version: 66.11
glider: 124
mission: 14
dive: 247
start: 12 22 112 8 16 47
data:
$ID,124
$MISSION,14
$DIVE,247
$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,-303947.47
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,221212,080730,1846.824,12230.005,42,1.1,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-63.3
$GPS2,221212,081619,1847.120,12229.681,11,1.1,11,-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,137.5,7449,-14.2,-9.314,-18.51
$D_GRID,1344
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.69,-194.6,0.0,0.0,0,115,0.00,0.00,-93.47,0.000,2,0.000,0.000,42,2509,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.69,-194.6,3.2,-1.5,16,169,9.00,2.25,-31.77,0.000,4,0.252,0.057,2117,1083,3302,0,0,0,0,0,0,25.63,26.32,26.87
$GC,212,-0.67,-194.6,17.2,-16.4,32,219,0.00,2.22,0.00,0.000,6,0.000,0.044,2117,2506,3303,0,0,0,0,0,0,28.83,26.37,28.83
$GC,523,-0.64,-194.6,68.3,-16.6,62,528,0.00,2.12,0.00,0.000,4,0.000,0.057,2117,3884,3302,0,0,0,0,0,0,28.83,26.42,28.83
$GC,588,-0.63,-194.6,78.1,-15.8,65,593,0.00,2.12,0.00,0.000,6,0.000,0.037,2117,2487,3302,0,0,0,0,0,0,28.83,26.61,28.83
$GC,911,-0.64,-194.6,116.4,-9.2,81,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2486,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-0.68,-194.6,141.9,-8.8,96,1218,0.00,2.10,0.00,0.000,4,0.000,0.044,2117,1093,3303,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1256,-0.71,-194.6,146.1,-9.3,98,1261,0.00,2.20,0.00,0.000,6,0.000,0.042,2117,2516,3303,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1580,-0.76,-194.6,169.7,-5.7,114,1585,0.00,2.20,0.00,0.000,4,0.000,0.044,2118,1097,3303,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1627,-0.80,-194.6,172.3,-5.7,116,1632,0.00,2.17,0.00,0.000,6,0.000,0.041,2118,2505,3303,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1946,-0.86,-194.6,194.1,-8.1,132,1952,0.12,2.17,0.00,0.000,4,0.088,0.042,2054,1090,3303,0,0,0,0,0,0,26.92,26.64,28.83
$GC,2041,-0.87,-194.6,203.9,-11.7,136,2047,0.12,2.20,0.00,0.000,6,0.142,0.044,2090,2507,3303,0,0,0,0,0,0,26.50,26.65,28.83
$GC,2356,-0.91,-194.6,230.0,-6.9,152,2362,0.00,2.12,0.00,0.000,4,0.000,0.057,2089,3878,3302,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2410,-0.95,-194.6,233.1,-6.7,154,2416,0.10,2.10,0.00,0.000,6,0.103,0.037,2040,2502,3301,0,0,0,0,0,0,26.67,26.74,28.83
$GC,2724,-0.95,-194.6,267.5,-11.3,170,2730,0.12,2.12,0.00,0.000,4,0.134,0.043,2082,1081,3299,0,0,0,0,0,0,26.73,26.64,28.83
$GC,2858,-0.98,-194.6,278.5,-8.5,176,2863,0.00,2.22,0.00,0.000,6,0.000,0.044,2082,2508,3299,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3172,-1.03,-194.6,301.3,-6.7,192,3178,0.12,2.22,0.00,0.000,4,0.096,0.044,2020,1079,3297,0,0,0,0,0,0,26.91,26.63,28.83
$GC,3200,-1.06,-194.6,303.4,-7.1,193,3206,0.10,2.22,0.00,0.000,6,0.158,0.044,2046,2505,3297,0,0,0,0,0,0,26.51,26.64,28.83
$GC,3520,-1.08,-194.6,332.2,-9.5,209,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2505,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-1.10,-194.6,358.8,-8.4,224,3827,0.00,2.22,-0.08,0.000,4,0.000,0.058,2047,1082,3315,0,0,0,0,0,0,28.83,26.60,25.95
$GC,3907,-1.12,-194.6,366.0,-8.3,228,3913,0.00,2.22,0.00,0.000,6,0.000,0.045,2047,2504,3315,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4232,-1.14,-194.6,392.1,-7.9,244,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2504,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4534,-1.17,-194.6,417.5,-8.8,259,4540,0.10,2.22,0.00,0.000,4,0.103,0.047,2005,1096,3311,0,0,0,0,0,0,26.96,26.58,28.83
