version: 66.11
glider: 124
mission: 14
dive: 290
start: 1 1 113 3 43 13
data:
$ID,124
$MISSION,14
$DIVE,290
$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,-304005.84
$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,30
$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
$GPS1,010113,033505,1843.944,12158.010,40,1.2,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-54.8
$GPS2,010113,034243,1843.842,12157.854,12,1.3,12,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$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,93.7,14151,-14.2,-9.314,-18.51
$D_GRID,1056
$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,20,-0.69,-194.6,0.0,0.0,0,113,0.00,0.00,-91.05,0.000,2,0.000,0.000,41,2509,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.69,-194.6,3.1,-2.3,15,185,9.10,2.30,-52.38,0.000,4,0.253,0.059,2121,1085,3304,0,0,0,0,0,0,25.65,26.33,26.91
$GC,229,-0.69,-194.6,12.7,-14.4,34,236,0.00,2.22,0.00,0.000,6,0.000,0.045,2121,2502,3304,0,0,0,0,0,0,28.83,26.35,28.83
$GC,555,-0.69,-194.6,58.2,-12.8,71,560,0.00,2.22,0.00,0.000,4,0.000,0.044,2121,1080,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,598,-0.69,-194.6,63.8,-12.4,73,603,0.00,2.22,0.00,0.000,6,0.000,0.044,2120,2503,3304,0,0,0,0,0,0,28.83,26.49,28.83
$GC,921,-0.72,-194.6,97.7,-9.3,89,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2503,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.77,-194.6,124.9,-8.5,104,1229,0.00,2.22,0.00,0.000,4,0.000,0.045,2121,1078,3305,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1318,-0.82,-194.6,131.9,-8.1,108,1324,0.10,2.22,0.00,0.000,6,0.109,0.043,2078,2505,3305,0,0,0,0,0,0,26.55,26.58,28.83
$GC,1632,-0.84,-194.6,158.5,-7.2,124,1637,0.00,2.15,0.00,0.000,4,0.000,0.057,2078,3889,3305,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1696,-0.88,-194.6,162.8,-6.9,127,1701,0.00,2.12,0.00,0.000,6,0.000,0.038,2077,2486,3305,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2019,-0.92,-194.6,191.5,-9.7,143,2024,0.00,2.08,0.00,0.000,4,0.000,0.045,2077,1099,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2152,-0.95,-194.6,202.7,-9.0,149,2158,0.00,2.20,0.00,0.000,6,0.000,0.043,2078,2507,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2467,-0.98,-194.6,228.8,-8.5,165,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2507,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,-1.02,-194.6,254.4,-8.3,180,2775,0.10,2.22,0.00,0.000,4,0.107,0.045,2026,1089,3302,0,0,0,0,0,0,26.94,26.55,28.83
$GC,2837,-1.04,-194.6,261.5,-10.0,183,2843,0.10,2.22,0.00,0.000,6,0.151,0.044,2052,2506,3302,0,0,0,0,0,0,26.44,26.58,28.83
$GC,3158,-1.06,-194.6,293.0,-9.5,199,3163,0.00,2.22,0.00,0.000,4,0.000,0.047,2052,1091,3300,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3235,-1.09,-194.6,298.0,-8.1,202,3242,0.00,2.22,0.00,0.000,6,0.000,0.045,2052,2507,3300,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3541,-1.12,-194.6,325.0,-9.3,218,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2507,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3844,-1.15,-194.6,352.5,-8.9,233,3850,0.10,2.22,0.00,0.000,4,0.109,0.046,2009,1097,3296,0,0,0,0,0,0,26.94,26.53,28.83
$GC,3931,-1.15,-194.6,362.0,-11.0,237,3936,0.00,2.20,0.00,0.000,6,0.000,0.047,2009,2505,3296,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4249,-1.15,-194.6,397.4,-11.2,253,4255,0.00,2.22,-0.08,0.000,4,0.000,0.060,2008,1096,3318,0,0,0,0,0,0,28.83,26.51,25.87
