version: 66.11
glider: 124
mission: 14
dive: 433
start: 2 2 113 16 21 55
data:
$ID,124
$MISSION,14
$DIVE,433
$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,-304235.25
$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,32
$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
$GPS1,020213,161305,1904.514,12229.328,40,1.4,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-58.7
$GPS2,020213,162124,1904.746,12229.177,15,1.3,32,-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,144.2,52280,-14.2,-9.314,-18.51
$D_GRID,1922
$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,-194.6,0.0,0.0,0,121,0.00,0.00,-97.22,0.000,2,0.000,0.000,31,2513,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.69,-194.6,3.1,-1.0,17,183,9.43,2.30,-35.72,0.000,4,0.255,0.060,2120,1083,3304,0,0,0,0,0,0,25.20,26.28,26.96
$GC,243,-0.69,-194.6,17.8,-14.7,37,250,0.00,2.22,0.00,0.000,6,0.000,0.043,2120,2499,3304,0,0,0,0,0,0,28.83,26.35,28.83
$GC,554,-0.68,-194.6,59.5,-14.0,70,559,0.00,2.20,0.00,0.000,4,0.000,0.044,2120,1092,3304,0,0,0,0,0,0,28.83,26.42,28.83
$GC,572,-0.67,-194.6,59.5,-14.0,70,579,0.00,2.22,0.00,0.000,6,0.000,0.044,2121,2510,3304,0,0,0,0,0,0,28.83,26.42,28.83
$GC,880,-0.67,-194.6,105.0,-13.5,86,887,0.00,2.20,0.00,0.000,4,0.000,0.044,2121,1085,3304,0,0,0,0,0,0,28.83,26.46,28.83
$GC,949,-0.67,-194.6,113.9,-13.4,89,954,0.00,2.22,0.00,0.000,6,0.000,0.043,2120,2509,3304,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1267,-0.71,-194.6,140.6,-7.1,105,1273,0.00,2.22,0.00,0.000,4,0.000,0.044,2121,1077,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1356,-0.75,-194.6,146.9,-7.4,109,1362,0.00,2.22,0.00,0.000,6,0.000,0.042,2120,2506,3304,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1677,-0.80,-194.6,172.7,-8.3,125,1682,0.00,2.20,0.00,0.000,4,0.000,0.044,2120,1077,3305,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1788,-0.86,-194.6,181.5,-8.3,130,1794,0.12,2.22,0.00,0.000,6,0.095,0.042,2066,2506,3305,0,0,0,0,0,0,26.50,26.51,28.83
$GC,2108,-0.88,-194.6,211.6,-8.7,146,2113,0.00,2.20,0.00,0.000,4,0.000,0.044,2066,1078,3304,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2193,-0.90,-194.6,218.5,-8.2,150,2198,0.00,2.22,0.00,0.000,6,0.000,0.043,2065,2506,3305,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2518,-0.92,-194.6,245.9,-9.3,166,2524,0.00,2.20,0.00,0.000,4,0.000,0.044,2065,1082,3304,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2626,-0.94,-194.6,255.3,-8.9,171,2632,0.00,2.22,0.00,0.000,6,0.000,0.043,2065,2506,3303,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2951,-0.97,-194.6,282.2,-9.1,187,2956,0.00,2.22,0.00,0.000,4,0.000,0.045,2065,1085,3302,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3034,-1.01,-194.6,290.7,-10.0,191,3039,0.00,2.22,0.00,0.000,6,0.000,0.044,2065,2506,3302,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3358,-1.04,-194.6,320.4,-8.4,207,3363,0.00,2.22,0.00,0.000,4,0.000,0.046,2065,1088,3299,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3426,-1.08,-194.6,325.5,-8.0,210,3431,0.10,2.22,0.00,0.000,6,0.105,0.045,2020,2505,3299,0,0,0,0,0,0,26.48,26.48,28.83
$GC,3745,-1.08,-194.6,354.5,-7.8,226,3750,0.00,2.22,0.00,0.000,4,0.000,0.047,2020,1093,3297,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3872,-1.08,-194.6,364.2,-7.8,232,3878,0.00,2.22,-0.10,0.000,6,0.000,0.045,2020,2506,3319,0,0,0,0,0,0,28.83,26.48,25.61
