version: 66.11
glider: 124
mission: 14
dive: 420
start: 1 30 113 16 47 20
data:
$ID,124
$MISSION,14
$DIVE,420
$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,-304212.56
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,300113,163853,1859.150,12219.661,27,1.0,44,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-55.4
$GPS2,300113,164649,1859.421,12219.430,12,1.2,12,-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,140.6,28030,-14.2,-9.314,-18.51
$D_GRID,2281
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.69,-194.6,0.0,0.0,0,113,0.00,0.00,-89.05,0.000,2,0.000,0.000,35,2511,1932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.69,-194.6,3.1,-2.3,15,177,9.27,2.25,-44.05,0.000,4,0.252,0.056,2119,1087,3303,0,0,0,0,0,0,25.29,26.28,26.95
$GC,327,-0.69,-194.6,29.7,-14.9,50,334,0.00,2.22,0.00,0.000,6,0.000,0.044,2120,2498,3303,0,0,0,0,0,0,28.83,26.36,28.83
$GC,642,-0.69,-194.6,81.5,-12.0,72,647,0.00,2.22,0.00,0.000,4,0.000,0.045,2120,1079,3303,0,0,0,0,0,0,28.83,26.42,28.83
$GC,686,-0.68,-194.6,87.4,-12.8,74,691,0.00,2.22,0.00,0.000,6,0.000,0.045,2120,2512,3303,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1010,-0.72,-194.6,123.6,-9.2,90,1015,0.00,2.22,0.00,0.000,4,0.000,0.044,2120,1082,3303,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1059,-0.76,-194.6,127.7,-9.3,92,1064,0.00,2.22,0.00,0.000,6,0.000,0.041,2120,2513,3303,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1378,-0.82,-194.6,147.5,-5.1,108,1384,0.10,2.22,0.00,0.000,4,0.108,0.042,2076,1082,3304,0,0,0,0,0,0,26.86,26.48,28.83
$GC,1427,-0.87,-194.6,150.7,-6.1,110,1433,0.00,2.20,0.00,0.000,6,0.000,0.041,2076,2500,3304,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1746,-0.90,-194.6,176.8,-8.3,126,1752,0.00,2.17,0.00,0.000,4,0.000,0.045,2076,1089,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1846,-0.92,-194.6,185.0,-9.6,130,1852,0.00,2.20,0.00,0.000,6,0.000,0.043,2076,2500,3304,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2151,-0.95,-194.6,219.8,-10.0,146,2156,0.00,2.20,0.00,0.000,4,0.000,0.046,2076,1091,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2225,-0.98,-194.6,225.6,-9.1,149,2230,0.00,2.20,0.00,0.000,6,0.000,0.043,2076,2503,3303,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2540,-1.02,-194.6,249.6,-7.5,165,2546,0.10,2.22,0.00,0.000,4,0.102,0.044,2025,1089,3301,0,0,0,0,0,0,26.88,26.46,28.83
$GC,2579,-1.05,-194.6,251.9,-7.9,166,2586,0.00,2.22,0.00,0.000,6,0.000,0.044,2025,2505,3301,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2885,-1.05,-194.6,283.8,-9.8,182,2891,0.00,2.20,0.00,0.000,4,0.000,0.046,2025,1092,3300,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2938,-1.05,-194.6,288.5,-10.2,184,2943,0.00,2.22,0.00,0.000,6,0.000,0.045,2025,2506,3299,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3251,-1.05,-194.6,318.9,-9.4,200,3257,0.00,2.22,0.00,0.000,4,0.000,0.047,2025,1094,3298,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3411,-1.05,-194.6,333.0,-9.6,207,3418,0.00,2.22,0.00,0.000,6,0.000,0.045,2025,2506,3296,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3717,-1.07,-194.6,363.3,-9.4,223,3722,0.00,2.22,0.00,0.000,4,0.000,0.047,2025,1082,3292,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3770,-1.08,-194.6,367.4,-9.4,225,3777,0.00,2.25,-0.08,0.000,6,0.000,0.047,2025,2511,3313,0,0,0,0,0,0,28.83,26.46,25.36
