version: 66.11
glider: 124
mission: 14
dive: 431
start: 2 2 113 5 22 2
data:
$ID,124
$MISSION,14
$DIVE,431
$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,-304232.75
$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,33
$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
$GPS1,020213,051305,1904.374,12226.866,33,1.4,33,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-60.4
$GPS2,020213,052131,1904.588,12226.644,14,1.4,14,-2.2
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M6
$TGT_LATLONG,1845.000,12250.480
$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,139.9,55349,-14.2,-9.314,-18.51
$D_GRID,1702
$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,-194.6,0.0,0.0,0,123,0.00,0.00,-99.35,0.000,2,0.000,0.000,33,2513,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.69,-194.6,3.2,-1.1,17,178,9.45,2.28,-30.05,0.000,4,0.256,0.060,2120,1098,3304,0,0,0,0,0,0,25.17,26.28,26.95
$GC,223,-0.69,-194.6,16.3,-14.5,33,230,0.00,2.20,0.00,0.000,6,0.000,0.044,2120,2505,3304,0,0,0,0,0,0,28.83,26.33,28.83
$GC,548,-0.69,-194.6,62.4,-14.2,67,553,0.00,2.20,0.00,0.000,4,0.000,0.044,2120,1084,3303,0,0,0,0,0,0,28.83,26.42,28.83
$GC,595,-0.69,-194.6,68.3,-14.1,69,600,0.00,2.22,0.00,0.000,6,0.000,0.044,2120,2506,3304,0,0,0,0,0,0,28.83,26.45,28.83
$GC,914,-0.69,-194.6,113.2,-12.7,85,919,0.00,2.20,0.00,0.000,4,0.000,0.044,2120,1083,3303,0,0,0,0,0,0,28.83,26.46,28.83
$GC,992,-0.72,-194.6,118.3,-8.3,88,1000,0.00,2.20,0.00,0.000,6,0.000,0.044,2120,2506,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1298,-0.76,-194.6,141.9,-7.6,104,1304,0.00,2.20,0.00,0.000,4,0.000,0.044,2120,1079,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1434,-0.80,-194.6,154.3,-10.8,110,1439,0.00,2.22,0.00,0.000,6,0.000,0.043,2120,2507,3304,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1748,-0.86,-194.6,179.6,-7.1,126,1753,0.12,2.20,0.00,0.000,4,0.093,0.043,2060,1082,3304,0,0,0,0,0,0,26.83,26.49,28.83
$GC,1855,-0.88,-194.6,189.7,-9.8,131,1861,0.10,2.22,0.00,0.000,6,0.145,0.044,2084,2508,3304,0,0,0,0,0,0,26.39,26.51,28.83
$GC,2180,-0.91,-194.6,215.8,-7.9,147,2185,0.00,2.22,0.00,0.000,4,0.000,0.045,2085,1082,3304,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2253,-0.95,-194.6,221.5,-8.6,150,2259,0.00,2.22,0.00,0.000,6,0.000,0.044,2083,2506,3304,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2568,-1.00,-194.6,250.6,-8.9,166,2574,0.10,2.22,0.00,0.000,4,0.112,0.044,2036,1081,3303,0,0,0,0,0,0,26.86,26.48,28.83
$GC,2647,-1.02,-194.6,257.9,-10.6,169,2655,0.00,2.22,0.00,0.000,6,0.000,0.045,2036,2499,3299,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2953,-1.03,-194.6,293.3,-10.1,185,2959,0.00,2.20,0.00,0.000,4,0.000,0.047,2036,1096,3301,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3038,-1.04,-194.6,302.6,-11.1,189,3043,0.00,2.22,0.00,0.000,6,0.000,0.046,2036,2511,3300,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3363,-1.06,-194.6,335.5,-9.2,205,3368,0.00,2.22,0.00,0.000,4,0.000,0.046,2036,1096,3298,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3420,-1.07,-194.6,339.7,-9.3,207,3427,0.00,2.22,0.00,0.000,6,0.000,0.046,2036,2508,3298,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3727,-1.09,-194.6,367.5,-9.1,223,3732,0.00,2.25,0.00,0.000,4,0.000,0.047,2035,1081,3296,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3820,-1.11,-194.6,375.7,-9.6,227,3826,0.00,2.25,-0.08,0.000,6,0.000,0.046,2035,2507,3313,0,0,0,0,0,0,28.83,26.48,25.39