$GC,4196,-1.09,-194.6,393.0,-9.9,248,4202,0.00,2.22,0.00,0.000,4,0.000,0.047,2020,1079,3321,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4304,-1.10,-194.6,404.4,-11.0,253,4310,0.00,2.25,0.00,0.000,6,0.000,0.047,2020,2505,3320,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4630,-1.12,-194.6,436.0,-8.9,269,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2506,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-1.14,-194.6,462.7,-9.2,284,4937,0.00,2.25,0.00,0.000,4,0.000,0.050,2019,1089,3315,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5026,-1.16,-194.6,471.2,-9.7,288,5032,0.00,2.25,0.00,0.000,6,0.000,0.049,2020,2503,3313,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5342,-1.18,-194.6,502.3,-9.9,304,5347,0.00,2.25,0.00,0.000,4,0.000,0.050,2019,1092,3300,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5469,-1.20,-194.6,515.0,-9.9,310,5475,0.00,2.25,0.00,0.000,6,0.000,0.049,2019,2507,3311,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5794,-1.22,-194.6,545.2,-8.9,326,5800,0.00,2.25,0.00,0.000,4,0.000,0.050,2019,1096,3309,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5905,-1.24,-194.6,554.9,-9.2,331,5910,0.00,2.25,0.00,0.000,6,0.000,0.049,2019,2507,3307,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6224,-1.27,-194.6,585.2,-9.8,347,6229,0.00,2.25,0.00,0.000,4,0.000,0.051,2019,1086,3306,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6302,-1.29,-194.6,591.6,-10.2,350,6309,0.10,2.28,0.00,0.000,6,0.106,0.050,1980,2507,3200,0,0,0,0,0,0,26.38,26.36,28.83
$GC,6610,-1.29,-194.6,628.8,-11.6,362,6615,0.00,2.25,0.00,0.000,4,0.000,0.051,1980,1087,3303,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6728,-1.29,-194.6,639.9,-11.5,365,6735,0.00,2.28,0.00,0.000,6,0.000,0.050,1980,2505,3302,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7035,-1.29,-194.6,673.5,-9.7,376,7041,0.00,2.28,0.00,0.000,4,0.000,0.051,1980,1088,3297,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7088,-1.29,-194.6,677.0,-9.6,377,7093,0.00,2.25,0.00,0.000,6,0.000,0.050,1980,2504,3300,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7402,-1.29,-194.6,708.7,-9.6,388,7407,0.00,2.28,0.00,0.000,4,0.000,0.052,1979,1092,3298,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7445,-1.29,-194.6,712.4,-10.0,389,7450,0.00,2.28,0.00,0.000,6,0.000,0.050,1980,2507,3298,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7768,-1.29,-194.6,745.8,-10.3,400,7774,0.00,2.28,0.00,0.000,4,0.000,0.051,1980,1087,3220,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7904,-1.29,-194.6,759.6,-11.1,404,7910,0.00,2.28,0.00,0.000,6,0.000,0.050,1980,2499,3296,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8228,-1.29,-194.6,795.7,-10.9,415,8234,0.00,2.25,0.00,0.000,4,0.000,0.052,1980,1089,3294,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8302,-1.29,-194.6,802.7,-10.8,417,8308,0.00,2.28,0.00,0.000,6,0.000,0.052,1980,2496,3294,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8628,-1.29,-194.6,838.7,-10.8,428,8634,0.00,2.25,0.00,0.000,4,0.000,0.054,1980,1092,3292,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8707,-1.29,-194.6,846.0,-10.7,430,8712,0.00,2.28,0.00,0.000,6,0.000,0.053,1980,2510,3292,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9025,-1.29,-194.6,881.4,-10.6,441,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2510,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9326,-1.30,-194.6,912.7,-10.6,451,9331,0.00,2.30,0.00,0.000,4,0.000,0.054,1979,1092,3289,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9469,-1.30,-194.6,926.2,-10.8,455,9474,0.00,2.30,0.00,0.000,6,0.000,0.054,1980,2506,3288,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,9690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9690,begin apogee
