095,3878,3303,0,0,0,0,0,0,26.31,26.58,26.96
$GC,467,-0.65,-194.6,53.8,-20.9,67,472,0.00,2.08,0.00,0.000,6,0.000,0.040,2095,2498,3304,0,0,0,0,0,0,28.83,26.77,28.83
$GC,779,-0.61,-194.6,114.6,-18.3,83,785,0.00,2.15,0.00,0.000,4,0.000,0.058,2095,3883,3306,0,0,0,0,0,0,28.83,26.79,28.83
$GC,952,-0.61,-194.6,138.5,-13.2,91,957,0.00,2.05,0.00,0.000,6,0.000,0.038,2095,2490,3306,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1265,-0.62,-194.6,173.2,-9.6,107,1270,0.00,2.15,0.00,0.000,4,0.000,0.057,2095,3886,3307,0,0,0,0,0,0,28.83,26.88,28.83
$GC,1327,-0.64,-194.6,179.2,-9.7,110,1333,0.00,2.08,0.00,0.000,6,0.000,0.039,2095,2490,3308,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1650,-0.66,-194.6,209.4,-9.2,126,1655,0.00,2.15,0.00,0.000,4,0.000,0.057,2095,3886,3307,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1714,-0.70,-194.6,215.0,-9.0,129,1719,0.00,2.05,0.00,0.000,6,0.000,0.039,2095,2490,3308,0,0,0,0,0,0,28.83,26.98,28.83
$GC,2037,-0.73,-194.6,242.8,-8.6,145,2042,0.00,2.15,0.00,0.000,4,0.000,0.045,2095,1078,3308,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2064,-0.76,-194.6,245.0,-8.8,146,2069,0.00,2.17,0.00,0.000,6,0.000,0.043,2094,2506,3308,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2382,-0.80,-194.6,273.7,-8.7,162,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2506,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2682,-0.84,-194.6,298.8,-8.5,177,2688,0.00,2.08,0.00,0.000,4,0.000,0.058,2095,3878,3308,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2715,-0.89,-194.6,301.0,-8.7,178,2720,0.00,2.05,0.00,0.000,6,0.000,0.040,2095,2497,3307,0,0,0,0,0,0,28.83,27.02,28.83
$GC,3028,-0.93,-194.6,329.8,-8.8,194,3033,0.00,2.15,0.00,0.000,4,0.000,0.059,2094,3888,3305,0,0,0,0,0,0,28.83,26.97,28.83
$GC,3054,-0.98,-194.6,331.9,-8.9,195,3060,0.00,2.08,0.00,0.000,6,0.000,0.041,2094,2496,3305,0,0,0,0,0,0,28.83,27.02,28.83
$GC,3373,-1.03,-194.6,357.2,-7.3,211,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2497,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,-1.08,-194.6,377.1,-6.5,226,3679,0.00,2.15,0.00,0.000,4,0.000,0.047,2094,1093,3303,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3697,-1.13,-194.6,378.8,-6.5,227,3703,0.00,2.17,0.00,0.000,6,0.000,0.044,2094,2505,3303,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4021,-1.19,-194.6,400.5,-6.9,243,4026,0.00,2.17,0.00,0.000,4,0.000,0.047,2095,1084,3301,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4054,-1.24,-194.6,402.1,-6.9,244,4060,0.00,2.20,0.00,0.000,6,0.000,0.046,2095,2509,3301,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4367,-1.30,-194.6,425.0,-7.1,260,4372,0.00,2.12,0.00,0.000,4,0.000,0.061,2094,3887,3299,0,0,0,0,0,0,28.83,26.98,28.83
$GC,4410,-1.36,-194.6,428.1,-7.1,262,4416,0.00,2.08,0.00,0.000,6,0.000,0.043,2095,2497,3299,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4734,-1.43,-194.6,449.9,-6.4,278,4739,0.00,2.15,0.00,0.000,4,0.000,0.049,2095,1086,3296,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4798,-1.48,-194.6,454.2,-6.7,281,4803,0.00,2.20,0.00,0.000,6,0.000,0.047,2095,2505,3296,0,0,0,0,0,0,28.83,27.01,28.83
