version: 66.11
glider: 124
mission: 14
dive: 647
start: 3 17 113 13 26 38
data:
$ID,124
$MISSION,14
$DIVE,647
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,729
$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,240
$T_MISSION,260
$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,-304658.19
$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,2255
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,37
$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,0.0020000001
$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
$GPS1,170313,131729,1859.940,12427.005,39,1.4,44,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-61.4
$GPS2,170313,132606,1900.074,12426.995,10,1.3,15,-2.3
$SPEED_LIMITS,0.175,0.288
$TGT_NAME,PICKUP
$TGT_LATLONG,1900.000,12427.000
$TGT_RADIUS,2000.000
$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,190.7,138,-27.2,-10.125,-30.00
$D_GRID,5542
$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,22,-1.37,-65.9,0.0,0.0,0,114,0.00,0.00,-89.00,0.000,2,0.000,0.000,40,2332,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.54,-152.3,3.1,-1.1,15,162,8.32,2.38,-29.30,0.000,4,0.255,0.070,1916,879,3129,0,0,0,0,0,0,25.36,25.85,26.82
$GC,233,-1.54,-152.3,29.6,-28.2,33,239,0.00,2.28,0.00,0.000,6,0.000,0.044,1916,2303,3129,0,0,0,0,0,0,28.83,25.78,28.83
$GC,550,-1.54,-152.3,121.8,-27.8,53,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2303,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,853,-1.54,-152.3,192.4,-20.8,68,858,0.00,2.22,0.00,0.000,4,0.000,0.054,1916,3712,3129,0,0,0,0,0,0,28.83,25.45,28.83
$GC,940,-1.54,-152.3,207.9,-17.8,72,946,0.00,2.22,0.00,0.000,6,0.000,0.038,1916,2281,3129,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1260,-1.54,-152.3,267.7,-18.3,88,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2279,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-1.54,-152.3,321.5,-18.3,103,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,2279,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1862,-1.54,-152.3,374.7,-18.2,118,1867,0.00,2.15,0.00,0.000,4,0.000,0.047,1916,894,3129,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1910,-1.54,-152.3,382.8,-17.5,120,1915,0.00,2.22,0.00,0.000,6,0.000,0.042,1916,2302,3128,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2229,-1.54,-152.3,434.8,-16.1,136,2235,0.00,2.28,0.00,0.000,4,0.000,0.047,1917,897,3127,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2274,-1.54,-152.3,442.0,-15.6,138,2279,0.00,2.22,0.00,0.000,6,0.000,0.044,1916,2302,3127,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2598,-1.54,-152.3,492.3,-15.5,154,2604,0.00,2.30,0.00,0.000,4,0.000,0.047,1916,886,3124,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2632,-1.54,-152.3,496.5,-15.7,155,2637,0.00,2.25,0.00,0.000,6,0.000,0.044,1916,2300,3124,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2946,-1.54,-152.3,546.5,-14.8,171,2951,0.00,2.28,0.00,0.000,4,0.000,0.057,1916,3713,3121,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3004,-1.54,-152.3,553.1,-14.9,173,3011,0.00,2.22,0.00,0.000,6,0.000,0.041,1916,2302,3121,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3310,-1.54,-152.3,596.2,-13.1,189,3316,0.00,2.25,0.00,0.000,4,0.000,0.050,1916,886,3118,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3418,-1.54