version: 66.11
glider: 124
mission: 14
dive: 409
start: 1 28 113 5 0 26
data:
$ID,124
$MISSION,14
$DIVE,409
$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,-304198.81
$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,73
$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
$GPS1,280113,045130,1852.143,12216.578,41,1.1,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-57.7
$GPS2,280113,045954,1852.404,12216.360,10,1.1,15,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M3
$TGT_LATLONG,1845.000,12224.280
$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,135.9,19517,-14.2,-9.314,-18.51
$D_GRID,1474
$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,-194.6,0.0,0.0,0,105,0.00,0.00,-82.47,0.000,2,0.000,0.000,37,2451,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.69,-194.6,3.0,-2.8,14,175,9.35,2.15,-50.83,0.000,4,0.255,0.058,2119,1122,3304,0,0,0,0,0,0,25.15,26.32,26.96
$GC,261,-0.68,-194.6,20.0,-15.2,41,269,0.00,2.17,0.00,0.000,6,0.000,0.044,2119,2506,3304,0,0,0,0,0,0,28.83,26.37,28.83
$GC,588,-0.66,-194.6,67.3,-14.1,70,593,0.00,2.15,0.00,0.000,4,0.000,0.044,2119,1126,3304,0,0,0,0,0,0,28.83,26.46,28.83
$GC,621,-0.65,-194.6,70.4,-14.1,71,626,0.00,2.17,0.00,0.000,6,0.000,0.045,2119,2510,3304,0,0,0,0,0,0,28.83,26.45,28.83
$GC,935,-0.66,-194.6,109.0,-10.8,87,942,0.00,2.15,0.00,0.000,4,0.000,0.043,2119,1125,3304,0,0,0,0,0,0,28.83,26.49,28.83
$GC,964,-0.68,-194.6,111.6,-10.4,88,970,0.00,2.15,0.00,0.000,6,0.000,0.043,2119,2511,3304,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1283,-0.73,-194.6,139.4,-7.8,104,1288,0.00,2.15,0.00,0.000,4,0.000,0.043,2119,1123,3304,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1328,-0.79,-194.6,143.4,-8.7,106,1333,0.00,2.15,0.00,0.000,6,0.000,0.043,2119,2506,3304,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1652,-0.85,-194.6,164.9,-6.7,122,1658,0.12,2.12,0.00,0.000,4,0.090,0.042,2055,1125,3304,0,0,0,0,0,0,26.85,26.52,28.83
$GC,1743,-0.86,-194.6,173.7,-10.6,126,1749,0.12,2.15,0.00,0.000,6,0.137,0.044,2091,2505,3305,0,0,0,0,0,0,26.38,26.53,28.83
$GC,2063,-0.91,-194.6,202.9,-8.5,142,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2505,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-0.97,-194.6,223.6,-6.3,157,2371,0.10,2.15,0.00,0.000,4,0.106,0.044,2040,1128,3304,0,0,0,0,0,0,26.89,26.51,28.83
$GC,2440,-0.99,-194.6,229.1,-7.9,160,2445,0.00,2.15,0.00,0.000,6,0.000,0.044,2039,2504,3303,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2754,-1.01,-194.6,256.5,-7.9,176,2759,0.00,2.15,0.00,0.000,4,0.000,0.045,2039,1129,3301,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2781,-1.03,-194.6,258.7,-8.3,177,2788,0.00,2.15,0.00,0.000,6,0.000,0.044,2039,2506,3301,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3102,-1.05,-194.6,287.1,-9.3,193,3107,0.00,2.17,0.00,0.000,4,0.000,0.046,2039,1120,3299,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3150,-1.07,-194.6,291.3,-9.3,195,3155,0.00,2.17,0.00,0.000,6,0.000,0.046,2038,2501,3298,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3469,-1.09,-194.6,320.8,-8.9,211,3474,0.00,2.17,0.00,0.000,4,0.000,0.060,2039,3886,3296,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3518,-1.12,-194.6,324.3,-8.4,213,3523,0.00,2.10,0.00,0.000,6,0.000,0.040,2039,2528,3296,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3837,-1.14,-194.6,347.4,-6.6,229,3843,0.00,2.22,-0.08,0.000,4,0.000,0.058,2039,1086,3316,0,0,0,0,0,0,28.83,26.48,25.86
