version: 66.11
glider: 124
mission: 14
dive: 478
start: 2 12 113 22 51 13
data:
$ID,124
$MISSION,14
$DIVE,478
$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,-304441.84
$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,32
$R_STBD_OVSHOOT,24
$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,2
$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
$GPS1,120213,224236,1849.728,12211.916,35,1.1,35,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-62.3
$GPS2,120213,225042,1849.991,12211.692,11,1.9,16,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M2
$TGT_LATLONG,1845.000,12214.880
$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,178.6,10803,-14.2,-9.314,-18.51
$D_GRID,1111
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-73.53,0.000,2,0.000,0.000,40,2495,1512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.69,-194.6,3.0,-3.0,12,194,9.35,2.25,-71.07,0.000,4,0.253,0.059,2122,1082,3303,0,0,0,0,0,0,25.29,26.22,26.94
$GC,269,-0.69,-194.6,18.3,-14.2,41,275,0.00,2.25,0.00,0.000,6,0.000,0.044,2122,2507,3304,0,0,0,0,0,0,28.83,26.27,28.83
$GC,583,-0.69,-194.6,62.4,-14.8,73,589,0.00,2.22,0.00,0.000,4,0.000,0.044,2122,1079,3304,0,0,0,0,0,0,28.83,26.33,28.83
$GC,657,-0.69,-194.6,71.1,-14.1,76,662,0.00,2.25,0.00,0.000,6,0.000,0.044,2122,2510,3304,0,0,0,0,0,0,28.83,26.34,28.83
$GC,974,-0.72,-194.6,103.7,-8.4,92,979,0.00,2.22,0.00,0.000,4,0.000,0.043,2122,1084,3304,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1054,-0.76,-194.6,108.8,-7.6,95,1061,0.00,2.20,0.00,0.000,6,0.000,0.041,2122,2505,3304,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1359,-0.81,-194.6,133.9,-8.0,111,1364,0.10,2.22,0.00,0.000,4,0.112,0.042,2079,1082,3304,0,0,0,0,0,0,26.82,26.38,28.83
$GC,1545,-0.83,-194.6,152.5,-9.5,120,1550,0.00,2.22,0.00,0.000,6,0.000,0.042,2079,2506,3305,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1869,-0.85,-194.6,183.5,-9.2,136,1875,0.00,2.22,0.00,0.000,4,0.000,0.044,2079,1083,3305,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1953,-0.88,-194.6,191.7,-9.7,140,1959,0.00,2.20,0.00,0.000,6,0.000,0.042,2078,2506,3304,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2278,-0.92,-194.6,216.7,-7.5,156,2283,0.00,2.22,0.00,0.000,4,0.000,0.044,2078,1088,3304,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2449,-0.95,-194.6,228.8,-7.5,164,2455,0.00,2.20,0.00,0.000,6,0.000,0.044,2078,2499,3304,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2769,-0.99,-194.6,249.3,-6.9,180,2774,0.00,2.22,0.00,0.000,4,0.000,0.045,2078,1086,3302,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2935,-1.03,-194.6,261.8,-7.7,188,2941,0.10,2.20,0.00,0.000,6,0.102,0.044,2027,2500,3301,0,0,0,0,0,0,26.39,26.39,28.83
$GC,3261,-1.03,-194.6,292.7,-9.0,204,3266,0.10,2.22,0.00,0.000,4,0.144,0.045,2054,1094,3299,0,0,0,0,0,0,26.72,26.35,28.83
$GC,3389,-1.06,-194.6,302.4,-7.5,210,3394,0.00,2.22,0.00,0.000,6,0.000,0.046,2054,2502,3298,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3708,-1.09,-194.6,323.9,-6.9,226,3715,0.00,2.25,0.00,0.000,4,0.000,0.047,2054,1081,3296,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3768,-1.13,-194.6,327.2,-7.0,228,3775,0.10,2.22,0.00,0.000,6,0.107,0.047,2011,2497,3295,0,0,0,0,0,0,26.35,26.35,28.83
$GC,4073,-1.13,-194.6,353.7,-8.7,244,4079,0.00,2.25,-0.08,0.000,4,0.000,0.060,2010,1084,3317,0,0,0,0,0,0,28.83,26.31,25.74
