version: 66.11
glider: 124
mission: 14
dive: 291
start: 1 1 113 9 3 43
data:
$ID,124
$MISSION,14
$DIVE,291
$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,-304007.09
$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,25
$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
$GPS1,010113,085536,1844.252,12200.745,38,1.7,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-58.2
$GPS2,010113,090313,1844.286,12200.682,15,1.6,33,-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,88.9,9125,-14.2,-9.314,-18.51
$D_GRID,1024
$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,17,begin dive
$GC,19,-0.69,-194.6,0.0,0.0,0,104,0.00,0.00,-82.68,0.000,2,0.000,0.000,37,2507,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.69,-194.6,3.1,-2.9,14,186,9.27,2.25,-59.72,0.000,4,0.259,0.070,2118,1097,3303,0,0,0,0,0,0,25.55,25.70,26.91
$GC,256,-0.69,-194.6,16.4,-13.0,40,262,0.00,2.22,0.00,0.000,6,0.000,0.045,2118,2505,3303,0,0,0,0,0,0,28.83,26.34,28.83
$GC,565,-0.69,-194.6,59.5,-14.7,74,570,0.00,2.20,0.00,0.000,4,0.000,0.046,2119,1092,3303,0,0,0,0,0,0,28.83,26.43,28.83
$GC,591,-0.69,-194.6,63.0,-15.2,75,596,0.00,2.20,0.00,0.000,6,0.000,0.045,2119,2504,3304,0,0,0,0,0,0,28.83,26.45,28.83
$GC,910,-0.74,-194.6,96.8,-7.7,91,916,0.00,2.15,0.00,0.000,4,0.000,0.058,2118,3882,3304,0,0,0,0,0,0,28.83,26.39,28.83
$GC,974,-0.80,-194.6,101.3,-7.0,94,980,0.00,2.10,0.00,0.000,6,0.000,0.038,2119,2501,3304,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1298,-0.86,-194.6,124.2,-7.3,110,1304,0.12,2.12,0.00,0.000,4,0.094,0.044,2056,1085,3305,0,0,0,0,0,0,26.86,26.53,28.83
$GC,1476,-0.87,-194.6,138.6,-9.4,118,1483,0.12,2.22,0.00,0.000,6,0.135,0.044,2092,2507,3305,0,0,0,0,0,0,26.40,26.55,28.83
$GC,1783,-0.92,-194.6,164.0,-6.9,134,1789,0.00,2.22,0.00,0.000,4,0.000,0.045,2092,1079,3305,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1816,-0.96,-194.6,165.8,-6.7,135,1823,0.10,2.20,0.00,0.000,6,0.109,0.044,2042,2500,3305,0,0,0,0,0,0,26.53,26.55,28.83
$GC,2132,-0.96,-194.6,194.5,-8.7,151,2137,0.10,2.20,0.00,0.000,4,0.146,0.046,2070,1086,3305,0,0,0,0,0,0,26.80,26.53,28.83
$GC,2165,-0.98,-194.6,196.8,-8.8,152,2170,0.00,2.20,0.00,0.000,6,0.000,0.045,2070,2502,3305,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2479,-1.01,-194.6,223.1,-9.1,168,2485,0.00,2.22,0.00,0.000,4,0.000,0.047,2070,1079,3304,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2594,-1.04,-194.6,232.6,-8.8,173,2600,0.00,2.25,0.00,0.000,6,0.000,0.046,2069,2510,3303,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2908,-1.08,-194.6,256.9,-7.9,189,2914,0.12,2.20,0.00,0.000,4,0.095,0.045,2010,1093,3301,0,0,0,0,0,0,26.89,26.52,28.83
$GC,2946,-1.11,-194.6,259.1,-8.3,190,2953,0.10,2.22,0.00,0.000,6,0.165,0.046,2035,2506,3300,0,0,0,0,0,0,26.39,26.52,28.83
$GC,3252,-1.12,-194.6,290.7,-9.7,206,3257,0.00,2.22,0.00,0.000,4,0.000,0.047,2036,1091,3299,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3310,-1.13,-194.6,295.1,-9.9,208,3316,0.00,2.22,0.00,0.000,6,0.000,0.046,2037,2504,3299,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3616,-1.14,-194.6,324.4,-9.0,224,3621,0.00,2.25,0.00,0.000,4,0.000,0.048,2036,1080,3297,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3688,-1.15,-194.6,330.7,-9.7,227,3693,0.00,2.22,0.00,0.000,6,0.000,0.047,2036,2505,3297,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4002,-1.17,-194.6,363.6,-11.2,243,4008,0.00,2.25,0.00,0.000,4,0.000,0.049,2036,1082,3296,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4091,-1.19,-194.6,372.9,-10.9,247,4096,0.00,2.25,0.00,0.000,6,0.000,0.047,2036,2506,3295,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4409,-1.21,-194.6,402.1,-7.1,263,4415,0.10,2.25,0.00,0.000,4,0.108,0.047,1995,1082,3293,0,0,0,0,0,0,26.92,26.48,28.83
