version: 66.11
glider: 129
mission: 4
dive: 281
start: 1 10 113 11 30 52
data:
$ID,129
$MISSION,4
$DIVE,281
$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,-3069.0103
$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,79
$R_STBD_OVSHOOT,104
$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,21.5
$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
$GPS1,100113,112200,1935.187,12317.466,38,1.7,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-57.8
$GPS2,100113,113025,1935.178,12317.371,15,1.3,15,-2.3
$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,83.7,131457,-14.2,-8.462,-17.62
$D_GRID,4938
$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,-64.72,0.000,2,0.000,0.000,54,1947,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.1,-4.1,11,140,8.05,2.10,-33.47,0.000,4,0.247,0.044,1975,527,3125,0,0,0,0,0,0,25.09,26.13,26.53
$GC,160,-0.47,-175.2,14.1,-23.9,22,167,0.15,1.95,0.00,0.000,6,0.170,0.021,2005,1892,3125,0,0,0,0,0,0,25.78,26.22,28.83
$GC,471,-0.41,-175.2,100.6,-26.2,47,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1892,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,772,-0.36,-175.2,164.3,-19.6,62,778,0.12,1.98,0.00,0.000,4,0.159,0.028,2047,535,3125,0,0,0,0,0,0,26.16,26.32,28.83
$GC,889,-0.35,-175.2,178.6,-12.6,67,894,0.00,1.95,0.00,0.000,6,0.000,0.021,2039,1941,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1202,-0.35,-175.2,218.5,-11.4,83,1208,0.00,2.05,0.00,0.000,4,0.000,0.028,2039,528,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1226,-0.35,-175.2,221.2,-11.3,84,1232,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1926,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1549,-0.35,-175.2,256.0,-11.1,100,1555,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3311,3125,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1596,-0.35,-175.2,260.1,-10.2,102,1602,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1916,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1915,-0.35,-175.2,292.5,-9.1,118,1920,0.00,1.98,0.00,0.000,4,0.000,0.029,2033,539,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2034,-0.35,-175.2,302.2,-9.6,123,2041,0.00,1.95,0.00,0.000,6,0.000,0.020,2024,1942,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2338,-0.35,-175.2,332.2,-9.2,139,2343,0.00,2.03,0.00,0.000,4,0.000,0.028,2024,545,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2411,-0.35,-175.2,339.1,-10.6,142,2417,0.12,1.92,0.00,0.000,6,0.142,0.021,2053,1927,3123,0,0,0,0,0,0,26.13,26.43,28.83
$GC,2726,-0.37,-175.2,364.0,-7.0,158,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1927,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,-0.39,-175.2,383.4,-6.7,173,3033,0.00,2.03,0.00,0.000,4,0.000,0.028,2053,541,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3116,-0.41,-175.2,390.4,-8.1,177,3122,0.00,1.98,0.00,0.000,6,0.000,0.021,2050,1917,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3436,-0.43,-175.2,415.0,-7.6,193,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1917,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3738,-0.45,-175.2,434.8,-5.3,208,3740,0.10,0.00,0.00,0.000,6,0.108,0.000,2000,1918,3118,0,0,0,0,0,0,26.49,28.83,28.83
$GC,4036,-0.45,-175.2,458.7,-8.2,223,4043,0.00,2.03,0.00,0.000,4,0.000,0.030,2000,552,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4070,-0.45,-175.2,461.0,-8.4,224,4076,0.00,1.95,-0.08,0.000,6,0.000,0.021,1991,1930,3139,0,0,0,0,0,0,28.83,26.41,25.15
$GC,4384,-0.45,-175.2,495.3,-10.9,240,4389,0.00,2.05,0.00,0.000,4,0.000,0.030,1991,539,3139,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4441,-0.45,-175.2,500.1,-11.3,242,4448,0.12,1.95,0.00,0.000,6,0.145,0.021,2017,1929,3138,0,0,0,0,0,0,26.09,26.41,28.83
$GC,4747,-0.46,-175.2,524.9,-7.6,258,4752,0.00,2.03,0.00,0.000,4,0.000,0.030,2017,546,3137,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4780,-0.48,-175.2,526.7,-7.6,259,4786,0.00,1.95,0.00,0.000,6,0.000,0.021,2010,1925,3137,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5095,-0.48,-175.2,552.9,-7.4,275,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1924,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-0.48,-175.2,574.5,-7.0,290,5403,0.00,2.03,0.00,0.000,4,0.000,0.031,2010,548,3133,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5454,-0.48,-175.2,577.9,-7.2,292,5461,0.00,1.95,0.00,0.000,6,0.000,0.022,2002,1931,3133,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5760,-0.48,-175.2,601.0,-7.1,308,5766,0.00,2.05,0.00,0.000,4,0.000,0.031,2002,540,3131,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5798,-0.48,-175.2,603.7,-7.7,309,5803,0.00,1.98,0.00,0.000,6,0.000,0.022,1995,1939,3131,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6126,-0.48,-175.2,632.6,-8.7,320,6132,0.00,2.03,0.00,0.000,4,0.000,0.031,1995,549,3129,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6159,-0.48,-175.2,635.6,-8.7,321,6164,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1926,3129,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6494,-0.48,-175.2,664.7,-8.4,332,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-0.48,-175.2,689.6,-8.5,342,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1926,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.48,-175.2,717.4,-9.6,352,7097,0.00,2.03,0.00,0.000,4,0.000,0.031,1988,549,3123,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7174,-0.48,-175.2,724.2,-10.3,354,7179,0.00,1.95,0.00,0.000,6,0.000,0.024,1981,1922,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7487,-0.48,-175.2,755.9,-9.4,365,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1922,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7789,-0.48,-175.2,781.5,-7.9,375,7794,0.00,2.08,0.00,0.000,4,0.000,0.037,1972,3316,3120,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7812,-0.48,-175.2,781.5,-7.9,375,7818,0.12,1.98,0.00,0.000,6,0.138,0.023,2008,1931,3119,0,0,0,0,0,0,26.06,26.39,28.83
