version: 66.11
glider: 129
mission: 4
dive: 266
start: 1 6 113 15 50 28
data:
$ID,129
$MISSION,4
$DIVE,266
$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,-2990.551
$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,78
$R_STBD_OVSHOOT,101
$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
$GPS1,060113,154153,1903.503,12240.975,42,1.3,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.2
$GPS2,060113,155001,1903.660,12240.863,10,1.7,10,-2.2
$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,99.7,217089,-14.2,-8.462,-17.62
$D_GRID,2796
$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,-64.88,0.000,2,0.000,0.000,53,1926,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.3,-5.1,11,134,7.80,2.10,-30.62,0.000,4,0.236,0.043,1979,534,3126,0,0,0,0,0,0,25.18,26.13,26.53
$GC,160,-0.47,-175.2,15.4,-26.7,22,167,0.12,1.95,0.00,0.000,6,0.172,0.021,2002,1900,3126,0,0,0,0,0,0,25.84,26.22,28.83
$GC,476,-0.39,-175.2,110.1,-30.7,46,481,0.00,1.98,0.00,0.000,4,0.000,0.028,2002,523,3126,0,0,0,0,0,0,28.83,26.31,28.83
$GC,548,-0.32,-175.2,128.8,-30.1,49,554,0.20,2.00,0.00,0.000,6,0.142,0.022,2052,1924,3126,0,0,0,0,0,0,25.91,26.36,28.83
$GC,862,-0.31,-175.2,171.5,-10.9,65,868,0.00,1.98,0.00,0.000,4,0.000,0.029,2052,535,3127,0,0,0,0,0,0,28.83,26.34,28.83
$GC,910,-0.31,-175.2,176.4,-10.9,67,915,0.00,1.98,0.00,0.000,6,0.000,0.021,2045,1938,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1227,-0.31,-175.2,209.6,-8.7,83,1233,0.00,2.05,0.00,0.000,4,0.000,0.028,2045,521,3127,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1264,-0.31,-175.2,211.6,-8.6,84,1271,0.00,1.95,0.00,0.000,6,0.000,0.020,2036,1925,3127,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1570,-0.31,-175.2,245.2,-10.7,100,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1925,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1872,-0.31,-175.2,273.8,-9.1,115,1877,0.00,2.00,0.00,0.000,4,0.000,0.034,2034,3304,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1898,-0.31,-175.2,275.7,-8.6,116,1903,0.00,1.95,0.00,0.000,6,0.000,0.019,2034,1904,3125,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2216,-0.31,-175.2,302.4,-9.0,132,2222,0.00,1.95,0.00,0.000,4,0.000,0.029,2038,541,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2341,-0.31,-175.2,315.2,-10.7,138,2347,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1937,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2665,-0.31,-175.2,344.0,-8.1,154,2670,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,548,3123,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2703,-0.31,-175.2,346.0,-8.0,155,2709,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1932,3123,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3008,-0.32,-175.2,368.8,-6.8,171,3014,0.00,2.03,0.00,0.000,4,0.000,0.033,2033,3326,3122,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3109,-0.34,-175.2,374.3,-6.4,175,3116,0.00,1.98,0.00,0.000,6,0.000,0.020,2034,1925,3122,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3413,-0.35,-175.2,399.1,-8.2,191,3418,0.00,1.95,0.00,0.000,4,0.000,0.028,2033,550,3120,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3518,-0.37,-175.2,408.2,-9.0,196,3524,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1931,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3842,-0.38,-175.2,437.1,-8.9,212,3848,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,556,3117,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3896,-0.39,-175.2,441.3,-9.0,214,3901,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1923,3117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4210,-0.41,-175.2,463.3,-5.4,230,4212,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1923,3139,0,0,0,0,0,0,28.83,28.83,25.32
$GC,4509,-0.42,-175.2,479.8,-6.1,245,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1923,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4812,-0.44,-175.2,499.2,-6.5,260,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1923,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5111,-0.46,-175.2,519.7,-7.3,275,5117,0.00,2.00,0.00,0.000,4,0.000,0.030,2034,551,3136,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5160,-0.48,-175.2,523.7,-8.0,277,5166,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1925,3136,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5480,-0.50,-175.2,547.5,-6.6,293,5482,0.10,0.00,0.00,0.000,6,0.115,0.000,1987,1928,3133,0,0,0,0,0,0,26.48,28.83,28.83
$GC,5780,-0.50,-175.2,572.2,-8.1,308,5785,0.00,2.03,0.00,0.000,4,0.000,0.030,1987,548,3130,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5858,-0.50,-175.2,577.9,-8.7,311,5865,0.00,1.95,0.00,0.000,6,0.000,0.021,1977,1936,3131,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6164,-0.50,-175.2,607.6,-9.7,326,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1937,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6463,-0.50,-175.2,633.3,-7.9,336,6468,0.00,2.05,0.00,0.000,4,0.000,0.030,1977,548,3128,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6536,-0.50,-175.2,638.7,-8.2,338,6542,0.00,1.98,0.00,0.000,6,0.000,0.022,1968,1930,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6860,-0.50,-175.2,668.7,-9.3,349,6862,0.10,0.00,0.00,0.000,6,0.164,0.000,1995,1930,3126,0,0,0,0,0,0,26.34,28.83,28.83
