version: 66.11
glider: 124
mission: 14
dive: 362
start: 1 17 113 13 41 58
data:
$ID,124
$MISSION,14
$DIVE,362
$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,-304124.53
$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,23
$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
$GPS1,170113,133336,1845.007,12251.644,35,1.0,35,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-57.4
$GPS2,170113,134106,1845.139,12251.531,12,1.4,12,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M5A
$TGT_LATLONG,1845.000,12242.270
$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,231.2,16245,-14.2,-9.314,-18.51
$D_GRID,3989
$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,18,begin dive
$GC,20,-0.69,-194.6,0.0,0.0,0,117,0.00,0.00,-93.40,0.000,2,0.000,0.000,38,2505,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.69,-194.6,3.1,-2.9,16,177,9.32,2.22,-37.17,0.000,4,0.255,0.057,2121,1089,3304,0,0,0,0,0,0,25.37,26.35,26.98
$GC,319,-0.69,-194.6,27.0,-12.5,51,325,0.00,2.22,0.00,0.000,6,0.000,0.044,2121,2511,3304,0,0,0,0,0,0,28.83,26.45,28.83
$GC,633,-0.69,-194.6,67.0,-14.8,76,638,0.00,2.22,0.00,0.000,4,0.000,0.044,2121,1077,3304,0,0,0,0,0,0,28.83,26.52,28.83
$GC,671,-0.69,-194.6,70.2,-14.6,77,678,0.00,2.22,0.00,0.000,6,0.000,0.043,2121,2506,3304,0,0,0,0,0,0,28.83,26.53,28.83
$GC,978,-0.69,-194.6,119.9,-14.9,93,984,0.00,2.22,0.00,0.000,4,0.000,0.044,2121,1076,3304,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1007,-0.69,-194.6,123.4,-14.3,94,1012,0.00,2.20,0.00,0.000,6,0.000,0.044,2121,2502,3304,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1325,-0.72,-194.6,157.1,-9.5,110,1330,0.00,2.17,0.00,0.000,4,0.000,0.044,2121,1087,3305,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1379,-0.75,-194.6,161.5,-9.8,112,1384,0.00,2.17,0.00,0.000,6,0.000,0.043,2121,2503,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1693,-0.80,-194.6,193.0,-9.2,128,1698,0.00,2.17,0.00,0.000,4,0.000,0.044,2121,1089,3305,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1839,-0.85,-194.6,206.8,-9.3,135,1844,0.12,2.20,0.00,0.000,6,0.097,0.043,2067,2507,3305,0,0,0,0,0,0,26.59,26.60,28.83
$GC,2164,-0.86,-194.6,239.9,-10.2,151,2169,0.00,2.20,0.00,0.000,4,0.000,0.044,2067,1089,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2221,-0.87,-194.6,244.2,-9.8,153,2229,0.00,2.20,0.00,0.000,6,0.000,0.044,2067,2505,3305,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2528,-0.90,-194.6,279.2,-12.2,169,2535,0.00,2.20,0.00,0.000,4,0.000,0.045,2067,1079,3304,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2649,-0.92,-194.6,293.4,-13.3,174,2656,0.00,2.20,0.00,0.000,6,0.000,0.044,2067,2500,3304,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2954,-0.95,-194.6,327.2,-8.7,190,2959,0.00,2.17,0.00,0.000,4,0.000,0.047,2066,1087,3304,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3037,-0.99,-194.6,333.8,-8.0,194,3043,0.00,2.20,0.00,0.000,6,0.000,0.044,2067,2501,3303,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3361,-1.02,-194.6,350.6,-4.6,210,3366,0.00,2.20,0.00,0.000,4,0.000,0.047,2067,1081,3300,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3456,-1.06,-194.6,355.2,-5.5,214,3462,0.00,2.22,0.00,0.000,6,0.000,0.045,2067,2501,3299,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3771,-1.10,-194.6,375.6,-6.8,230,3777,0.12,2.20,0.00,0.000,4,0.092,0.046,2005,1087,3297,0,0,0,0,0,0,26.88,26.56,28.83
$GC,3872,-1.10,-194.6,384.2,-10.2,234,3880,0.12,2.22,0.00,0.000,6,0.142,0.046,2038,2502,3297,0,0,0,0,0,0,26.42,26.56,28.83