,-152.3,609.1,-13.7,193,3424,0.00,2.28,0.00,0.000,6,0.000,0.045,1916,2301,3117,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3739,-1.54,-152.3,656.3,-15.0,204,3745,0.00,2.33,0.00,0.000,4,0.000,0.051,1916,892,3115,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3782,-1.54,-152.3,661.8,-15.1,205,3788,0.00,2.30,0.00,0.000,6,0.000,0.047,1916,2302,3114,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4108,-1.54,-152.3,711.6,-14.7,216,4114,0.00,2.33,0.00,0.000,4,0.000,0.051,1916,893,3111,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4181,-1.54,-152.3,721.5,-14.9,218,4188,0.00,2.28,0.00,0.000,6,0.000,0.047,1917,2298,3109,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,4234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4234,begin apogee
$GC,4243,-0.23,0.0,731.0,-15.0,220,4364,0.93,0.00,115.28,1.088,6,0.122,0.000,2201,1799,2509,0,0,0,0,0,0,24.57,28.83,24.03
$STATE,4369,end apogee,CONTROL_FINISHED_OK
$STATE,4369,begin climb
$GC,4373,1.54,152.3,737.2,0.0,224,4510,1.10,2.38,124.15,1.066,4,0.058,0.054,2607,388,1886,0,0,0,0,0,0,25.18,24.84,23.71
$GC,4625,1.54,152.3,724.1,10.9,232,4630,0.00,2.30,0.00,0.000,6,0.000,0.041,2607,1818,1878,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4939,1.54,152.3,681.6,12.8,243,4945,0.00,2.38,0.00,0.000,4,0.000,0.057,2616,385,1857,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5054,1.54,152.3,669.7,12.4,246,5060,0.12,2.28,0.00,0.000,6,0.152,0.041,2585,1808,1872,0,0,0,0,0,0,25.58,25.86,28.83
$GC,5372,1.54,152.3,631.7,11.3,257,5378,0.00,2.25,0.00,0.000,4,0.000,0.054,2585,3210,1869,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5416,1.54,152.3,626.9,11.8,258,5421,0.00,2.28,0.00,0.000,6,0.000,0.046,2594,1801,1869,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5733,1.54,152.3,588.4,11.2,270,5738,0.00,2.30,0.00,0.000,4,0.000,0.057,2605,382,1867,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5944,1.54,152.3,564.1,11.3,280,5949,0.00,2.28,0.00,0.000,6,0.000,0.044,2604,1802,1867,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6263,1.54,152.3,528.7,11.1,296,6269,0.00,2.35,0.00,0.000,4,0.000,0.058,2608,390,1866,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6328,1.54,152.3,520.9,11.7,299,6333,0.00,2.28,0.00,0.000,6,0.000,0.043,2608,1804,1846,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6652,1.55,157.5,487.1,9.6,315,6658,0.00,2.25,0.00,0.000,4,0.000,0.054,2608,3208,1865,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6697,1.55,158.8,482.3,10.0,317,6704,0.12,2.28,0.00,0.000,6,0.158,0.047,2588,1800,1864,0,0,0,0,0,0,25.20,25.47,28.83
$GC,7024,1.57,169.3,451.7,9.0,333,7044,0.00,2.30,11.18,0.847,4,0.000,0.057,2594,391,1818,0,0,0,0,0,0,28.83,25.78,24.63
$GC,7225,1.57,169.3,432.1,10.2,342,7231,0.00,2.25,0.00,0.000,6,0.000,0.043,2595,1803,1816,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7530,1.57,169.3,397.2,10.5,358,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1804,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7835,1.60,184.3,370.5,8.6,373,7855,0.00,2.40,13.50,0.807,4,0.000,0.055,2594,383,1757,0,0,0,0,0,0,28.83,25.72,24.74
$GC,7925,1.62,191.0,362.0,9.4,377,7941,0.00,2.28,6.80,0.699,6,0.000,0.041,2594,1804,1729,0,0,0,0,0,0,28.83,25.82,24.77
$GC,8239,1.63,195.4,331.1,9.7,393,8249,0.00,2.33,5.15,0.617,4,0.000,0.055,2594,381,1712,0,0,0,0,0,0,28.83,25.77,24.81