$GC,4510,-1.21,-194.6,409.3,-8.7,267,4517,0.00,2.22,-0.08,0.000,6,0.000,0.047,1994,2500,3313,0,0,0,0,0,0,28.83,26.49,25.37
$GC,4813,-1.21,-194.6,440.2,-10.8,283,4818,0.00,2.25,0.00,0.000,4,0.000,0.050,1994,1084,3313,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4865,-1.21,-194.6,444.9,-11.0,285,4871,0.00,2.25,0.00,0.000,6,0.000,0.048,1994,2504,3312,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5179,-1.21,-194.6,481.0,-10.7,301,5185,0.00,2.17,0.00,0.000,4,0.000,0.063,1994,3878,3311,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5206,-1.21,-194.6,483.3,-10.3,302,5211,0.00,2.12,0.00,0.000,6,0.000,0.043,1994,2503,3311,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5523,-1.21,-194.6,513.4,-9.5,318,5529,0.00,2.15,0.00,0.000,4,0.000,0.048,1994,1090,3309,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5638,-1.21,-194.6,523.2,-9.6,323,5643,0.00,2.22,0.00,0.000,6,0.000,0.047,1994,2504,3308,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5950,-1.21,-194.6,557.3,-11.2,339,5956,0.00,2.28,0.00,0.000,4,0.000,0.050,1993,1077,3307,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6014,-1.21,-194.6,564.6,-11.5,342,6019,0.00,2.25,0.00,0.000,6,0.000,0.050,1994,2503,3307,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6337,-1.21,-194.6,600.0,-10.4,358,6342,0.00,2.28,0.00,0.000,4,0.000,0.052,1994,1081,3305,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6430,-1.21,-194.6,609.4,-10.1,362,6436,0.00,2.28,0.00,0.000,6,0.000,0.050,1994,2503,3305,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6765,-1.21,-194.6,645.8,-11.4,373,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2503,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7064,-1.21,-194.6,675.3,-9.6,383,7070,0.00,2.25,0.00,0.000,4,0.000,0.054,1994,1093,3301,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7107,-1.21,-194.6,678.9,-9.9,384,7112,0.00,2.25,0.00,0.000,6,0.000,0.052,1994,2504,3301,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7432,-1.21,-194.6,708.9,-9.0,395,7437,0.00,2.28,0.00,0.000,4,0.000,0.053,1994,1091,3300,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7480,-1.21,-194.6,712.3,-9.3,396,7486,0.00,2.28,0.00,0.000,6,0.000,0.051,1994,2506,3300,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7798,-1.21,-194.6,745.7,-10.1,407,7803,0.00,2.28,0.00,0.000,4,0.000,0.052,1994,1092,3298,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7825,-1.21,-194.6,745.7,-10.1,407,7832,0.00,2.25,0.00,0.000,6,0.000,0.051,1994,2505,3298,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8132,-1.21,-194.6,775.3,-9.1,418,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2505,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,-1.21,-194.6,803.6,-9.3,428,8437,0.00,2.25,0.00,0.000,4,0.000,0.053,1994,1093,3296,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8516,-1.21,-194.6,809.4,-8.9,430,8522,0.00,2.28,0.00,0.000,6,0.000,0.051,1993,2506,3296,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8829,-1.21,-194.6,841.7,-9.4,441,8835,0.00,2.28,0.00,0.000,4,0.000,0.053,1992,1079,3294,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8864,-1.21,-194.6,844.6,-9.1,442,8869,0.00,2.28,0.00,0.000,6,0.000,0.052,1997,2506,3294,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9199,-1.22,-194.