version: 66.11
glider: 124
mission: 14
dive: 267
start: 12 26 112 23 47 29
data:
$ID,124
$MISSION,14
$DIVE,267
$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,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,-303972.47
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,261212,233906,1845.173,12259.906,33,1.8,33,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-54.6
$GPS2,261212,234642,1845.240,12259.885,17,1.3,34,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M6A
$TGT_LATLONG,1845.000,12250.480
$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,241.0,16498,-14.2,-9.314,-18.51
$D_GRID,4479
$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,-194.6,0.0,0.0,0,110,0.00,0.00,-88.32,0.000,2,0.000,0.000,35,2507,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.69,-194.6,3.1,-3.6,15,168,8.93,2.30,-39.50,0.000,4,0.249,0.059,2121,1078,3305,0,0,0,0,0,0,25.60,26.40,26.94
$GC,339,-0.67,-194.6,31.0,-12.9,52,346,0.00,2.22,0.00,0.000,6,0.000,0.044,2121,2501,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,645,-0.64,-194.6,76.7,-14.8,74,650,0.00,2.15,0.00,0.000,4,0.000,0.057,2121,3886,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,669,-0.62,-194.6,80.4,-15.0,75,674,0.00,2.12,0.00,0.000,6,0.000,0.038,2121,2498,3299,0,0,0,0,0,0,28.83,26.65,28.83
$GC,992,-0.62,-194.6,128.4,-13.2,91,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2498,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.65,-194.6,161.5,-10.0,106,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2498,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,-0.69,-194.6,187.1,-8.5,121,1599,0.00,2.12,0.00,0.000,4,0.000,0.044,2121,1087,3303,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1633,-0.73,-194.6,189.4,-8.8,122,1639,0.00,2.20,0.00,0.000,6,0.000,0.043,2121,2507,3305,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1939,-0.79,-194.6,214.8,-6.5,138,1944,0.00,2.17,0.00,0.000,4,0.000,0.044,2121,1084,3305,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2033,-0.84,-194.6,221.0,-7.3,142,2039,0.12,2.20,0.00,0.000,6,0.098,0.042,2067,2506,3305,0,0,0,0,0,0,26.65,26.67,28.83
$GC,2348,-0.85,-194.6,249.0,-8.4,158,2355,0.10,2.20,0.00,0.000,4,0.148,0.043,2094,1080,3305,0,0,0,0,0,0,26.84,26.65,28.83
$GC,2403,-0.88,-194.6,253.2,-9.0,160,2408,0.00,2.20,0.00,0.000,6,0.000,0.043,2094,2499,3304,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2716,-0.93,-194.6,280.2,-7.0,176,2722,0.00,2.17,0.00,0.000,4,0.000,0.044,2094,1092,3303,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2800,-0.97,-194.6,285.9,-6.8,180,2806,0.12,2.20,0.00,0.000,6,0.098,0.043,2037,2507,3303,0,0,0,0,0,0,26.65,26.65,28.83
$GC,3124,-0.97,-194.6,320.2,-10.5,196,3129,0.12,2.20,0.00,0.000,4,0.142,0.044,2079,1082,3300,0,0,0,0,0,0,26.66,26.63,28.83
$GC,3233,-1.01,-194.6,328.3,-7.5,201,3239,0.10,2.20,0.00,0.000,6,0.108,0.043,2028,2506,3300,0,0,0,0,0,0,26.64,26.65,28.83
$GC,3552,-1.01,-194.6,355.1,-8.1,217,3558,0.12,2.22,0.00,0.000,4,0.135,0.044,2069,1080,3298,0,0,0,0,0,0,26.73,26.63,28.83
$GC,3626,-1.03,-194.6,360.0,-7.8,220,3632,0.00,2.22,0.00,0.000,6,0.000,0.044,2070,2505,3297,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3940,-1.07,-194.6,387.6,-9.1,236,3947,0.10,2.22,0.00,0.000,4,0.109,0.045,2024,1079,3295,0,0,0,0,0,0,26.95,26.62,28.83
$GC,4019,-1.09,-194.6,394.8,-10.7,239,4026,0.00,2.22,0.00,0.000,6,0.000,0.045,2024,2498,3295,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4325,-1.10,-194.6,432.4,-11.4,255,4331,0.00,2.22,-0.08,0.000,4,0.000,0.058,2023,1092,3318,0,0,0,0,0,0,28.83,26.60,25.95