$GC,8340,1.64,202.6,323.1,9.4,397,8353,0.00,2.28,7.43,0.692,6,0.000,0.042,2595,1808,1683,0,0,0,0,0,0,28.83,25.77,24.87
$GC,8672,1.66,210.3,291.9,9.3,414,8682,0.00,0.00,8.12,0.686,6,0.000,0.000,2594,1808,1651,0,0,0,0,0,0,28.83,28.83,24.87
$GC,8973,1.68,223.2,264.3,8.8,429,8993,0.10,2.22,11.68,0.695,4,0.096,0.053,2647,3210,1599,0,0,0,0,0,0,26.56,25.83,24.89
$GC,9037,1.68,223.2,257.1,10.6,432,9043,0.15,2.25,0.00,0.000,6,0.143,0.044,2618,1796,1597,0,0,0,0,0,0,25.65,25.93,28.83
$GC,9362,1.68,223.2,222.5,10.9,448,9367,0.00,2.28,0.00,0.000,4,0.000,0.055,2622,387,1597,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9415,1.68,223.2,218.1,10.5,450,9420,0.00,2.25,0.00,0.000,6,0.000,0.040,2621,1812,1596,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9729,1.68,223.2,184.9,11.0,466,9735,0.00,2.38,0.00,0.000,4,0.000,0.054,2622,377,1596,0,0,0,0,0,0,28.83,25.24,28.83
$GC,9795,1.69,224.6,178.7,10.0,469,9800,0.00,2.28,0.00,0.000,6,0.000,0.040,2622,1806,1595,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10120,1.73,248.0,150.6,7.7,485,10148,0.00,2.22,21.15,0.632,4,0.000,0.050,2622,3209,1497,0,0,0,0,0,0,28.83,25.94,24.99
$GC,10295,1.79,276.8,137.9,7.1,493,10325,0.00,2.25,23.38,0.618,6,0.000,0.041,2630,1799,1379,0,0,0,0,0,0,28.83,25.76,25.01
$GC,10625,1.82,294.4,108.4,8.3,510,10646,0.10,2.28,14.52,0.569,4,0.095,0.047,2682,3210,1307,0,0,0,0,0,0,26.56,26.08,25.08
$GC,10675,1.85,305.0,104.0,9.0,512,10693,0.15,2.25,10.12,0.535,6,0.145,0.041,2650,1799,1264,0,0,0,0,0,0,25.67,25.94,24.96
$GC,10992,1.85,305.0,70.5,10.8,528,10997,0.00,2.25,0.00,0.000,4,0.000,0.052,2660,380,1261,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11036,1.85,305.0,65.4,10.9,530,11042,0.00,2.22,0.00,0.000,6,0.000,0.037,2659,1811,1260,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11352,1.85,305.0,32.4,11.4,553,11357,0.00,2.33,0.00,0.000,4,0.000,0.050,2664,381,1260,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11463,1.85,305.0,19.9,11.3,567,11471,0.00,2.22,0.00,0.000,6,0.000,0.037,2664,1805,1260,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,11616,end climb,SURFACE_DEPTH_REACHED
$STATE,11616,begin surface coast
$FINISH,1.3,1.022436
$STATE,11648,end surface coast,CONTROL_FINISHED_OK
$STATE,11648,begin surface
$SM_CCo,11671,61.33,0.038,0,0,673,450.13
$SM_GC,2.33,7.00,0.77,61.33,0.037,0.044,0.038,37,2312,673,-10.11,-0.76,450.13,0,0,0,0,0,0,25.53,26.00,25.96
$IRIDIUM_FIX,1853.26,12429.46,170313,090912
$TT8_MAMPS,0.027713,0.027713
$HUMID,66.30
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.60
$XPDR_PINGS,1
$SC_FREEKB,3772256
$24V_AH,23.7,127.720
$10V_AH,9.7,65.376
$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,18.100,115.475,372.450,61.325,0.000,0.000,0.000,276.650,0.250,0.000,16.402,1982.393,7395.753,556.830,1807.146,506.328,0.000,1685.023,0.000,1520.877,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,70.380,1087.830,38.250,0.000,0.000,0.000,120.870,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11665.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.828,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,23404,602
$CAP_FILE_SIZE,140865,0
$CFSIZE,260034560,190623744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132, 34.0,1
$GPS,170313,164336,1859.257,12427.163,38,1.0,38,-2.3