version: 66.11
glider: 124
mission: 14
dive: 241
start: 12 20 112 23 6 29
data:
$ID,124
$MISSION,14
$DIVE,241
$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,-303939.97
$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,32
$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
$GPS1,201212,225736,1846.058,12224.503,34,1.1,34,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-54.3
$GPS2,201212,230601,1846.395,12224.362,12,1.5,12,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M4
$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,134.8,15868,-14.2,-9.314,-18.51
$D_GRID,1056
$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,17,begin dive
$GC,19,-0.69,-194.6,0.0,0.0,0,110,0.00,0.00,-88.28,0.000,2,0.000,0.000,34,2513,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.69,-194.6,3.1,-1.0,15,168,9.23,2.30,-36.45,0.000,4,0.261,0.070,2118,1088,3303,0,0,0,0,0,0,25.74,26.34,26.86
$GC,272,-0.67,-194.6,24.8,-15.7,44,279,0.00,2.22,0.00,0.000,6,0.000,0.045,2118,2504,3304,0,0,0,0,0,0,28.83,26.41,28.83
$GC,587,-0.63,-194.6,79.9,-15.7,67,592,0.00,2.15,0.00,0.000,4,0.000,0.057,2118,3888,3304,0,0,0,0,0,0,28.83,26.45,28.83
$GC,614,-0.60,-194.6,84.0,-16.4,68,620,0.10,2.12,0.00,0.000,6,0.162,0.037,2145,2501,3304,0,0,0,0,0,0,26.42,26.62,28.83
$GC,934,-0.64,-194.6,119.2,-7.8,84,939,0.00,2.20,0.00,0.000,4,0.000,0.055,2145,3885,3304,0,0,0,0,0,0,28.83,26.52,28.83
$GC,961,-0.68,-194.6,120.9,-7.5,85,967,0.00,2.12,0.00,0.000,6,0.000,0.037,2145,2482,3304,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1280,-0.74,-194.6,145.4,-8.6,101,1282,0.12,0.00,0.00,0.000,6,0.093,0.000,2091,2480,3305,0,0,0,0,0,0,26.89,28.83,28.83
$GC,1581,-0.76,-194.6,174.3,-8.1,116,1587,0.00,2.10,0.00,0.000,4,0.000,0.044,2091,1083,3305,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1619,-0.78,-194.6,176.6,-8.3,117,1625,0.00,2.20,0.00,0.000,6,0.000,0.041,2091,2508,3304,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1925,-0.82,-194.6,204.5,-8.8,133,1930,0.00,2.12,0.00,0.000,4,0.000,0.057,2091,3885,3305,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1952,-0.86,-194.6,206.5,-8.6,134,1958,0.00,2.10,0.00,0.000,6,0.000,0.037,2091,2504,3304,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2271,-0.90,-194.6,231.4,-7.0,150,2277,0.00,2.12,0.00,0.000,4,0.000,0.044,2091,1096,3304,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2411,-0.93,-194.6,240.7,-7.7,156,2419,0.00,2.17,0.00,0.000,6,0.000,0.042,2091,2501,3303,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2718,-0.98,-194.6,264.0,-6.7,172,2724,0.12,2.20,0.00,0.000,4,0.090,0.044,2025,1090,3301,0,0,0,0,0,0,26.92,26.64,28.83
$GC,2743,-1.01,-194.6,266.2,-7.0,173,2749,0.12,2.20,0.00,0.000,6,0.145,0.044,2061,2506,3301,0,0,0,0,0,0,26.49,26.66,28.83
$GC,3068,-1.04,-194.6,292.2,-8.6,189,3073,0.00,2.12,0.00,0.000,4,0.000,0.057,2060,3891,3299,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3121,-1.07,-194.6,296.2,-9.1,191,3127,0.00,2.15,0.00,0.000,6,0.000,0.039,2061,2483,3299,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3435,-1.10,-194.6,325.5,-8.9,207,3437,0.10,0.00,0.00,0.000,6,0.105,0.000,2015,2483,3296,0,0,0,0,0,0,26.96,28.83,28.83
$GC,3736,-1.10,-194.6,360.4,-11.9,222,3742,0.00,2.25,-0.08,0.000,4,0.000,0.071,2013,3886,3317,0,0,0,0,0,0,28.83,26.53,25.97
$GC,3780,-1.10,-194.6,365.8,-11.8,224,3786,0.10,2.12,0.00,0.000,6,0.138,0.041,2040,2505,3317,0,0,0,0,0,0,26.56,26.71,28.83
