version: 66.11
glider: 124
mission: 14
dive: 461
start: 2 9 113 1 56 36
data:
$ID,124
$MISSION,14
$DIVE,461
$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,-304276.53
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,090213,014735,1844.507,12242.549,26,1.7,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-53.1
$GPS2,090213,015605,1844.618,12242.487,16,2.0,32,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M4A
$TGT_LATLONG,1845.000,12233.290
$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,249.0,16145,-14.2,-9.314,-18.51
$D_GRID,2432
$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,-194.6,0.0,0.0,0,105,0.00,0.00,-81.85,0.000,2,0.000,0.000,35,2539,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.69,-194.6,3.0,-3.2,14,176,9.45,2.25,-50.65,0.000,4,0.257,0.073,2121,3881,3303,0,0,0,0,0,0,25.30,26.13,26.96
$GC,290,-0.72,-194.6,19.7,-12.1,46,297,0.00,2.15,0.00,0.000,6,0.000,0.037,2121,2482,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,605,-0.72,-194.6,63.3,-13.1,75,610,0.00,2.10,0.00,0.000,4,0.000,0.044,2121,1084,3303,0,0,0,0,0,0,28.83,26.38,28.83
$GC,679,-0.72,-194.6,72.0,-14.3,78,685,0.00,2.22,0.00,0.000,6,0.000,0.043,2121,2504,3303,0,0,0,0,0,0,28.83,26.41,28.83
$GC,995,-0.72,-194.6,117.5,-13.7,94,1001,0.00,2.20,0.00,0.000,4,0.000,0.044,2121,1098,3304,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1034,-0.72,-194.6,120.9,-13.2,95,1042,0.00,2.20,0.00,0.000,6,0.000,0.044,2121,2506,3303,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1340,-0.76,-194.6,148.4,-7.0,111,1346,0.00,2.17,0.00,0.000,4,0.000,0.044,2121,1098,3303,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1426,-0.80,-194.6,154.0,-6.5,115,1432,0.00,2.20,0.00,0.000,6,0.000,0.042,2121,2507,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1751,-0.85,-194.6,181.8,-9.4,131,1756,0.12,2.20,0.00,0.000,4,0.095,0.043,2062,1086,3304,0,0,0,0,0,0,26.81,26.42,28.83
$GC,1879,-0.85,-194.6,196.9,-12.0,137,1886,0.12,2.22,0.00,0.000,6,0.140,0.044,2097,2508,3304,0,0,0,0,0,0,26.29,26.44,28.83
$GC,2201,-0.90,-194.6,221.4,-7.0,153,2206,0.00,2.20,0.00,0.000,4,0.000,0.045,2097,1089,3304,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2337,-0.94,-194.6,230.0,-7.0,159,2343,0.10,2.22,0.00,0.000,6,0.113,0.044,2050,2509,3304,0,0,0,0,0,0,26.42,26.45,28.83
$GC,2652,-0.96,-194.6,263.7,-11.4,175,2658,0.00,2.20,0.00,0.000,4,0.000,0.046,2050,1098,3304,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2780,-0.97,-194.6,278.3,-11.7,181,2785,0.00,2.20,0.00,0.000,6,0.000,0.044,2050,2501,3303,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3104,-0.99,-194.6,309.2,-7.7,197,3110,0.00,2.20,0.00,0.000,4,0.000,0.046,2049,1090,3301,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3217,-1.01,-194.6,317.8,-8.0,202,3222,0.00,2.22,0.00,0.000,6,0.000,0.045,2049,2510,3301,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3536,-1.04,-194.6,344.0,-7.0,218,3541,0.00,2.22,0.00,0.000,4,0.000,0.047,2049,1097,3299,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3575,-1.06,-194.6,345.7,-6.9,219,3582,0.00,2.22,0.00,0.000,6,0.000,0.046,2049,2508,3299,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3880,-1.10,-194.6,369.3,-7.8,235,3885,0.00,2.22,0.00,0.000,4,0.000,0.047,2049,1097,3297,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4016,-1.13,-194.6,380.4,-9.1,241,4022,0.00,2.22,0.00,0.000,6,0.000,0.046,2049,2506,3296,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4331,-1.17,-194.6,411.7,-10.0,257,4338,0.10,2.25,-0.05,0.000,4,0.103,0.058,2001,1098,3311,0,0,0,0,0,0,26.86,26.38,24.94