$GC,8129,-0.49,-175.2,803.9,-6.6,386,8134,0.00,2.05,0.00,0.000,4,0.000,0.032,2008,531,3118,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8226,-0.51,-175.2,811.5,-7.7,389,8232,0.00,2.00,0.00,0.000,6,0.000,0.024,2008,1935,3118,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8558,-0.52,-175.2,834.4,-6.5,400,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1935,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8856,-0.54,-175.2,852.6,-5.6,410,8861,0.00,2.08,0.00,0.000,4,0.000,0.033,2007,539,3115,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8914,-0.56,-175.2,854.8,-5.6,411,8921,0.00,1.98,0.00,0.000,6,0.000,0.024,2003,1926,3115,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9222,-0.57,-175.2,873.5,-5.6,422,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1926,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9520,-0.59,-175.2,891.3,-6.1,432,9526,0.00,2.05,0.00,0.000,4,0.000,0.037,1994,3313,3113,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9548,-0.60,-175.2,891.3,-6.1,432,9555,0.00,2.00,0.00,0.000,6,0.000,0.023,1993,1919,3111,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9857,-0.61,-175.2,914.0,-7.0,443,9862,0.00,2.05,0.00,0.000,4,0.000,0.033,1993,531,3111,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9951,-0.61,-175.2,921.7,-7.8,446,9956,0.00,2.00,0.00,0.000,6,0.000,0.024,1991,1922,3111,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10286,-0.62,-175.2,947.8,-7.8,457,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1922,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10585,-0.63,-175.2,970.1,-7.1,467,10587,0.10,0.00,0.00,0.000,6,0.116,0.000,1947,1924,3109,0,0,0,0,0,0,26.46,28.83,28.83
$STATE,10822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10822,begin apogee
$GC,10827,-0.17,0.0,991.7,-8.9,475,10985,0.45,0.00,149.62,1.414,6,0.122,0.000,2097,1924,2409,0,0,0,0,0,0,25.55,28.83,22.36
$STATE,10986,end apogee,CONTROL_FINISHED_OK
$STATE,10986,begin climb
$GC,10989,0.54,175.2,996.8,0.0,480,11156,0.70,0.00,163.30,1.366,6,0.089,0.000,2329,1925,1695,0,0,0,0,0,0,24.10,28.83,21.96
$GC,11454,0.59,235.8,970.7,6.5,496,11514,0.00,2.22,52.78,1.354,4,0.000,0.035,2329,517,1446,0,0,0,0,0,0,28.83,25.01,23.46
$GC,11591,0.64,289.1,962.4,6.7,500,11648,0.12,2.05,47.60,1.339,6,0.110,0.023,2373,1894,1230,0,0,0,0,0,0,25.63,25.79,23.39
$GC,11970,0.64,289.1,924.3,10.0,513,11976,0.00,2.08,0.00,0.000,4,0.000,0.037,2373,3292,1222,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12108,0.64,289.1,910.7,11.1,517,12113,0.00,2.03,0.00,0.000,6,0.000,0.026,2373,1905,1220,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12426,0.64,289.1,879.7,8.7,528,12431,0.00,2.10,0.00,0.000,4,0.000,0.034,2373,3293,1220,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12463,0.64,289.1,876.6,8.8,529,12468,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1892,1219,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12792,0.64,292.3,848.5,8.4,540,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1892,1218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13091,0.64,292.3,820.7,9.3,550,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1892,1218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13391,0.64,292.3,789.7,11.1,560,13396,0.00,2.10,0.00,0.000,4,0.000,0.035,2373,3299,1217,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13454,0.64,292.3,782.0,11.6,562,13460,0.00,2.05,0.00,0.000,6,0.000,0.025,2373,1892,1217,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13789,0.64,292.3,747.2,9.8,573,13791,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1892,1217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14088,0.64,292.3,717.7,9.8,583,14093,0.00,2.12,0.00,0.000,4,0.000,0.035,2373,3300,1216,0,0,0,0,0,0,28.83,26.18,28.83
$GC,14130,0.64,292.3,714.1,10.1,584,14135,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1900,1216,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,21634,end climb,SURFACE_DEPTH_REACHED
$STATE,21634,begin surface coast
$FINISH,2.4,1.022279
$STATE,21647,end surface coast,CONTROL_FINISHED_OK
$STATE,21648,begin surface
$SM_CCo,21723,0.00,0.000,0,0,211,539.17
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$IRIDIUM_FIX,1927.51,12317.93,100113,050522
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.22
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3912448
$24V_AH,22.0,56.117
$10V_AH,10.1,39.052
$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,16.900,161.325,623.350,0.000,0.000,0.000,0.000,306.075,0.000,0.000,17.395,3072.674,15320.703,771.516,2614.714,437.402,0.000,2340.119,0.000,2215.731,0.000,0.541,0.000
$DEVICE_MAMPS,247.095,43.605,1414.485,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.698,0.000,0.000,0.000
$MEM,329036
$DATA_FILE_SIZE,36764,966
$CAP_FILE_SIZE,228475,0
$CFSIZE,260034560,223469568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,328.6,1
$GPS,100113,173406,1937.584,12319.728,33,1.0,33,-2.3