version: 66.11
glider: 124
mission: 14
dive: 412
start: 1 28 113 21 39 2
data:
$ID,124
$MISSION,14
$DIVE,412
$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,-304202.56
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,280113,213030,1855.313,12218.116,38,1.8,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-60.2
$GPS2,280113,213831,1855.602,12217.895,16,1.5,16,-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,167.8,22604,-14.2,-9.314,-18.51
$D_GRID,1858
$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,21,-0.69,-194.6,0.0,0.0,0,117,0.00,0.00,-94.30,0.000,2,0.000,0.000,38,2510,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.69,-194.6,3.0,-1.8,16,177,9.48,2.28,-36.38,0.000,4,0.259,0.060,2120,1085,3304,0,0,0,0,0,0,25.21,26.27,26.94
$GC,310,-0.68,-194.6,30.8,-18.3,47,316,0.00,2.22,0.00,0.000,6,0.000,0.045,2119,2505,3304,0,0,0,0,0,0,28.83,26.36,28.83
$GC,635,-0.67,-194.6,77.3,-13.5,70,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2505,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,938,-0.69,-194.6,107.1,-8.4,85,944,0.00,2.22,0.00,0.000,4,0.000,0.044,2119,1078,3304,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1027,-0.73,-194.6,115.1,-8.9,89,1033,0.00,2.20,0.00,0.000,6,0.000,0.043,2120,2505,3304,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1346,-0.78,-194.6,146.4,-9.4,105,1351,0.00,2.22,0.00,0.000,4,0.000,0.044,2120,1080,3305,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1414,-0.83,-194.6,152.1,-9.0,108,1421,0.10,2.20,0.00,0.000,6,0.106,0.043,2076,2506,3305,0,0,0,0,0,0,26.49,26.51,28.83
$GC,1735,-0.86,-194.6,180.1,-8.3,124,1740,0.00,2.22,0.00,0.000,4,0.000,0.045,2076,1077,3305,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1789,-0.88,-194.6,184.0,-8.6,126,1794,0.00,2.20,0.00,0.000,6,0.000,0.044,2076,2501,3305,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2103,-0.91,-194.6,214.8,-9.6,142,2109,0.00,2.22,0.00,0.000,4,0.000,0.045,2076,1075,3305,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2161,-0.94,-194.6,218.9,-9.3,144,2169,0.00,2.22,0.00,0.000,6,0.000,0.044,2076,2509,3305,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2468,-0.98,-194.6,244.6,-7.8,160,2474,0.00,2.22,0.00,0.000,4,0.000,0.046,2076,1083,3304,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2534,-1.02,-194.6,250.0,-8.0,163,2540,0.10,2.20,0.00,0.000,6,0.101,0.044,2026,2506,3303,0,0,0,0,0,0,26.51,26.51,28.83
$GC,2858,-1.02,-194.6,286.0,-11.3,179,2864,0.12,2.22,0.00,0.000,4,0.132,0.045,2067,1077,3302,0,0,0,0,0,0,26.65,26.48,28.83
$GC,2955,-1.05,-194.6,294.0,-9.5,183,2960,0.00,2.22,0.00,0.000,6,0.000,0.045,2067,2507,3301,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3269,-1.09,-194.6,321.4,-8.1,199,3271,0.12,0.00,0.00,0.000,6,0.093,0.000,2011,2507,3298,0,0,0,0,0,0,26.79,28.83,28.83
$GC,3572,-1.09,-194.6,350.9,-9.1,214,3578,0.10,2.25,0.00,0.000,4,0.147,0.045,2039,1081,3297,0,0,0,0,0,0,26.76,26.46,28.83
$GC,3707,-1.11,-194.6,361.5,-8.1,220,3713,0.00,2.22,-0.08,0.000,6,0.000,0.047,2039,2505,3314,0,0,0,0,0,0,28.83,26.48,25.39
$GC,4021,-1.14,-194.6,389.0,-8.7,236,4027,0.00,2.25,0.00,0.000,4,0.000,0.049,2039,1085,3313,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4047,-1.17,-194.6,391.2,-8.7,237,4054,0.00,2.22,0.00,0.000,6,0.000,0.047,2039,2499,3313,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4372,-1.20,-194.6,419.1,-8.6,253,4378,0.10,2.25,0.00,0.000,4,0.112,0.048,1997,1086,3310,0,0,0,0,0,0,26.86,26.41,28.83
$GC,4451,-1.20,-194.6,425.8,-10.1,256,4458,0.00,2.22,-0.12,0.000,6,0.000,0.047,1997,2504,3301,0,0,0,0,0,0,28.83,26.45,25.77