$GC,5121,-1.55,-194.6,473.2,-5.6,297,5123,0.00,0.00,-0.08,0.000,6,0.000,0.000,2094,2505,3315,0,0,0,0,0,0,28.83,28.83,26.60
$GC,5421,-1.61,-194.6,490.3,-5.5,312,5426,0.00,2.20,0.00,0.000,4,0.000,0.050,2094,1093,3314,0,0,0,0,0,0,28.83,27.01,28.83
$GC,5458,-1.67,-194.6,491.7,-5.7,313,5465,0.00,2.20,0.00,0.000,6,0.000,0.047,2094,2506,3313,0,0,0,0,0,0,28.83,27.01,28.83
$GC,5764,-1.74,-194.6,508.2,-5.1,329,5767,0.62,0.00,0.00,0.000,6,0.054,0.000,1846,2506,3313,0,0,0,0,0,0,27.04,28.83,28.83
$GC,6065,-1.64,-194.6,565.0,-19.5,344,6070,0.00,2.15,0.00,0.000,4,0.000,0.064,1845,3889,3311,0,0,0,0,0,0,28.83,26.97,28.83
$GC,6234,-1.53,-194.6,599.3,-20.9,352,6239,0.00,2.10,0.00,0.000,6,0.000,0.046,1845,2499,3310,0,0,0,0,0,0,28.83,27.03,28.83
$GC,6553,-1.43,-194.6,664.0,-19.9,363,6558,0.00,2.15,0.00,0.000,4,0.000,0.065,1845,3878,3307,0,0,0,0,0,0,28.83,26.97,28.83
$GC,6785,-1.33,-194.6,705.3,-19.3,370,6790,0.00,2.10,0.00,0.000,6,0.000,0.047,1845,2497,3305,0,0,0,0,0,0,28.83,27.03,28.83
$GC,7099,-1.23,-194.6,764.6,-17.8,381,7104,0.00,2.17,0.00,0.000,4,0.000,0.066,1845,3877,3304,0,0,0,0,0,0,28.83,26.96,28.83
$GC,7156,-1.13,-194.6,771.0,-18.4,382,7163,0.00,2.10,0.00,0.000,6,0.000,0.047,1845,2495,3304,0,0,0,0,0,0,28.83,27.03,28.83
$GC,7461,-1.04,-194.6,833.0,-19.1,393,7467,0.00,2.20,0.00,0.000,4,0.000,0.067,1845,3892,3302,0,0,0,0,0,0,28.83,26.96,28.83
$GC,7586,-0.94,-194.6,856.6,-19.2,397,7591,0.00,2.12,0.00,0.000,6,0.000,0.050,1845,2499,3301,0,0,0,0,0,0,28.83,27.01,28.83
$GC,7919,-0.85,-194.6,917.1,-17.8,408,7925,0.68,2.17,0.00,0.000,4,0.149,0.067,2060,3885,3300,0,0,0,0,0,0,26.83,26.94,28.83
$GC,8037,-0.85,-194.6,924.8,-10.1,411,8044,0.00,2.12,0.00,0.000,6,0.000,0.048,2060,2483,3300,0,0,0,0,0,0,28.83,27.01,28.83
$GC,8344,-0.91,-194.6,946.9,-6.7,422,8349,0.00,2.17,0.00,0.000,4,0.000,0.055,2061,1094,3297,0,0,0,0,0,0,28.83,26.98,28.83
$GC,8381,-0.96,-194.6,949.3,-6.8,423,8387,0.00,2.20,0.00,0.000,6,0.000,0.053,2061,2506,3297,0,0,0,0,0,0,28.83,26.98,28.83
$STATE,8408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8408,begin apogee
$GC,8414,-0.22,0.0,951.4,-6.8,424,8569,0.00,0.00,151.18,1.291,6,0.000,0.000,2060,1709,2509,0,0,0,0,0,0,28.83,28.83,24.37
$STATE,8571,end apogee,CONTROL_FINISHED_OK
$STATE,8571,begin climb
$GC,8573,0.69,194.6,960.5,0.0,429,8742,1.05,2.47,159.77,1.249,4,0.106,0.063,2401,282,1713,0,0,0,0,0,0,25.27,24.97,24.15
$GC,8794,0.71,312.8,952.7,5.4,436,8899,0.00,2.35,97.32,1.228,6,0.000,0.047,2402,1712,1233,0,0,0,0,0,0,28.83,25.60,24.10
$GC,9229,0.77,383.2,920.8,7.0,451,9292,0.00,2.33,57.65,1.219,4,0.000,0.059,2401,3113,946,0,0,0,0,0,0,28.83,25.28,24.46
$GC,9354,0.82,442.4,911.8,7.3,455,9411,0.00,2.33,49.30,1.203,6,0.000,0.053,2401,1697,704,0,0,0,0,0,0,28.83,25.82,24.37
$GC,9711,0.90,501.8,886.1,7.3,467,9770,0.00,2.45,48.95,1.209,4,0.000,0.057,2401,3100,458,0,0,0,0,0,0,28.83,25.39,24.57
$GC,9804,0.98,557.1,879.2,7.5,470,9856,0.00,2.33,45.62,1.187,6,0.000,0.051,2401,1694,244,0,0,0,0,0,0,28.83,25.77,24.41
