version: 66.11
glider: 124
mission: 14
dive: 457
start: 2 8 113 4 5 13
data:
$ID,124
$MISSION,14
$DIVE,457
$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,-6
$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,-304271.53
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,080213,035624,1843.949,12255.225,38,1.5,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-63.4
$GPS2,080213,040443,1844.007,12255.188,12,1.8,12,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M6A
$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,272.8,8459,-14.2,-9.314,-18.51
$D_GRID,4414
$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,-194.6,0.0,0.0,0,130,0.00,0.00,-105.38,0.000,2,0.000,0.000,42,2488,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.69,-194.6,3.4,-2.0,18,178,9.32,2.20,-25.20,0.000,4,0.254,0.072,2118,3887,3303,0,0,0,0,0,0,25.28,25.60,26.96
$GC,336,-0.71,-194.6,29.0,-12.4,51,343,0.00,2.15,0.00,0.000,6,0.000,0.038,2118,2489,3303,0,0,0,0,0,0,28.83,26.46,28.83
$GC,652,-0.70,-194.6,72.6,-13.7,75,657,0.00,2.12,0.00,0.000,4,0.000,0.046,2118,1094,3303,0,0,0,0,0,0,28.83,26.41,28.83
$GC,741,-0.70,-194.6,84.2,-13.8,79,746,0.00,2.22,0.00,0.000,6,0.000,0.043,2118,2518,3302,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1060,-0.70,-194.6,126.5,-11.4,95,1065,0.00,2.20,0.00,0.000,4,0.000,0.044,2118,1098,3303,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1099,-0.72,-194.6,128.9,-10.6,96,1107,0.00,2.17,0.00,0.000,6,0.000,0.043,2118,2500,3303,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1404,-0.76,-194.6,156.5,-8.5,112,1410,0.00,2.20,0.00,0.000,4,0.000,0.046,2118,1090,3304,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1490,-0.79,-194.6,163.7,-8.4,116,1496,0.00,2.17,0.00,0.000,6,0.000,0.044,2118,2500,3303,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1816,-0.84,-194.6,189.8,-7.7,132,1822,0.10,2.17,0.00,0.000,4,0.104,0.043,2070,1097,3303,0,0,0,0,0,0,26.86,26.46,28.83
$GC,1983,-0.84,-194.6,207.1,-10.8,140,1989,0.00,2.20,0.00,0.000,6,0.000,0.044,2070,2506,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2303,-0.86,-194.6,238.2,-9.5,156,2308,0.00,2.20,0.00,0.000,4,0.000,0.045,2070,1097,3303,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2361,-0.88,-194.6,242.6,-9.8,158,2368,0.00,2.20,0.00,0.000,6,0.000,0.044,2069,2506,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2667,-0.91,-194.6,273.8,-9.3,174,2673,0.00,2.20,0.00,0.000,4,0.000,0.046,2070,1098,3302,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2745,-0.94,-194.6,280.0,-9.4,177,2753,0.00,2.20,0.00,0.000,6,0.000,0.044,2069,2505,3302,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3052,-0.97,-194.6,308.7,-8.7,193,3058,0.00,2.22,0.00,0.000,4,0.000,0.046,2070,1087,3301,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3183,-1.01,-194.6,319.6,-8.7,199,3189,0.00,2.22,0.00,0.000,6,0.000,0.044,2069,2508,3300,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3502,-1.04,-194.6,345.2,-7.6,215,3508,0.00,2.22,0.00,0.000,4,0.000,0.047,2069,1097,3298,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3623,-1.08,-194.6,353.0,-7.3,220,3630,0.12,2.22,0.00,0.000,6,0.090,0.045,2012,2510,3296,0,0,0,0,0,0,26.47,26.45,28.83
$GC,3927,-1.08,-194.6,385.6,-10.7,236,3933,0.12,2.22,0.00,0.000,4,0.132,0.044,2053,1098,3295,0,0,0,0,0,0,26.63,26.44,28.83
$GC,4048,-1.11,-194.6,395.3,-8.6,241,4054,0.00,2.22,0.00,0.000,6,0.000,0.046,2053,2508,3295,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4354,-1.15,-194.6,423.0,-8.9,257,4360,0.10,2.25,-0.08,0.000,4,0.109,0.058,2007,1098,3315,0,0,0,0,0,0,26.86,26.41,25.02