$GC,9698,-0.22,0.0,951.0,-10.1,463,9867,0.75,0.00,160.02,1.262,6,0.106,0.000,2229,1693,2509,0,0,0,0,0,0,25.85,28.83,23.29
$STATE,9869,end apogee,CONTROL_FINISHED_OK
$STATE,9869,begin climb
$GC,9871,0.69,194.6,958.9,0.0,468,10055,0.55,2.55,168.57,1.229,4,0.059,0.056,2433,3118,1712,0,0,0,0,0,0,25.37,24.82,23.08
$GC,10172,0.71,245.8,947.6,7.6,478,10223,0.00,2.30,44.25,1.193,6,0.000,0.049,2441,1706,1506,0,0,0,0,0,0,28.83,26.07,23.81
$GC,10541,0.71,245.8,911.9,9.4,491,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1706,1495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10842,0.72,266.9,885.4,8.6,501,10862,0.00,0.00,17.80,1.135,6,0.000,0.000,2441,1706,1419,0,0,0,0,0,0,28.83,28.83,24.19
$GC,11141,0.74,297.6,860.1,8.3,511,11176,0.00,2.35,27.00,1.162,4,0.000,0.060,2440,3118,1295,0,0,0,0,0,0,28.83,25.93,24.10
$GC,11246,0.74,319.7,852.1,8.6,514,11273,0.00,2.33,20.52,1.128,6,0.000,0.051,2441,1693,1205,0,0,0,0,0,0,28.83,26.15,24.07
$GC,11598,0.79,387.6,825.2,7.0,526,11665,0.00,2.45,58.95,1.167,4,0.000,0.058,2441,3116,927,0,0,0,0,0,0,28.83,25.57,23.88
$GC,11700,0.83,449.1,818.4,7.3,529,11761,0.00,2.35,52.90,1.146,6,0.000,0.051,2441,1693,677,0,0,0,0,0,0,28.83,25.92,23.78
$GC,12081,0.91,518.4,791.0,7.0,542,12149,0.12,2.45,59.10,1.139,4,0.092,0.059,2510,3108,395,0,0,0,0,0,0,26.58,25.56,23.90
$GC,12188,0.91,518.4,779.7,11.0,545,12194,0.15,2.30,0.00,0.000,6,0.129,0.052,2467,1698,393,0,0,0,0,0,0,25.82,25.93,28.83
$GC,12511,0.94,518.4,745.2,9.4,556,12516,0.00,2.22,0.00,0.000,4,0.000,0.063,2467,294,391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12538,0.98,518.4,745.2,9.4,556,12545,0.00,2.25,0.00,0.000,6,0.000,0.047,2468,1708,389,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12847,1.02,518.4,711.4,10.6,567,12853,0.10,2.20,0.00,0.000,4,0.111,0.057,2524,3108,389,0,0,0,0,0,0,26.74,26.32,28.83
$GC,12906,1.04,518.4,706.2,11.4,568,12914,0.12,2.28,0.00,0.000,6,0.144,0.054,2496,1700,388,0,0,0,0,0,0,26.24,26.36,28.83
$GC,13216,1.04,518.4,657.7,14.2,579,13222,0.00,2.30,0.00,0.000,4,0.000,0.058,2496,3116,388,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13253,1.04,518.4,652.1,14.4,580,13259,0.00,2.28,0.00,0.000,6,0.000,0.052,2498,1693,388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13584,1.04,518.4,606.4,13.5,591,13585,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1693,389,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18935,end climb,SURFACE_DEPTH_REACHED
$STATE,18935,begin surface coast
$FINISH,1.3,1.000728
$STATE,18956,end surface coast,CONTROL_FINISHED_OK
$STATE,18956,begin surface
$SM_CCo,19037,0.00,0.000,0,0,240,556.59
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$IRIDIUM_FIX,1900.10,12225.47,020213,101002
$TT8_MAMPS,0.027713,0.027713
$HUMID,64.25
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.60
$XPDR_PINGS,3
$SC_FREEKB,3854240
$24V_AH,23.1,88.029
$10V_AH,9.6,47.272
$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,19.625,165.700,639.725,0.000,0.000,0.000,0.000,262.875,0.750,0.000,33.099,2938.018,12722.717,798.646,2545.648,519.461,0.000,2304.956,0.000,2195.036,0.000,0.537,0.000
$DEVICE_MAMPS,254.745,63.495,1262.250,0.000,0.000,0.000,0.000,126.990,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18986.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.196,0.000,0.000,0.000
$MEM,306212
$DATA_FILE_SIZE,33360,902
$CAP_FILE_SIZE,214602,0
$CFSIZE,260034560,208863232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,334.7,1
$GPS,020213,214029,1904.881,12230.851,37,1.3,37,-2.2