$GC,4104,-1.12,-194.6,398.2,-9.8,240,4110,0.00,2.15,0.00,0.000,4,0.000,0.048,2040,1097,3316,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4172,-1.15,-194.6,405.1,-10.7,243,4178,0.00,2.20,0.00,0.000,6,0.000,0.047,2040,2506,3315,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4491,-1.17,-194.6,437.0,-9.2,259,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2506,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4794,-1.20,-194.6,462.0,-7.9,274,4800,0.10,2.15,0.00,0.000,4,0.112,0.060,1997,3888,3310,0,0,0,0,0,0,26.94,26.48,28.83
$GC,4874,-1.21,-194.6,468.7,-9.3,277,4881,0.00,2.15,0.00,0.000,6,0.000,0.042,1997,2497,3309,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5178,-1.21,-194.6,500.4,-10.2,293,5183,0.00,2.17,0.00,0.000,4,0.000,0.049,1998,1081,3307,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5224,-1.21,-194.6,505.0,-10.6,295,5229,0.00,2.25,0.00,0.000,6,0.000,0.048,1997,2504,3307,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5541,-1.21,-194.6,538.4,-10.5,311,5547,0.00,2.22,0.00,0.000,4,0.000,0.050,1997,1084,3304,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5599,-1.21,-194.6,543.0,-10.8,313,5605,0.00,2.25,0.00,0.000,6,0.000,0.048,1997,2504,3304,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5905,-1.21,-194.6,576.9,-10.3,329,5910,0.00,2.25,0.00,0.000,4,0.000,0.049,1997,1083,3302,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5922,-1.21,-194.6,576.9,-10.3,329,5928,0.00,2.22,0.00,0.000,6,0.000,0.048,1997,2498,3302,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6250,-1.21,-194.6,613.4,-10.9,344,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2498,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6548,-1.21,-194.6,644.8,-9.9,354,6554,0.00,2.25,0.00,0.000,4,0.000,0.051,1997,1087,3297,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6676,-1.21,-194.6,657.0,-9.9,358,6682,0.00,2.28,0.00,0.000,6,0.000,0.050,1997,2512,3230,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7006,-1.21,-194.6,688.0,-9.7,369,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2511,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,-1.21,-194.6,718.7,-10.4,379,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2511,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7605,-1.21,-194.6,751.1,-10.8,389,7610,0.00,2.28,0.00,0.000,4,0.000,0.051,1997,1089,3290,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7646,-1.21,-194.6,754.8,-10.8,390,7652,0.00,2.25,0.00,0.000,6,0.000,0.050,1997,2508,3291,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7970,-1.21,-194.6,788.3,-9.8,401,7975,0.00,2.28,0.00,0.000,4,0.000,0.054,1997,1093,3289,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7992,-1.21,-194.6,788.3,-9.8,401,7997,0.00,2.25,0.00,0.000,6,0.000,0.050,1997,2509,3289,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8306,-1.22,-194.6,821.9,-9.9,412,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2509,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8606,-1.23,-194.6,850.4,-8.8,422,8611,0.00,2.28,0.00,0.000,4,0.000,0.053,1997,1079,3285,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8664,-1.24,-194.6,853.7,-8.9,423,8670,0.00,2.30,0.00,0.000,6,0.000,0.052,1997,2507,3285,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8972,-1.26,-194.6,881.5,-8.4,434,8977,0.00,2.28,0.00,0.000,4,0.000,0.054,