version: 66.11
glider: 124
mission: 14
dive: 88
start: 11 20 112 18 20 47
data:
$ID,124
$MISSION,14
$DIVE,88
$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,280
$T_MISSION,300
$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,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,220
$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,-303659.72
$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,2265
$PITCH_DBAND,0.1
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,201112,180835,1815.225,12425.310,36,1.2,41,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-61.5
$GPS2,201112,182019,1815.074,12425.612,12,1.7,12,-2.1
$SPEED_LIMITS,0.196,0.301
$TGT_NAME,HEADING
$TGT_LATLONG,1806.802,12418.309
$TGT_RADIUS,1852.000
$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,222.1,20000,-17.1,-11.310,-20.62
$D_GRID,5457
$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,-0.82,-194.6,0.0,0.0,0,76,0.00,0.00,-55.58,0.000,2,0.000,0.000,37,2502,1485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.82,-194.6,3.0,-1.1,10,181,8.62,2.28,-86.30,0.000,4,0.257,0.061,2084,1081,3305,0,0,0,0,0,0,26.08,26.50,26.84
$GC,374,-0.79,-194.6,51.0,-20.3,55,380,0.00,2.22,0.00,0.000,6,0.000,0.047,2084,2509,3305,0,0,0,0,0,0,28.83,26.63,28.83
$GC,687,-0.76,-194.6,111.6,-19.1,71,692,0.00,2.12,0.00,0.000,4,0.000,0.059,2084,3888,3301,0,0,0,0,0,0,28.83,26.74,28.83
$GC,843,-0.78,-194.6,135.4,-15.4,78,850,0.00,2.10,0.00,0.000,6,0.000,0.040,2084,2477,3305,0,0,0,0,0,0,28.83,26.83,28.83
$GC,1150,-0.81,-194.6,176.4,-11.3,94,1155,0.00,2.17,0.00,0.000,4,0.000,0.057,2083,3885,3305,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1313,-0.86,-194.6,194.0,-10.8,102,1318,0.00,2.05,0.00,0.000,6,0.000,0.040,2083,2501,3305,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1636,-0.90,-194.6,224.1,-9.0,118,1641,0.00,2.12,0.00,0.000,4,0.000,0.058,2083,3884,3306,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1713,-0.96,-194.6,230.0,-9.2,121,1720,0.10,2.05,0.00,0.000,6,0.116,0.040,2038,2499,3305,0,0,0,0,0,0,26.91,26.96,28.83
$GC,2019,-0.97,-194.6,269.0,-12.7,137,2024,0.00,2.15,0.00,0.000,4,0.000,0.058,2037,3888,3305,0,0,0,0,0,0,28.83,26.92,28.83
$GC,2162,-1.00,-194.6,286.1,-11.7,144,2168,0.00,2.08,0.00,0.000,6,0.000,0.040,2037,2495,3304,0,0,0,0,0,0,28.83,26.99,28.83
$GC,2485,-1.03,-194.6,321.6,-11.1,160,2490,0.00,2.15,0.00,0.000,4,0.000,0.059,2037,3885,3302,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2603,-1.06,-194.6,332.6,-10.7,165,2610,0.00,2.08,0.00,0.000,6,0.000,0.041,2037,2495,3302,0,0,0,0,0,0,28.83,27.00,28.83
$GC,2908,-1.09,-194.6,365.5,-10.4,181,2913,0.00,2.15,0.00,0.000,4,0.000,0.046,2037,1091,3301,0,0,0,0,0,0,28.83,26.97,28.83
$GC,2935,-1.13,-194.6,367.8,-10.3,182,2941,0.00,2.20,0.00,0.000,6,0.000,0.045,2037,2512,3300,0,0,0,0,0,0,28.83,26.97,28.83
$GC,3253,-1.16,-194.6,397.3,-8.5,198,3255,0.10,0.00,0.00,0.000,6,0.110,0.000,1996,2512,3297,0,0,0,0,0,0,27.05,28.83,28.83
$GC,3554,-1.17,-194.6,429.3,-10.9,213,3559,0.00,2.12,0.00,0.000,4,0.000,0.062,1995,3888,3295,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3611,-1.19,-194.6,434.3,-10.9,215,3619,0.00,2.10,-0.08,0.000,6,0.000,0.043,1995,2488,3315,0,0,0,0,0,0,28.83,27.01,26.49
$GC,3917,-1.20,-194.6,472.0,-12.2,231,3922,0.00,2.17,0.00,0.000,4,0.000,0.063,1995,3881,3313,0,0,0,0,0,0,28.83,26.94,28.83
$GC,4014,-1.23,-194.6,482.8,-13.0,235,4020,0.00,2.08,0.00,0.000,6,0.000,0.044,1995,2498,3312,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4319,-1.24,-194.6,523.2,-12.6,251,4325,0.00,2.17,0.00,0.000,4,0.000,0.062,1995,3891,3311,0,0,0,0,0,0,28.83,26.94,28.83