$GC,4135,-1.14,-194.6,407.4,-9.7,243,4141,0.00,2.22,0.00,0.000,4,0.000,0.049,2036,1095,3313,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4243,-1.16,-194.6,417.5,-9.7,248,4248,0.00,2.22,0.00,0.000,6,0.000,0.047,2036,2503,3296,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4566,-1.19,-194.6,448.2,-9.4,264,4572,0.00,2.22,0.00,0.000,4,0.000,0.048,2036,1083,3310,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4674,-1.21,-194.6,458.3,-9.6,269,4680,0.10,2.25,0.00,0.000,6,0.106,0.047,1996,2504,3309,0,0,0,0,0,0,26.44,26.44,28.83
$GC,4999,-1.21,-194.6,495.1,-11.2,285,5004,0.00,2.25,0.00,0.000,4,0.000,0.050,1996,1092,3303,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5076,-1.21,-194.6,502.6,-11.5,288,5083,0.00,2.25,0.00,0.000,6,0.000,0.048,1995,2506,3205,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5383,-1.21,-194.6,537.1,-10.8,304,5389,0.00,2.25,0.00,0.000,4,0.000,0.050,1997,1090,3303,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5482,-1.21,-194.6,546.6,-11.4,308,5489,0.00,2.25,0.00,0.000,6,0.000,0.049,1995,2501,3302,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5788,-1.21,-194.6,580.2,-9.7,324,5793,0.00,2.25,0.00,0.000,4,0.000,0.050,1995,1095,3300,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5846,-1.21,-194.6,584.8,-10.0,326,5853,0.00,2.25,0.00,0.000,6,0.000,0.050,1995,2507,3296,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6164,-1.21,-194.6,615.9,-9.6,340,6169,0.00,2.28,0.00,0.000,4,0.000,0.051,1995,1086,3298,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6232,-1.21,-194.6,622.6,-10.0,342,6237,0.00,2.25,0.00,0.000,6,0.000,0.050,1995,2500,3287,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6563,-1.22,-194.6,657.3,-10.8,353,6568,0.00,2.25,0.00,0.000,4,0.000,0.052,1995,1093,3295,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6698,-1.22,-194.6,670.5,-10.5,357,6704,0.00,2.28,0.00,0.000,6,0.000,0.050,1998,2510,3253,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7024,-1.24,-194.6,705.2,-10.6,368,7029,0.00,2.25,0.00,0.000,4,0.000,0.052,1995,1096,3292,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7108,-1.25,-194.6,712.4,-10.7,370,7114,0.00,2.28,0.00,0.000,6,0.000,0.051,1995,2508,3292,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7425,-1.27,-194.6,744.8,-8.8,381,7430,0.00,2.25,0.00,0.000,4,0.000,0.053,1996,1096,3284,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7535,-1.28,-194.6,753.7,-9.2,384,7541,0.00,2.28,0.00,0.000,6,0.000,0.052,1996,2510,3289,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7857,-1.30,-194.6,783.9,-8.7,395,7863,0.00,2.28,0.00,0.000,4,0.000,0.053,1995,1097,3288,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7937,-1.31,-194.6,790.0,-8.8,397,7942,0.00,2.28,0.00,0.000,6,0.000,0.053,1995,2508,3288,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8258,-1.33,-194.6,818.9,-8.7,408,8264,0.00,2.28,0.00,0.000,4,0.000,0.053,1995,1085,3286,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8333,-1.35,-194.6,824.8,-8.8,410,8339,0.00,2.30,0.00,0.000,6,0.000,0.053,1996,2506,3285,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8659,-1.37,-194.6,856.1,-9.8,421,8665,0.00,2.30,0.00,0.000,4,0.000,0.055,1995,1092,3284,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8714,-1.38,-194.6,859.7,-9.9,422,8719,0.00,2.30,0.00,0.000,6,0.000,0.054,1997,2508,3283,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9029,-1.40,-194.6,889.4,-8.6,433,9035,0.10,2.30,0.00,0.000,4,0.112,0.055,1954,1097,3281,0,0,0,0,0,0,26.83,26.15,28.83
