version: 66.11
glider: 124
mission: 14
dive: 350
start: 1 14 113 20 41 7
data:
$ID,124
$MISSION,14
$DIVE,350
$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,-304105.66
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,140113,203254,1853.433,12256.337,37,1.9,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-58.2
$GPS2,140113,204036,1853.626,12256.299,11,1.7,16,-2.2
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,MEAST
$TGT_LATLONG,1845.000,12300.070
$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,156.2,17290,-14.2,-9.314,-18.51
$D_GRID,4407
$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,20,-0.69,-194.6,0.0,0.0,0,116,0.00,0.00,-93.90,0.000,2,0.000,0.000,40,2506,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.69,-194.6,3.1,-1.9,16,171,9.30,2.30,-33.50,0.000,4,0.256,0.067,2118,1096,3305,0,0,0,0,0,0,25.48,25.57,26.96
$GC,320,-0.69,-194.6,28.8,-13.3,50,327,0.00,2.20,0.00,0.000,6,0.000,0.044,2118,2496,3304,0,0,0,0,0,0,28.83,26.43,28.83
$GC,636,-0.68,-194.6,84.3,-15.8,72,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2496,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-0.68,-194.6,124.0,-11.8,87,944,0.00,2.15,0.00,0.000,4,0.000,0.058,2118,3879,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1006,-0.69,-194.6,130.9,-10.6,90,1011,0.00,2.12,0.00,0.000,6,0.000,0.037,2118,2480,3304,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1325,-0.72,-194.6,158.2,-7.8,106,1331,0.00,2.10,0.00,0.000,4,0.000,0.044,2117,1088,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1369,-0.75,-194.6,162.0,-8.2,108,1375,0.00,2.20,0.00,0.000,6,0.000,0.043,2118,2506,3305,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1694,-0.79,-194.6,185.9,-6.4,124,1699,0.00,2.20,0.00,0.000,4,0.000,0.044,2118,1092,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1762,-0.84,-194.6,190.2,-6.7,127,1769,0.10,2.17,0.00,0.000,6,0.103,0.043,2073,2503,3305,0,0,0,0,0,0,26.59,26.60,28.83
$GC,2082,-0.86,-194.6,220.6,-10.5,143,2087,0.00,2.20,0.00,0.000,4,0.000,0.044,2072,1091,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2174,-0.88,-194.6,229.5,-10.7,147,2180,0.00,2.17,0.00,0.000,6,0.000,0.043,2070,2506,3305,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2489,-0.90,-194.6,261.8,-10.3,163,2494,0.00,2.20,0.00,0.000,4,0.000,0.045,2070,1098,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2574,-0.93,-194.6,270.5,-10.3,167,2579,0.00,2.17,0.00,0.000,6,0.000,0.043,2070,2507,3305,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2898,-0.96,-194.6,299.6,-7.5,183,2904,0.00,2.20,0.00,0.000,4,0.000,0.045,2070,1089,3303,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3020,-1.00,-194.6,308.6,-8.7,188,3026,0.00,2.22,0.00,0.000,6,0.000,0.044,2070,2512,3302,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3323,-1.04,-194.6,336.5,-8.2,204,3329,0.00,2.22,0.00,0.000,4,0.000,0.047,2070,1091,3300,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3397,-1.08,-194.6,342.0,-8.4,207,3403,0.10,2.20,0.00,0.000,6,0.106,0.044,2024,2513,3300,0,0,0,0,0,0,26.58,26.59,28.83
$GC,3712,-1.08,-194.6,373.1,-9.0,223,3717,0.00,2.20,0.00,0.000,4,0.000,0.045,2023,1091,3298,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3756,-1.08,-194.6,377.2,-9.3,225,3761,0.00,2.20,0.00,0.000,6,0.000,0.045,2023,2508,3298,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4081,-1.09,-194.6,405.5,-9.0,241,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2508,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4381,-1.10,-194.6,431.9,-8.4,256,4388,0.00,2.22,-0.08,0.000,4,0.000,0.059,2023,1093,3319,0,0,0,0,0,0,28.83,26.54,25.92