$GC,4368,-1.15,-194.6,409.8,-11.8,258,4375,0.00,2.20,0.00,0.000,6,0.000,0.047,2009,2503,3318,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4673,-1.15,-194.6,445.8,-10.0,274,4678,0.00,2.22,0.00,0.000,4,0.000,0.050,2009,1098,3317,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4710,-1.15,-194.6,448.2,-10.0,275,4716,0.00,2.22,0.00,0.000,6,0.000,0.047,2009,2504,3317,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5016,-1.15,-194.6,477.6,-9.1,291,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2504,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-1.15,-194.6,508.6,-10.7,306,5323,0.00,2.25,0.00,0.000,4,0.000,0.050,2008,1090,3313,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5390,-1.15,-194.6,515.3,-10.4,309,5396,0.00,2.25,0.00,0.000,6,0.000,0.049,2008,2504,3313,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5704,-1.16,-194.6,546.3,-9.5,325,5710,0.00,2.25,0.00,0.000,4,0.000,0.050,2008,1091,3311,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5762,-1.16,-194.6,550.7,-9.6,327,5769,0.00,2.22,0.00,0.000,6,0.000,0.050,2009,2498,3311,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6068,-1.18,-194.6,580.1,-9.2,343,6073,0.00,2.22,0.00,0.000,4,0.000,0.050,2009,1100,3309,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6112,-1.19,-194.6,584.2,-9.5,345,6117,0.00,2.25,0.00,0.000,6,0.000,0.050,2009,2509,3309,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6446,-1.20,-194.6,615.8,-10.1,359,6453,0.00,2.25,0.00,0.000,4,0.000,0.050,2008,1098,3307,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6490,-1.22,-194.6,619.4,-10.2,360,6496,0.00,2.22,0.00,0.000,6,0.000,0.050,2009,2504,3307,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6816,-1.23,-194.6,652.1,-9.9,371,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2504,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7115,-1.25,-194.6,683.6,-10.4,381,7121,0.00,2.25,0.00,0.000,4,0.000,0.052,2010,1099,3303,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7198,-1.26,-194.6,690.6,-10.8,383,7204,0.00,2.22,0.00,0.000,6,0.000,0.050,2008,2498,3303,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7515,-1.28,-194.6,722.8,-9.9,394,7521,0.00,2.25,0.00,0.000,4,0.000,0.051,2008,1096,3232,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7573,-1.29,-194.6,726.4,-10.0,395,7580,0.00,2.25,0.00,0.000,6,0.000,0.050,2009,2506,3301,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7881,-1.31,-194.6,757.3,-8.7,406,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2506,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8180,-1.33,-194.6,780.0,-7.4,416,8182,0.10,0.00,0.00,0.000,6,0.112,0.000,1968,2506,3299,0,0,0,0,0,0,26.90,28.83,28.83
$GC,8479,-1.33,-194.6,809.5,-10.1,426,8484,0.00,2.25,0.00,0.000,4,0.000,0.054,1967,1097,3298,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8566,-1.33,-194.6,815.7,-9.9,428,8573,0.00,2.28,0.00,0.000,6,0.000,0.052,1968,2506,3298,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8872,-1.33,-194.6,847.1,-9.4,439,8877,0.00,2.28,0.00,0.000,4,0.000,0.053,1967,1096,3297,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8910,-1.33,-194.6,850.1,-9.5,440,8915,0.00,2.25,0.00,0.000,6,0.000,0.052,1967,2506,3296,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9239,-1.33,-194.6,881.3,-8.7,451,9245,0.00,2.30,0.00,0.000,4,0.000,0.057,1967,1096,3251,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9273,-1.33,-194.6,884.5,-8.7,452,9279,0.00,2.28,0.00,0.000,6,0.000,0.054,1967,2505,3294,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9609,-1.33,-194.6,910.7,-7.0,463,9614,0.00,2.25,0.00,0.000,4,0.000,0.054,1968,1099,3279,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9651,-1.33,-194.6,913.1,-6.9,464,9656,0.00,2.25,0.00,0.000,6,0.000,0.054,1967,2498,3293,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9976,-1.33,-194.6,935.8,-7.6,475,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2498,3292,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10152,begin apogee