$GC,4176,-1.12,-194.6,413.7,-9.6,250,4182,0.00,2.17,0.00,0.000,4,0.000,0.060,2038,3891,3263,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4226,-1.15,-194.6,418.1,-10.0,252,4231,0.00,2.15,0.00,0.000,6,0.000,0.041,2038,2499,3295,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4545,-1.18,-194.6,449.9,-9.0,268,4551,0.00,2.17,-0.08,0.000,4,0.000,0.060,2038,1092,3318,0,0,0,0,0,0,28.83,26.53,25.84
$GC,4731,-1.20,-194.6,463.3,-6.9,277,4736,0.10,2.22,0.00,0.000,6,0.110,0.047,1997,2501,3318,0,0,0,0,0,0,26.53,26.53,28.83
$GC,5055,-1.20,-194.6,493.5,-9.7,293,5060,0.00,2.22,0.00,0.000,4,0.000,0.050,1997,1081,3315,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5142,-1.20,-194.6,501.4,-9.5,297,5147,0.00,2.25,0.00,0.000,6,0.000,0.049,1997,2498,3315,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5461,-1.20,-194.6,533.3,-10.5,313,5466,0.00,2.22,0.00,0.000,4,0.000,0.050,1997,1084,3312,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5505,-1.20,-194.6,538.1,-10.7,315,5510,0.00,2.25,0.00,0.000,6,0.000,0.049,1997,2512,3310,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5828,-1.20,-194.6,572.1,-10.4,331,5834,0.00,2.25,0.00,0.000,4,0.000,0.050,1997,1079,3310,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5926,-1.20,-194.6,581.2,-10.9,335,5932,0.00,2.28,0.00,0.000,6,0.000,0.050,1997,2506,3309,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6236,-1.20,-194.6,610.7,-8.8,349,6241,0.00,2.25,0.00,0.000,4,0.000,0.051,1996,1093,3266,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6303,-1.20,-194.6,616.6,-8.6,351,6308,0.00,2.25,0.00,0.000,6,0.000,0.049,1997,2505,3306,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6635,-1.20,-194.6,643.7,-7.8,362,6640,0.00,2.28,0.00,0.000,4,0.000,0.052,1997,1082,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6763,-1.20,-194.6,654.0,-8.2,366,6769,0.00,2.25,0.00,0.000,6,0.000,0.051,1997,2501,3303,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7095,-1.20,-194.6,679.2,-7.4,377,7100,0.00,2.28,0.00,0.000,4,0.000,0.052,1996,1079,3249,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7139,-1.20,-194.6,682.1,-7.4,378,7144,0.00,2.28,0.00,0.000,6,0.000,0.052,1997,2500,3283,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7465,-1.22,-194.6,704.6,-6.3,389,7470,0.00,2.25,0.00,0.000,4,0.000,0.052,1996,1089,3249,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7548,-1.23,-194.6,708.8,-6.3,391,7553,0.00,2.28,0.00,0.000,6,0.000,0.053,1997,2505,3298,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7865,-1.25,-194.6,730.9,-6.8,402,7870,0.00,2.25,0.00,0.000,4,0.000,0.053,1997,1091,3237,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7929,-1.26,-194.6,735.7,-7.1,404,7934,0.00,2.28,0.00,0.000,6,0.000,0.053,1997,2507,3297,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8265,-1.28,-194.6,763.6,-9.0,415,8270,0.00,2.28,0.00,0.000,4,0.000,0.053,1997,1092,3236,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8348,-1.29,-194.6,770.4,-9.7,417,8353,0.00,2.28,0.00,0.000,6,0.000,0.052,1997,2506,3271,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8662,-1.31,-194.6,805.6,-10.8,428,8667,0.00,2.28,0.00,0.000,4,0.000,0.053,1997,1093,3253,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8696,-1.33,-194.6,809.5,-10.9,429,8701,0.00,2.28,0.00,0.000,6,0.000,0.052,1996,2506,3293,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9032,-1.35,-194.6,847.2,-11.6,440,9037,0.00,2.28,0.00,0.000,4,0.000,0.055,1996,1086,3250,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9130,-1.36,-194.6,858.6,-11.9,443,9136,0.00,2.30,0.00,0.000,6,0.000,0.054,1997,2507,3203,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9462,-1.38,-194.6,892.4,-9.5,454,9467,0.00,2.28,0.00,0.000,4,0.000,0.054,1996,1084,3248,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9587,-1.40,-194.6,904.4,-9.6,458,9593,0.10,2.30,0.00,0.000,6,0.113,0.054,1955,2506,3259,0,0,0,0,0,0,26.32,26.31,28.83
