version: 66.11
glider: 124
mission: 14
dive: 451
start: 2 6 113 20 1 44
data:
$ID,124
$MISSION,14
$DIVE,451
$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,-304264.03
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,060213,195305,1853.965,12256.925,26,1.0,26,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-62.3
$GPS2,060213,200113,1854.005,12256.921,13,1.1,13,-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,165.6,17569,-14.2,-9.314,-18.51
$D_GRID,4443
$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,-194.6,0.0,0.0,0,130,0.00,0.00,-106.70,0.000,2,0.000,0.000,40,2512,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-0.69,-194.6,3.2,-1.4,18,179,9.40,2.33,-27.73,0.000,4,0.256,0.059,2119,1078,3299,0,0,0,0,0,0,25.26,26.27,26.95
$GC,266,-0.69,-194.6,21.9,-12.4,41,274,0.00,2.22,0.00,0.000,6,0.000,0.045,2119,2499,3304,0,0,0,0,0,0,28.83,26.32,28.83
$GC,592,-0.69,-194.6,63.0,-12.9,70,598,0.00,2.22,0.00,0.000,4,0.000,0.046,2119,1081,3304,0,0,0,0,0,0,28.83,26.39,28.83
$GC,671,-0.69,-194.6,70.8,-12.4,73,678,0.00,2.22,0.00,0.000,6,0.000,0.044,2120,2512,3304,0,0,0,0,0,0,28.83,26.40,28.83
$GC,979,-0.69,-194.6,110.2,-11.6,89,985,0.00,2.22,0.00,0.000,4,0.000,0.044,2119,1086,3304,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1069,-0.71,-194.6,119.3,-10.4,93,1075,0.00,2.20,0.00,0.000,6,0.000,0.043,2119,2507,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1388,-0.75,-194.6,148.7,-8.6,109,1394,0.00,2.22,0.00,0.000,4,0.000,0.045,2119,1078,3304,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1505,-0.79,-194.6,157.9,-8.8,114,1511,0.00,2.20,0.00,0.000,6,0.000,0.043,2119,2505,3304,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1820,-0.85,-194.6,179.9,-7.2,130,1826,0.12,2.20,0.00,0.000,4,0.091,0.043,2056,1083,3304,0,0,0,0,0,0,26.82,26.44,28.83
$GC,1894,-0.87,-194.6,187.2,-10.4,133,1901,0.12,2.20,0.00,0.000,6,0.141,0.044,2091,2504,3304,0,0,0,0,0,0,26.28,26.45,28.83
$GC,2211,-0.91,-194.6,214.9,-7.3,149,2216,0.00,2.22,0.00,0.000,4,0.000,0.045,2091,1083,3304,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2306,-0.95,-194.6,221.5,-7.9,153,2312,0.00,2.22,0.00,0.000,6,0.000,0.043,2091,2506,3306,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2621,-0.99,-194.6,247.8,-7.3,169,2627,0.12,2.22,0.00,0.000,4,0.089,0.044,2025,1085,3304,0,0,0,0,0,0,26.84,26.44,28.83
$GC,2732,-0.98,-194.6,259.6,-11.6,174,2738,0.15,2.20,0.00,0.000,6,0.139,0.044,2066,2504,3304,0,0,0,0,0,0,26.25,26.46,28.83
$GC,3052,-1.01,-194.6,286.9,-8.4,190,3057,0.00,2.22,0.00,0.000,4,0.000,0.046,2067,1087,3303,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3090,-1.04,-194.6,288.9,-8.3,191,3097,0.00,2.20,0.00,0.000,6,0.000,0.044,2066,2505,3303,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3396,-1.08,-194.6,315.9,-7.8,207,3402,0.10,2.25,0.00,0.000,4,0.112,0.045,2020,1076,3301,0,0,0,0,0,0,26.86,26.43,28.83
$GC,3485,-1.08,-194.6,324.1,-9.8,211,3490,0.00,2.22,0.00,0.000,6,0.000,0.045,2020,2505,3301,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3804,-1.08,-194.6,355.2,-9.4,227,3809,0.00,2.22,0.00,0.000,4,0.000,0.047,2020,1079,3298,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3909,-1.08,-194.6,365.4,-9.8,232,3914,0.00,2.25,0.00,0.000,6,0.000,0.046,2019,2505,3298,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4232,-1.08,-194.6,398.1,-10.4,248,4238,0.00,2.22,0.00,0.000,4,0.000,0.047,2020,1083,3289,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4326,-1.08,-194.6,406.9,-10.6,252,4331,0.00,2.22,0.00,0.000,6,0.000,0.047,2019,2504,3296,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4640,-1.09,-194.6,440.5,-10.6,268,4645,0.00,2.25,-0.08,0.000,4,0.000,0.060,2019,1089,3287,0,0,0,0,0,0,28.83,26.38,25.79