$GC,10159,-0.22,0.0,952.0,-9.3,481,10325,0.77,0.00,157.30,1.276,6,0.110,0.000,2225,1705,2508,0,0,0,0,0,0,25.84,28.83,23.51
$STATE,10326,end apogee,CONTROL_FINISHED_OK
$STATE,10327,begin climb
$GC,10329,0.69,194.6,958.8,0.0,486,10510,0.57,2.58,169.65,1.232,4,0.055,0.056,2441,3111,1714,0,0,0,0,0,0,25.08,24.12,22.78
$GC,10610,0.69,247.3,946.9,7.6,496,10662,0.12,2.38,46.08,1.195,6,0.133,0.050,2417,1690,1500,0,0,0,0,0,0,25.26,25.37,23.45
$GC,10964,0.73,303.4,921.7,7.4,507,11016,0.00,2.40,46.85,1.209,4,0.000,0.057,2417,3114,1272,0,0,0,0,0,0,28.83,25.51,24.20
$GC,11078,0.75,360.6,914.8,7.4,510,11133,0.00,2.33,49.60,1.195,6,0.000,0.052,2417,1693,1039,0,0,0,0,0,0,28.83,25.94,24.04
$GC,11447,0.83,473.2,890.8,5.5,523,11550,0.12,2.50,94.53,1.209,4,0.086,0.059,2481,3115,572,0,0,0,0,0,0,26.51,25.20,23.99
$GC,11589,0.81,473.2,876.5,11.6,527,11595,0.12,2.38,0.00,0.000,6,0.134,0.052,2449,1696,574,0,0,0,0,0,0,25.56,25.63,28.83
$GC,11905,0.84,473.2,838.4,11.1,538,11910,0.00,2.25,0.00,0.000,4,0.000,0.065,2454,294,570,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11933,0.87,473.2,838.4,11.1,538,11939,0.00,2.28,0.00,0.000,6,0.000,0.049,2454,1712,570,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12240,0.89,473.2,800.5,10.9,549,12245,0.00,2.20,0.00,0.000,4,0.000,0.059,2454,3114,568,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12267,0.92,473.2,800.5,10.9,549,12273,0.00,2.28,0.00,0.000,6,0.000,0.053,2455,1693,567,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12573,0.95,473.2,765.7,10.4,560,12575,0.10,0.00,0.00,0.000,6,0.106,0.000,2508,1692,568,0,0,0,0,0,0,26.79,28.83,28.83
$GC,12873,0.92,473.2,714.6,17.9,570,12879,0.12,2.30,0.00,0.000,4,0.130,0.057,2465,3116,567,0,0,0,0,0,0,26.63,26.44,28.83
$GC,12923,0.89,473.2,708.7,17.8,571,12928,0.00,2.28,0.00,0.000,6,0.000,0.053,2468,1690,568,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13242,0.90,473.2,662.8,13.4,582,13247,0.00,2.22,0.00,0.000,4,0.000,0.063,2468,293,567,0,0,0,0,0,0,28.83,26.40,28.83
$GC,13280,0.92,473.2,658.1,13.5,583,13285,0.00,2.25,0.00,0.000,6,0.000,0.048,2468,1711,566,0,0,0,0,0,0,28.83,26.53,28.83
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$GC,15615,0.98,473.2,336.7,10.1,691,15620,0.00,2.20,0.00,0.000,4,0.000,0.057,2485,3110,566,0,0,0,0,0,0,28.83,26.35,28.83
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$STATE,18565,end climb,SURFACE_DEPTH_REACHED
$STATE,18565,begin surface coast
$FINISH,1.6,1.003455
$STATE,18586,end surface coast,CONTROL_FINISHED_OK
$STATE,18587,begin surface
$SM_CCo,18665,0.00,0.000,0,0,321,536.72
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$IRIDIUM_FIX,1837.32,12201.05,311212,222244
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.75
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.90
$XPDR_PINGS,12
$SC_FREEKB,3909152
$24V_AH,22.8,57.134
$10V_AH,10.0,33.717
$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,19.300,177.675,611.750,0.000,0.000,0.000,0.000,272.675,3.000,0.000,12.775,2785.851,12760.356,772.210,2391.998,405.115,0.000,2234.110,0.000,2041.550,0.000,0.538,0.000
$DEVICE_MAMPS,253.215,65.025,1276.020,0.000,0.000,0.000,0.000,126.990,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.149,0.000,0.000,0.000
$MEM,306156
$DATA_FILE_SIZE,33409,876
$CAP_FILE_SIZE,211832,0
$CFSIZE,260034560,222572544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,288.5,1
$GPS,010113,085536,1844.252,12200.745,38,1.7,38,-2.1