$GC,4517,-1.11,-194.6,442.8,-8.5,262,4522,0.00,2.20,0.00,0.000,6,0.000,0.045,2023,2506,3319,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4832,-1.13,-194.6,471.5,-9.2,278,4837,0.00,2.20,0.00,0.000,4,0.000,0.048,2023,1098,3317,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4931,-1.15,-194.6,479.3,-9.2,282,4937,0.00,2.20,0.00,0.000,6,0.000,0.047,2023,2505,3316,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5236,-1.17,-194.6,509.4,-9.2,298,5241,0.00,2.22,0.00,0.000,4,0.000,0.049,2023,1099,3314,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5361,-1.19,-194.6,520.1,-8.5,304,5366,0.00,2.20,0.00,0.000,6,0.000,0.048,2023,2502,3313,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5685,-1.21,-194.6,546.9,-8.2,320,5690,0.00,2.22,0.00,0.000,4,0.000,0.049,2023,1099,3310,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5763,-1.24,-194.6,552.6,-8.8,323,5770,0.00,2.22,0.00,0.000,6,0.000,0.049,2023,2499,3310,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6069,-1.26,-194.6,582.4,-9.3,339,6071,0.10,0.00,0.00,0.000,6,0.106,0.000,1980,2498,3308,0,0,0,0,0,0,26.91,28.83,28.83
$GC,6383,-1.26,-194.6,618.2,-11.5,352,6388,0.00,2.22,0.00,0.000,4,0.000,0.050,1980,1100,3305,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6410,-1.26,-194.6,618.2,-11.5,352,6416,0.00,2.22,0.00,0.000,6,0.000,0.050,1980,2503,3305,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6716,-1.26,-194.6,654.3,-10.3,363,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2503,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,-1.26,-194.6,683.0,-9.1,373,7022,0.00,2.25,0.00,0.000,4,0.000,0.051,1980,1097,3302,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7044,-1.26,-194.6,683.0,-9.1,373,7051,0.00,2.25,0.00,0.000,6,0.000,0.051,1980,2498,3302,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7351,-1.26,-194.6,710.4,-8.0,384,7357,0.10,2.25,0.00,0.000,4,0.162,0.050,2008,1096,3267,0,0,0,0,0,0,26.76,26.43,28.83
$GC,7435,-1.26,-194.6,714.6,-7.1,386,7440,0.00,2.28,0.00,0.000,6,0.000,0.052,2008,2509,3300,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7751,-1.28,-194.6,737.2,-7.4,397,7756,0.00,2.25,0.00,0.000,4,0.000,0.052,2008,1103,3276,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7794,-1.31,-194.6,740.0,-7.8,398,7799,0.00,2.25,0.00,0.000,6,0.000,0.052,2008,2501,3298,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8120,-1.33,-194.6,769.5,-9.3,409,8127,0.10,2.25,0.00,0.000,4,0.106,0.052,1966,1096,3270,0,0,0,0,0,0,26.90,26.39,28.83
$GC,8174,-1.35,-194.6,773.5,-9.8,410,8179,0.00,2.28,0.00,0.000,6,0.000,0.054,1966,2507,3296,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8487,-1.35,-194.6,813.5,-12.1,421,8492,0.00,2.28,0.00,0.000,4,0.000,0.053,1968,1093,3294,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8540,-1.35,-194.6,817.6,-12.2,422,8545,0.00,2.28,0.00,0.000,6,0.000,0.052,1966,2505,3289,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8854,-1.35,-194.6,856.4,-11.0,433,8859,0.00,2.28,0.00,0.000,4,0.000,0.054,1966,1096,3292,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8918,-1.35,-194.6,863.4,-11.0,435,8923,0.00,2.25,0.00,0.000,6,0.000,0.054,1966,2504,3292,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9253,-1.35,-194.6,896.2,-9.3,446,9258,0.00,2.28,0.00,0.000,4,0.000,0.054,1966,1097,3291,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9311,-1.35,-194.6,899.3,-9.2,447,9318,0.00,2.25,0.00,0.000,6,0.000,0.054,1966,2498,3290,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9617,-1.35,-194.6,927.1,-8.2,458,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2498,3290,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9884,begin apogee
