version: 66.11
glider: 129
mission: 4
dive: 260
start: 1 5 113 3 16 44
data:
$ID,129
$MISSION,4
$DIVE,260
$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,-2982.5256
$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,84
$R_STBD_OVSHOOT,108
$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
$GPS1,050113,030529,1845.291,12228.698,42,1.0,42,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-58.9
$GPS2,050113,031618,1845.702,12228.508,11,1.2,16,-2.1
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,81.7,254713,-14.2,-8.462,-17.62
$D_GRID,1154
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-64.38,0.000,2,0.000,0.000,54,1883,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.3,-6.0,11,135,7.95,2.03,-31.52,0.000,4,0.244,0.044,1977,541,3126,0,0,0,0,0,0,25.20,26.10,26.49
$GC,167,-0.47,-175.2,16.6,-28.0,24,175,0.15,1.92,0.00,0.000,6,0.166,0.022,2008,1884,3127,0,0,0,0,0,0,25.75,26.18,28.83
$GC,488,-0.39,-175.2,112.5,-31.6,48,493,0.00,1.98,0.00,0.000,4,0.000,0.030,2008,531,3127,0,0,0,0,0,0,28.83,26.27,28.83
$GC,575,-0.34,-175.2,129.5,-20.6,52,582,0.17,2.00,0.00,0.000,6,0.142,0.021,2051,1941,3125,0,0,0,0,0,0,25.94,26.36,28.83
$GC,894,-0.34,-175.2,164.1,-9.9,68,899,0.00,1.98,0.00,0.000,4,0.000,0.033,2042,3309,3127,0,0,0,0,0,0,28.83,26.27,28.83
$GC,951,-0.34,-175.2,168.6,-10.5,70,958,0.00,1.95,0.00,0.000,6,0.000,0.021,2041,1907,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1257,-0.34,-175.2,206.2,-9.1,86,1262,0.00,2.08,0.00,0.000,4,0.000,0.031,2033,3313,3127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1330,-0.34,-175.2,211.6,-8.4,89,1335,0.00,1.90,0.00,0.000,6,0.000,0.020,2033,1931,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1642,-0.34,-175.2,242.2,-10.1,105,1648,0.00,1.98,0.00,0.000,4,0.000,0.029,2033,540,3127,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1815,-0.34,-175.2,258.1,-9.4,113,1820,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1932,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2128,-0.34,-175.2,281.3,-6.7,129,2133,0.00,2.00,0.00,0.000,4,0.000,0.034,2033,3299,3124,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2192,-0.36,-175.2,285.1,-6.0,132,2197,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1917,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2515,-0.37,-175.2,309.4,-8.6,148,2520,0.00,1.98,0.00,0.000,4,0.000,0.030,2032,532,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2602,-0.37,-175.2,317.3,-9.6,152,2607,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1934,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2921,-0.38,-175.2,342.2,-6.6,168,2926,0.00,1.98,0.00,0.000,4,0.000,0.034,2033,3296,3122,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2948,-0.40,-175.2,343.6,-6.2,169,2953,0.00,1.90,0.00,0.000,6,0.000,0.021,2033,1926,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3267,-0.41,-175.2,363.8,-7.3,185,3273,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,550,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3331,-0.42,-175.2,369.3,-8.2,188,3338,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1926,3119,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3656,-0.44,-175.2,392.2,-7.2,204,3661,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,546,3116,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3689,-0.45,-175.2,394.3,-7.6,205,3694,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1925,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4002,-0.46,-175.2,419.5,-7.9,221,4008,0.00,2.05,-0.08,0.000,4,0.000,0.047,2037,3310,3141,0,0,0,0,0,0,28.83,26.23,25.41