$GC,4566,-1.19,-194.6,420.4,-9.4,260,4573,0.00,2.22,0.00,0.000,6,0.000,0.047,2004,2506,3311,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4881,-1.19,-194.6,457.7,-10.7,276,4886,0.00,2.22,0.00,0.000,4,0.000,0.048,2004,1096,3310,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4913,-1.19,-194.6,460.2,-10.8,277,4918,0.00,2.20,0.00,0.000,6,0.000,0.047,2004,2501,3309,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5226,-1.19,-194.6,491.4,-9.0,293,5232,0.00,2.22,0.00,0.000,4,0.000,0.049,2005,1081,3307,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5309,-1.19,-194.6,498.8,-8.8,297,5315,0.00,2.25,0.00,0.000,6,0.000,0.049,2005,2500,3306,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5633,-1.19,-194.6,526.2,-9.0,313,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2500,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5935,-1.19,-194.6,555.3,-10.1,328,5940,0.00,2.20,0.00,0.000,4,0.000,0.051,2005,1097,3301,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6021,-1.19,-194.6,564.5,-10.9,332,6026,0.00,2.25,0.00,0.000,6,0.000,0.050,2005,2508,3301,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6340,-1.19,-194.6,596.6,-9.7,348,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2508,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6649,-1.19,-194.6,623.7,-8.6,359,6655,0.00,2.25,0.00,0.000,4,0.000,0.051,2005,1099,3297,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6687,-1.19,-194.6,626.8,-8.8,360,6692,0.00,2.25,0.00,0.000,6,0.000,0.050,2005,2505,3295,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7017,-1.19,-194.6,656.1,-9.1,371,7022,0.00,2.22,0.00,0.000,4,0.000,0.050,2005,1096,3293,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7118,-1.19,-194.6,665.2,-9.5,374,7124,0.00,2.25,0.00,0.000,6,0.000,0.050,2004,2504,3293,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7444,-1.20,-194.6,699.1,-10.3,385,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2504,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7742,-1.21,-194.6,728.2,-9.7,395,7747,0.00,2.28,0.00,0.000,4,0.000,0.053,2005,1085,3290,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7790,-1.22,-194.6,731.5,-9.8,396,7795,0.00,2.28,0.00,0.000,6,0.000,0.052,2005,2501,3290,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8109,-1.24,-194.6,762.6,-9.1,407,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2503,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8409,-1.25,-194.6,789.7,-8.8,417,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2501,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8708,-1.27,-194.6,814.6,-7.9,427,8714,0.00,2.28,0.00,0.000,4,0.000,0.054,2005,1091,3285,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8752,-1.28,-194.6,817.4,-7.9,428,8758,0.00,2.28,0.00,0.000,6,0.000,0.052,2004,2505,3285,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9078,-1.30,-194.6,845.6,-9.0,439,9083,0.00,2.28,0.00,0.000,4,0.000,0.054,2005,1095,3283,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9125,-1.31,-194.6,849.0,-9.2,440,9130,0.00,2.28,0.00,0.000,6,0.000,0.052,2004,2507,3283,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9445,-1.33,-194.6,881.1,-9.5,451,9451,0.00,2.30,0.00,0.000,4,0.000,0.055,2005,1085,3276,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9479,-1.35,-194.6,884.6,-9.6,452,9485,0.10,2.28,0.00,0.000,6,0.111,0.052,1967,2497,3282,0,0,0,0,0,0,26.36,26.34,28.83
