version: 66.11
glider: 124
mission: 14
dive: 487
start: 2 15 113 0 30 18
data:
$ID,124
$MISSION,14
$DIVE,487
$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,-304453.09
$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,39
$R_STBD_OVSHOOT,31
$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,2
$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
$GPS1,150213,001606,1847.706,12218.449,37,1.1,37,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-61.5
$GPS2,150213,002949,1848.415,12218.062,15,1.9,15,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M3
$TGT_LATLONG,1845.000,12224.280
$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,135.3,12606,-14.2,-9.314,-18.51
$D_GRID,1181
$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,22,-0.69,-194.6,0.0,0.0,0,112,0.00,0.00,-87.30,0.000,2,0.000,0.000,41,2517,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.69,-194.6,3.0,-1.7,15,183,9.52,2.25,-48.00,0.000,4,0.258,0.056,2122,1099,3304,0,0,0,0,0,0,25.13,26.22,26.94
$GC,249,-0.69,-194.6,17.2,-13.6,38,255,0.00,2.20,0.00,0.000,6,0.000,0.044,2121,2495,3304,0,0,0,0,0,0,28.83,26.27,28.83
$GC,577,-0.72,-194.6,54.9,-7.2,73,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2495,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,877,-0.75,-194.6,83.1,-11.5,88,882,0.00,2.20,0.00,0.000,4,0.000,0.044,2122,1091,3304,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1021,-0.80,-194.6,98.2,-10.2,95,1026,0.00,2.20,0.00,0.000,6,0.000,0.041,2122,2505,3304,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1345,-0.85,-194.6,126.0,-8.3,111,1347,0.12,0.00,0.00,0.000,6,0.098,0.000,2067,2505,3304,0,0,0,0,0,0,26.79,28.83,28.83
$GC,1648,-0.87,-194.6,153.0,-8.5,126,1653,0.00,2.22,0.00,0.000,4,0.000,0.044,2067,1085,3304,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1784,-0.90,-194.6,164.5,-9.2,132,1789,0.00,2.22,0.00,0.000,6,0.000,0.044,2067,2505,3304,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2098,-0.93,-194.6,191.0,-7.2,148,2104,0.00,2.22,0.00,0.000,4,0.000,0.046,2067,1093,3304,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2254,-0.95,-194.6,201.2,-6.8,155,2259,0.00,2.22,0.00,0.000,6,0.000,0.044,2067,2507,3303,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2568,-0.99,-194.6,222.4,-7.6,171,2573,0.00,2.22,0.00,0.000,4,0.000,0.046,2067,1097,3301,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2704,-1.01,-194.6,232.7,-8.2,177,2710,0.00,2.22,0.00,0.000,6,0.000,0.044,2067,2508,3300,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3019,-1.05,-194.6,259.2,-8.8,193,3024,0.00,2.22,0.00,0.000,4,0.000,0.046,2067,1089,3298,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3126,-1.08,-194.6,268.9,-9.1,198,3132,0.10,2.22,0.00,0.000,6,0.107,0.044,2023,2502,3297,0,0,0,0,0,0,26.36,26.37,28.83
$GC,3453,-1.08,-194.6,305.0,-11.1,214,3458,0.00,2.20,0.00,0.000,4,0.000,0.047,2023,1099,3295,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3536,-1.08,-194.6,314.7,-11.5,218,3542,0.00,2.20,0.00,0.000,6,0.000,0.047,2022,2497,3295,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3862,-1.10,-194.6,346.9,-9.7,234,3868,0.00,2.22,-0.08,0.000,4,0.000,0.060,2022,1100,3317,0,0,0,0,0,0,28.83,26.29,25.73