$GC,4036,-0.48,-175.2,421.5,-8.0,222,4042,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1916,3141,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4350,-0.50,-175.2,447.1,-7.6,238,4356,0.00,1.98,0.00,0.000,4,0.000,0.031,2033,541,3141,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4437,-0.51,-175.2,454.3,-8.6,242,4443,0.12,1.95,0.00,0.000,6,0.100,0.022,1976,1930,3140,0,0,0,0,0,0,26.23,26.39,28.83
$GC,4756,-0.50,-175.2,489.2,-10.5,258,4762,0.00,2.03,0.00,0.000,4,0.000,0.031,1976,543,3140,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4789,-0.49,-175.2,491.7,-10.4,259,4795,0.12,1.95,0.00,0.000,6,0.152,0.022,2002,1923,3140,0,0,0,0,0,0,26.04,26.37,28.83
$GC,5103,-0.49,-175.2,517.6,-7.3,275,5108,0.00,2.00,0.00,0.000,4,0.000,0.031,2002,545,3138,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5186,-0.49,-175.2,524.4,-8.2,279,5191,0.00,1.98,0.00,0.000,6,0.000,0.022,1995,1929,3137,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5509,-0.49,-175.2,552.5,-9.1,295,5514,0.00,2.05,0.00,0.000,4,0.000,0.036,1984,3313,3135,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5541,-0.49,-175.2,554.6,-9.2,296,5547,0.00,1.98,0.00,0.000,6,0.000,0.023,1984,1924,3135,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5855,-0.49,-175.2,584.1,-9.3,312,5860,0.00,2.03,0.00,0.000,4,0.000,0.031,1984,534,3132,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5947,-0.49,-175.2,592.6,-10.1,316,5952,0.00,2.00,0.00,0.000,6,0.000,0.023,1975,1931,3132,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6261,-0.49,-175.2,624.0,-9.9,328,6267,0.00,2.03,0.00,0.000,4,0.000,0.037,1964,3313,3130,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6299,-0.49,-175.2,627.5,-9.9,329,6305,0.12,1.98,0.00,0.000,6,0.145,0.023,2000,1917,3128,0,0,0,0,0,0,26.05,26.39,28.83
$GC,6629,-0.49,-175.2,653.9,-7.5,340,6634,0.00,2.00,0.00,0.000,4,0.000,0.032,2000,539,3129,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6723,-0.49,-175.2,661.3,-7.7,343,6729,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1924,3128,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7059,-0.49,-175.2,686.2,-7.5,354,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1924,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7357,-0.49,-175.2,708.4,-7.4,364,7362,0.00,2.05,0.00,0.000,4,0.000,0.032,1994,549,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7409,-0.49,-175.2,711.0,-7.4,365,7414,0.00,1.98,0.00,0.000,6,0.000,0.024,1985,1936,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7723,-0.49,-175.2,738.8,-8.5,376,7729,0.00,2.08,0.00,0.000,4,0.000,0.032,1986,538,3124,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7806,-0.49,-175.2,744.6,-8.8,378,7812,0.00,1.98,0.00,0.000,6,0.000,0.024,1977,1922,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8120,-0.49,-175.2,775.6,-9.2,389,8126,0.00,2.03,0.00,0.000,4,0.000,0.032,1977,551,3123,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8213,-0.49,-175.2,785.4,-10.1,392,8219,0.12,1.98,0.00,0.000,6,0.152,0.024,2003,1928,3122,0,0,0,0,0,0,25.96,26.31,28.83