$GC,4248,-1.13,-194.6,370.0,-9.8,252,4253,0.00,2.25,0.00,0.000,6,0.000,0.048,2010,2507,3317,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4562,-1.13,-194.6,403.8,-10.6,268,4567,0.00,2.25,0.00,0.000,4,0.000,0.049,2010,1089,3315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4708,-1.13,-194.6,419.6,-10.6,275,4713,0.00,2.25,0.00,0.000,6,0.000,0.049,2010,2511,3314,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5033,-1.14,-194.6,453.4,-10.2,291,5039,0.00,2.28,0.00,0.000,4,0.000,0.050,2010,1088,3311,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5137,-1.14,-194.6,465.0,-10.9,296,5142,0.00,2.25,0.00,0.000,6,0.000,0.050,2010,2507,3310,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5461,-1.15,-194.6,500.0,-10.5,312,5467,0.00,2.28,0.00,0.000,4,0.000,0.050,2010,1085,3309,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5607,-1.17,-194.6,515.6,-10.7,319,5613,0.00,2.25,0.00,0.000,6,0.000,0.050,2010,2502,3307,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5932,-1.18,-194.6,547.7,-9.4,335,5937,0.00,2.25,0.00,0.000,4,0.000,0.050,2010,1089,3306,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6033,-1.19,-194.6,555.4,-9.3,339,6040,0.00,2.25,0.00,0.000,6,0.000,0.050,2009,2500,3305,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6336,-1.21,-194.6,583.7,-8.6,355,6341,0.00,2.25,0.00,0.000,4,0.000,0.051,2010,1096,3303,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6425,-1.23,-194.6,590.9,-8.4,359,6430,0.00,2.28,0.00,0.000,6,0.000,0.051,2010,2506,3302,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6756,-1.25,-194.6,619.5,-8.7,372,6762,0.00,2.28,0.00,0.000,4,0.000,0.051,2010,1096,3300,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6887,-1.27,-194.6,631.7,-9.7,376,6893,0.00,2.25,0.00,0.000,6,0.000,0.051,2010,2505,3299,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7218,-1.29,-194.6,665.4,-10.2,387,7223,0.00,2.25,0.00,0.000,4,0.000,0.051,2010,1097,3298,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7298,-1.31,-194.6,672.5,-10.4,389,7303,0.00,2.25,0.00,0.000,6,0.000,0.051,2010,2504,3297,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7619,-1.33,-194.6,701.8,-8.7,400,7625,0.10,2.30,0.00,0.000,4,0.115,0.051,1968,1086,3298,0,0,0,0,0,0,26.79,26.14,28.83
$GC,7755,-1.33,-194.6,716.4,-11.3,404,7761,0.00,2.28,0.00,0.000,6,0.000,0.052,1967,2504,3237,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8083,-1.32,-194.6,753.2,-10.5,415,8088,0.00,2.28,0.00,0.000,4,0.000,0.053,1967,1090,3294,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8182,-1.31,-194.6,762.5,-9.7,418,8187,0.10,2.28,0.00,0.000,6,0.164,0.052,1993,2506,3294,0,0,0,0,0,0,26.01,26.14,28.83
$GC,8514,-1.32,-194.6,788.5,-7.4,429,8520,0.00,2.30,0.00,0.000,4,0.000,0.054,1993,1093,3292,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8625,-1.34,-194.6,795.9,-7.6,432,8631,0.00,2.30,0.00,0.000,6,0.000,0.053,1993,2510,3291,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8948,-1.36,-194.6,822.1,-7.7,443,8953,0.00,2.30,0.00,0.000,4,0.000,0.053,1993,1091,3290,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9074,-1.37,-194.6,832.7,-8.3,447,9080,0.00,2.30,0.00,0.000,6,0.000,0.053,1994,2509,3289,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9412,-1.39,-194.6,863.6,-9.7,458,9417,0.00,2.30,0.00,0.000,4,0.000,0.054,1993,1096,3289,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9527,-1.40,-194.6,874.1,-10.6,461,9533,0.10,2.30,0.00,0.000,6,0.110,0.053,1954,2507,3285,0,0,0,0,0,0,26.07,26.06,28.83
