version: 66.11
glider: 124
mission: 14
dive: 246
start: 12 22 112 2 45 6
data:
$ID,124
$MISSION,14
$DIVE,246
$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,-13
$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,2
$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,-303946.22
$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,2275
$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,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,9.1999998
$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
$GPS1,221212,023554,1846.677,12230.026,40,1.1,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-63.4
$GPS2,221212,024437,1846.982,12229.909,14,1.1,14,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M4
$TGT_LATLONG,1845.000,12233.290
$TGT_RADIUS,5000.000
$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,144.9,6972,-14.2,-9.314,-18.51
$D_GRID,1478
$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,19,-0.69,-194.6,0.0,0.0,0,97,0.00,0.00,-75.95,0.000,2,0.000,0.000,44,2492,1725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.69,-194.6,3.0,-3.4,13,179,9.12,0.00,-60.97,0.000,6,0.258,0.000,2120,2493,3303,0,0,0,0,0,0,25.60,28.83,26.88
$GC,498,-0.66,-194.6,61.2,-17.2,65,504,0.00,2.15,0.00,0.000,4,0.000,0.057,2120,3881,3303,0,0,0,0,0,0,28.83,26.40,28.83
$GC,551,-0.64,-194.6,68.5,-17.0,67,556,0.00,2.10,0.00,0.000,6,0.000,0.038,2121,2494,3303,0,0,0,0,0,0,28.83,26.60,28.83
$GC,863,-0.64,-194.6,112.6,-10.7,83,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2493,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1166,-0.67,-194.6,141.8,-9.7,98,1171,0.00,2.12,0.00,0.000,4,0.000,0.045,2121,1085,3304,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1213,-0.70,-194.6,146.0,-9.2,100,1218,0.00,2.20,0.00,0.000,6,0.000,0.042,2121,2508,3304,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1533,-0.74,-194.6,175.1,-8.8,116,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2505,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1833,-0.79,-194.6,197.4,-6.8,131,1839,0.00,2.20,0.00,0.000,4,0.000,0.044,2121,1088,3304,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1887,-0.84,-194.6,200.6,-6.8,133,1893,0.12,2.17,0.00,0.000,6,0.098,0.043,2066,2497,3304,0,0,0,0,0,0,26.65,26.65,28.83
$GC,2201,-0.85,-194.6,232.0,-9.3,149,2207,0.10,2.20,0.00,0.000,4,0.148,0.043,2094,1082,3304,0,0,0,0,0,0,26.83,26.64,28.83
$GC,2236,-0.87,-194.6,234.0,-8.8,150,2241,0.00,2.20,0.00,0.000,6,0.000,0.043,2093,2503,3304,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2549,-0.92,-194.6,256.9,-7.1,166,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2503,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2851,-0.97,-194.6,280.8,-8.7,181,2857,0.12,2.20,0.00,0.000,4,0.097,0.045,2027,1081,3301,0,0,0,0,0,0,26.89,26.63,28.83
$GC,2957,-0.97,-194.6,293.7,-12.5,186,2963,0.15,2.22,0.00,0.000,6,0.135,0.045,2070,2505,3300,0,0,0,0,0,0,26.48,26.65,28.83
$GC,3282,-1.00,-194.6,318.4,-6.4,202,3287,0.00,2.22,0.00,0.000,4,0.000,0.046,2070,1081,3298,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3315,-1.04,-194.6,320.2,-6.7,203,3321,0.00,2.22,0.00,0.000,6,0.000,0.045,2070,2504,3299,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3628,-1.08,-194.6,349.1,-9.8,219,3630,0.10,0.00,0.00,0.000,6,0.110,0.000,2024,2503,3296,0,0,0,0,0,0,26.95,28.83,28.83
$GC,3930,-1.08,-194.6,383.8,-11.0,234,3936,0.00,2.22,-0.08,0.000,4,0.000,0.060,2024,1086,3318,0,0,0,0,0,0,28.83,26.60,25.96