$GC,4413,-1.18,-194.6,419.8,-11.8,260,4420,0.00,2.22,0.00,0.000,6,0.000,0.047,2000,2503,3311,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4716,-1.18,-194.6,458.2,-11.5,276,4723,0.00,2.22,0.00,0.000,4,0.000,0.048,2000,1098,3309,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4801,-1.18,-194.6,467.7,-11.4,280,4807,0.00,2.22,0.00,0.000,6,0.000,0.048,2001,2506,3308,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5125,-1.18,-194.6,502.6,-10.4,296,5130,0.00,2.22,0.00,0.000,4,0.000,0.049,2000,1095,3306,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5232,-1.18,-194.6,513.8,-10.8,301,5239,0.00,2.22,0.00,0.000,6,0.000,0.048,2000,2504,3305,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5552,-1.18,-194.6,548.8,-11.2,317,5557,0.00,2.22,0.00,0.000,4,0.000,0.050,2000,1097,3302,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5659,-1.18,-194.6,560.5,-11.3,322,5665,0.00,2.22,0.00,0.000,6,0.000,0.048,2001,2497,3301,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5978,-1.18,-194.6,595.8,-10.8,338,5983,0.00,2.22,0.00,0.000,4,0.000,0.049,2000,1087,3299,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6093,-1.18,-194.6,605.9,-10.6,342,6098,0.00,2.28,0.00,0.000,6,0.000,0.049,2000,2508,3299,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6407,-1.19,-194.6,639.2,-9.9,353,6412,0.00,2.25,0.00,0.000,4,0.000,0.050,2000,1099,3296,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6502,-1.20,-194.6,648.8,-10.2,356,6508,0.00,2.25,0.00,0.000,6,0.000,0.050,2000,2504,3296,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6839,-1.21,-194.6,679.9,-9.3,367,6844,0.00,2.28,0.00,0.000,4,0.000,0.051,2000,1089,3294,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6960,-1.23,-194.6,689.5,-9.7,370,6967,0.00,2.28,0.00,0.000,6,0.000,0.050,2000,2506,3293,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7265,-1.25,-194.6,720.0,-8.8,381,7270,0.00,2.25,0.00,0.000,4,0.000,0.052,2000,1096,3291,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7362,-1.27,-194.6,728.3,-8.6,384,7367,0.00,2.28,0.00,0.000,6,0.000,0.052,2000,2507,3290,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7699,-1.29,-194.6,755.3,-8.1,395,7704,0.00,2.25,0.00,0.000,4,0.000,0.053,2000,1098,3289,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7810,-1.31,-194.6,763.7,-8.6,398,7815,0.00,2.28,0.00,0.000,6,0.000,0.052,2001,2506,3287,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8131,-1.33,-194.6,793.3,-9.1,409,8137,0.00,2.28,0.00,0.000,4,0.000,0.054,2000,1099,3286,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8200,-1.35,-194.6,799.5,-9.2,411,8206,0.00,2.28,0.00,0.000,6,0.000,0.053,2000,2501,3286,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8532,-1.37,-194.6,829.9,-8.7,422,8538,0.10,2.28,0.00,0.000,4,0.118,0.051,1957,1097,3284,0,0,0,0,0,0,26.80,26.17,28.83
$GC,8639,-1.37,-194.6,840.2,-10.1,425,8645,0.00,2.28,0.00,0.000,6,0.000,0.054,1956,2508,3283,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8963,-1.37,-194.6,875.7,-10.3,436,8969,0.00,2.30,0.00,0.000,4,0.000,0.054,1957,1092,3281,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9047,-1.37,-194.6,882.9,-10.8,438,9052,0.00,2.28,0.00,0.000,6,0.000,0.053,1957,2505,3281,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9361,-1.37,-194.6,921.6,-11.4,449,9366,0.00,2.28,0.00,0.000,4,0.000,0.054,1956,1101,3248,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9399,-1.37,-194.6,925.6,-11.7,450,9405,0.00,2.30,0.00,0.000,6,0.000,0.056,1957,2507,3280,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,9605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9605,begin apogee
