version: 66.11
glider: 124
mission: 14
dive: 351
start: 1 15 113 2 8 31
data:
$ID,124
$MISSION,14
$DIVE,351
$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,-304106.91
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,150113,020024,1853.240,12258.170,42,1.0,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-57.9
$GPS2,150113,020801,1853.307,12258.188,13,1.4,13,-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,179.2,15734,-14.2,-9.314,-18.51
$D_GRID,4576
$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,18,begin dive
$GC,21,-0.69,-194.6,0.0,0.0,0,117,0.00,0.00,-93.43,0.000,2,0.000,0.000,52,2501,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.69,-194.6,3.1,-2.0,16,171,9.18,2.20,-32.70,0.000,4,0.253,0.057,2120,1088,3303,0,0,0,0,0,0,25.38,26.36,26.96
$GC,378,-0.69,-194.6,40.6,-16.1,55,383,0.00,2.17,0.00,0.000,6,0.000,0.044,2119,2497,3303,0,0,0,0,0,0,28.83,26.48,28.83
$GC,701,-0.68,-194.6,95.4,-17.9,74,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2496,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-0.69,-194.6,137.6,-12.7,89,1009,0.00,2.20,0.00,0.000,4,0.000,0.044,2119,1079,3303,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1047,-0.71,-194.6,143.5,-12.7,91,1053,0.00,2.20,0.00,0.000,6,0.000,0.044,2119,2507,3303,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1372,-0.74,-194.6,178.6,-9.2,107,1377,0.00,2.12,0.00,0.000,4,0.000,0.057,2119,3878,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1459,-0.79,-194.6,184.3,-6.9,111,1465,0.00,2.10,0.00,0.000,6,0.000,0.037,2119,2479,3303,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1778,-0.85,-194.6,206.2,-7.8,127,1784,0.12,2.10,0.00,0.000,4,0.093,0.042,2057,1089,3303,0,0,0,0,0,0,26.87,26.59,28.83
$GC,1874,-0.86,-194.6,216.3,-11.9,131,1880,0.12,2.17,0.00,0.000,6,0.136,0.044,2092,2504,3303,0,0,0,0,0,0,26.45,26.60,28.83
$GC,2189,-0.91,-194.6,246.1,-8.2,147,2194,0.00,2.20,0.00,0.000,4,0.000,0.046,2092,1097,3303,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2257,-0.95,-194.6,251.6,-8.6,150,2264,0.10,2.20,0.00,0.000,6,0.110,0.044,2043,2508,3303,0,0,0,0,0,0,26.58,26.60,28.83
$GC,2577,-0.95,-194.6,285.7,-10.8,166,2582,0.10,2.20,0.00,0.000,4,0.145,0.044,2071,1097,3302,0,0,0,0,0,0,26.80,26.59,28.83
$GC,2687,-0.98,-194.6,294.9,-8.7,171,2693,0.00,2.17,0.00,0.000,6,0.000,0.044,2070,2501,3302,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3007,-1.02,-194.6,320.4,-7.7,187,3012,0.00,2.20,0.00,0.000,4,0.000,0.046,2070,1097,3300,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3133,-1.05,-194.6,330.1,-8.1,193,3139,0.10,2.20,0.00,0.000,6,0.107,0.044,2024,2506,3300,0,0,0,0,0,0,26.59,26.60,28.83
$GC,3457,-1.06,-194.6,364.1,-10.8,209,3463,0.00,2.20,0.00,0.000,4,0.000,0.046,2024,1099,3298,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3506,-1.07,-194.6,368.6,-10.7,211,3511,0.00,2.17,0.00,0.000,6,0.000,0.046,2024,2500,3297,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3824,-1.09,-194.6,400.2,-9.5,227,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2500,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4127,-1.10,-194.6,426.9,-8.5,242,4133,0.00,2.22,-0.08,0.000,4,0.000,0.060,2024,1096,3318,0,0,0,0,0,0,28.83,26.55,25.93