$GC,4064,-1.08,-194.6,396.4,-9.5,240,4070,0.00,2.20,0.00,0.000,6,0.000,0.047,2023,2498,3317,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4378,-1.08,-194.6,427.5,-10.3,256,4383,0.00,2.22,0.00,0.000,4,0.000,0.047,2023,1081,3315,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4430,-1.08,-194.6,432.3,-10.8,258,4435,0.00,2.25,0.00,0.000,6,0.000,0.047,2023,2507,3315,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4743,-1.09,-194.6,466.8,-10.6,274,4749,0.00,2.17,0.00,0.000,4,0.000,0.062,2023,3892,3313,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4781,-1.10,-194.6,469.4,-10.7,275,4787,0.00,2.17,0.00,0.000,6,0.000,0.042,2023,2483,3312,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5087,-1.11,-194.6,503.4,-10.5,291,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2484,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5389,-1.13,-194.6,533.4,-10.4,306,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2484,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5689,-1.14,-194.6,562.4,-9.1,321,5694,0.00,2.15,0.00,0.000,4,0.000,0.050,2023,1091,3305,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5733,-1.16,-194.6,566.6,-9.1,323,5739,0.00,2.25,0.00,0.000,6,0.000,0.048,2023,2509,3304,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6056,-1.17,-194.6,597.1,-9.8,339,6062,0.00,2.22,0.00,0.000,4,0.000,0.050,2023,1097,3302,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6186,-1.19,-194.6,610.2,-10.7,344,6191,0.00,2.22,0.00,0.000,6,0.000,0.050,2023,2507,3302,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6516,-1.21,-194.6,641.4,-8.9,355,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2506,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6815,-1.23,-194.6,667.5,-8.3,365,6820,0.00,2.25,0.00,0.000,4,0.000,0.051,2023,1096,3298,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6867,-1.26,-194.6,670.7,-8.5,366,6873,0.00,2.25,0.00,0.000,6,0.000,0.050,2023,2505,3297,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7184,-1.28,-194.6,701.3,-9.2,377,7190,0.10,2.25,0.00,0.000,4,0.110,0.050,1981,1098,3295,0,0,0,0,0,0,26.94,26.46,28.83
$GC,7222,-1.30,-194.6,705.2,-9.5,378,7227,0.00,2.22,0.00,0.000,6,0.000,0.051,1981,2501,3294,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7551,-1.30,-194.6,741.1,-10.7,389,7556,0.00,2.22,0.00,0.000,4,0.000,0.051,1981,1099,3292,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7609,-1.30,-194.6,744.9,-10.6,390,7616,0.00,2.25,0.00,0.000,6,0.000,0.051,1981,2504,3292,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7914,-1.30,-194.6,778.7,-10.1,401,7920,0.00,2.25,0.00,0.000,4,0.000,0.053,1981,1100,3222,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7937,-1.30,-194.6,778.7,-10.1,401,7943,0.00,2.25,0.00,0.000,6,0.000,0.051,1981,2498,3291,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8251,-1.30,-194.6,812.8,-9.7,412,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2498,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8551,-1.30,-194.6,840.9,-9.3,422,8556,0.00,2.22,0.00,0.000,4,0.000,0.051,1981,1097,3244,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8633,-1.30,-194.6,847.2,-9.5,424,8638,0.00,2.28,0.00,0.000,6,0.000,0.052,1981,2512,3287,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8946,-1.30,-194.6,880.8,-9.9,435,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2512,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9246,-1.30,-194.6,910.4,-9.8,445,9253,0.00,2.28,0.00,0.000,4,0.000,0.054,1981,1092,3285,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9299,-1.30,-194.6,914.0,-9.9,446,9305,0.00,2.25,0.00,0.000,6,0.000,0.053,1981,2502,3284,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9612,-1.30,-194.6,949.5,-11.0,457,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2503,3283,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9640,begin apogee
$GC,9647,-0.22,0.0,952.7,-11.0,458,9817,0.75,0.00,155.57,1.268,6,0.110,0.000,2229,1710,2508,0,0,0,0,1,0,25.96,28.83,23.84
$STATE,9819,end apogee,CONTROL_FINISHED_OK
