version: 66.11
glider: 129
mission: 4
dive: 242
start: 1 2 113 4 50 47
data:
$ID,129
$MISSION,4
$DIVE,242
$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,-13
$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,-2959.1235
$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,67
$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
$GPS1,020113,044223,1823.226,12238.885,26,1.1,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-61.8
$GPS2,020113,045019,1823.565,12238.684,11,1.3,11,-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,247.3,41825,-14.2,-8.462,-17.62
$D_GRID,3539
$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,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,92,0.00,0.00,-70.60,0.000,2,0.000,0.000,55,1924,1961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.54,-175.2,3.3,-5.4,12,139,7.93,2.10,-26.92,0.000,4,0.243,0.045,1977,526,3126,0,0,0,0,0,0,25.17,26.10,26.50
$GC,369,-0.47,-175.2,82.2,-31.9,43,375,0.15,1.98,0.00,0.000,6,0.176,0.024,2007,1898,3126,0,0,0,0,0,0,25.83,26.29,28.83
$GC,692,-0.43,-175.2,146.9,-14.1,59,698,0.00,2.00,0.00,0.000,4,0.000,0.030,2007,518,3127,0,0,0,0,0,0,28.83,26.31,28.83
$GC,840,-0.41,-175.2,166.7,-14.4,66,845,0.00,2.03,0.00,0.000,6,0.000,0.022,1998,1942,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1158,-0.39,-175.2,210.4,-13.2,82,1164,0.12,2.05,0.00,0.000,4,0.148,0.028,2040,522,3127,0,0,0,0,0,0,26.23,26.34,28.83
$GC,1276,-0.39,-175.2,221.2,-9.8,87,1283,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1933,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1582,-0.39,-175.2,252.3,-9.8,103,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1933,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1883,-0.39,-175.2,279.1,-8.9,118,1889,0.00,2.08,0.00,0.000,4,0.000,0.031,2033,532,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2071,-0.39,-175.2,295.8,-8.8,127,2077,0.00,2.00,0.00,0.000,6,0.000,0.022,2026,1939,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2390,-0.39,-175.2,319.9,-6.7,143,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1940,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,-0.39,-175.2,343.0,-8.3,158,2697,0.00,2.08,0.00,0.000,4,0.000,0.031,2026,530,3122,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2729,-0.39,-175.2,345.3,-8.6,159,2737,0.00,2.00,0.00,0.000,6,0.000,0.021,2019,1936,3121,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3035,-0.39,-175.2,372.1,-8.1,175,3041,0.00,2.08,0.00,0.000,4,0.000,0.031,2019,524,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3093,-0.39,-175.2,375.8,-8.1,177,3100,0.00,2.03,0.00,0.000,6,0.000,0.022,2011,1931,3119,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3399,-0.39,-175.2,400.3,-7.8,193,3404,0.00,2.08,0.00,0.000,4,0.000,0.031,2011,520,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3462,-0.39,-175.2,405.6,-8.3,196,3468,0.00,2.03,-0.10,0.000,6,0.000,0.022,2005,1931,3136,0,0,0,0,0,0,28.83,26.41,25.74
$GC,3786,-0.39,-175.2,431.0,-8.1,212,3791,0.00,2.08,0.00,0.000,4,0.000,0.031,2005,519,3135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3844,-0.39,-175.2,435.0,-8.7,214,3851,0.12,2.03,0.00,0.000,6,0.145,0.022,2034,1936,3135,0,0,0,0,0,0,26.09,26.41,28.83
$GC,4151,-0.41,-175.2,458.5,-7.1,230,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1937,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4452,-0.43,-175.2,477.5,-5.7,245,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1937,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4752,-0.45,-175.2,495.1,-6.4,260,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1937,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5051,-0.47,-175.2,513.7,-5.7,275,5057,0.00,2.08,0.00,0.000,4,0.000,0.033,2034,527,3129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5104,-0.49,-175.2,516.4,-5.6,277,5110,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1926,3132,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5419,-0.51,-175.2,533.8,-5.6,293,5421,0.12,0.00,0.00,0.000,6,0.099,0.000,1978,1926,3127,0,0,0,0,0,0,26.46,28.83,28.83