$GC,9923,-1.40,-194.6,939.2,-10.3,469,9929,0.00,2.30,0.00,0.000,4,0.000,0.055,1955,1085,3289,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10010,-1.40,-194.6,946.0,-10.2,471,10018,0.00,2.30,0.00,0.000,6,0.000,0.055,1954,2501,3288,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10044,begin apogee
$GC,10052,-0.22,0.0,952.2,-10.3,473,10221,0.82,0.00,158.90,1.268,6,0.113,0.000,2226,1692,2509,0,0,0,0,0,0,25.89,28.83,23.36
$STATE,10223,end apogee,CONTROL_FINISHED_OK
$STATE,10223,begin climb
$GC,10226,0.69,194.6,958.9,0.0,478,10401,0.57,0.00,168.45,1.232,6,0.059,0.000,2440,1691,1715,0,0,0,0,0,0,25.29,28.83,22.88
$GC,10679,0.70,208.0,930.0,8.9,494,10698,0.00,2.40,11.40,1.078,4,0.000,0.059,2441,3117,1660,0,0,0,0,0,0,28.83,26.10,24.25
$GC,10774,0.69,211.1,921.4,9.2,497,10784,0.00,2.30,3.83,0.714,6,0.000,0.051,2441,1698,1648,0,0,0,0,0,0,28.83,26.24,24.10
$GC,11108,0.70,247.2,892.9,8.1,508,11143,0.00,0.00,32.60,1.190,6,0.000,0.000,2441,1698,1501,0,0,0,0,0,0,28.83,28.83,24.20
$GC,11440,0.72,288.7,866.5,7.9,519,11477,0.00,0.00,35.72,1.183,6,0.000,0.000,2441,1697,1333,0,0,0,0,0,0,28.83,28.83,24.16
$GC,11769,0.76,356.6,842.0,7.0,530,11830,0.00,0.00,58.58,1.181,6,0.000,0.000,2441,1698,1055,0,0,0,0,0,0,28.83,28.83,23.99
$GC,12130,0.79,376.0,813.2,8.7,542,12153,0.00,2.33,16.85,1.098,4,0.000,0.057,2441,3114,975,0,0,0,0,0,0,28.83,26.10,24.39
$GC,12227,0.81,380.8,804.4,9.2,545,12241,0.00,2.30,5.57,0.859,6,0.000,0.053,2441,1705,955,0,0,0,0,0,0,28.83,26.22,24.28
$GC,12555,0.86,411.6,776.3,8.3,556,12588,0.00,2.35,27.12,1.121,4,0.000,0.059,2442,3111,831,0,0,0,0,0,0,28.83,25.97,24.36
$GC,12612,0.89,437.6,773.7,8.4,557,12642,0.10,2.33,23.45,1.096,6,0.103,0.053,2488,1695,724,0,0,0,0,0,0,26.08,26.06,24.16
$GC,12950,0.89,437.6,731.9,11.8,569,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1695,719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13250,0.89,437.6,695.4,12.5,579,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1695,717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13550,0.89,437.6,656.7,13.0,589,13555,0.00,2.30,0.00,0.000,4,0.000,0.060,2488,3117,709,0,0,0,0,0,0,28.83,26.39,28.83
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$GC,16098,1.07,649.3,331.9,16.5,706,16103,0.00,2.22,0.00,0.000,4,0.000,0.061,2512,293,241,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,18977,end climb,SURFACE_DEPTH_REACHED
$STATE,18977,begin surface coast
$FINISH,1.3,1.009600
$STATE,18999,end surface coast,CONTROL_FINISHED_OK
$STATE,18999,begin surface
$SM_CCo,19077,0.00,0.000,0,0,240,556.59
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$IRIDIUM_FIX,1839.59,12255.33,170113,080842
$TT8_MAMPS,0.027713,0.027713
$HUMID,63.93
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.60
$XPDR_PINGS,10
$SC_FREEKB,3881504
$24V_AH,22.9,72.600
$10V_AH,9.8,40.548
$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,19.625,186.725,640.100,0.000,0.000,0.000,0.000,252.650,2.500,0.000,13.668,2962.207,12759.269,821.413,2502.442,496.158,0.000,2319.007,0.000,2175.385,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,61.965,1267.605,0.000,0.000,0.000,0.000,126.990,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19025.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.520,0.000,0.000,0.000
$MEM,307092
$DATA_FILE_SIZE,33393,884
$CAP_FILE_SIZE,221181,0
$CFSIZE,260034560,215678976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.327,351.9,1
$GPS,170113,190106,1846.034,12248.838,31,1.3,31,-2.1