$GC,4390,-1.10,-194.6,439.4,-10.9,258,4395,0.00,2.22,0.00,0.000,6,0.000,0.046,2023,2510,3318,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4714,-1.12,-194.6,471.3,-9.4,274,4719,0.00,2.25,0.00,0.000,4,0.000,0.048,2023,1078,3315,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4781,-1.13,-194.6,477.3,-9.3,277,4786,0.00,2.22,0.00,0.000,6,0.000,0.047,2023,2502,3315,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5101,-1.15,-194.6,506.9,-9.0,293,5106,0.00,2.22,0.00,0.000,4,0.000,0.049,2023,1095,3313,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5174,-1.17,-194.6,513.0,-9.1,296,5179,0.00,2.22,0.00,0.000,6,0.000,0.048,2023,2504,3312,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5487,-1.18,-194.6,542.3,-9.4,312,5493,0.00,2.22,0.00,0.000,4,0.000,0.048,2023,1096,3310,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5536,-1.20,-194.6,546.7,-9.6,314,5541,0.00,2.22,0.00,0.000,6,0.000,0.048,2023,2501,3310,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5854,-1.22,-194.6,577.6,-9.4,330,5859,0.00,2.25,0.00,0.000,4,0.000,0.050,2023,1080,3307,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5907,-1.23,-194.6,581.7,-9.5,332,5912,0.00,2.25,0.00,0.000,6,0.000,0.049,2023,2498,3307,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6225,-1.26,-194.6,612.1,-9.6,346,6230,0.00,2.20,0.00,0.000,4,0.000,0.065,2023,3882,3302,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6277,-1.28,-194.6,615.7,-9.6,347,6283,0.10,2.17,0.00,0.000,6,0.105,0.045,1982,2485,3303,0,0,0,0,0,0,26.58,26.61,28.83
$GC,6593,-1.28,-194.6,651.5,-10.6,358,6598,0.00,2.15,0.00,0.000,4,0.000,0.052,1982,1097,3302,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6690,-1.28,-194.6,661.7,-10.7,361,6695,0.00,2.25,0.00,0.000,6,0.000,0.050,1981,2506,3301,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7020,-1.28,-194.6,695.5,-10.2,372,7026,0.00,2.25,0.00,0.000,4,0.000,0.050,1981,1096,3299,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7094,-1.28,-194.6,702.5,-10.3,374,7099,0.00,2.25,0.00,0.000,6,0.000,0.051,1981,2501,3299,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7416,-1.28,-194.6,736.0,-10.5,385,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2501,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7717,-1.28,-194.6,767.5,-10.5,395,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2501,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8016,-1.28,-194.6,797.7,-9.9,405,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2501,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8317,-1.28,-194.6,827.8,-9.9,415,8322,0.00,2.28,0.00,0.000,4,0.000,0.054,1981,1090,3291,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8344,-1.28,-194.6,827.8,-9.9,415,8351,0.00,2.28,0.00,0.000,6,0.000,0.054,1981,2507,3291,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8650,-1.28,-194.6,862.1,-10.3,426,8656,0.00,2.25,0.00,0.000,4,0.000,0.054,1981,1100,3290,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8728,-1.28,-194.6,869.2,-10.8,428,8734,0.00,2.28,0.00,0.000,6,0.000,0.054,1981,2507,3289,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9046,-1.28,-194.6,903.2,-10.1,439,9052,0.00,2.25,0.00,0.000,4,0.000,0.054,1981,1099,3288,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9080,-1.28,-194.6,906.6,-10.1,440,9086,0.00,2.28,0.00,0.000,6,0.000,0.053,1981,2507,3287,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9415,-1.28,-194.6,940.8,-10.3,451,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2508,3286,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9532,begin apogee