$GC,4475,-1.15,-194.6,435.2,-11.7,262,4482,0.00,2.22,0.00,0.000,6,0.000,0.047,2007,2509,3315,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4781,-1.15,-194.6,468.3,-9.6,278,4787,0.00,2.25,0.00,0.000,4,0.000,0.048,2007,1090,3313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4869,-1.15,-194.6,476.7,-10.0,282,4875,0.00,2.25,0.00,0.000,6,0.000,0.047,2007,2507,3312,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5188,-1.15,-194.6,507.3,-9.6,298,5193,0.00,2.25,0.00,0.000,4,0.000,0.049,2007,1093,3310,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5260,-1.15,-194.6,513.3,-9.5,301,5266,0.00,2.25,0.00,0.000,6,0.000,0.047,2007,2507,3309,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5574,-1.16,-194.6,543.1,-9.0,317,5580,0.00,2.25,0.00,0.000,4,0.000,0.050,2007,1092,3307,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5696,-1.17,-194.6,552.5,-9.0,322,5703,0.00,2.22,0.00,0.000,6,0.000,0.049,2007,2500,3276,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6000,-1.18,-194.6,580.9,-8.8,338,6005,0.00,2.22,0.00,0.000,4,0.000,0.050,2007,1099,3304,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6059,-1.20,-194.6,585.3,-9.2,340,6066,0.00,2.25,0.00,0.000,6,0.000,0.050,2007,2504,3303,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6377,-1.21,-194.6,616.3,-9.7,354,6382,0.00,2.25,0.00,0.000,4,0.000,0.050,2007,1098,3300,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6526,-1.23,-194.6,628.9,-9.9,358,6533,0.00,2.25,0.00,0.000,6,0.000,0.050,2006,2504,3300,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6834,-1.25,-194.6,661.1,-9.8,369,6839,0.00,2.25,0.00,0.000,4,0.000,0.051,2005,1100,3278,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6949,-1.26,-194.6,670.9,-10.2,372,6956,0.00,2.25,0.00,0.000,6,0.000,0.051,2007,2500,3298,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7267,-1.28,-194.6,702.0,-8.9,383,7273,0.00,2.25,0.00,0.000,4,0.000,0.051,2007,1094,3296,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7318,-1.30,-194.6,705.3,-8.7,384,7323,0.00,2.28,0.00,0.000,6,0.000,0.051,2007,2507,3295,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7639,-1.32,-194.6,732.7,-7.9,395,7644,0.00,2.28,0.00,0.000,4,0.000,0.053,2007,1097,3293,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7734,-1.34,-194.6,740.3,-7.8,398,7741,0.10,2.28,0.00,0.000,6,0.111,0.052,1967,2507,3292,0,0,0,0,0,0,26.26,26.25,28.83
$GC,8072,-1.34,-194.6,771.1,-9.1,409,8078,0.00,2.28,0.00,0.000,4,0.000,0.052,1967,1096,3291,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8186,-1.34,-194.6,780.2,-9.4,412,8191,0.00,2.25,0.00,0.000,6,0.000,0.052,1967,2504,3290,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8499,-1.34,-194.6,813.3,-10.5,423,8504,0.00,2.28,0.00,0.000,4,0.000,0.052,1967,1096,3289,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8634,-1.34,-194.6,826.6,-10.8,427,8641,0.00,2.28,0.00,0.000,6,0.000,0.054,1967,2498,3288,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8961,-1.34,-194.6,864.2,-11.2,438,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2498,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,-1.34,-194.6,898.0,-11.0,448,9266,0.00,2.28,0.00,0.000,4,0.000,0.053,1967,1093,3286,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9368,-1.34,-194.6,908.3,-11.0,451,9374,0.00,2.28,0.00,0.000,6,0.000,0.051,1966,2505,3284,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9688,-1.34,-194.6,943.6,-10.4,462,9694,0.00,2.28,0.00,0.000,4,0.000,0.054,1967,1101,3284,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,9749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9749,begin apogee