$STATE,9819,begin climb
$GC,9821,0.69,194.6,962.3,0.0,463,9998,0.55,2.53,166.52,1.238,4,0.060,0.056,2431,3117,1714,0,0,0,0,0,0,25.19,24.17,23.00
$GC,10062,0.72,305.9,957.9,5.6,471,10165,0.00,2.42,96.55,1.209,6,0.000,0.049,2441,1694,1261,0,0,0,0,0,0,28.83,25.06,22.94
$GC,10489,0.72,305.9,916.0,9.8,486,10495,0.00,2.35,0.00,0.000,4,0.000,0.057,2441,3113,1250,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10523,0.72,305.9,912.4,10.0,487,10529,0.00,2.30,0.00,0.000,6,0.000,0.052,2444,1694,1249,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10857,0.72,305.9,877.6,10.6,498,10863,0.00,2.25,0.00,0.000,4,0.000,0.064,2444,288,1248,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10878,0.72,305.9,877.6,10.6,498,10884,0.00,2.25,0.00,0.000,6,0.000,0.048,2444,1712,1247,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11192,0.72,305.9,843.7,10.2,509,11197,0.00,2.22,0.00,0.000,4,0.000,0.059,2443,3117,1247,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11229,0.72,305.9,840.1,10.3,510,11235,0.10,2.28,0.00,0.000,6,0.145,0.051,2426,1690,1247,0,0,0,0,0,0,26.36,26.45,28.83
$GC,11560,0.75,334.5,811.2,8.4,521,11588,0.00,2.40,22.90,1.150,4,0.000,0.059,2426,3110,1145,0,0,0,0,0,0,28.83,26.16,24.84
$GC,11610,0.78,364.8,808.7,8.3,522,11645,0.00,2.33,27.42,1.141,6,0.000,0.054,2429,1690,1020,0,0,0,0,0,0,28.83,26.17,24.53
$GC,11953,0.82,401.4,777.9,8.1,534,11993,0.10,2.40,31.02,1.141,4,0.103,0.058,2478,3099,871,0,0,0,0,0,0,26.56,25.82,24.63
$GC,12020,0.82,401.4,771.0,9.4,536,12026,0.12,2.28,0.00,0.000,6,0.135,0.051,2449,1698,870,0,0,0,0,0,0,25.87,25.96,28.83
$GC,12349,0.84,401.4,735.5,10.7,547,12355,0.00,2.25,0.00,0.000,4,0.000,0.063,2455,288,867,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12372,0.86,401.4,735.5,10.7,547,12378,0.00,2.25,0.00,0.000,6,0.000,0.047,2454,1695,867,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12687,0.87,401.4,701.0,9.4,558,12693,0.00,2.25,0.00,0.000,4,0.000,0.059,2454,3114,865,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12740,0.88,401.4,697.5,9.4,559,12746,0.00,2.28,0.00,0.000,6,0.000,0.052,2455,1690,864,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13056,0.90,401.6,667.2,9.3,570,13061,0.00,2.22,0.00,0.000,4,0.000,0.063,2455,290,864,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13083,0.92,401.7,667.2,9.3,570,13090,0.00,2.25,0.00,0.000,6,0.000,0.048,2455,1708,864,0,0,0,0,0,0,28.83,26.51,28.83
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$GC,14837,0.94,424.9,457.8,13.0,647,14843,0.00,2.28,0.00,0.000,6,0.000,0.051,2484,1693,771,0,0,0,0,0,0,28.83,26.46,28.83
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$STATE,19153,end climb,SURFACE_DEPTH_REACHED
$STATE,19153,begin surface coast
$FINISH,1.4,1.001691
$STATE,19185,end surface coast,CONTROL_FINISHED_OK
$STATE,19185,begin surface
$SM_CCo,19263,0.00,0.000,0,0,241,556.10
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$IRIDIUM_FIX,1837.32,12225.65,211212,212127
$TT8_MAMPS,0.027713,0.027713
$HUMID,60.31
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.00
$XPDR_PINGS,20
$SC_FREEKB,3926080
$24V_AH,22.9,48.216
$10V_AH,10.0,29.903
$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,19.175,181.725,624.150,0.000,0.000,0.000,0.000,342.600,5.000,0.000,14.927,2845.705,13255.218,786.152,2490.618,400.557,0.000,2357.199,0.000,2093.090,0.000,0.538,0.000
$DEVICE_MAMPS,257.805,64.260,1268.370,0.000,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19210.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.147,0.000,0.000,0.000
$MEM,306996
$DATA_FILE_SIZE,33346,903
$CAP_FILE_SIZE,219216,0
$CFSIZE,260034560,226750464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.293,314.7,1
$GPS,221212,080730,1846.824,12230.005,42,1.1,42,-2.1