$GC,3992,-1.17,-194.6,357.4,-6.9,236,3997,0.00,2.22,0.00,0.000,6,0.000,0.046,2039,2508,3316,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4307,-1.20,-194.6,380.4,-7.6,252,4313,0.10,2.22,0.00,0.000,4,0.112,0.046,1996,1088,3314,0,0,0,0,0,0,26.87,26.46,28.83
$GC,4420,-1.20,-194.6,391.7,-10.9,257,4426,0.00,2.25,-0.15,0.000,6,0.000,0.047,1996,2507,3280,0,0,0,0,0,0,28.83,26.48,25.96
$GC,4734,-1.20,-194.6,427.1,-11.2,273,4739,0.00,2.22,0.00,0.000,4,0.000,0.049,1996,1090,3353,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4841,-1.20,-194.6,438.5,-10.9,278,4846,0.00,2.25,0.00,0.000,6,0.000,0.048,1996,2506,3345,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5160,-1.20,-194.6,469.0,-9.3,294,5165,0.00,2.25,0.00,0.000,4,0.000,0.050,1996,1092,3349,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5184,-1.20,-194.6,471.3,-9.5,295,5189,0.00,2.25,0.00,0.000,6,0.000,0.049,1996,2506,3349,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5507,-1.20,-194.6,500.7,-9.1,311,5513,0.00,2.25,0.00,0.000,4,0.000,0.050,1996,1095,3347,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5585,-1.20,-194.6,506.9,-9.6,314,5592,0.00,2.22,0.00,0.000,6,0.000,0.050,1996,2500,3294,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5891,-1.20,-194.6,535.1,-8.4,330,5896,0.00,2.22,0.00,0.000,4,0.000,0.050,1996,1083,3344,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5978,-1.20,-194.6,541.6,-7.8,334,5984,0.00,2.28,0.00,0.000,6,0.000,0.050,1996,2506,3344,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6298,-1.21,-194.6,564.1,-6.5,350,6303,0.00,2.22,0.00,0.000,4,0.000,0.051,1996,1097,3278,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6351,-1.22,-194.6,567.1,-6.7,352,6357,0.00,2.25,0.00,0.000,6,0.000,0.050,1996,2502,3338,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6666,-1.23,-194.6,590.2,-7.4,368,6671,0.00,2.25,0.00,0.000,4,0.000,0.052,1996,1098,3331,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6713,-1.24,-194.6,593.3,-7.3,370,6719,0.00,2.25,0.00,0.000,6,0.000,0.051,1996,2499,3273,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7026,-1.25,-194.6,617.5,-8.1,382,7032,0.00,2.25,0.00,0.000,4,0.000,0.053,1996,1086,3290,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7116,-1.27,-194.6,623.2,-8.2,384,7123,0.00,2.30,0.00,0.000,6,0.000,0.053,1996,2510,3272,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7422,-1.28,-194.6,651.9,-9.0,395,7428,0.00,2.25,0.00,0.000,4,0.000,0.053,1996,1097,3336,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7481,-1.30,-194.6,655.2,-9.0,396,7488,0.00,2.25,0.00,0.000,6,0.000,0.053,1996,2504,3336,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7790,-1.31,-194.6,681.7,-7.8,407,7795,0.00,2.28,0.00,0.000,4,0.000,0.054,1996,1090,3335,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7932,-1.33,-194.6,689.2,-5.8,411,7937,0.00,2.28,0.00,0.000,6,0.000,0.053,1996,2504,3334,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8253,-1.34,-194.6,708.8,-5.7,422,8258,0.00,2.28,0.00,0.000,4,0.000,0.053,1996,1096,3333,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8337,-1.36,-194.6,713.5,-6.5,424,8342,0.00,2.28,0.00,0.000,6,0.000,0.053,1996,2504,3286,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8651,-1.38,-194.6,744.1,-10.2,435,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2504,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8952,-1.40,-194.6,778.4,-11.6,445,8958,0.10,2.25,0.00,0.000,4,0.112,0.052,1954,1098,3261,0,0,0,0,0,0,26.84,26.25,28.83