$GC,4750,-1.10,-194.6,451.6,-10.6,273,4756,0.00,2.22,0.00,0.000,6,0.000,0.047,2019,2505,3320,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5070,-1.13,-194.6,485.6,-10.5,289,5075,0.00,2.25,0.00,0.000,4,0.000,0.049,2019,1089,3269,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5143,-1.14,-194.6,492.6,-11.0,292,5149,0.00,2.25,0.00,0.000,6,0.000,0.047,2019,2504,3317,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5457,-1.17,-194.6,525.3,-9.6,308,5463,0.00,2.25,0.00,0.000,4,0.000,0.050,2019,1091,3315,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5564,-1.18,-194.6,535.4,-9.7,313,5569,0.00,2.22,0.00,0.000,6,0.000,0.048,2019,2504,3268,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5888,-1.21,-194.6,565.1,-8.9,329,5894,0.00,2.28,0.00,0.000,4,0.000,0.050,2019,1080,3232,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5989,-1.23,-194.6,572.3,-8.7,333,5996,0.00,2.28,0.00,0.000,6,0.000,0.049,2019,2505,3211,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6293,-1.25,-194.6,598.5,-8.2,349,6298,0.00,2.28,0.00,0.000,4,0.000,0.051,2019,1088,3250,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6399,-1.28,-194.6,606.3,-8.2,353,6404,0.00,2.25,0.00,0.000,6,0.000,0.050,2019,2506,3214,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6725,-1.31,-194.6,632.0,-7.8,364,6731,0.10,2.28,0.00,0.000,4,0.107,0.049,1975,1079,3298,0,0,0,0,0,0,26.85,26.29,28.83
$GC,6875,-1.31,-194.6,644.9,-10.2,368,6882,0.00,2.30,0.00,0.000,6,0.000,0.051,1974,2507,3305,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7182,-1.31,-194.6,681.6,-11.4,379,7187,0.00,2.28,0.00,0.000,4,0.000,0.050,1974,1089,3275,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7205,-1.31,-194.6,681.6,-11.4,379,7211,0.00,2.25,0.00,0.000,6,0.000,0.050,1974,2501,3302,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7520,-1.31,-194.6,721.1,-11.8,390,7525,0.00,2.28,0.00,0.000,4,0.000,0.053,1974,1093,3301,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7637,-1.31,-194.6,732.2,-11.8,393,7644,0.00,2.25,0.00,0.000,6,0.000,0.051,1974,2502,3299,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7944,-1.31,-194.6,769.6,-11.2,404,7949,0.00,2.25,0.00,0.000,4,0.000,0.052,1974,1093,3298,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8001,-1.31,-194.6,773.6,-11.1,405,8008,0.00,2.28,0.00,0.000,6,0.000,0.052,1974,2505,3298,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8309,-1.31,-194.6,808.6,-10.6,416,8314,0.00,2.28,0.00,0.000,4,0.000,0.053,1973,1093,3297,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8403,-1.31,-194.6,818.8,-10.7,419,8408,0.00,2.28,0.00,0.000,6,0.000,0.052,1974,2507,3296,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8739,-1.31,-194.6,853.5,-10.5,430,8744,0.00,2.30,0.00,0.000,4,0.000,0.054,1974,1090,3294,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8803,-1.31,-194.6,860.3,-10.3,432,8808,0.00,2.28,0.00,0.000,6,0.000,0.054,1973,2502,3294,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9139,-1.31,-194.6,893.8,-10.0,443,9144,0.00,2.28,0.00,0.000,4,0.000,0.054,1974,1086,3292,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9276,-1.31,-194.6,906.5,-10.0,447,9282,0.00,2.33,0.00,0.000,6,0.000,0.055,1974,2507,3291,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9596,-1.31,-194.6,938.2,-9.6,458,9601,0.00,2.30,0.00,0.000,4,0.000,0.055,1974,1093,3242,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9643,-1.31,-194.6,941.6,-9.7,459,9649,0.00,2.28,0.00,0.000,6,0.000,0.054,1974,2501,3290,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,9720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9720,begin apogee