$GC,4085,-1.10,-194.6,400.1,-10.0,241,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2511,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4388,-1.12,-194.6,427.0,-8.2,256,4393,0.00,2.25,0.00,0.000,4,0.000,0.048,2025,1080,3309,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4525,-1.14,-194.6,437.7,-8.4,262,4530,0.00,2.25,0.00,0.000,6,0.000,0.047,2025,2505,3308,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4839,-1.16,-194.6,464.4,-8.7,278,4845,0.00,2.22,0.00,0.000,4,0.000,0.050,2025,1096,3306,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4954,-1.18,-194.6,474.7,-9.9,283,4959,0.00,2.25,0.00,0.000,6,0.000,0.048,2025,2507,3300,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5268,-1.21,-194.6,507.3,-10.1,299,5273,0.00,2.25,0.00,0.000,4,0.000,0.050,2025,1093,3303,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5366,-1.23,-194.6,515.6,-10.0,303,5373,0.00,2.25,0.00,0.000,6,0.000,0.047,2025,2506,3302,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5672,-1.26,-194.6,545.0,-8.5,319,5678,0.10,2.28,0.00,0.000,4,0.112,0.048,1982,1079,3300,0,0,0,0,0,0,26.85,26.36,28.83
$GC,5739,-1.26,-194.6,551.7,-10.0,322,5745,0.00,2.28,0.00,0.000,6,0.000,0.049,1982,2504,3299,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6058,-1.26,-194.6,586.3,-10.7,338,6064,0.00,2.25,0.00,0.000,4,0.000,0.050,1981,1083,3298,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6189,-1.26,-194.6,600.1,-11.1,344,6195,0.00,2.28,0.00,0.000,6,0.000,0.050,1982,2509,3237,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6520,-1.26,-194.6,635.3,-9.9,355,6525,0.00,2.28,0.00,0.000,4,0.000,0.050,1982,1089,3295,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6553,-1.26,-194.6,638.8,-9.8,356,6558,0.00,2.28,0.00,0.000,6,0.000,0.052,1981,2503,3295,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6890,-1.26,-194.6,668.2,-8.6,367,6895,0.00,2.25,0.00,0.000,4,0.000,0.051,1981,1088,3286,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6992,-1.26,-194.6,675.9,-8.1,370,6998,0.00,2.28,0.00,0.000,6,0.000,0.051,1981,2503,3293,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7320,-1.26,-194.6,702.2,-7.6,381,7325,0.00,2.28,0.00,0.000,4,0.000,0.053,1982,1093,3290,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7357,-1.26,-194.6,705.2,-7.8,382,7363,0.00,2.28,0.00,0.000,6,0.000,0.051,1981,2504,3290,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7689,-1.26,-194.6,733.1,-8.6,393,7694,0.00,2.28,0.00,0.000,4,0.000,0.053,1981,1096,3288,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7726,-1.26,-194.6,736.3,-8.9,394,7731,0.00,2.28,0.00,0.000,6,0.000,0.051,1981,2505,3288,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8058,-1.26,-194.6,770.9,-10.9,405,8063,0.00,2.25,0.00,0.000,4,0.000,0.053,1982,1097,3288,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8165,-1.26,-194.6,780.8,-10.2,408,8170,0.00,2.28,0.00,0.000,6,0.000,0.053,1981,2501,3287,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8486,-1.26,-194.6,812.4,-9.0,419,8492,0.00,2.28,0.00,0.000,4,0.000,0.054,1981,1098,3285,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8559,-1.26,-194.6,818.6,-9.1,421,8565,0.00,2.28,0.00,0.000,6,0.000,0.053,1982,2500,3285,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8886,-1.27,-194.6,848.0,-8.8,432,8891,0.00,2.25,0.00,0.000,4,0.000,0.054,1981,1091,3245,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8994,-1.27,-194.6,856.4,-8.5,435,9000,0.00,2.28,0.00,0.000,6,0.000,0.053,1981,2505,3283,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9317,-1.29,-194.6,886.3,-9.1,446,9322,0.00,2.28,0.00,0.000,4,0.000,0.054,1981,1091,3242,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9417,-1.30,-194.6,895.2,-9.1,449,9423,0.00,2.30,0.00,0.000,6,0.000,0.053,1981,2507,3282,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9749,-1.30,-194.6,924.4,-8.5,460,9754,0.00,2.30,0.00,0.000,4,0.000,0.055,1982,1093,3280,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9843,-1.31,-194.6,932.9,-8.7,463,9848,0.00,2.30,0.00,0.000,6,0.000,0.054,1981,2507,3280,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,10054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10054,begin apogee