$GC,9069,-1.42,-194.6,893.3,-9.0,434,9074,0.00,2.30,0.00,0.000,6,0.000,0.054,1954,2511,3281,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9398,-1.42,-194.6,928.6,-10.0,445,9404,0.00,2.30,0.00,0.000,4,0.000,0.055,1954,1097,3280,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9557,-1.41,-194.6,943.9,-9.7,450,9562,0.00,2.30,0.00,0.000,6,0.000,0.054,1954,2507,3280,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,9643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9643,begin apogee
$GC,9651,-0.22,0.0,952.3,-9.3,453,9821,0.82,0.00,158.62,1.265,6,0.112,0.000,2225,1701,2509,0,0,0,0,0,0,25.75,28.83,23.22
$STATE,9822,end apogee,CONTROL_FINISHED_OK
$STATE,9822,begin climb
$GC,9825,0.69,194.6,957.6,0.0,458,10009,0.57,2.53,168.50,1.229,4,0.057,0.058,2442,3114,1712,0,0,0,0,0,0,25.39,24.77,23.01
$GC,10068,0.71,283.2,950.1,6.4,466,10150,0.00,2.35,75.82,1.206,6,0.000,0.052,2443,1705,1354,0,0,0,0,0,0,28.83,25.74,23.53
$GC,10464,0.73,310.7,915.9,8.4,480,10493,0.00,0.00,23.50,1.156,6,0.000,0.000,2443,1705,1242,0,0,0,0,0,0,28.83,28.83,24.10
$GC,10797,0.76,343.4,888.7,8.2,491,10828,0.00,0.00,29.20,1.173,6,0.000,0.000,2443,1705,1109,0,0,0,0,0,0,28.83,28.83,24.09
$GC,11126,0.78,343.4,858.3,9.4,502,11132,0.00,2.30,0.00,0.000,4,0.000,0.060,2443,3116,1103,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11221,0.80,352.7,849.7,9.0,505,11236,0.00,2.33,8.80,1.015,6,0.000,0.054,2443,1687,1071,0,0,0,0,0,0,28.83,26.32,24.23
$GC,11556,0.84,392.8,822.0,8.0,516,11598,0.00,2.38,36.22,1.157,4,0.000,0.057,2443,3112,905,0,0,0,0,0,0,28.83,25.82,24.03
$GC,11656,0.85,393.4,813.7,9.3,519,11661,0.00,2.33,0.00,0.000,6,0.000,0.052,2443,1696,903,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11982,0.91,466.6,789.5,6.9,530,12053,0.10,2.45,63.22,1.151,4,0.103,0.060,2492,3109,606,0,0,0,0,0,0,26.70,25.54,23.84
$GC,12094,0.91,466.6,779.7,9.8,533,12099,0.10,2.33,0.00,0.000,6,0.141,0.051,2470,1700,604,0,0,0,0,0,0,25.84,25.91,28.83
$GC,12411,0.95,488.5,746.5,8.6,544,12437,0.00,0.00,19.50,1.073,6,0.000,0.000,2470,1700,516,0,0,0,0,0,0,28.83,28.83,24.23
$GC,12741,0.98,502.9,716.6,8.8,555,12760,0.00,2.35,13.38,1.023,4,0.000,0.058,2469,3117,457,0,0,0,0,0,0,28.83,26.17,24.28
$GC,12793,1.01,507.1,713.1,9.2,556,12804,0.10,2.33,5.15,0.796,6,0.103,0.052,2522,1692,441,0,0,0,0,0,0,26.22,26.20,24.18
$GC,13103,0.99,507.1,667.2,14.6,567,13109,0.12,2.33,0.00,0.000,4,0.129,0.058,2477,3116,436,0,0,0,0,0,0,26.49,26.24,28.83
$GC,13152,0.98,507.1,662.3,14.5,568,13157,0.00,2.30,0.00,0.000,6,0.000,0.052,2481,1697,438,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,18744,end climb,SURFACE_DEPTH_REACHED
$STATE,18744,begin surface coast
$FINISH,2.0,1.022411
$STATE,18765,end surface coast,CONTROL_FINISHED_OK
$STATE,18765,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,64.60
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.40
$XPDR_PINGS,4
$SC_FREEKB,3855008
$24V_AH,23.0,87.598
$10V_AH,9.5,47.090
$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,19.900,188.375,643.650,0.000,0.000,0.000,0.000,289.375,1.000,0.000,15.171,2921.191,12534.887,813.252,2541.118,530.127,0.000,2357.662,0.000,2189.957,0.000,0.537,0.000
$DEVICE_MAMPS,255.510,59.670,1265.310,0.000,0.000,0.000,0.000,126.225,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.174,0.000,0.000,0.000
$MEM,306176
$DATA_FILE_SIZE,33421,869
$CAP_FILE_SIZE,220242,0
$CFSIZE,260034560,209047552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226,334.9,1
$GPS,020213,103730,1904.862,12228.469,42,1.0,42,-2.2