$GC,9111,-1.38,-194.6,800.9,-14.6,450,9117,0.00,2.28,0.00,0.000,6,0.000,0.053,1954,2505,3329,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9442,-1.38,-194.6,844.5,-12.6,461,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2505,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9739,-1.38,-194.6,880.4,-11.7,471,9746,0.00,2.28,0.00,0.000,4,0.000,0.054,1954,1093,3327,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9813,-1.38,-194.6,887.9,-11.6,473,9819,0.00,2.30,0.00,0.000,6,0.000,0.054,1954,2507,3327,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10138,-1.38,-194.6,924.9,-10.7,484,10145,0.00,2.28,0.00,0.000,4,0.000,0.054,1954,1096,3285,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10260,-1.38,-194.6,934.8,-10.4,487,10266,0.00,2.30,0.00,0.000,6,0.000,0.054,1954,2508,3321,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10411,begin apogee
$GC,10419,-0.22,0.0,952.1,-9.7,493,10565,0.82,0.00,134.60,1.263,6,0.109,0.000,2226,1696,2427,0,0,0,0,0,0,25.79,28.83,23.28
$STATE,10567,end apogee,CONTROL_FINISHED_OK
$STATE,10567,begin climb
$GC,10570,0.69,194.6,958.3,0.0,498,10782,0.55,2.55,201.52,1.229,4,0.055,0.056,2437,3117,1714,0,0,0,0,0,0,25.44,24.57,22.87
$GC,10872,0.71,244.8,947.5,7.6,508,10921,0.00,2.35,43.60,1.186,6,0.000,0.050,2441,1698,1511,0,0,0,0,0,0,28.83,25.80,23.70
$GC,11223,0.72,269.1,917.1,8.5,519,11251,0.00,2.35,20.67,1.145,4,0.000,0.056,2441,3120,1410,0,0,0,0,0,0,28.83,25.98,24.17
$GC,11285,0.74,298.9,912.1,8.3,521,11319,0.00,2.33,26.73,1.156,6,0.000,0.052,2448,1697,1289,0,0,0,0,0,0,28.83,26.11,23.99
$GC,11647,0.74,298.9,879.5,9.6,533,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1697,1282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11948,0.75,298.9,850.4,9.8,543,11953,0.00,2.30,0.00,0.000,4,0.000,0.058,2448,3114,1280,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11985,0.75,298.9,846.7,10.0,544,11991,0.00,2.28,0.00,0.000,6,0.000,0.052,2454,1694,1280,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12317,0.75,298.9,812.0,10.4,555,12322,0.00,2.30,0.00,0.000,4,0.000,0.058,2455,3115,1280,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12404,0.75,298.9,804.7,10.7,557,12412,0.00,2.30,0.00,0.000,6,0.000,0.052,2455,1691,1279,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12714,0.77,325.1,774.6,8.4,568,12743,0.00,2.33,22.55,1.119,4,0.000,0.063,2455,287,1183,0,0,0,0,0,0,28.83,26.08,24.15
$GC,12770,0.78,347.3,771.9,8.6,569,12799,0.00,2.30,20.55,1.091,6,0.000,0.047,2455,1713,1093,0,0,0,0,0,0,28.83,26.20,24.04
$GC,13107,0.79,347.3,735.1,10.8,581,13113,0.00,2.20,0.00,0.000,4,0.000,0.058,2455,3110,1088,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,19997,end climb,SURFACE_DEPTH_REACHED
$STATE,19997,begin surface coast
$FINISH,1.6,1.022421
$STATE,20032,end surface coast,CONTROL_FINISHED_OK
$STATE,20032,begin surface
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$IRIDIUM_FIX,1844.15,12155.25,270113,232302
$TT8_MAMPS,0.028462,0.028462
$HUMID,63.86
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.40
$XPDR_PINGS,2
$SC_FREEKB,3863456
$24V_AH,22.9,82.774
$10V_AH,9.7,45.100
$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
$DEVICE_SECS,19.300,204.750,646.550,0.000,0.000,0.000,0.000,289.475,0.500,0.000,16.041,3142.481,13403.215,809.336,2714.017,536.692,0.000,2449.487,0.000,2348.608,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.684,0.000,0.000,0.000
$MEM,306176
$DATA_FILE_SIZE,36692,943
$CAP_FILE_SIZE,237049,0
$CFSIZE,260034560,211152896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.308,317.5,1
$GPS,280113,103700,1853.147,12216.740,41,1.2,41,-2.1