$GC,4213,-1.12,-194.6,434.8,-9.0,246,4218,0.00,2.20,0.00,0.000,6,0.000,0.048,2023,2504,3318,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4537,-1.14,-194.6,461.3,-7.5,262,4543,0.00,2.22,0.00,0.000,4,0.000,0.050,2024,1098,3315,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4657,-1.16,-194.6,469.5,-8.0,267,4665,0.00,2.22,0.00,0.000,6,0.000,0.048,2024,2507,3315,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4961,-1.18,-194.6,496.7,-8.8,283,4967,0.00,2.22,0.00,0.000,4,0.000,0.050,2023,1101,3312,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5036,-1.20,-194.6,502.5,-8.9,286,5041,0.00,2.22,0.00,0.000,6,0.000,0.050,2023,2500,3310,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5349,-1.23,-194.6,532.2,-9.2,302,5354,0.00,2.22,0.00,0.000,4,0.000,0.052,2024,1093,3309,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5408,-1.25,-194.6,536.6,-9.8,304,5414,0.00,2.22,0.00,0.000,6,0.000,0.048,2023,2507,3309,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5713,-1.28,-194.6,569.4,-10.5,320,5718,0.10,2.25,0.00,0.000,4,0.108,0.048,1980,1092,3306,0,0,0,0,0,0,26.91,26.49,28.83
$GC,5780,-1.28,-194.6,577.5,-12.4,323,5786,0.00,2.22,0.00,0.000,6,0.000,0.049,1980,2505,3305,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6110,-1.28,-194.6,620.7,-12.7,337,6115,0.00,2.22,0.00,0.000,4,0.000,0.051,1980,1096,3303,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6183,-1.28,-194.6,628.9,-12.7,339,6188,0.00,2.22,0.00,0.000,6,0.000,0.050,1979,2505,3303,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6506,-1.28,-194.6,666.5,-11.1,350,6511,0.00,2.25,0.00,0.000,4,0.000,0.053,1980,1098,3297,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6563,-1.28,-194.6,670.2,-11.0,351,6570,0.00,2.25,0.00,0.000,6,0.000,0.051,1979,2510,3243,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6871,-1.28,-194.6,702.0,-9.2,362,6876,0.00,2.25,0.00,0.000,4,0.000,0.051,1980,1096,3276,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6913,-1.28,-194.6,705.3,-9.4,363,6919,0.00,2.22,0.00,0.000,6,0.000,0.052,1980,2499,3298,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7237,-1.28,-194.6,737.8,-10.4,374,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2498,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7537,-1.28,-194.6,768.8,-10.3,384,7542,0.00,2.25,0.00,0.000,4,0.000,0.053,1980,1097,3278,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7570,-1.28,-194.6,772.5,-10.4,385,7576,0.00,2.25,0.00,0.000,6,0.000,0.053,1979,2505,3294,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7906,-1.28,-194.6,807.2,-10.5,396,7911,0.00,2.25,0.00,0.000,4,0.000,0.054,1979,1096,3243,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7933,-1.28,-194.6,807.2,-10.5,396,7941,0.00,2.25,0.00,0.000,6,0.000,0.055,1980,2498,3292,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8240,-1.28,-194.6,843.3,-10.4,407,8245,0.00,2.25,0.00,0.000,4,0.000,0.053,1980,1098,3225,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8333,-1.28,-194.6,852.8,-10.4,410,8338,0.00,2.25,0.00,0.000,6,0.000,0.054,1979,2505,3290,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8670,-1.28,-194.6,884.8,-9.0,421,8675,0.00,2.25,0.00,0.000,4,0.000,0.055,1980,1099,3220,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8727,-1.28,-194.6,888.1,-8.9,422,8735,0.00,2.25,0.00,0.000,6,0.000,0.054,1980,2503,3242,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9034,-1.28,-194.6,916.4,-8.6,433,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2503,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9335,-1.29,-194.6,941.9,-8.4,443,9340,0.00,2.28,0.00,0.000,4,0.000,0.057,1980,1101,3223,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9393,-1.30,-194.6,945.1,-8.6,444,9401,0.00,2.28,0.00,0.000,6,0.000,0.057,1980,2500,3285,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,9426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9426,begin apogee
