version: 66.11
glider: 129
mission: 4
dive: 238
start: 1 1 113 4 9 9
data:
$ID,129
$MISSION,4
$DIVE,238
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2953.707
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010113,040035,1816.977,12252.929,36,1.0,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-57.5
$GPS2,010113,040842,1817.170,12252.856,12,1.3,12,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,265.4,69321,-14.2,-8.462,-17.62
$D_GRID,3897
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-64.90,0.000,2,0.000,0.000,49,1919,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.1,-4.3,11,139,7.68,2.08,-32.62,0.000,4,0.233,0.047,1969,3291,3125,0,0,0,0,0,0,25.25,26.08,26.51
$GC,271,-0.48,-175.2,43.8,-26.4,37,279,0.12,1.98,0.00,0.000,6,0.166,0.022,2000,1897,3125,0,0,0,0,0,0,25.91,26.28,28.83
$GC,578,-0.41,-175.2,130.2,-26.5,54,583,0.00,1.95,0.00,0.000,4,0.000,0.029,2001,538,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,735,-0.37,-175.2,159.6,-18.8,61,744,0.15,1.95,0.00,0.000,6,0.149,0.022,2034,1909,3126,0,0,0,0,0,0,26.00,26.38,28.83
$GC,1041,-0.37,-175.2,200.7,-12.0,77,1047,0.00,2.00,0.00,0.000,4,0.000,0.030,2035,533,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1085,-0.37,-175.2,205.4,-11.5,79,1091,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1941,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1408,-0.37,-175.2,238.3,-9.2,95,1414,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,531,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1475,-0.37,-175.2,244.6,-10.0,98,1481,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1921,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1793,-0.37,-175.2,274.1,-8.8,114,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1921,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,-0.37,-175.2,301.6,-9.6,129,2101,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,537,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2220,-0.37,-175.2,313.5,-9.4,135,2225,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1937,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2542,-0.37,-175.2,340.1,-8.5,151,2548,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,537,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2634,-0.37,-175.2,347.8,-9.3,155,2640,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1929,3122,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2947,-0.38,-175.2,375.0,-8.7,171,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1929,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,-0.39,-175.2,401.4,-8.2,186,3256,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,535,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3318,-0.40,-175.2,407.1,-8.3,189,3323,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1927,3118,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3637,-0.42,-175.2,429.1,-6.8,205,3643,0.00,2.05,-0.08,0.000,4,0.000,0.047,2033,3300,3141,0,0,0,0,0,0,28.83,26.25,25.44
$GC,3703,-0.44,-175.2,433.1,-6.2,208,3708,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1924,3144,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4026,-0.45,-175.2,454.0,-6.5,224,4032,0.00,2.00,0.00,0.000,4,0.000,0.032,2033,541,3143,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4137,-0.46,-175.2,461.5,-7.2,229,4142,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1926,3142,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4455,-0.48,-175.2,480.0,-5.3,245,4461,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,534,3141,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4493,-0.50,-175.2,481.4,-5.5,246,4501,0.10,2.00,0.00,0.000,6,0.112,0.023,1985,1938,3141,0,0,0,0,0,0,26.25,26.40,28.83
$GC,4798,-0.50,-175.2,509.3,-9.3,262,4804,0.00,2.08,0.00,0.000,4,0.000,0.031,1985,535,3138,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4906,-0.50,-175.2,519.7,-10.3,267,4911,0.00,2.00,0.00,0.000,6,0.000,0.024,1975,1931,3138,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5224,-0.50,-175.2,552.1,-10.2,283,5229,0.00,2.05,0.00,0.000,4,0.000,0.031,1976,530,3135,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5261,-0.49,-175.2,554.6,-10.4,284,5270,0.12,2.00,0.00,0.000,6,0.152,0.024,2002,1925,3135,0,0,0,0,0,0,26.04,26.37,28.83
$GC,5567,-0.49,-175.2,580.9,-7.4,300,5573,0.00,2.05,0.00,0.000,4,0.000,0.037,1993,3314,3132,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5612,-0.49,-175.2,584.1,-7.3,302,5618,0.00,2.03,0.00,0.000,6,0.000,0.024,1993,1925,3132,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5926,-0.49,-175.2,608.2,-7.6,316,5931,0.00,2.05,0.00,0.000,4,0.000,0.032,1993,522,3130,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6033,-0.49,-175.2,616.4,-8.5,319,6039,0.00,2.03,0.00,0.000,6,0.000,0.024,1985,1935,3132,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6351,-0.49,-175.2,645.2,-8.6,330,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1935,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6653,-0.49,-175.2,671.6,-8.9,340,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1935,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6951,-0.49,-175.2,698.5,-8.7,350,6956,0.00,2.05,0.00,0.000,4,0.000,0.036,1975,3313,3126,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6987,-0.49,-175.2,701.4,-8.8,351,6992,0.00,2.00,0.00,0.000,6,0.000,0.024,1974,1921,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7317,-0.49,-175.2,731.4,-9.0,362,7322,0.00,2.05,0.00,0.000,4,0.000,0.034,1974,528,3124,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7434,-0.49,-175.2,741.2,-10.0,365,7442,0.12,2.00,0.00,0.000,6,0.154,0.024,2002,1919,3123,0,0,0,0,0,0,25.98,26.34,28.83