$GC,8551,-0.50,-175.2,815.4,-9.3,403,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1928,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8847,-0.51,-175.2,844.5,-9.7,413,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1928,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9148,-0.53,-175.2,870.5,-8.1,423,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1928,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9448,-0.54,-175.2,889.0,-5.6,433,9454,0.00,2.08,0.00,0.000,4,0.000,0.034,2003,553,3118,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9492,-0.55,-175.2,891.1,-5.7,434,9498,0.00,2.00,0.00,0.000,6,0.000,0.024,1996,1929,3118,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9817,-0.55,-175.2,911.7,-6.4,445,9822,0.00,2.05,0.00,0.000,4,0.000,0.034,1996,544,3117,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9880,-0.55,-175.2,916.8,-7.4,447,9885,0.00,2.00,0.00,0.000,6,0.000,0.025,1988,1930,3116,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10215,-0.55,-175.2,943.8,-8.2,458,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,-0.55,-175.2,969.6,-8.6,468,10519,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,557,3115,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10591,-0.55,-175.2,975.3,-8.7,470,10597,0.00,1.98,0.00,0.000,6,0.000,0.026,1979,1922,3115,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,10757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10757,begin apogee
$GC,10762,-0.17,0.0,992.2,-9.2,476,10921,0.38,0.00,149.27,1.414,6,0.123,0.000,2104,1922,2409,0,0,0,0,0,0,25.61,28.83,22.46
$STATE,10922,end apogee,CONTROL_FINISHED_OK
$STATE,10922,begin climb
$GC,10924,0.54,175.2,999.4,0.0,481,11093,0.70,0.00,160.90,1.366,6,0.091,0.000,2334,1923,1694,0,0,0,0,0,0,24.06,28.83,22.04
$GC,11391,0.57,186.9,971.7,8.1,497,11406,0.00,2.22,10.30,1.205,4,0.000,0.037,2342,527,1647,0,0,0,0,0,0,28.83,25.66,23.94
$GC,11495,0.58,186.9,962.8,9.1,500,11500,0.00,2.00,0.00,0.000,6,0.000,0.023,2342,1897,1644,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11819,0.58,186.9,931.7,9.2,511,11825,0.00,2.08,0.00,0.000,4,0.000,0.037,2351,526,1642,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11846,0.58,186.9,931.7,9.2,511,11853,0.00,2.00,0.00,0.000,6,0.000,0.023,2351,1912,1642,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12153,0.59,202.1,902.7,8.0,522,12170,0.00,0.00,14.25,1.275,6,0.000,0.000,2351,1912,1585,0,0,0,0,0,0,28.83,28.83,24.18
$GC,12452,0.61,246.4,881.4,7.0,532,12501,0.00,2.25,39.62,1.339,4,0.000,0.037,2360,529,1403,0,0,0,0,0,0,28.83,25.29,23.80
$GC,12524,0.62,286.5,876.9,7.2,534,12568,0.00,2.05,36.78,1.304,6,0.000,0.023,2360,1897,1244,0,0,0,0,0,0,28.83,25.63,23.53
$GC,12877,0.63,286.5,848.0,8.8,546,12882,0.00,2.12,0.00,0.000,4,0.000,0.037,2360,3300,1232,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13008,0.63,286.5,833.9,11.4,550,13014,0.00,2.03,0.00,0.000,6,0.000,0.025,2361,1913,1231,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,20807,end climb,SURFACE_DEPTH_REACHED
$STATE,20807,begin surface coast
$FINISH,0.8,1.009906
$STATE,20822,end surface coast,CONTROL_FINISHED_OK
$STATE,20823,begin surface
$SM_CCo,20899,0.00,0.000,0,0,210,539.41
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$IRIDIUM_FIX,1835.04,12222.51,040113,202031
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.59
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,3920512
$24V_AH,22.0,51.508
$10V_AH,10.0,36.111
$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,16.575,177.550,625.225,0.000,0.000,0.000,0.000,392.875,0.000,0.000,16.762,3140.538,14390.362,745.162,2830.248,428.472,0.000,2484.192,0.000,2329.509,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,47.430,1413.720,0.000,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20845.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.078,0.000,0.000,0.000
$MEM,308692
$DATA_FILE_SIZE,33381,942
$CAP_FILE_SIZE,232911,0
$CFSIZE,260034560,225689600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.329,325.0,1
$GPS,050113,090606,1849.698,12229.476,24,1.7,24,-2.1