$GC,9434,-0.22,0.0,950.5,-8.9,446,9611,0.73,0.00,161.55,1.246,6,0.105,0.000,2225,1710,2509,0,0,0,0,2,0,26.03,28.83,23.42
$STATE,9613,end apogee,CONTROL_FINISHED_OK
$STATE,9613,begin climb
$GC,9615,0.69,194.6,959.2,0.0,452,9792,0.57,2.55,167.93,1.234,4,0.057,0.056,2442,3117,1703,0,0,0,0,0,0,25.23,24.44,22.87
$GC,9851,0.71,299.6,953.1,5.8,459,9949,0.00,2.38,90.00,1.213,6,0.000,0.050,2448,1692,1286,0,0,0,0,0,0,28.83,25.39,23.19
$GC,10278,0.72,326.4,916.3,8.4,474,10308,0.00,2.35,22.83,1.161,4,0.000,0.057,2448,3115,1177,0,0,0,0,0,0,28.83,25.95,24.28
$GC,10336,0.73,350.7,913.8,8.5,475,10365,0.00,2.30,22.12,1.150,6,0.000,0.051,2454,1697,1079,0,0,0,0,0,0,28.83,26.08,24.15
$GC,10673,0.73,350.7,879.6,9.4,487,10678,0.00,2.30,0.00,0.000,4,0.000,0.058,2454,3116,1072,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10700,0.73,350.7,879.6,9.4,487,10708,0.00,2.30,0.00,0.000,6,0.000,0.051,2455,1693,1072,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11006,0.73,361.6,848.5,8.9,498,11018,0.00,0.00,9.80,1.046,6,0.000,0.000,2455,1693,1034,0,0,0,0,0,0,28.83,28.83,24.40
$GC,11309,0.76,384.9,822.7,8.5,508,11337,0.00,2.42,21.42,1.142,4,0.000,0.059,2455,3118,927,0,0,0,0,0,0,28.83,26.10,24.43
$GC,11359,0.77,405.5,820.0,8.6,509,11384,0.00,2.30,19.12,1.118,6,0.000,0.052,2455,1697,855,0,0,0,0,0,0,28.83,26.15,24.25
$GC,11703,0.79,427.1,789.1,8.6,521,11724,0.00,0.00,19.35,1.112,6,0.000,0.000,2455,1697,767,0,0,0,0,0,0,28.83,28.83,24.45
$GC,12004,0.83,458.0,764.2,8.3,531,12037,0.00,2.35,27.15,1.125,4,0.000,0.057,2455,3117,636,0,0,0,0,0,0,28.83,25.95,24.37
$GC,12077,0.87,490.4,759.0,8.2,533,12115,0.00,2.33,28.80,1.127,6,0.000,0.051,2455,1695,509,0,0,0,0,0,0,28.83,26.10,24.17
$GC,12429,0.93,532.6,729.4,7.9,545,12467,0.00,0.00,36.42,1.111,6,0.000,0.000,2455,1695,337,0,0,0,0,0,0,28.83,28.83,24.29
$GC,12761,0.99,566.5,704.0,8.2,556,12789,0.12,2.38,19.88,1.058,4,0.093,0.059,2526,3115,243,0,0,0,0,0,0,26.58,26.06,24.47
$GC,12838,1.01,566.5,695.6,10.5,558,12845,0.12,2.30,0.00,0.000,6,0.142,0.052,2493,1693,243,0,0,0,0,0,0,26.06,26.17,28.83
$GC,13160,1.01,566.5,651.2,12.9,569,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1693,242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13457,1.01,566.5,611.9,12.9,579,13463,0.00,2.33,0.00,0.000,4,0.000,0.058,2493,3119,241,0,0,0,0,0,0,28.83,26.40,28.83
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$STATE,18511,end climb,SURFACE_DEPTH_REACHED
$STATE,18511,begin surface coast
$FINISH,1.3,0.999970
$STATE,18545,end surface coast,CONTROL_FINISHED_OK
$STATE,18545,begin surface
$SM_CCo,18624,0.00,0.000,0,0,243,555.85
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$IRIDIUM_FIX,1844.15,12256.56,140113,202007
$TT8_MAMPS,0.028462,0.028462
$HUMID,63.93
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.50
$XPDR_PINGS,7
$SC_FREEKB,3885728
$24V_AH,22.9,70.249
$10V_AH,9.9,39.498
$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
$DEVICE_SECS,18.925,182.000,646.375,0.000,0.000,0.000,0.000,259.475,1.750,0.000,14.532,2835.906,12564.510,792.255,2427.912,451.217,0.000,2275.007,0.000,2098.391,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18552.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.474,0.000,0.000,0.000
$MEM,306220
$DATA_FILE_SIZE,33339,874
$CAP_FILE_SIZE,215282,0
$CFSIZE,260034560,216731648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.146,330.8,1
$GPS,150113,072027,1851.450,12257.943,32,5.6,51,-2.1