$GC,9728,-0.22,0.0,950.6,-9.8,462,9905,0.77,0.00,161.77,1.255,6,0.108,0.000,2228,1692,2509,0,0,0,0,1,0,25.74,28.83,23.31
$STATE,9907,end apogee,CONTROL_FINISHED_OK
$STATE,9907,begin climb
$GC,9910,0.69,194.6,959.5,0.0,468,10084,0.55,0.00,166.75,1.236,6,0.059,0.000,2433,1692,1714,0,0,0,0,0,0,25.43,28.83,23.17
$GC,10385,0.75,274.7,936.1,6.6,484,10454,0.00,0.00,67.18,1.217,6,0.000,0.000,2434,1692,1389,0,0,0,0,0,0,28.83,28.83,23.77
$GC,10743,0.83,337.4,910.2,7.2,496,10803,0.10,2.47,53.97,1.204,4,0.103,0.057,2481,3120,1129,0,0,0,0,0,0,26.61,25.58,23.87
$GC,10973,0.81,337.4,887.4,12.0,503,10979,0.12,2.28,0.00,0.000,6,0.134,0.050,2448,1708,1125,0,0,0,0,0,0,26.12,26.22,28.83
$GC,11295,0.84,366.7,857.2,8.3,514,11322,0.00,0.00,24.75,1.155,6,0.000,0.000,2448,1708,1014,0,0,0,0,0,0,28.83,28.83,24.16
$GC,11626,0.88,414.4,831.5,7.7,525,11676,0.00,2.40,41.58,1.168,4,0.000,0.057,2447,3110,802,0,0,0,0,0,0,28.83,25.72,23.99
$GC,11728,0.92,452.5,824.1,8.0,528,11814,0.10,2.30,78.47,1.163,6,0.099,0.052,2496,1695,659,0,0,0,0,0,0,26.06,26.03,23.70
$GC,12139,0.92,452.5,773.5,12.5,542,12145,0.00,2.35,0.00,0.000,4,0.000,0.059,2496,3120,440,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12178,0.92,452.5,769.3,12.5,543,12184,0.10,2.30,0.00,0.000,6,0.147,0.051,2470,1691,441,0,0,0,0,0,0,26.21,26.30,28.83
$GC,12508,0.95,453.7,736.5,9.3,554,12509,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1691,440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12809,0.99,453.7,707.2,10.0,564,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1691,439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13108,1.02,453.7,677.3,9.7,574,13114,0.10,2.33,0.00,0.000,4,0.106,0.056,2525,3120,439,0,0,0,0,0,0,26.79,26.25,28.83
$GC,13162,1.04,453.7,672.7,10.5,575,13168,0.10,2.28,0.00,0.000,6,0.158,0.052,2501,1698,438,0,0,0,0,0,0,26.21,26.32,28.83
$GC,13478,1.04,453.7,629.6,12.6,586,13484,0.00,2.22,0.00,0.000,4,0.000,0.064,2501,294,434,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13502,1.04,453.7,629.6,12.6,586,13507,0.00,2.25,0.00,0.000,6,0.000,0.048,2501,1708,437,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,18919,end climb,SURFACE_DEPTH_REACHED
$STATE,18919,begin surface coast
$FINISH,1.4,1.019298
$STATE,18940,end surface coast,CONTROL_FINISHED_OK
$STATE,18940,begin surface
$SM_CCo,19019,0.00,0.000,0,0,334,533.53
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$IRIDIUM_FIX,1848.70,12226.17,060213,141441
$TT8_MAMPS,0.027713,0.027713
$HUMID,65.27
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.30
$XPDR_PINGS,5
$SC_FREEKB,3847328
$24V_AH,23.2,91.854
$10V_AH,9.5,48.936
$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
$DEVICE_SECS,19.375,182.850,616.625,0.000,0.000,0.000,0.000,267.500,1.250,0.000,14.456,2965.499,12653.969,767.850,2567.535,542.455,0.000,2313.877,0.000,2233.628,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18952.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.150,0.000,0.000,0.000
$MEM,306184
$DATA_FILE_SIZE,33348,887
$CAP_FILE_SIZE,217180,0
$CFSIZE,260034560,207097856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.007,151.2,1
$GPS,070213,012006,1851.217,12258.646,41,1.8,41,-2.1