version: 66.11
glider: 124
mission: 14
dive: 421
start: 1 30 113 22 25 26
data:
$ID,124
$MISSION,14
$DIVE,421
$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,-304215.97
$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,33
$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
$GPS1,300113,221606,1859.841,12221.453,30,1.2,30,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-56.4
$GPS2,300113,222455,1900.096,12221.282,13,1.5,13,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M6
$TGT_LATLONG,1845.000,12250.480
$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,151.3,58340,-14.2,-9.314,-18.51
$D_GRID,2093
$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,21,-0.69,-194.6,0.0,0.0,0,109,0.00,0.00,-85.68,0.000,2,0.000,0.000,43,2514,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.69,-194.6,3.0,-3.2,15,175,9.30,2.30,-45.38,0.000,4,0.252,0.057,2122,1091,3303,0,0,0,0,0,0,25.25,26.28,26.94
$GC,297,-0.69,-194.6,27.3,-16.1,47,304,0.00,2.20,0.00,0.000,6,0.000,0.042,2123,2510,3304,0,0,0,0,0,0,28.83,26.38,28.83
$GC,622,-0.68,-194.6,70.6,-15.5,72,628,0.00,2.22,0.00,0.000,4,0.000,0.044,2123,1083,3298,0,0,0,0,0,0,28.83,26.44,28.83
$GC,666,-0.68,-194.6,77.4,-15.7,74,672,0.00,2.20,0.00,0.000,6,0.000,0.043,2123,2506,3304,0,0,0,0,0,0,28.83,26.46,28.83
$GC,991,-0.71,-194.6,115.7,-9.1,90,996,0.00,2.20,0.00,0.000,4,0.000,0.044,2123,1093,3304,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1065,-0.75,-194.6,121.1,-8.3,93,1071,0.00,2.17,0.00,0.000,6,0.000,0.042,2123,2503,3304,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1379,-0.80,-194.6,146.1,-6.2,109,1386,0.10,2.20,0.00,0.000,4,0.112,0.043,2080,1093,3304,0,0,0,0,0,0,26.86,26.48,28.83
$GC,1434,-0.84,-194.6,149.6,-7.0,111,1440,0.00,2.17,0.00,0.000,6,0.000,0.042,2079,2503,3305,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1749,-0.87,-194.6,176.9,-8.3,127,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2503,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,-0.90,-194.6,203.2,-9.1,142,2058,0.00,2.22,0.00,0.000,4,0.000,0.044,2079,1078,3304,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2179,-0.93,-194.6,215.4,-9.4,148,2185,0.00,2.22,0.00,0.000,6,0.000,0.044,2079,2506,3304,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2504,-0.96,-194.6,243.2,-8.0,164,2509,0.00,2.22,0.00,0.000,4,0.000,0.046,2079,1089,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2662,-0.99,-194.6,255.0,-8.0,171,2667,0.00,2.20,0.00,0.000,6,0.000,0.044,2079,2505,3303,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2976,-1.04,-194.6,279.7,-8.0,187,2978,0.12,0.00,0.00,0.000,6,0.093,0.000,2020,2505,3301,0,0,0,0,0,0,26.85,28.83,28.83
$GC,3277,-1.04,-194.6,314.8,-11.7,202,3283,0.12,2.22,0.00,0.000,4,0.144,0.044,2062,1093,3299,0,0,0,0,0,0,26.65,26.47,28.83
$GC,3347,-1.05,-194.6,321.5,-10.3,205,3353,0.00,2.20,0.00,0.000,6,0.000,0.045,2062,2506,3298,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3667,-1.09,-194.6,347.5,-7.0,221,3672,0.10,2.25,0.00,0.000,4,0.104,0.046,2015,1079,3297,0,0,0,0,0,0,26.88,26.46,28.83
$GC,3732,-1.11,-194.6,353.6,-8.9,224,3738,0.00,2.22,0.00,0.000,6,0.000,0.047,2013,2505,3297,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4057,-1.11,-194.6,383.2,-7.8,240,4063,0.00,2.25,-0.08,0.000,4,0.000,0.060,2015,1081,3318,0,0,0,0,0,0,28.83,26.44,25.84