$GC,10063,-0.22,0.0,950.1,-8.0,470,10242,0.73,0.00,162.80,1.236,6,0.106,0.000,2225,1696,2509,0,0,0,0,2,0,25.83,28.83,23.24
$STATE,10244,end apogee,CONTROL_FINISHED_OK
$STATE,10244,begin climb
$GC,10247,0.69,194.6,956.8,0.0,476,10428,0.57,2.42,170.05,1.225,4,0.057,0.056,2441,3110,1714,0,0,0,0,0,0,25.25,24.52,22.80
$GC,10509,0.69,213.8,944.3,8.7,484,10533,0.00,2.35,17.08,1.121,6,0.000,0.050,2441,1697,1636,0,0,0,0,0,0,28.83,25.71,23.75
$GC,10846,0.69,213.8,907.9,9.7,496,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1697,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11147,0.70,241.9,881.7,8.4,506,11180,0.00,2.42,24.08,1.164,4,0.000,0.057,2441,3118,1516,0,0,0,0,0,0,28.83,26.01,24.15
$GC,11241,0.71,264.7,873.7,8.6,509,11268,0.00,2.33,21.08,1.138,6,0.000,0.051,2441,1693,1429,0,0,0,0,0,0,28.83,26.15,24.07
$GC,11569,0.74,303.7,847.5,8.0,520,11611,0.00,2.45,33.58,1.164,4,0.000,0.059,2441,3116,1263,0,0,0,0,0,0,28.83,25.79,24.05
$GC,11644,0.75,327.7,842.0,8.5,522,11673,0.00,2.35,22.25,1.121,6,0.000,0.053,2441,1693,1173,0,0,0,0,0,0,28.83,25.99,23.98
$GC,11991,0.77,327.7,806.6,9.9,534,11998,0.00,2.25,0.00,0.000,4,0.000,0.064,2441,289,1165,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12015,0.79,327.7,806.6,9.9,534,12021,0.00,2.28,0.00,0.000,6,0.000,0.049,2441,1705,1165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12332,0.82,327.7,774.1,9.6,545,12338,0.00,2.25,0.00,0.000,4,0.000,0.060,2441,3111,1164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12381,0.84,327.7,770.5,9.6,546,12386,0.00,2.28,0.00,0.000,6,0.000,0.053,2441,1693,1163,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12703,0.88,375.5,743.6,7.7,557,12754,0.10,2.45,40.78,1.122,4,0.104,0.059,2492,3116,977,0,0,0,0,0,0,26.80,25.79,24.05
$GC,12794,0.88,375.5,733.9,9.8,560,12801,0.12,2.30,0.00,0.000,6,0.132,0.052,2461,1701,975,0,0,0,0,0,0,25.91,26.00,28.83
$GC,13130,0.91,404.2,703.9,8.4,571,13163,0.00,2.40,24.88,1.074,4,0.000,0.060,2461,3112,860,0,0,0,0,0,0,28.83,25.97,24.20
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$STATE,19551,end climb,SURFACE_DEPTH_REACHED
$STATE,19551,begin surface coast
$FINISH,1.5,1.022296
$STATE,19575,end surface coast,CONTROL_FINISHED_OK
$STATE,19575,begin surface
$SM_CCo,19655,0.00,0.000,0,0,241,556.59
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$IRIDIUM_FIX,1853.26,12217.96,300113,111102
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.33
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.40
$XPDR_PINGS,2
$SC_FREEKB,3859232
$24V_AH,22.8,85.218
$10V_AH,9.7,46.082
$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
$DEVICE_SECS,19.225,206.125,646.650,0.000,0.000,0.000,0.000,263.075,0.500,0.000,13.404,3090.573,13004.060,815.524,2669.683,540.463,0.000,2422.249,0.000,2332.197,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.124,0.000,0.000,0.000
$MEM,306184
$DATA_FILE_SIZE,33320,908
$CAP_FILE_SIZE,231461,0
$CFSIZE,260034560,210108416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.205,342.2,1
$GPS,300113,221606,1859.841,12221.453,30,1.2,30,-2.1