$GC,9891,-0.22,0.0,951.3,-9.1,467,10069,0.77,0.00,161.00,1.256,6,0.108,0.000,2226,1707,2507,0,0,0,0,1,0,25.98,28.83,23.40
$STATE,10071,end apogee,CONTROL_FINISHED_OK
$STATE,10071,begin climb
$GC,10073,0.69,194.6,959.0,0.0,473,10252,0.60,2.53,158.35,1.206,4,0.053,0.056,2446,3114,1684,0,0,0,0,2,0,25.32,24.58,22.99
$GC,10363,0.69,242.0,946.0,7.7,482,10427,0.12,2.33,54.20,1.204,6,0.132,0.050,2419,1693,1521,0,0,0,0,0,0,25.78,25.87,23.76
$GC,10735,0.75,345.0,921.2,5.9,495,10830,0.00,2.47,86.43,1.216,4,0.000,0.059,2418,3114,1084,0,0,0,0,0,0,28.83,25.35,23.85
$GC,10863,0.80,437.5,913.4,6.2,499,10950,0.12,2.33,78.62,1.196,6,0.083,0.051,2475,1698,725,0,0,0,0,0,0,25.82,25.77,23.65
$GC,11249,0.80,437.5,873.8,10.5,512,11254,0.10,2.33,0.00,0.000,4,0.132,0.057,2444,3116,710,0,0,0,0,0,0,26.50,26.31,28.83
$GC,11287,0.81,437.5,870.4,10.3,513,11292,0.00,2.30,0.00,0.000,6,0.000,0.052,2444,1694,716,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11618,0.85,442.0,841.3,9.2,524,11623,0.00,2.33,0.00,0.000,4,0.000,0.058,2444,3118,707,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11647,0.88,446.5,841.3,9.2,524,11663,0.10,2.28,7.68,0.978,6,0.101,0.051,2494,1700,687,0,0,0,0,0,0,26.50,26.46,24.30
$GC,11987,0.88,446.5,788.9,15.2,536,11989,0.12,0.00,0.00,0.000,6,0.121,0.000,2454,1703,685,0,0,0,0,0,0,26.64,28.83,28.83
$GC,12288,0.92,446.5,750.6,12.6,546,12293,0.00,2.30,0.00,0.000,4,0.000,0.060,2455,3115,676,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12322,0.95,446.5,745.9,12.8,547,12327,0.10,2.30,0.00,0.000,6,0.103,0.054,2508,1691,684,0,0,0,0,0,0,26.50,26.46,28.83
$GC,12655,0.95,446.5,694.0,15.1,558,12657,0.10,0.00,0.00,0.000,6,0.135,0.000,2478,1691,684,0,0,0,0,0,0,26.76,28.83,28.83
$GC,12956,0.97,446.5,659.3,11.0,568,12962,0.00,2.33,0.00,0.000,4,0.000,0.059,2478,3120,674,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13005,0.98,446.5,655.4,11.0,569,13010,0.00,2.28,0.00,0.000,6,0.000,0.052,2482,1693,683,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13325,1.00,446.5,621.0,10.3,580,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1693,684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13634,1.02,446.5,590.1,9.5,592,13640,0.00,2.30,0.00,0.000,4,0.000,0.058,2481,3115,683,0,0,0,0,0,0,28.83,26.36,28.83
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$GC,15455,1.08,446.5,368.4,13.4,681,15460,0.00,2.25,0.00,0.000,6,0.000,0.047,2498,1712,683,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,18969,end climb,SURFACE_DEPTH_REACHED
$STATE,18969,begin surface coast
$FINISH,1.4,1.022239
$STATE,18996,end surface coast,CONTROL_FINISHED_OK
$STATE,18996,begin surface
$SM_CCo,19075,0.00,0.000,0,0,243,556.10
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$IRIDIUM_FIX,1846.42,12256.56,140113,151542
$TT8_MAMPS,0.027713,0.027713
$HUMID,62.32
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.90
$XPDR_PINGS,24
$SC_FREEKB,3886112
$24V_AH,23.0,70.022
$10V_AH,9.8,39.405
$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,19.500,177.600,635.825,0.000,0.000,0.000,0.000,260.900,6.000,0.000,17.314,2892.741,12921.769,806.596,2453.608,454.872,0.000,2284.424,0.000,2125.771,0.000,0.539,0.000
$DEVICE_MAMPS,256.275,67.320,1256.130,0.000,0.000,0.000,0.000,127.755,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19007.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.568,0.000,0.000,0.000
$MEM,306180
$DATA_FILE_SIZE,33376,903
$CAP_FILE_SIZE,218139,0
$CFSIZE,260034560,216821760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.219,359.4,1
$GPS,150113,020024,1853.240,12258.170,42,1.0,42,-2.2