$GC,4191,-1.11,-194.6,392.6,-7.4,246,4196,0.00,2.25,0.00,0.000,6,0.000,0.047,2013,2505,3319,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4505,-1.12,-194.6,419.2,-8.9,262,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2505,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4806,-1.13,-194.6,448.8,-9.9,277,4812,0.00,2.25,0.00,0.000,4,0.000,0.049,2013,1089,3315,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4966,-1.14,-194.6,463.1,-9.6,284,4973,0.00,2.25,0.00,0.000,6,0.000,0.047,2013,2505,3310,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5272,-1.16,-194.6,495.1,-10.7,300,5277,0.00,2.25,0.00,0.000,4,0.000,0.050,2013,1093,3311,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5330,-1.17,-194.6,499.8,-10.9,302,5337,0.00,2.25,0.00,0.000,6,0.000,0.049,2013,2508,3236,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5636,-1.19,-194.6,534.6,-11.2,318,5641,0.00,2.25,0.00,0.000,4,0.000,0.050,2013,1097,3309,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5709,-1.21,-194.6,542.2,-11.9,321,5714,0.00,2.25,0.00,0.000,6,0.000,0.050,2013,2505,3308,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6022,-1.22,-194.6,574.7,-10.1,337,6029,0.00,2.25,0.00,0.000,4,0.000,0.052,2013,1096,3306,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6092,-1.24,-194.6,581.5,-10.5,340,6097,0.00,2.25,0.00,0.000,6,0.000,0.049,2013,2504,3306,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6415,-1.26,-194.6,612.6,-9.3,354,6420,0.00,2.25,0.00,0.000,4,0.000,0.051,2013,1086,3303,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6530,-1.28,-194.6,621.9,-9.5,357,6535,0.00,2.28,0.00,0.000,6,0.000,0.051,2013,2504,3243,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6847,-1.31,-194.6,652.0,-8.9,368,6853,0.10,2.28,0.00,0.000,4,0.119,0.050,1970,1084,3301,0,0,0,0,0,0,26.84,26.33,28.83
$GC,6967,-1.31,-194.6,663.1,-10.9,371,6973,0.00,2.28,0.00,0.000,6,0.000,0.052,1970,2509,3299,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7272,-1.31,-194.6,701.6,-11.7,382,7277,0.00,2.28,0.00,0.000,4,0.000,0.052,1970,1094,3270,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7324,-1.31,-194.6,705.8,-11.8,383,7330,0.00,2.28,0.00,0.000,6,0.000,0.054,1970,2504,3298,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7639,-1.31,-194.6,744.5,-11.5,394,7645,0.00,2.28,0.00,0.000,4,0.000,0.054,1970,1096,3297,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7742,-1.31,-194.6,755.8,-12.0,397,7747,0.00,2.25,0.00,0.000,6,0.000,0.051,1970,2500,3253,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8067,-1.31,-194.6,795.1,-11.4,408,8072,0.00,2.25,0.00,0.000,4,0.000,0.052,1970,1097,3294,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8100,-1.31,-194.6,799.2,-11.4,409,8105,0.00,2.25,0.00,0.000,6,0.000,0.052,1970,2506,3294,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8435,-1.31,-194.6,831.8,-9.2,420,8440,0.00,2.25,0.00,0.000,4,0.000,0.054,1970,1097,3253,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8544,-1.31,-194.6,840.3,-9.2,423,8550,0.00,2.28,0.00,0.000,6,0.000,0.053,1970,2505,3237,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8866,-1.31,-194.6,866.3,-7.9,434,8871,0.00,2.25,0.00,0.000,4,0.000,0.054,1970,1097,3249,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9010,-1.31,-194.6,877.5,-8.8,438,9016,0.00,2.28,0.00,0.000,6,0.000,0.053,1970,2503,3290,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9325,-1.31,-194.6,912.4,-11.0,449,9330,0.00,2.28,0.00,0.000,4,0.000,0.054,1971,1097,3289,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9459,-1.31,-194.6,926.4,-11.2,453,9464,0.00,2.28,0.00,0.000,6,0.000,0.054,1970,2498,3288,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,9660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9660,begin apogee