$GC,4757,-1.20,-194.6,461.0,-11.2,272,4763,0.00,2.28,0.00,0.000,4,0.000,0.051,1997,1076,3290,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4800,-1.20,-194.6,465.6,-10.9,274,4805,0.00,2.25,0.00,0.000,6,0.000,0.049,1996,2506,3343,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5123,-1.20,-194.6,499.4,-10.5,290,5129,0.00,2.28,0.00,0.000,4,0.000,0.050,1996,1078,3341,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5211,-1.20,-194.6,508.1,-10.5,294,5216,0.00,2.25,0.00,0.000,6,0.000,0.049,1996,2504,3331,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5530,-1.20,-194.6,539.4,-9.7,310,5536,0.00,2.25,0.00,0.000,4,0.000,0.050,1997,1087,3338,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5583,-1.20,-194.6,543.9,-9.8,312,5588,0.00,2.25,0.00,0.000,6,0.000,0.050,1996,2508,3337,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5896,-1.20,-194.6,575.9,-9.4,328,5902,0.00,2.28,0.00,0.000,4,0.000,0.051,1996,1077,3265,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6043,-1.21,-194.6,589.8,-9.6,335,6048,0.00,2.28,0.00,0.000,6,0.000,0.050,1997,2498,3329,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6379,-1.22,-194.6,621.1,-9.3,348,6384,0.00,2.28,0.00,0.000,4,0.000,0.051,1996,1078,3292,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6432,-1.24,-194.6,624.7,-9.4,349,6437,0.00,2.30,0.00,0.000,6,0.000,0.051,1996,2510,3276,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6747,-1.25,-194.6,656.1,-9.6,360,6753,0.00,2.30,0.00,0.000,4,0.000,0.052,1996,1077,3294,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6857,-1.26,-194.6,665.6,-9.9,363,6862,0.00,2.28,0.00,0.000,6,0.000,0.051,1996,2505,3331,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7178,-1.28,-194.6,697.1,-9.6,374,7183,0.00,2.28,0.00,0.000,4,0.000,0.053,1996,1092,3328,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7243,-1.30,-194.6,703.5,-9.6,376,7248,0.00,2.28,0.00,0.000,6,0.000,0.051,1997,2506,3326,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7580,-1.31,-194.6,735.2,-9.6,387,7585,0.00,2.30,0.00,0.000,4,0.000,0.053,1996,1079,3326,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7667,-1.33,-194.6,741.5,-9.6,389,7675,0.00,2.28,0.00,0.000,6,0.000,0.053,1996,2502,3326,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7974,-1.35,-194.6,772.0,-9.5,400,7979,0.00,2.28,0.00,0.000,4,0.000,0.052,1997,1089,3307,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8008,-1.37,-194.6,775.3,-9.5,401,8013,0.00,2.25,0.00,0.000,6,0.000,0.052,1996,2499,3325,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8345,-1.39,-194.6,808.6,-10.0,412,8350,0.10,2.30,0.00,0.000,4,0.112,0.053,1954,1077,3323,0,0,0,0,0,0,26.84,26.25,28.83
$GC,8410,-1.39,-194.6,816.5,-10.9,414,8415,0.00,2.30,0.00,0.000,6,0.000,0.054,1954,2508,3323,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8746,-1.39,-194.6,857.4,-12.1,425,8751,0.00,2.28,0.00,0.000,4,0.000,0.054,1952,1091,3322,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8866,-1.38,-194.6,869.0,-12.0,428,8875,0.00,2.30,0.00,0.000,6,0.000,0.054,1953,2505,3321,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9169,-1.38,-194.6,906.8,-11.3,439,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2507,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,-1.38,-194.6,937.6,-9.9,449,9477,0.10,2.33,0.00,0.000,4,0.171,0.054,1980,1078,3319,0,0,0,0,0,0,26.68,26.17,28.83
$GC,9559,-1.38,-194.6,943.4,-9.3,451,9566,0.00,2.30,0.00,0.000,6,0.000,0.055,1980,2504,3319,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,9623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9623,begin apogee
$GC,9632,-0.22,0.0,950.5,-8.0,454,9824,0.73,0.00,171.05,1.222,6,0.104,0.000,2226,1695,2508,0,0,0,0,3,0,25.89,28.83,23.32