$GC,7160,-0.50,-175.2,691.8,-7.4,359,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1930,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7460,-0.50,-175.2,712.7,-6.8,369,7465,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,549,3123,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7548,-0.50,-175.2,717.6,-7.3,371,7554,0.00,1.95,0.00,0.000,6,0.000,0.022,1988,1930,3122,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7853,-0.50,-175.2,742.0,-7.5,382,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,-0.50,-175.2,763.9,-7.0,392,8160,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,552,3119,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8233,-0.50,-175.2,768.8,-7.2,394,8238,0.00,1.98,0.00,0.000,6,0.000,0.023,1979,1925,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8554,-0.50,-175.2,789.4,-5.9,405,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1925,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8851,-0.50,-175.2,808.5,-6.7,415,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1925,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,-0.50,-175.2,832.6,-8.7,425,9157,0.00,2.03,0.00,0.000,4,0.000,0.032,1979,557,3115,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9194,-0.50,-175.2,835.7,-8.9,426,9200,0.00,1.98,0.00,0.000,6,0.000,0.024,1969,1926,3115,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9519,-0.50,-175.2,863.9,-7.9,437,9524,0.00,2.03,0.00,0.000,4,0.000,0.032,1969,549,3114,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9583,-0.50,-175.2,869.1,-7.8,439,9589,0.12,2.00,0.00,0.000,6,0.158,0.024,1994,1926,3114,0,0,0,0,0,0,25.94,26.30,28.83
$GC,9918,-0.50,-175.2,886.1,-4.9,450,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1926,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10218,-0.51,-175.2,901.8,-5.5,460,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1923,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10518,-0.52,-175.2,921.5,-7.0,470,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1926,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10818,-0.53,-175.2,942.9,-7.2,480,10824,0.00,2.05,0.00,0.000,4,0.000,0.034,1994,554,3109,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10882,-0.53,-175.2,948.1,-7.5,482,10889,0.00,2.03,0.00,0.000,6,0.000,0.025,1988,1923,3109,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11219,-0.53,-175.2,972.8,-7.1,493,11225,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,553,3108,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11272,-0.53,-175.2,975.6,-7.2,494,11277,0.00,2.00,0.00,0.000,6,0.000,0.025,1980,1926,3108,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11463,begin apogee
$GC,11468,-0.17,0.0,991.2,-7.3,501,11625,0.35,0.00,149.02,1.412,6,0.120,0.000,2098,1927,2409,0,0,0,0,0,0,25.67,28.83,22.42
$STATE,11627,end apogee,CONTROL_FINISHED_OK
$STATE,11627,begin climb
$GC,11629,0.54,175.2,995.8,0.0,506,11799,0.70,2.35,161.15,1.364,4,0.092,0.035,2335,546,1693,0,0,0,0,0,0,24.08,23.56,22.02
$GC,11846,0.57,226.4,985.9,6.8,513,11902,0.00,2.10,47.42,1.324,6,0.000,0.021,2335,1898,1486,0,0,0,0,0,0,28.83,24.53,22.18
$GC,12227,0.58,226.4,952.0,9.1,526,12232,0.00,2.10,0.00,0.000,4,0.000,0.037,2335,3297,1477,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12270,0.59,226.4,948.3,9.4,527,12275,0.00,2.03,0.00,0.000,6,0.000,0.024,2335,1920,1476,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12596,0.61,226.4,915.8,9.6,538,12601,0.00,2.12,0.00,0.000,4,0.000,0.037,2345,507,1476,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12633,0.62,226.4,912.2,9.7,539,12639,0.00,2.05,0.00,0.000,6,0.000,0.022,2346,1916,1475,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12964,0.62,226.4,878.2,9.8,550,12969,0.00,2.05,0.00,0.000,4,0.000,0.036,2346,3295,1474,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13030,0.62,226.4,871.4,10.1,552,13037,0.00,2.00,0.00,0.000,6,0.000,0.024,2354,1893,1474,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13361,0.62,226.4,839.8,9.1,563,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1892,1473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13660,0.62,226.4,813.4,9.1,573,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1892,1473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13959,0.62,226.4,785.4,9.2,583,13965,0.00,2.10,0.00,0.000,4,0.000,0.035,2355,3293,1472,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14014,0.62,226.4,782.2,9.3,584,14019,0.00,2.03,0.00,0.000,6,0.000,0.024,2363,1891,1472,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,22578,end climb,SURFACE_DEPTH_REACHED
$STATE,22578,begin surface coast
$FINISH,0.9,1.022193
$STATE,22592,end surface coast,CONTROL_FINISHED_OK
$STATE,22592,begin surface
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$IRIDIUM_FIX,1853.26,12237.54,060113,090914
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.38
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3918208
$24V_AH,22.0,52.832
$10V_AH,10.0,36.958
$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,16.425,161.575,623.500,0.000,0.000,0.000,0.000,296.450,0.000,0.000,11.244,3202.420,16029.662,759.656,2705.862,448.099,0.000,2377.867,0.000,2317.655,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,42.840,1412.190,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.471,0.000,0.000,0.000
$MEM,308692
$DATA_FILE_SIZE,36591,1006
$CAP_FILE_SIZE,236504,0
$CFSIZE,260034560,225046528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217,344.2,1
$GPS,060113,220936,1906.182,12243.616,42,1.0,42,-2.2