$GC,3956,-1.10,-194.6,355.5,-9.9,238,3961,0.00,2.25,0.00,0.000,6,0.000,0.048,2022,2510,3317,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4270,-1.11,-194.6,387.1,-10.0,254,4275,0.00,2.22,0.00,0.000,4,0.000,0.049,2022,1098,3315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4333,-1.13,-194.6,393.7,-10.2,257,4339,0.00,2.25,0.00,0.000,6,0.000,0.048,2022,2508,3315,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4658,-1.15,-194.6,422.9,-8.8,273,4663,0.00,2.25,0.00,0.000,4,0.000,0.050,2022,1097,3312,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4812,-1.16,-194.6,437.5,-10.0,280,4818,0.00,2.25,0.00,0.000,6,0.000,0.048,2022,2512,3311,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5128,-1.18,-194.6,468.6,-8.7,296,5133,0.00,2.25,0.00,0.000,4,0.000,0.048,2022,1099,3309,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5259,-1.20,-194.6,479.7,-8.6,302,5265,0.00,2.25,-0.35,0.000,6,0.000,0.048,2022,2506,3308,0,0,0,0,0,0,28.83,26.28,26.34
$GC,5579,-1.23,-194.6,504.7,-7.6,318,5585,0.00,2.25,0.00,0.000,4,0.000,0.050,2023,1101,3416,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5727,-1.26,-194.6,516.7,-8.2,325,5732,0.00,2.25,0.00,0.000,6,0.000,0.050,2022,2503,3413,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6051,-1.29,-194.6,545.5,-9.1,341,6057,0.10,2.25,0.00,0.000,4,0.106,0.050,1980,1096,3411,0,0,0,0,0,0,26.82,26.20,28.83
$GC,6167,-1.29,-194.6,558.6,-12.9,346,6172,0.00,2.25,0.00,0.000,6,0.000,0.050,1980,2507,3411,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6480,-1.29,-194.6,597.2,-11.6,362,6486,0.00,2.25,0.00,0.000,4,0.000,0.050,1980,1100,3409,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6588,-1.29,-194.6,607.8,-11.3,366,6593,0.00,2.28,0.00,0.000,6,0.000,0.050,1980,2510,3409,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6908,-1.29,-194.6,645.0,-11.6,377,6914,0.00,2.25,0.00,0.000,4,0.000,0.050,1980,1099,3407,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7034,-1.29,-194.6,660.3,-12.2,381,7040,0.00,2.28,0.00,0.000,6,0.000,0.050,1980,2507,3406,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7373,-1.29,-194.6,696.6,-10.6,392,7379,0.00,2.25,0.00,0.000,4,0.000,0.051,1980,1099,3405,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7505,-1.29,-194.6,709.9,-10.3,396,7510,0.00,2.25,0.00,0.000,6,0.000,0.051,1980,2501,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7836,-1.30,-194.6,743.8,-10.2,407,7842,0.00,2.25,0.00,0.000,4,0.000,0.053,1980,1099,3402,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7937,-1.31,-194.6,754.2,-10.5,410,7942,0.00,2.28,0.00,0.000,6,0.000,0.052,1980,2500,3366,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8268,-1.33,-194.6,785.3,-9.2,421,8273,0.00,2.28,0.00,0.000,4,0.000,0.054,1980,1096,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8357,-1.34,-194.6,791.9,-9.6,423,8364,0.00,2.30,0.00,0.000,6,0.000,0.053,1980,2507,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8664,-1.35,-194.6,824.3,-9.7,434,8670,0.00,2.30,0.00,0.000,4,0.000,0.060,1980,1096,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8780,-1.37,-194.6,834.6,-10.5,437,8787,0.00,2.30,0.00,0.000,6,0.000,0.054,1980,2511,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9098,-1.38,-194.6,865.8,-9.0,448,9104,0.00,2.28,0.00,0.000,4,0.000,0.054,1980,1100,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9188,-1.39,-194.6,872.4,-9.5,450,9195,0.00,2.30,0.00,0.000,6,0.000,0.055,1980,2503,3395,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9493,-1.41,-194.6,905.9,-10.6,461,9499,0.00,2.28,0.00,0.000,4,0.000,0.054,1980,1097,3394,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9583,-1.43,-194.6,913.4,-11.2,463,9590,0.00,2.30,0.00,0.000,6,0.000,0.055,1980,2501,3394,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,9885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9885,begin apogee
$GC,9893,-0.22,0.0,951.2,-11.1,474,10083,0.75,0.00,181.77,1.265,6,0.105,0.000,2228,1714,2510,0,0,0,0,0,0,25.67,28.83,23.08
$STATE,10085,end apogee,CONTROL_FINISHED_OK
$STATE,10085,begin climb
$GC,10088,0.69,194.6,964.2,0.0,480,10243,0.55,2.45,145.10,1.234,4,0.059,0.057,2432,3113,1809,0,0,0,0,0,0,25.23,24.73,22.87