$STATE,9825,end apogee,CONTROL_FINISHED_OK
$STATE,9825,begin climb
$GC,9828,0.69,194.6,956.8,0.0,460,10011,0.57,2.55,168.52,1.223,4,0.057,0.057,2442,3111,1683,0,0,0,0,0,0,25.41,24.66,22.94
$GC,10075,0.70,268.5,948.3,6.8,468,10144,0.10,2.33,63.35,1.197,6,0.143,0.050,2423,1700,1414,0,0,0,0,0,0,25.61,25.70,23.52
$GC,10474,0.77,377.7,922.0,5.7,482,10572,0.00,2.40,93.82,1.207,4,0.000,0.057,2423,3110,968,0,0,0,0,0,0,28.83,25.32,23.65
$GC,10597,0.83,489.6,915.1,5.6,486,10702,0.10,2.35,96.28,1.189,6,0.101,0.054,2473,1702,513,0,0,0,0,0,0,25.70,25.67,23.46
$GC,11016,0.85,489.6,871.5,11.5,500,11022,0.00,2.33,0.00,0.000,4,0.000,0.060,2474,3116,506,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11055,0.86,489.6,867.2,11.7,501,11060,0.00,2.30,0.00,0.000,6,0.000,0.054,2481,1690,505,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11386,0.86,489.6,825.9,11.8,512,11391,0.00,2.25,0.00,0.000,4,0.000,0.065,2482,283,503,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11433,0.86,489.6,821.8,11.8,513,11439,0.00,2.28,0.00,0.000,6,0.000,0.047,2482,1711,503,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11754,0.87,492.6,791.4,9.2,524,11760,0.00,2.20,0.00,0.000,4,0.000,0.059,2482,3113,500,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11792,0.87,492.6,787.6,9.4,525,11798,0.00,2.28,0.00,0.000,6,0.000,0.053,2485,1692,502,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12123,0.87,492.6,752.4,11.1,536,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1692,502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12421,0.87,492.6,720.3,10.8,546,12428,0.00,2.33,0.00,0.000,4,0.000,0.058,2485,3116,501,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12456,0.87,492.6,716.4,10.9,547,12461,0.00,2.28,0.00,0.000,6,0.000,0.053,2485,1694,502,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12792,0.88,492.6,677.6,12.2,558,12797,0.00,2.25,0.00,0.000,4,0.000,0.065,2485,290,499,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12840,0.90,492.6,673.1,12.2,559,12845,0.00,2.25,0.00,0.000,6,0.000,0.049,2485,1711,502,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13160,0.91,492.6,633.8,11.8,570,13166,0.00,2.22,0.00,0.000,4,0.000,0.058,2485,3115,502,0,0,0,0,0,0,28.83,26.28,28.83
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$GC,15535,1.10,502.9,361.2,13.3,682,15536,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1713,279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15837,1.11,502.9,321.7,13.8,697,15843,0.00,2.30,0.00,0.000,4,0.000,0.060,2511,293,457,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,18726,end climb,SURFACE_DEPTH_REACHED
$STATE,18726,begin surface coast
$FINISH,1.5,1.022186
$STATE,18757,end surface coast,CONTROL_FINISHED_OK
$STATE,18757,begin surface
$SM_CCo,18838,0.00,0.000,0,0,244,555.60
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$IRIDIUM_FIX,1848.70,12217.96,280113,161625
$TT8_MAMPS,0.027713,0.027713
$HUMID,64.05
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.50
$XPDR_PINGS,7
$SC_FREEKB,3862304
$24V_AH,22.9,83.442
$10V_AH,9.7,45.365
$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
$DEVICE_SECS,19.200,183.325,649.750,0.000,0.000,0.000,0.000,265.225,1.750,0.000,17.719,2899.308,12595.943,815.076,2490.222,508.318,0.000,2319.213,0.000,2142.115,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18784.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.171,0.000,0.000,0.000
$MEM,306204
$DATA_FILE_SIZE,33347,883
$CAP_FILE_SIZE,216703,0
$CFSIZE,260034560,210886656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.243,323.9,1
$GPS,290113,025423,1854.682,12217.625,42,1.5,42,-2.1