6,865.6,-4.3,453,9204,0.00,2.28,0.00,0.000,4,0.000,0.052,1994,1092,3293,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9267,-1.23,-194.6,868.4,-4.0,455,9272,0.00,2.28,0.00,0.000,6,0.000,0.052,1994,2501,3292,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9597,-1.24,-194.6,886.5,-6.3,466,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2501,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9896,-1.26,-194.6,914.2,-10.5,476,9902,0.00,2.28,0.00,0.000,4,0.000,0.052,1994,1092,3289,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9919,-1.27,-194.6,914.2,-10.5,476,9925,0.00,2.28,0.00,0.000,6,0.000,0.053,1994,2498,3290,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10235,-1.29,-194.6,947.0,-9.2,487,10241,0.00,2.28,0.00,0.000,4,0.000,0.054,1994,1093,3289,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,10267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10267,begin apogee
$GC,10274,-0.22,0.0,950.2,-9.0,488,10439,0.70,0.00,156.80,1.270,6,0.103,0.000,2229,1713,2508,0,0,0,0,0,0,25.93,28.83,23.52
$STATE,10440,end apogee,CONTROL_FINISHED_OK
$STATE,10440,begin climb
$GC,10443,0.69,194.6,957.0,0.0,493,10625,0.55,2.45,169.45,1.222,4,0.057,0.056,2433,3095,1714,0,0,0,0,0,0,25.06,24.12,22.75
$GC,10663,0.69,245.2,947.6,7.6,501,10717,0.00,2.38,45.45,1.177,6,0.000,0.050,2441,1706,1509,0,0,0,0,0,0,28.83,24.81,22.94
$GC,11024,0.69,245.2,911.5,9.6,513,11029,0.00,2.30,0.00,0.000,4,0.000,0.057,2441,3113,1497,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11051,0.69,245.2,911.5,9.6,513,11058,0.10,2.30,0.00,0.000,6,0.145,0.051,2422,1688,1497,0,0,0,0,0,0,26.08,26.17,28.83
$GC,11360,0.73,296.5,884.7,7.6,524,11411,0.00,2.42,42.38,1.194,4,0.000,0.058,2422,3100,1299,0,0,0,0,0,0,28.83,25.70,24.32
$GC,11472,0.76,345.0,877.6,7.7,527,11523,0.00,2.28,42.28,1.178,6,0.000,0.050,2428,1698,1101,0,0,0,0,0,0,28.83,26.01,24.16
$GC,11841,0.82,422.7,848.4,6.7,540,11915,0.10,2.42,65.22,1.181,4,0.101,0.058,2478,3096,771,0,0,0,0,0,0,26.56,25.44,24.18
$GC,11964,0.80,422.7,836.0,10.0,544,11971,0.15,2.30,0.00,0.000,6,0.125,0.050,2440,1696,781,0,0,0,0,0,0,25.77,25.86,28.83
$GC,12300,0.88,529.6,813.9,5.7,555,12392,0.10,0.00,89.85,1.165,6,0.104,0.000,2487,1697,349,0,0,0,0,0,0,26.60,28.83,24.08
$GC,12690,0.87,529.6,770.2,13.4,568,12692,0.10,0.00,0.00,0.000,6,0.135,0.000,2458,1695,344,0,0,0,0,0,0,26.41,28.83,28.83
$GC,12990,0.91,529.6,739.6,10.1,578,12995,0.00,2.30,0.00,0.000,4,0.000,0.057,2457,3103,342,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,18590,end climb,SURFACE_DEPTH_REACHED
$STATE,18590,begin surface coast
$FINISH,1.9,1.021736
$STATE,18613,end surface coast,CONTROL_FINISHED_OK
$STATE,18613,begin surface
$SM_CCo,18691,0.00,0.000,0,0,242,556.10
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$TT8_MAMPS,0.028462,0.028462
$HUMID,65.39
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.30
$XPDR_PINGS,11
$SC_FREEKB,3908768
$24V_AH,22.7,57.356
$10V_AH,10.0,33.802
$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,19.950,170.975,633.625,0.000,0.000,0.000,0.000,252.625,2.750,0.000,34.063,2749.314,12843.621,808.093,2350.077,390.441,0.000,2224.323,0.000,2006.612,0.000,0.535,0.000
$DEVICE_MAMPS,259.335,70.380,1269.900,0.000,0.000,0.000,0.000,126.990,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.176,0.000,0.000,0.000
$MEM,306224
$DATA_FILE_SIZE,33367,877
$CAP_FILE_SIZE,209291,0
$CFSIZE,260034560,222482432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,259.4,1
$GPS,010113,141635,1844.603,12202.533,41,1.0,41,-2.1