$GC,9613,-0.22,0.0,950.4,-11.1,457,9736,0.82,0.00,115.47,1.266,6,0.111,0.000,2226,1696,2473,0,0,0,0,0,0,25.67,28.83,23.38
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9744,0.69,194.6,956.2,0.0,461,9962,0.55,2.40,209.70,1.238,4,0.056,0.063,2441,289,1699,0,0,0,0,0,0,25.57,24.90,23.19
$GC,9972,0.72,320.4,954.4,5.1,469,10091,0.00,2.38,108.03,1.209,6,0.000,0.046,2441,1712,1201,0,0,0,0,0,0,28.83,25.27,23.27
$GC,10391,0.74,320.4,915.3,9.7,483,10397,0.00,2.22,0.00,0.000,4,0.000,0.059,2441,3111,1192,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10469,0.75,320.4,908.3,10.1,485,10475,0.00,2.28,0.00,0.000,6,0.000,0.052,2441,1706,1178,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10791,0.77,320.4,873.6,10.1,496,10796,0.00,2.30,0.00,0.000,4,0.000,0.059,2441,3112,1190,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10826,0.79,320.4,869.9,10.0,497,10831,0.00,2.28,0.00,0.000,6,0.000,0.051,2441,1695,1189,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11164,0.83,380.8,842.0,7.3,508,11219,0.00,0.00,51.65,1.185,6,0.000,0.000,2441,1695,957,0,0,0,0,0,0,28.83,28.83,23.85
$GC,11522,0.90,464.0,819.3,6.5,520,11603,0.10,2.45,71.38,1.170,4,0.105,0.060,2492,3104,616,0,0,0,0,0,0,26.64,25.47,23.78
$GC,11647,0.89,464.0,806.9,10.0,524,11653,0.12,2.30,0.00,0.000,6,0.134,0.051,2461,1699,614,0,0,0,0,0,0,25.82,25.91,28.83
$GC,11979,0.93,493.1,778.6,8.3,535,12011,0.00,2.30,25.33,1.112,4,0.000,0.067,2461,298,498,0,0,0,0,0,0,28.83,25.92,24.15
$GC,12030,0.96,516.0,775.7,8.5,536,12069,0.10,2.28,23.00,1.008,6,0.105,0.047,2510,1698,405,0,0,0,0,1,0,26.06,26.07,24.01
$GC,12370,0.96,516.0,726.0,14.2,548,12376,0.10,2.28,0.00,0.000,4,0.135,0.059,2481,3117,401,0,0,0,0,0,0,26.55,26.19,28.83
$GC,12418,0.96,516.0,720.9,14.2,549,12424,0.00,2.30,0.00,0.000,6,0.000,0.053,2483,1698,396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12739,0.98,516.0,680.5,12.0,560,12740,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1698,283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13039,1.01,516.0,648.5,10.4,570,13044,0.00,2.33,0.00,0.000,4,0.000,0.058,2481,3116,400,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13077,1.03,516.0,644.6,10.6,571,13083,0.00,2.30,0.00,0.000,6,0.000,0.053,2482,1695,394,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13411,1.06,516.0,609.6,9.7,582,13416,0.10,2.33,0.00,0.000,4,0.109,0.058,2537,3111,398,0,0,0,0,0,0,26.78,26.20,28.83
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$STATE,18881,end climb,SURFACE_DEPTH_REACHED
$STATE,18881,begin surface coast
$FINISH,1.3,1.008956
$STATE,18913,end surface coast,CONTROL_FINISHED_OK
$STATE,18913,begin surface
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$IRIDIUM_FIX,1837.32,12247.12,080213,202007
$TT8_MAMPS,0.027713,0.027713
$HUMID,64.64
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.70
$XPDR_PINGS,2
$SC_FREEKB,3843488
$24V_AH,23.2,93.892
$10V_AH,9.6,49.839
$FG_AHR_24Vo,69.418
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.700,196.325,637.000,0.000,0.000,0.000,0.000,269.100,0.500,0.000,32.941,3001.500,12506.037,802.186,2618.819,564.354,0.000,2370.034,0.000,2261.099,0.000,0.539,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.171,0.000,0.000,0.000
$MEM,306204
$DATA_FILE_SIZE,33296,894
$CAP_FILE_SIZE,222716,0
$CFSIZE,260034560,206135296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.190,306.3,1
$GPS,090213,071430,1843.908,12238.167,39,1.1,39,-2.1