$GC,5719,-0.51,-175.2,563.0,-10.2,308,5725,0.00,2.08,0.00,0.000,4,0.000,0.033,1978,532,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5787,-0.51,-175.2,569.8,-10.4,311,5792,0.00,2.03,0.00,0.000,6,0.000,0.024,1968,1919,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6105,-0.50,-175.2,601.0,-9.7,327,6111,0.12,2.08,0.00,0.000,4,0.150,0.031,2011,524,3123,0,0,0,0,0,0,26.20,26.26,28.83
$GC,6168,-0.50,-175.2,606.2,-9.0,329,6174,0.00,2.05,0.00,0.000,6,0.000,0.024,2004,1928,3123,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6505,-0.50,-175.2,627.8,-6.1,340,6510,0.00,2.08,0.00,0.000,4,0.000,0.033,2004,533,3122,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6532,-0.50,-175.2,627.8,-6.1,340,6540,0.00,2.03,0.00,0.000,6,0.000,0.024,1996,1922,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6838,-0.50,-175.2,650.9,-6.9,351,6843,0.00,2.10,0.00,0.000,4,0.000,0.033,1992,531,3120,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6875,-0.50,-175.2,653.5,-7.1,352,6880,0.00,2.03,0.00,0.000,6,0.000,0.024,1988,1933,3120,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7205,-0.50,-175.2,680.0,-7.8,363,7211,0.00,2.08,0.00,0.000,4,0.000,0.033,1988,523,3119,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7260,-0.50,-175.2,683.1,-8.0,364,7265,0.00,2.03,0.00,0.000,6,0.000,0.024,1980,1927,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7572,-0.50,-175.2,713.7,-9.5,375,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1928,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7873,-0.50,-175.2,740.9,-9.3,385,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1928,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,-0.50,-175.2,770.4,-9.5,395,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1928,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8473,-0.50,-175.2,798.8,-9.3,405,8478,0.00,2.08,0.00,0.000,4,0.000,0.037,1969,3313,3113,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8506,-0.50,-175.2,801.7,-9.2,406,8512,0.10,2.03,0.00,0.000,6,0.155,0.025,1996,1922,3113,0,0,0,0,0,0,26.06,26.35,28.83
$GC,8841,-0.50,-175.2,824.9,-6.9,417,8846,0.00,2.05,0.00,0.000,4,0.000,0.034,1997,524,3112,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8971,-0.50,-175.2,834.7,-7.9,421,8977,0.00,2.03,0.00,0.000,6,0.000,0.024,1990,1927,3111,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9301,-0.50,-175.2,856.9,-6.2,432,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1927,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9601,-0.50,-175.2,873.7,-5.3,442,9607,0.00,2.08,0.00,0.000,4,0.000,0.037,1980,3300,3110,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9635,-0.50,-175.2,875.4,-5.2,443,9640,0.00,2.00,0.00,0.000,6,0.000,0.024,1980,1922,3109,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9971,-0.50,-175.2,895.1,-6.4,454,9976,0.00,2.03,0.00,0.000,4,0.000,0.035,1980,535,3108,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10065,-0.50,-175.2,902.8,-7.7,457,10070,0.00,2.05,0.00,0.000,6,0.000,0.025,1971,1922,3108,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10401,-0.50,-175.2,931.1,-8.7,468,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1922,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10698,-0.50,-175.2,957.1,-8.4,478,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1922,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10998,-0.50,-175.2,985.2,-9.5,488,11004,0.00,2.10,0.00,0.000,4,0.000,0.035,1971,531,3106,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11051,-0.50,-175.2,988.5,-9.7,489,11057,0.12,2.05,0.00,0.000,6,0.161,0.026,1995,1935,3106,0,0,0,0,0,0,25.86,26.25,28.83