$GC,9757,-0.22,0.0,950.6,-10.5,464,9923,0.77,0.00,158.48,1.261,6,0.104,0.000,2226,1714,2509,0,0,0,0,0,0,25.82,28.83,23.37
$STATE,9925,end apogee,CONTROL_FINISHED_OK
$STATE,9925,begin climb
$GC,9928,0.69,194.6,958.4,0.0,469,10104,0.55,2.33,165.27,1.234,4,0.054,0.055,2439,3113,1711,0,0,0,0,0,0,25.48,25.06,23.30
$GC,10167,0.70,277.3,951.7,6.6,477,10267,0.00,2.30,77.12,1.133,6,0.000,0.050,2441,1713,1378,0,0,0,0,3,0,28.83,25.92,23.72
$GC,10568,0.72,293.2,915.2,8.8,491,10586,0.00,2.30,13.70,1.104,4,0.000,0.055,2441,3106,1312,0,0,0,0,0,0,28.83,26.13,24.15
$GC,10614,0.73,306.6,912.2,8.9,492,10634,0.00,2.30,13.30,1.092,6,0.000,0.051,2441,1693,1257,0,0,0,0,0,0,28.83,26.20,24.14
$GC,10963,0.74,306.6,877.9,9.7,504,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1693,1252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,0.76,306.6,849.4,9.4,514,11269,0.00,2.33,0.00,0.000,4,0.000,0.059,2441,3112,1250,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11318,0.78,306.6,846.1,9.5,515,11323,0.00,2.28,0.00,0.000,6,0.000,0.052,2442,1690,1217,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11634,0.81,337.0,817.4,8.3,526,11667,0.00,2.33,26.35,1.158,4,0.000,0.057,2442,3101,1134,0,0,0,0,0,0,28.83,26.01,24.14
$GC,11722,0.83,361.7,811.9,8.5,528,11761,0.00,2.28,24.60,1.060,6,0.000,0.050,2443,1693,1034,0,0,0,0,1,0,28.83,26.16,24.04
$GC,12091,0.87,390.8,778.3,8.3,541,12124,0.00,2.35,25.73,1.125,4,0.000,0.058,2443,3100,916,0,0,0,0,0,0,28.83,25.95,24.15
$GC,12153,0.90,414.0,772.8,8.5,543,12182,0.10,2.28,21.20,1.095,6,0.101,0.050,2494,1692,821,0,0,0,0,0,0,26.10,26.07,24.04
$GC,12482,0.90,414.0,732.0,12.8,554,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1692,816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12782,0.90,414.0,694.8,12.4,564,12788,0.00,2.30,0.00,0.000,4,0.000,0.058,2494,3111,814,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12841,0.90,414.0,690.4,12.5,565,12849,0.12,2.30,0.00,0.000,6,0.134,0.052,2460,1690,813,0,0,0,0,0,0,26.22,26.32,28.83
$GC,13149,0.94,423.0,658.1,9.0,576,13164,0.00,2.33,8.07,0.916,4,0.000,0.056,2460,3110,784,0,0,0,0,0,0,28.83,26.27,24.39
$GC,13188,0.97,432.3,654.9,9.0,577,13207,0.10,2.30,9.62,0.942,6,0.100,0.050,2512,1689,745,0,0,0,0,0,0,26.35,26.33,24.29
$GC,13516,0.96,432.3,611.2,13.8,588,13518,0.12,0.00,0.00,0.000,6,0.125,0.000,2474,1689,742,0,0,0,0,0,0,26.56,28.83,28.83
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$STATE,19067,end climb,SURFACE_DEPTH_REACHED
$STATE,19067,begin surface coast
$FINISH,1.4,1.022015
$STATE,19097,end surface coast,CONTROL_FINISHED_OK
$STATE,19097,begin surface
$SM_CCo,19178,0.00,0.000,0,0,242,556.10
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$TT8_MAMPS,0.027713,0.027713
$HUMID,64.56
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.50
$XPDR_PINGS,7
$SC_FREEKB,3845024
$24V_AH,23.3,93.026
$10V_AH,9.5,49.475
$FG_AHR_24Vo,69.418
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.375,193.300,648.475,0.000,0.000,0.000,0.000,281.925,1.750,0.000,12.939,3019.900,12628.347,823.628,2636.375,558.911,0.000,2426.443,0.000,2278.300,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.124,0.000,0.000,0.000
$MEM,326556
$DATA_FILE_SIZE,33346,900
$CAP_FILE_SIZE,226524,0
$CFSIZE,260034560,206516224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.099,338.7,1
$GPS,080213,092606,1844.271,12251.665,33,1.0,33,-2.1