1997,1096,3284,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9005,-1.27,-194.6,884.6,-8.5,435,9010,0.00,2.28,0.00,0.000,6,0.000,0.053,1997,2508,3284,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9341,-1.28,-194.6,913.0,-9.1,446,9346,0.00,2.30,0.00,0.000,4,0.000,0.054,1997,1082,3284,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9383,-1.29,-194.6,916.6,-9.3,447,9388,0.00,2.30,0.00,0.000,6,0.000,0.054,1997,2505,3283,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9708,-1.31,-194.6,946.6,-8.7,458,9714,0.00,2.30,0.00,0.000,4,0.000,0.054,1997,1083,3281,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9777,-0.22,0.0,952.9,-9.1,460,9954,0.68,0.00,156.85,1.264,6,0.106,0.000,2226,1717,2509,0,0,0,0,2,0,26.01,28.83,23.80
$STATE,9955,end apogee,CONTROL_FINISHED_OK
$STATE,9955,begin climb
$GC,9958,0.69,194.6,962.9,0.0,466,10133,0.55,0.00,167.05,1.244,6,0.057,0.000,2432,1717,1715,0,0,0,0,0,0,25.19,28.83,22.99
$GC,10432,0.72,267.3,939.3,6.9,482,10500,0.00,2.35,60.35,1.226,4,0.000,0.057,2432,3100,1416,0,0,0,0,0,0,28.83,25.29,24.11
$GC,10529,0.72,314.8,931.9,7.7,485,10577,0.00,2.30,41.05,1.198,6,0.000,0.048,2441,1702,1225,0,0,0,0,0,0,28.83,25.63,24.02
$GC,10885,0.73,326.2,900.7,8.9,497,10896,0.00,0.00,9.82,1.064,6,0.000,0.000,2441,1702,1179,0,0,0,0,0,0,28.83,28.83,24.74
$GC,11185,0.75,372.0,876.2,7.8,507,11226,0.00,0.00,39.62,1.203,6,0.000,0.000,2441,1702,994,0,0,0,0,0,0,28.83,28.83,24.51
$GC,11517,0.78,411.3,850.2,8.0,518,11558,0.00,2.40,33.55,1.183,4,0.000,0.060,2442,3097,831,0,0,0,0,0,0,28.83,25.74,24.56
$GC,11600,0.79,447.9,845.1,8.1,520,11637,0.00,2.30,31.52,1.160,6,0.000,0.052,2441,1699,684,0,0,0,0,0,0,28.83,25.96,24.35
$GC,11937,0.83,475.6,814.9,8.4,532,11966,0.00,0.00,24.10,1.141,6,0.000,0.000,2441,1700,570,0,0,0,0,0,0,28.83,28.83,24.69
$GC,12269,0.88,520.7,788.5,7.8,543,12316,0.10,2.40,38.38,1.154,4,0.106,0.060,2488,3097,386,0,0,0,0,0,0,26.55,25.69,24.56
$GC,12355,0.89,526.2,781.8,9.1,545,12367,0.12,2.28,5.88,0.873,6,0.134,0.051,2462,1699,364,0,0,0,0,0,0,25.85,25.94,24.52
$GC,12695,0.92,526.2,746.2,9.4,557,12701,0.00,2.28,0.00,0.000,4,0.000,0.065,2462,282,362,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12717,0.94,526.2,746.2,9.4,557,12723,0.00,2.28,0.00,0.000,6,0.000,0.048,2461,1706,361,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13032,0.96,526.2,710.3,12.5,568,13038,0.10,2.20,0.00,0.000,4,0.106,0.059,2512,3104,360,0,0,0,0,0,0,26.70,26.41,28.83
$GC,13096,0.96,526.2,699.7,14.5,570,13102,0.12,2.28,0.00,0.000,6,0.148,0.052,2477,1690,359,0,0,0,0,0,0,26.33,26.47,28.83
$GC,13429,0.96,526.2,655.0,13.1,581,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1690,359,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18816,end climb,SURFACE_DEPTH_REACHED
$STATE,18817,begin surface coast
$FINISH,1.5,1.010135
$STATE,18839,end surface coast,CONTROL_FINISHED_OK
$STATE,18839,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,61.49
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$TCM_TEMP,24.80
$XPDR_PINGS,25
$SC_FREEKB,3928000
$24V_AH,23.0,47.172
$10V_AH,10.1,29.465
$FG_AHR_24Vo,69.418
$FG_AHR_10Vo,0.000
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$MEM,306964
$DATA_FILE_SIZE,33410,881
$CAP_FILE_SIZE,213123,0
$CFSIZE,260034560,227229696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.189,331.4,1
$GPS,211212,042306,1846.078,12225.969,38,1.1,38,-2.1