$GC,9845,-1.39,-194.6,912.9,-11.1,472,9851,0.00,2.30,0.00,0.000,4,0.000,0.054,1954,1098,3287,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9961,-1.38,-194.6,923.5,-10.7,475,9966,0.00,2.28,0.00,0.000,6,0.000,0.054,1954,2504,3287,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10212,begin apogee
$GC,10221,-0.22,0.0,952.1,-10.8,484,10391,0.82,0.00,159.48,1.262,6,0.112,0.000,2225,1698,2509,0,0,0,0,0,0,25.57,28.83,23.18
$STATE,10393,end apogee,CONTROL_FINISHED_OK
$STATE,10393,begin climb
$GC,10395,0.69,194.6,959.3,0.0,489,10577,0.57,2.50,169.32,1.231,4,0.057,0.057,2442,3117,1702,0,0,0,0,0,0,25.35,24.75,22.94
$GC,10661,0.70,240.2,949.0,7.8,498,10710,0.10,2.33,39.62,1.191,6,0.143,0.050,2424,1692,1527,0,0,0,0,0,0,25.79,25.88,23.65
$GC,11034,0.74,283.8,916.8,7.9,511,11077,0.00,2.45,37.03,1.193,4,0.000,0.058,2424,3113,1351,0,0,0,0,0,0,28.83,25.72,23.88
$GC,11157,0.75,311.1,906.3,8.4,515,11187,0.00,2.30,24.30,1.155,6,0.000,0.051,2429,1692,1240,0,0,0,0,0,0,28.83,26.08,23.91
$GC,11488,0.78,313.7,877.2,9.2,526,11494,0.00,2.33,0.00,0.000,4,0.000,0.058,2429,3118,1233,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11557,0.80,313.7,870.5,9.7,528,11562,0.00,2.28,0.00,0.000,6,0.000,0.051,2429,1701,1233,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11889,0.82,313.7,838.0,9.7,539,11896,0.10,2.33,0.00,0.000,4,0.102,0.057,2480,3116,1231,0,0,0,0,0,0,26.74,26.22,28.83
$GC,11919,0.85,313.7,838.0,9.7,539,11926,0.10,2.28,0.00,0.000,6,0.152,0.052,2457,1698,1230,0,0,0,0,0,0,26.19,26.29,28.83
$GC,12227,0.85,313.7,798.5,11.6,550,12233,0.00,2.30,0.00,0.000,4,0.000,0.058,2460,3113,1230,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12270,0.85,313.7,794.2,11.7,551,12276,0.00,2.28,0.00,0.000,6,0.000,0.052,2460,1695,1230,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12596,0.85,313.7,757.5,10.5,562,12602,0.00,2.33,0.00,0.000,4,0.000,0.058,2460,3113,1230,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12631,0.85,313.7,753.5,10.7,563,12637,0.00,2.30,0.00,0.000,6,0.000,0.052,2468,1693,1230,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12968,0.85,313.7,718.1,9.6,574,12974,0.00,2.33,0.00,0.000,4,0.000,0.057,2468,3119,1229,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13052,0.85,313.7,711.6,9.5,576,13058,0.00,2.30,0.00,0.000,6,0.000,0.051,2472,1700,1229,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13367,0.87,345.9,681.1,8.2,587,13404,0.00,2.40,29.90,1.084,4,0.000,0.058,2472,3112,1097,0,0,0,0,0,0,28.83,25.92,24.01
$GC,13448,0.88,375.9,676.0,8.3,589,13481,0.00,2.30,26.85,1.058,6,0.000,0.052,2472,1695,976,0,0,0,0,0,0,28.83,26.06,23.88
$GC,13790,0.89,385.7,644.4,9.0,601,13801,0.00,0.00,9.40,0.931,6,0.000,0.000,2472,1695,936,0,0,0,0,0,0,28.83,28.83,24.27
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$STATE,19754,end climb,SURFACE_DEPTH_REACHED
$STATE,19754,begin surface coast
$FINISH,1.6,1.022220
$STATE,19775,end surface coast,CONTROL_FINISHED_OK
$STATE,19775,begin surface
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$HUMID,65.35
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$TCM_TEMP,24.20
$XPDR_PINGS,4
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$10V_AH,9.4,51.413
$FG_AHR_24Vo,69.418
$FG_AHR_10Vo,0.000
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$MEM,306152
$DATA_FILE_SIZE,33352,936
$CAP_FILE_SIZE,232621,0
$CFSIZE,260034560,204500992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,312.3,1
$GPS,130213,042330,1848.686,12211.036,41,1.0,41,-2.1