$GC,7742,-0.49,-175.2,765.9,-6.9,376,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1920,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,-0.50,-175.2,785.1,-6.1,386,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1919,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8341,-0.51,-175.2,803.3,-6.2,396,8347,0.00,2.08,0.00,0.000,4,0.000,0.034,2002,530,3119,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8369,-0.52,-175.2,803.3,-6.2,396,8377,0.00,2.03,0.00,0.000,6,0.000,0.024,1995,1930,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8675,-0.52,-175.2,826.3,-7.0,407,8681,0.00,2.08,0.00,0.000,4,0.000,0.033,1995,537,3118,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8738,-0.52,-175.2,831.4,-7.5,409,8743,0.00,2.03,0.00,0.000,6,0.000,0.024,1987,1934,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9074,-0.52,-175.2,857.2,-7.8,420,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1934,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9372,-0.52,-175.2,879.6,-7.3,430,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1934,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,-0.52,-175.2,901.3,-7.2,440,9676,0.00,2.10,0.00,0.000,4,0.000,0.034,1984,537,3115,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9699,-0.52,-175.2,901.3,-7.2,440,9707,0.00,2.03,0.00,0.000,6,0.000,0.024,1978,1932,3115,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10004,-0.52,-175.2,926.9,-7.0,451,10010,0.00,2.05,0.00,0.000,4,0.000,0.038,1968,3307,3114,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10039,-0.52,-175.2,929.4,-7.2,452,10044,0.00,2.00,0.00,0.000,6,0.000,0.024,1968,1931,3113,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10376,-0.52,-175.2,953.1,-6.7,463,10381,0.00,2.08,0.00,0.000,4,0.000,0.034,1968,527,3113,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10420,-0.52,-175.2,955.8,-6.8,464,10426,0.12,2.03,0.00,0.000,6,0.156,0.025,1993,1934,3113,0,0,0,0,0,0,25.89,26.27,28.83
$GC,10746,-0.52,-175.2,974.2,-5.5,475,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1935,3112,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11042,begin apogee
$GC,11047,-0.17,0.0,990.5,-5.4,485,11204,0.30,0.00,148.95,1.418,6,0.119,0.000,2097,1937,2409,0,0,0,0,0,0,25.78,28.83,22.49
$STATE,11206,end apogee,CONTROL_FINISHED_OK
$STATE,11206,begin climb
$GC,11208,0.54,175.2,995.0,0.0,490,11378,0.70,2.35,161.50,1.361,4,0.090,0.036,2327,3285,1693,0,0,0,0,0,0,24.03,23.53,22.08
$GC,11405,0.58,262.6,988.4,5.6,496,11494,0.00,2.20,81.05,1.332,6,0.000,0.025,2334,1905,1337,0,0,0,0,0,0,28.83,24.20,22.06
$GC,11802,0.60,262.6,950.9,8.8,510,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1905,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12103,0.61,262.6,924.3,8.8,520,12108,0.00,2.10,0.00,0.000,4,0.000,0.035,2334,3288,1328,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12137,0.63,262.6,921.3,8.9,521,12143,0.00,2.05,0.00,0.000,6,0.000,0.027,2334,1885,1327,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12472,0.65,266.0,893.1,8.3,532,12478,0.10,2.12,0.00,0.000,4,0.121,0.033,2373,3289,1327,0,0,0,0,0,0,26.34,26.20,28.83
$GC,12515,0.66,266.0,889.6,8.7,533,12520,0.00,2.03,0.00,0.000,6,0.000,0.025,2382,1883,1326,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12840,0.66,266.0,854.2,10.5,544,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1883,1326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13139,0.66,266.0,823.8,10.0,554,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1883,1326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13438,0.66,266.0,793.3,10.4,564,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1883,1326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13738,0.66,266.0,761.2,10.9,574,13743,0.00,2.12,0.00,0.000,4,0.000,0.035,2382,3287,1325,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13780,0.66,266.0,757.4,11.1,575,13785,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1887,1324,0,0,0,0,0,0,28.83,26.32,28.83
$GC,14105,0.66,266.0,719.1,11.6,586,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1888,1324,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21959,end climb,SURFACE_DEPTH_REACHED
$STATE,21960,begin surface coast
$FINISH,0.9,1.009098
$STATE,21983,end surface coast,CONTROL_FINISHED_OK
$STATE,21983,begin surface
$SM_CCo,22059,0.00,0.000,0,0,210,539.41
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$IRIDIUM_FIX,1807.77,12257.34,311212,222240
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.36
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3928992
$24V_AH,22.1,47.500
$10V_AH,10.0,33.629
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,232.560,47.430,1417.545,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.047,0.000,0.000,0.000
$MEM,329020
$DATA_FILE_SIZE,36735,1002
$CAP_FILE_SIZE,239096,0
$CFSIZE,260034560,227680256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,351.9,1
$GPS,010113,101805,1817.753,12249.525,39,1.1,39,-2.0