$GC,9538,-0.22,0.0,952.9,-10.1,455,9699,0.73,0.00,152.68,1.281,6,0.109,0.000,2225,1711,2502,0,0,0,0,0,0,25.98,28.83,23.77
$STATE,9701,end apogee,CONTROL_FINISHED_OK
$STATE,9701,begin climb
$GC,9703,0.69,194.6,960.7,0.0,460,9885,0.57,2.55,169.50,1.237,4,0.057,0.056,2441,3114,1685,0,0,0,0,0,0,25.20,24.20,22.94
$GC,9999,0.68,223.6,947.6,8.3,470,10033,0.12,2.38,25.25,1.169,6,0.136,0.050,2415,1695,1596,0,0,0,0,0,0,25.41,25.51,23.84
$GC,10351,0.72,272.6,919.4,7.7,482,10399,0.00,2.40,40.95,1.206,4,0.000,0.058,2415,3118,1396,0,0,0,0,0,0,28.83,25.63,24.37
$GC,10458,0.73,316.7,912.1,7.8,485,10503,0.00,2.33,39.08,1.192,6,0.000,0.050,2416,1698,1217,0,0,0,0,0,0,28.83,26.00,24.22
$GC,10802,0.78,351.4,883.1,8.2,497,10838,0.10,2.42,28.90,1.179,4,0.101,0.058,2467,3114,1074,0,0,0,0,0,0,26.54,25.83,24.57
$GC,10870,0.78,351.4,876.0,9.5,499,10876,0.10,2.30,0.00,0.000,6,0.144,0.053,2438,1705,1073,0,0,0,0,0,0,25.93,26.00,28.83
$GC,11199,0.80,351.4,844.0,9.6,510,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1705,1068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11500,0.82,363.6,816.4,8.9,520,11512,0.00,0.00,10.50,1.055,6,0.000,0.000,2440,1705,1026,0,0,0,0,0,0,28.83,28.83,24.88
$GC,11801,0.84,373.1,789.4,9.0,530,11815,0.00,2.38,9.35,1.024,4,0.000,0.060,2439,3118,987,0,0,0,0,0,0,28.83,26.37,24.88
$GC,11848,0.86,375.3,786.0,9.2,531,11854,0.00,2.30,0.00,0.000,6,0.000,0.053,2441,1686,986,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12168,0.89,375.3,750.6,10.6,542,12175,0.10,2.35,0.00,0.000,4,0.103,0.057,2491,3120,984,0,0,0,0,0,0,26.74,26.39,28.83
$GC,12218,0.90,375.3,746.0,11.2,543,12224,0.12,2.30,0.00,0.000,6,0.141,0.051,2461,1693,983,0,0,0,0,0,0,26.34,26.46,28.83
$GC,12538,0.90,375.3,709.3,10.3,554,12543,0.00,2.33,0.00,0.000,4,0.000,0.059,2461,3116,984,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12571,0.90,375.3,705.6,10.4,555,12577,0.00,2.28,0.00,0.000,6,0.000,0.054,2461,1691,983,0,0,0,0,0,0,28.83,26.47,28.83
$GC,12906,0.90,375.3,671.4,10.2,566,12912,0.00,2.22,0.00,0.000,4,0.000,0.063,2461,292,982,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12940,0.91,375.3,667.8,10.3,567,12946,0.00,2.25,0.00,0.000,6,0.000,0.049,2461,1712,980,0,0,0,0,0,0,28.83,26.53,28.83
$GC,13276,0.92,375.3,629.3,12.3,578,13281,0.00,2.20,0.00,0.000,4,0.000,0.058,2461,3105,982,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,19306,end climb,SURFACE_DEPTH_REACHED
$STATE,19306,begin surface coast
$FINISH,1.3,1.018689
$STATE,19331,end surface coast,CONTROL_FINISHED_OK
$STATE,19331,begin surface
$SM_CCo,19409,0.00,0.000,0,0,241,556.34
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$IRIDIUM_FIX,1839.59,12256.56,261212,181820
$TT8_MAMPS,0.027713,0.027713
$HUMID,61.38
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.90
$XPDR_PINGS,10
$SC_FREEKB,3917984
$24V_AH,22.9,52.560
$10V_AH,10.0,31.733
$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,19.800,186.575,627.375,0.000,0.000,0.000,0.000,252.200,2.500,0.000,34.861,2955.350,13229.597,774.530,2513.388,401.552,0.000,2277.472,0.000,2153.146,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,65.025,1280.610,0.000,0.000,0.000,0.000,128.520,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19348.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.124,0.000,0.000,0.000
$MEM,327408
$DATA_FILE_SIZE,33380,907
$CAP_FILE_SIZE,223950,0
$CFSIZE,260034560,224747520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,333.2,1
$GPS,271212,051205,1844.977,12256.475,28,1.9,28,-2.1