$GC,4406,-1.26,-194.6,533.4,-12.3,255,4411,0.00,2.10,0.00,0.000,6,0.000,0.044,1995,2496,3310,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4723,-1.28,-194.6,569.7,-10.9,271,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2497,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5025,-1.30,-194.6,601.0,-10.0,286,5030,0.00,2.17,0.00,0.000,4,0.000,0.063,1995,3885,3304,0,0,0,0,0,0,28.83,26.94,28.83
$GC,5143,-1.33,-194.6,610.8,-10.3,289,5150,0.00,2.10,0.00,0.000,6,0.000,0.046,1995,2494,3303,0,0,0,0,0,0,28.83,27.00,28.83
$GC,5448,-1.35,-194.6,643.3,-9.7,300,5454,0.10,2.17,0.00,0.000,4,0.113,0.063,1955,3885,3301,0,0,0,0,0,0,27.05,26.93,28.83
$GC,5471,-1.38,-194.6,643.3,-9.7,300,5477,0.00,2.10,0.00,0.000,6,0.000,0.046,1955,2498,3301,0,0,0,0,0,0,28.83,27.00,28.83
$GC,5784,-1.38,-194.6,682.1,-11.4,311,5789,0.00,2.17,0.00,0.000,4,0.000,0.065,1955,3877,3298,0,0,0,0,0,0,28.83,26.91,28.83
$GC,5855,-1.38,-194.6,689.9,-11.9,313,5860,0.00,2.10,0.00,0.000,6,0.000,0.047,1955,2495,3298,0,0,0,0,0,0,28.83,26.99,28.83
$GC,6178,-1.38,-194.6,728.4,-11.7,324,6184,0.00,2.20,0.00,0.000,4,0.000,0.067,1955,3888,3295,0,0,0,0,0,0,28.83,26.91,28.83
$GC,6334,-1.38,-194.6,746.8,-11.9,329,6339,0.00,2.12,0.00,0.000,6,0.000,0.047,1955,2497,3293,0,0,0,0,0,0,28.83,26.99,28.83
$GC,6662,-1.38,-194.6,785.4,-11.7,340,6668,0.00,2.17,0.00,0.000,4,0.000,0.067,1954,3875,3242,0,0,0,0,0,0,28.83,26.90,28.83
$GC,6760,-1.38,-194.6,797.0,-12.4,343,6765,0.00,2.10,0.00,0.000,6,0.000,0.048,1955,2497,3291,0,0,0,0,0,0,28.83,26.98,28.83
$GC,7088,-1.38,-194.6,836.2,-11.7,354,7094,0.00,2.20,0.00,0.000,4,0.000,0.069,1955,3885,3249,0,0,0,0,0,0,28.83,26.89,28.83
$GC,7150,-1.38,-194.6,843.8,-11.9,356,7156,0.00,2.12,0.00,0.000,6,0.000,0.048,1955,2488,3289,0,0,0,0,0,0,28.83,26.97,28.83
$GC,7484,-1.38,-194.6,882.7,-11.9,367,7489,0.00,2.22,0.00,0.000,4,0.000,0.070,1955,3888,3271,0,0,0,0,0,0,28.83,26.90,28.83
$GC,7530,-1.38,-194.6,886.9,-12.1,368,7536,0.00,2.15,0.00,0.000,6,0.000,0.051,1955,2484,3286,0,0,0,0,0,0,28.83,26.96,28.83
$GC,7848,-1.38,-194.6,928.7,-12.7,379,7853,0.00,2.22,0.00,0.000,4,0.000,0.070,1955,3878,3246,0,0,0,0,0,0,28.83,26.87,28.83
$GC,7961,-1.38,-194.6,940.3,-12.5,382,7966,0.00,2.12,0.00,0.000,6,0.000,0.050,1955,2495,3238,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,8031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8031,begin apogee
$GC,8037,-0.22,0.0,951.5,-12.2,385,8193,0.77,0.00,149.35,1.293,6,0.118,0.000,2214,1688,2509,0,0,0,0,0,0,26.79,28.83,24.39
$STATE,8195,end apogee,CONTROL_FINISHED_OK
$STATE,8195,begin climb
$GC,8197,0.82,194.6,958.4,0.0,390,8366,0.65,2.53,159.57,1.248,4,0.060,0.057,2452,3114,1714,0,0,0,0,0,0,25.37,24.97,24.15
$GC,8402,0.82,290.8,948.6,7.5,397,8489,0.00,2.38,79.68,1.217,6,0.000,0.050,2459,1701,1323,0,0,0,0,0,0,28.83,25.47,24.11
$GC,8788,0.82,310.1,907.8,10.5,410,8812,0.00,2.38,15.88,1.132,4,0.000,0.065,2459,278,1243,0,0,0,0,0,0,28.83,25.84,25.03
$GC,8839,0.84,327.8,904.4,10.6,411,8863,0.00,2.33,16.08,1.126,6,0.000,0.049,2458,1706,1172,0,0,0,0,0,0,28.83,25.99,24.86
$GC,9181,0.86,327.8,861.9,12.1,423,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1706,1166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9481,0.87,327.8,825.5,12.1,433,9486,0.00,2.22,0.00,0.000,4,0.000,0.061,2460,3111,1165,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9502,0.89,327.8,825.5,12.1,433,9508,0.00,2.28,0.00,0.000,6,0.000,0.054,2460,1696,1151,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9816,0.90,329.5,787.4,11.2,444,9821,0.00,2.22,0.00,0.000,4,0.000,0.065,2459,288,1163,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9879,0.93,334.8,780.4,11.1,446,9893,0.00,2.25,5.90,0.914,6,0.000,0.049,2460,1713,1144,0,0,0,0,0,0,28.83,26.72,25.63