$STATE,11064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11064,begin apogee
$GC,11069,-0.17,0.0,991.9,-10.0,490,11225,0.30,0.00,147.68,1.413,6,0.119,0.000,2099,1935,2408,0,0,0,0,0,0,25.75,28.83,22.49
$STATE,11227,end apogee,CONTROL_FINISHED_OK
$STATE,11227,begin climb
$GC,11229,0.54,175.2,999.0,0.0,495,11398,0.70,2.35,161.18,1.364,4,0.092,0.037,2329,3293,1694,0,0,0,0,0,0,24.04,23.52,22.06
$GC,11416,0.60,307.8,994.9,4.2,501,11547,0.00,2.22,123.15,1.341,6,0.000,0.025,2331,1916,1154,0,0,0,0,0,0,28.83,24.05,22.07
$GC,11856,0.62,307.8,959.5,9.3,516,11861,0.00,2.17,0.00,0.000,4,0.000,0.039,2331,498,1146,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11913,0.65,307.8,956.3,9.4,517,11921,0.12,2.08,0.00,0.000,6,0.112,0.022,2375,1917,1145,0,0,0,0,0,0,25.85,26.03,28.83
$GC,12220,0.65,307.8,914.7,12.9,528,12225,0.00,2.05,0.00,0.000,4,0.000,0.037,2375,3283,1143,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12247,0.65,307.8,914.7,12.9,528,12254,0.00,2.05,0.00,0.000,6,0.000,0.026,2383,1880,1143,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12553,0.65,307.8,872.6,11.8,539,12558,0.00,2.12,0.00,0.000,4,0.000,0.035,2383,3290,1143,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12580,0.65,307.8,872.6,11.8,539,12588,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1902,1142,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12886,0.65,307.8,840.9,8.7,550,12891,0.00,2.10,0.00,0.000,4,0.000,0.038,2385,504,1142,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12913,0.65,307.8,840.9,8.7,550,12921,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1903,1142,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13219,0.65,307.8,807.4,10.7,561,13225,0.00,2.05,0.00,0.000,4,0.000,0.036,2386,3289,1141,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13256,0.65,307.8,803.4,11.1,562,13261,0.00,2.05,0.00,0.000,6,0.000,0.028,2386,1889,1141,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13586,0.65,307.8,761.5,12.6,573,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1888,1141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13883,0.65,307.8,727.6,10.9,583,13889,0.00,2.10,0.00,0.000,4,0.000,0.035,2386,3283,1141,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,21322,end climb,SURFACE_DEPTH_REACHED
$STATE,21323,begin surface coast
$FINISH,1.0,1.021948
$STATE,21335,end surface coast,CONTROL_FINISHED_OK
$STATE,21335,begin surface
$SM_CCo,21411,0.00,0.000,0,0,210,539.41
$SM_GC,1.56,6.47,0.00,0.00,0.048,0.000,0.000,58,1905,210,-6.47,-0.65,539.41,0,0,0,0,0,0,26.21,28.83,28.83
$IRIDIUM_FIX,1814.58,12240.29,010113,222213
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.14
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3927456
$24V_AH,22.1,48.383
$10V_AH,10.0,34.177
$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
$DEVICE_SECS,16.875,180.950,633.550,0.000,0.000,0.000,0.000,286.550,0.000,0.000,12.438,3138.311,14856.528,766.948,2685.582,428.872,0.000,2391.411,0.000,2302.585,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,45.135,1412.955,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21358.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.977,0.000,0.000,0.000
$MEM,308692
$DATA_FILE_SIZE,36687,966
$CAP_FILE_SIZE,234178,0
$CFSIZE,260034560,227250176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.284,344.1,1
$GPS,020113,104856,1825.110,12234.931,38,1.4,40,-2.0