$GC,10164,1.14,557.1,835.8,13.6,482,10169,0.00,2.25,0.00,0.000,4,0.000,0.063,2402,290,239,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10241,1.32,557.1,826.9,14.0,484,10247,0.00,2.25,0.00,0.000,6,0.000,0.047,2401,1698,237,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10560,1.48,557.1,777.5,15.1,495,10566,0.00,2.22,0.00,0.000,4,0.000,0.057,2401,3109,235,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10792,1.62,557.1,745.1,15.1,502,10798,0.00,2.22,0.00,0.000,6,0.000,0.052,2401,1698,234,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11107,1.78,557.1,694.4,15.1,513,11113,0.65,2.28,0.00,0.000,4,0.071,0.057,2649,3117,235,0,0,0,0,0,0,26.75,26.73,28.83
$GC,11180,1.84,557.1,681.2,17.3,515,11185,0.00,2.25,0.00,0.000,6,0.000,0.052,2661,1705,233,0,0,0,0,0,0,28.83,26.76,28.83
$GC,11493,1.69,557.1,559.1,38.4,527,11499,0.00,2.22,0.00,0.000,4,0.000,0.063,2671,285,234,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11725,1.55,557.1,472.4,38.1,538,11732,0.00,2.22,0.00,0.000,6,0.000,0.048,2671,1707,233,0,0,0,0,0,0,28.83,26.84,28.83
$GC,12040,1.38,557.1,344.3,41.2,554,12045,0.00,2.15,0.00,0.000,4,0.000,0.056,2671,3111,232,0,0,0,0,0,0,28.83,26.85,28.83
$GC,12167,1.25,557.1,298.4,35.5,560,12172,0.00,2.25,0.00,0.000,6,0.000,0.054,2678,1692,233,0,0,0,0,0,0,28.83,26.86,28.83
$GC,12484,1.11,557.1,178.6,34.9,576,12490,0.00,2.25,0.00,0.000,4,0.000,0.053,2678,3114,233,0,0,0,0,0,0,28.83,26.88,28.83
$GC,12642,1.00,557.1,135.5,28.9,583,12648,0.00,2.22,0.00,0.000,6,0.000,0.050,2678,1699,233,0,0,0,0,0,0,28.83,26.89,28.83
$GC,12948,0.92,557.1,53.4,24.5,599,12954,0.68,2.15,0.00,0.000,4,0.112,0.057,2446,292,233,0,0,0,0,0,0,26.83,26.89,28.83
$GC,13047,1.16,596.8,46.1,8.0,605,13054,0.00,2.15,0.00,0.000,6,0.000,0.041,2447,1717,233,0,0,0,0,0,0,28.83,26.94,28.83
$GC,13351,1.34,596.8,10.2,12.0,648,13358,0.00,2.25,0.00,0.000,4,0.000,0.054,2447,280,235,0,0,0,0,0,0,28.83,26.91,28.83
$STATE,13413,end climb,SURFACE_DEPTH_REACHED
$STATE,13413,begin surface coast
$FINISH,2.6,1.011969
$STATE,13435,end surface coast,CONTROL_FINISHED_OK
$STATE,13435,begin surface
$SM_CCo,13513,0.00,0.000,0,0,234,558.06
$SM_GC,3.26,6.30,3.47,0.00,0.049,0.045,0.000,40,2489,234,-10.08,-0.99,558.06,0,0,0,0,0,0,26.90,26.91,28.83
$IRIDIUM_FIX,1800.97,12422.92,181112,050543
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.37
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.30
$XPDR_PINGS,6
$SC_FREEKB,3991104
$24V_AH,24.1,15.102
$10V_AH,9.7,11.256
$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,17.875,129.400,609.800,0.000,0.000,0.000,0.000,251.350,1.500,0.000,16.579,2305.624,8523.967,735.780,2157.259,189.694,0.000,2049.754,0.000,1805.734,0.000,0.535,0.000
$DEVICE_MAMPS,229.500,80.325,1290.555,0.000,0.000,0.000,0.000,126.225,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13448.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.143,0.000,0.000,0.000
$MEM,329020
$DATA_FILE_SIZE,23419,664
$CAP_FILE_SIZE,169394,0
$CFSIZE,260034560,243036160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 96.4,1
$GPS,181112,130706,1809.902,12425.310,35,1.0,35,-2.1