$GC,9812,-1.35,-194.6,921.3,-11.3,463,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2497,3281,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10080,begin apogee
$GC,10087,-0.22,0.0,951.7,-11.2,472,10244,0.77,0.00,149.98,1.281,6,0.112,0.000,2224,1693,2502,0,0,0,0,0,0,25.89,28.83,23.84
$STATE,10246,end apogee,CONTROL_FINISHED_OK
$STATE,10246,begin climb
$GC,10248,0.69,194.6,960.1,0.0,477,10428,0.57,2.55,170.80,1.238,4,0.058,0.055,2439,3116,1680,0,0,0,0,0,0,25.18,24.15,22.97
$GC,10508,0.69,252.0,950.3,7.4,486,10568,0.00,2.38,50.05,1.201,6,0.000,0.050,2446,1709,1479,0,0,0,0,0,0,28.83,25.15,23.32
$GC,10868,0.69,252.0,916.5,9.7,498,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1709,1470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11167,0.69,252.0,886.6,10.4,508,11173,0.00,2.30,0.00,0.000,4,0.000,0.058,2447,3115,1440,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11195,0.69,252.0,886.6,10.4,508,11203,0.12,2.30,0.00,0.000,6,0.136,0.052,2419,1693,1459,0,0,0,0,0,0,26.24,26.34,28.83
$GC,11504,0.71,254.4,854.5,9.2,519,11510,0.00,2.30,0.00,0.000,4,0.000,0.058,2418,3115,1438,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11538,0.72,254.4,850.9,9.3,520,11543,0.00,2.28,0.00,0.000,6,0.000,0.052,2419,1701,1467,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11873,0.75,277.3,822.9,8.5,531,11900,0.00,0.00,20.40,1.147,6,0.000,0.000,2419,1702,1377,0,0,0,0,0,0,28.83,28.83,24.87
$GC,12203,0.78,319.3,796.2,7.9,542,12246,0.10,2.38,36.08,1.162,4,0.103,0.058,2468,3120,1206,0,0,0,0,0,0,26.66,25.79,24.60
$GC,12290,0.79,331.8,789.9,8.9,544,12308,0.10,2.33,12.00,1.043,6,0.148,0.051,2445,1703,1156,0,0,0,0,0,0,25.89,25.98,24.50
$GC,12631,0.79,331.8,753.6,9.8,556,12636,0.00,2.33,0.00,0.000,4,0.000,0.059,2444,3120,1150,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12667,0.79,331.8,749.8,10.2,557,12672,0.00,2.33,0.00,0.000,6,0.000,0.053,2445,1689,1149,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12997,0.80,331.8,712.9,11.0,568,13002,0.00,2.33,0.00,0.000,4,0.000,0.059,2444,3115,1148,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13025,0.81,331.8,712.9,11.0,568,13032,0.00,2.30,0.00,0.000,6,0.000,0.054,2444,1694,1147,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13331,0.83,331.8,677.5,10.5,579,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1693,1147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13631,0.84,331.8,647.3,9.9,589,13636,0.00,2.33,0.00,0.000,4,0.000,0.059,2445,3117,1146,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,20311,end climb,SURFACE_DEPTH_REACHED
$STATE,20311,begin surface coast
$FINISH,1.3,1.021732
$STATE,20339,end surface coast,CONTROL_FINISHED_OK
$STATE,20339,begin surface
$SM_CCo,20416,0.00,0.000,0,0,240,556.59
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$IRIDIUM_FIX,1839.59,12215.53,221212,020243
$TT8_MAMPS,0.027713,0.027713
$HUMID,60.43
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.00
$XPDR_PINGS,12
$SC_FREEKB,3925696
$24V_AH,23.0,48.421
$10V_AH,10.0,29.995
$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
$DEVICE_SECS,19.725,186.750,626.175,0.000,0.000,0.000,0.000,350.350,3.000,0.000,12.393,3055.665,14058.908,805.283,2594.690,420.994,0.000,2403.081,0.000,2187.736,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.123,0.000,0.000,0.000
$MEM,306964
$DATA_FILE_SIZE,36630,960
$CAP_FILE_SIZE,233148,0
$CFSIZE,260034560,226643968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248,337.6,1
$GPS,221212,135824,1847.748,12231.137,42,0.9,42,-2.1