$GC,9669,-0.22,0.0,950.0,-11.1,460,9837,0.77,0.00,156.00,1.245,6,0.109,0.000,2227,1706,2499,0,0,0,0,1,0,25.83,28.83,23.33
$STATE,9839,end apogee,CONTROL_FINISHED_OK
$STATE,9839,begin climb
$GC,9842,0.69,194.6,958.9,0.0,465,9997,0.55,2.45,146.93,1.228,4,0.054,0.056,2435,3116,1836,0,0,0,0,0,0,25.45,24.83,23.13
$GC,10065,0.72,320.7,956.2,5.1,473,10217,0.00,2.35,135.77,1.200,6,0.000,0.050,2441,1694,1200,0,0,0,0,1,0,28.83,25.80,23.39
$GC,10543,0.75,346.5,916.6,8.4,489,10572,0.00,2.35,22.23,1.147,4,0.000,0.057,2441,3115,1095,0,0,0,0,0,0,28.83,25.98,24.15
$GC,10620,0.76,373.3,911.0,8.4,491,10650,0.00,2.33,24.05,1.145,6,0.000,0.051,2441,1691,987,0,0,0,0,0,0,28.83,26.14,24.03
$GC,10969,0.80,394.8,880.0,8.6,503,10990,0.00,0.00,19.77,1.136,6,0.000,0.000,2441,1691,899,0,0,0,0,0,0,28.83,28.83,24.20
$GC,11272,0.85,441.3,855.9,7.8,513,11317,0.00,2.38,40.40,1.170,4,0.000,0.057,2441,3116,709,0,0,0,0,0,0,28.83,25.74,24.01
$GC,11345,0.89,476.8,850.7,8.1,515,11384,0.10,2.33,32.03,1.141,6,0.102,0.052,2488,1693,565,0,0,0,0,0,0,25.97,25.94,23.91
$GC,11692,0.89,476.8,805.5,13.1,527,11697,0.00,2.35,0.00,0.000,4,0.000,0.059,2488,3121,555,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11730,0.89,476.8,801.0,13.1,528,11736,0.12,2.28,0.00,0.000,6,0.127,0.051,2459,1702,559,0,0,0,0,0,0,26.26,26.34,28.83
$GC,12060,0.92,476.8,767.5,9.5,539,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1702,558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12359,0.96,476.8,739.5,9.5,549,12365,0.10,2.30,0.00,0.000,4,0.104,0.058,2512,3117,558,0,0,0,0,0,0,26.80,26.34,28.83
$GC,12399,0.98,476.8,735.1,10.2,550,12405,0.10,2.30,0.00,0.000,6,0.152,0.053,2485,1692,558,0,0,0,0,0,0,26.30,26.39,28.83
$GC,12731,1.00,476.8,694.7,12.1,561,12737,0.00,2.30,0.00,0.000,4,0.000,0.059,2485,3113,547,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12760,1.01,476.8,694.7,12.1,561,12767,0.00,2.28,0.00,0.000,6,0.000,0.052,2485,1692,556,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13065,1.02,476.8,654.1,12.0,572,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1692,548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13366,1.04,476.8,617.0,12.5,582,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1692,542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13677,1.05,476.8,578.7,11.8,595,13682,0.00,2.33,0.00,0.000,4,0.000,0.058,2485,3113,555,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13715,1.07,476.8,575.6,11.8,596,13723,0.10,2.28,0.00,0.000,6,0.102,0.051,2537,1692,555,0,0,0,0,0,0,26.37,26.34,28.83
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$GC,15748,1.13,476.8,317.7,11.9,697,15753,0.00,2.22,0.00,0.000,4,0.000,0.062,2515,281,556,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,18628,end climb,SURFACE_DEPTH_REACHED
$STATE,18628,begin surface coast
$FINISH,1.9,1.022789
$STATE,18651,end surface coast,CONTROL_FINISHED_OK
$STATE,18651,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,64.21
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.40
$XPDR_PINGS,6
$SC_FREEKB,3858848
$24V_AH,23.1,85.437
$10V_AH,9.7,46.171
$FG_AHR_24Vo,69.418
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.173,0.000,0.000,0.000
$MEM,306808
$DATA_FILE_SIZE,33419,873
$CAP_FILE_SIZE,214119,0
$CFSIZE,260034560,210030592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.267,319.2,1
$GPS,310113,033905,1859.833,12221.659,43,1.6,48,-2.1