$GC,10298,0.74,360.7,963.3,3.8,487,10472,0.00,2.35,166.85,1.220,6,0.000,0.050,2441,1691,1038,0,0,0,0,0,0,28.83,25.67,23.11
$GC,10799,0.78,400.6,923.7,8.0,504,10840,0.00,2.38,34.67,1.180,4,0.000,0.057,2441,3114,874,0,0,0,0,0,0,28.83,25.74,23.89
$GC,10901,0.82,443.5,916.2,7.9,507,10948,0.00,2.33,37.65,1.176,6,0.000,0.052,2441,1696,699,0,0,0,0,0,0,28.83,26.05,23.80
$GC,11249,0.86,454.6,886.2,8.9,519,11267,0.00,2.38,10.40,1.051,4,0.000,0.058,2441,3111,646,0,0,0,0,0,0,28.83,26.14,24.19
$GC,11311,0.90,454.6,879.8,9.7,521,11317,0.10,2.30,0.00,0.000,6,0.104,0.051,2487,1697,653,0,0,0,0,0,0,26.23,26.20,28.83
$GC,11646,0.90,454.6,839.2,11.9,532,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1697,652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11947,0.90,454.6,801.8,12.6,542,11953,0.00,2.33,0.00,0.000,4,0.000,0.058,2488,3116,652,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11996,0.90,454.6,797.4,12.5,543,12002,0.10,2.30,0.00,0.000,6,0.143,0.052,2465,1698,651,0,0,0,0,0,0,26.21,26.29,28.83
$GC,12319,0.93,455.2,764.8,9.3,554,12324,0.00,2.33,0.00,0.000,4,0.000,0.058,2464,3114,650,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12353,0.96,455.2,761.1,9.4,555,12359,0.00,2.30,0.00,0.000,6,0.000,0.052,2468,1696,651,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12691,0.98,455.2,728.9,9.9,566,12697,0.00,2.35,0.00,0.000,4,0.000,0.058,2468,3120,649,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12726,1.00,455.2,724.7,10.3,567,12732,0.10,2.33,0.00,0.000,6,0.105,0.053,2519,1690,649,0,0,0,0,0,0,26.26,26.22,28.83
$GC,13060,0.99,455.2,675.1,15.1,578,13062,0.12,0.00,0.00,0.000,6,0.128,0.000,2482,1690,650,0,0,0,0,0,0,26.60,28.83,28.83
$GC,13361,1.00,455.2,637.8,12.9,588,13367,0.00,2.33,0.00,0.000,4,0.000,0.058,2482,3115,649,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13426,1.01,455.2,628.7,13.5,590,13432,0.00,2.30,0.00,0.000,6,0.000,0.052,2484,1698,649,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13754,1.03,455.2,587.4,12.2,602,13760,0.00,2.25,0.00,0.000,4,0.000,0.064,2485,296,649,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13779,1.05,455.2,583.9,12.3,603,13784,0.00,2.28,0.00,0.000,6,0.000,0.047,2484,1714,648,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14103,1.07,455.2,546.0,10.8,619,14110,0.10,2.22,0.00,0.000,4,0.108,0.057,2538,3116,649,0,0,0,0,0,0,26.77,26.06,28.83
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$GC,16239,1.07,455.2,287.1,12.7,724,16244,0.00,2.30,0.00,0.000,4,0.000,0.056,2512,3112,649,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,19078,end climb,SURFACE_DEPTH_REACHED
$STATE,19078,begin surface coast
$FINISH,1.7,1.022074
$STATE,19100,end surface coast,CONTROL_FINISHED_OK
$STATE,19100,begin surface
$SM_CCo,19181,0.00,0.000,0,0,239,556.83
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$IRIDIUM_FIX,1839.59,12217.45,150213,000048
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.67
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.20
$XPDR_PINGS,3
$SC_FREEKB,3833728
$24V_AH,22.9,99.459
$10V_AH,9.5,52.266
$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,19.175,184.500,658.375,0.000,0.000,0.000,0.000,528.525,0.750,0.000,16.200,3131.059,12463.187,803.595,2980.111,608.732,0.000,2678.635,0.000,2407.462,0.000,0.538,0.000
$DEVICE_MAMPS,257.805,107.865,1265.310,0.000,0.000,0.000,0.000,123.165,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.241,0.000,0.000,0.000
$MEM,306112
$DATA_FILE_SIZE,33410,911
$CAP_FILE_SIZE,225938,0
$CFSIZE,260034560,203632640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274,312.2,1
$GPS,150213,055106,1849.023,12218.909,27,1.7,27,-2.1