$GC,10210,0.94,334.8,743.2,11.4,457,10216,0.00,2.17,0.00,0.000,4,0.000,0.060,2459,3111,1142,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10243,0.96,334.8,739.4,11.6,458,10249,0.00,2.25,0.00,0.000,6,0.000,0.054,2462,1697,1142,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10577,0.98,334.8,701.1,11.6,469,10582,0.00,2.22,0.00,0.000,4,0.000,0.065,2468,283,1142,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10618,1.00,334.8,697.3,11.5,470,10624,0.00,2.25,0.00,0.000,6,0.000,0.050,2468,1713,1141,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10942,1.01,334.8,659.0,11.7,481,10947,0.00,2.17,0.00,0.000,4,0.000,0.060,2468,3117,1141,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10984,1.03,334.8,654.8,11.9,482,10989,0.00,2.28,0.00,0.000,6,0.000,0.054,2468,1691,1141,0,0,0,0,0,0,28.83,26.81,28.83
$GC,11308,1.05,336.9,617.3,11.2,493,11313,0.10,2.20,0.00,0.000,4,0.111,0.062,2523,288,1141,0,0,0,0,0,0,26.94,26.82,28.83
$GC,11370,1.05,336.9,608.5,12.4,495,11376,0.12,2.22,0.00,0.000,6,0.139,0.049,2488,1708,1140,0,0,0,0,0,0,26.75,26.85,28.83
$GC,11683,1.05,336.9,568.8,13.0,509,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1711,1140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11985,1.05,336.9,528.8,13.1,524,11990,0.00,2.30,0.00,0.000,4,0.000,0.063,2489,280,1140,0,0,0,0,0,0,28.83,26.84,28.83
$GC,12041,1.06,336.9,523.4,12.8,526,12048,0.00,2.22,0.00,0.000,6,0.000,0.049,2488,1699,1140,0,0,0,0,0,0,28.83,26.88,28.83
$GC,12347,1.07,336.9,486.3,11.9,542,12353,0.00,2.20,0.00,0.000,4,0.000,0.059,2488,3118,1140,0,0,0,0,0,0,28.83,26.85,28.83
$GC,12379,1.07,336.9,483.5,11.7,543,12384,0.00,2.25,0.00,0.000,6,0.000,0.053,2488,1696,1140,0,0,0,0,0,0,28.83,26.87,28.83
$GC,12692,1.08,336.9,447.2,11.4,559,12697,0.00,2.17,0.00,0.000,4,0.000,0.064,2488,291,1140,0,0,0,0,0,0,28.83,26.85,28.83
$GC,12763,1.11,336.9,439.9,11.5,562,12768,0.00,2.22,0.00,0.000,6,0.000,0.047,2488,1714,1140,0,0,0,0,0,0,28.83,26.90,28.83
$GC,13076,1.13,350.4,404.1,10.8,578,13096,0.10,0.00,13.93,0.877,6,0.105,0.000,2537,1715,1079,0,0,0,0,0,0,27.01,28.83,25.88
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$GC,15785,1.45,481.4,69.5,11.9,712,15791,0.10,2.22,0.00,0.000,6,0.133,0.041,2576,1715,540,0,0,0,0,0,0,26.42,26.50,28.83
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$STATE,16376,end climb,SURFACE_DEPTH_REACHED
$STATE,16376,begin surface coast
$FINISH,2.2,1.011490
$STATE,16403,end surface coast,CONTROL_FINISHED_OK
$STATE,16403,begin surface
$SM_CCo,16479,0.00,0.000,0,0,255,552.91
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$TT8_MAMPS,0.027713,0.027713
$HUMID,59.56
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.70
$XPDR_PINGS,14
$SC_FREEKB,3986496
$24V_AH,24.1,17.560
$10V_AH,10.1,12.694
$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,18.475,156.250,594.450,0.000,0.000,0.000,0.000,492.925,3.500,0.000,12.887,2480.216,11180.244,718.044,2591.208,211.448,0.000,2372.762,0.000,1995.686,0.000,0.537,0.000
$DEVICE_MAMPS,257.040,69.615,1292.850,0.000,0.000,0.000,0.000,124.695,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.812,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,30054,779
$CAP_FILE_SIZE,199543,0
$CFSIZE,260034560,241840128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201112,225656,1812.962,12425.978,33,2.9,52,-2.1