version: 66.11
glider: 129
mission: 4
dive: 284
start: 1 11 113 5 41 35
data:
$ID,129
$MISSION,4
$DIVE,284
$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,-3073.0698
$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,80
$R_STBD_OVSHOOT,90
$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
$GPS1,110113,053305,1940.235,12326.250,29,1.3,29,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-58.5
$GPS2,110113,054107,1940.115,12326.330,20,1.3,20,-2.4
$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,55.6,113447,-14.2,-8.462,-17.62
$D_GRID,5122
$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,-175.2,0.0,0.0,0,81,0.00,0.00,-59.60,0.000,2,0.000,0.000,46,1872,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.54,-175.2,3.1,-3.6,10,127,7.85,2.10,-28.10,0.000,4,0.236,0.042,1967,3302,3124,0,0,0,0,0,0,25.05,26.12,26.55
$GC,182,-0.48,-175.2,22.8,-26.5,27,189,0.12,1.95,0.00,0.000,6,0.167,0.022,1999,1917,3124,0,0,0,0,0,0,25.89,26.27,28.83
$GC,507,-0.41,-175.2,112.5,-27.3,49,513,0.00,1.98,0.00,0.000,4,0.000,0.026,1999,530,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,666,-0.36,-175.2,147.0,-21.5,56,673,0.17,1.95,0.00,0.000,6,0.148,0.021,2041,1909,3125,0,0,0,0,0,0,25.94,26.39,28.83
$GC,971,-0.36,-175.2,192.9,-11.0,72,976,0.00,1.98,0.00,0.000,4,0.000,0.028,2040,543,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1085,-0.36,-175.2,205.0,-11.8,77,1090,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1930,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1398,-0.36,-175.2,242.9,-10.4,93,1403,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,532,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1445,-0.36,-175.2,247.3,-10.2,95,1450,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1929,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1763,-0.36,-175.2,280.0,-11.1,111,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1930,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,-0.36,-175.2,312.2,-9.9,126,2071,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,537,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2133,-0.36,-175.2,318.8,-10.0,129,2138,0.00,1.98,0.00,0.000,6,0.000,0.020,2033,1936,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2451,-0.36,-175.2,345.8,-8.1,145,2456,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,546,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2513,-0.36,-175.2,351.2,-8.5,148,2519,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1926,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2837,-0.36,-175.2,376.5,-7.7,164,2842,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,535,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2940,-0.36,-175.2,385.4,-8.7,169,2945,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1936,3122,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3264,-0.37,-175.2,410.1,-7.5,185,3269,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,546,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3308,-0.39,-175.2,413.8,-8.1,187,3313,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1929,3121,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3631,-0.40,-175.2,435.7,-6.2,203,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1929,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3933,-0.41,-175.2,456.1,-7.0,218,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4232,-0.43,-175.2,477.3,-7.1,233,4238,0.00,2.03,-0.08,0.000,4,0.000,0.041,2033,548,3146,0,0,0,0,0,0,28.83,26.33,25.46
$GC,4342,-0.44,-175.2,486.1,-8.6,238,4347,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1921,3146,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4661,-0.46,-175.2,509.3,-6.6,254,4666,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,543,3144,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4686,-0.48,-175.2,510.8,-6.5,255,4691,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1929,3143,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5009,-0.49,-175.2,531.5,-6.4,271,5015,0.00,2.00,0.00,0.000,4,0.000,0.034,2033,3302,3143,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5039,-0.51,-175.2,533.0,-6.3,272,5045,0.12,1.92,0.00,0.000,6,0.100,0.020,1978,1910,3141,0,0,0,0,0,0,26.27,26.46,28.83
$GC,5358,-0.51,-175.2,563.8,-9.7,288,5363,0.00,1.98,0.00,0.000,4,0.000,0.030,1977,545,3142,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5505,-0.51,-175.2,578.9,-10.3,295,5511,0.00,1.98,0.00,0.000,6,0.000,0.021,1968,1934,3142,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5815,-0.50,-175.2,610.1,-9.8,309,5822,0.00,2.03,0.00,0.000,4,0.000,0.030,1968,553,3140,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5850,-0.49,-175.2,613.9,-10.0,310,5856,0.15,1.98,0.00,0.000,6,0.142,0.021,2002,1936,3140,0,0,0,0,0,0,26.01,26.39,28.83
$GC,6184,-0.49,-175.2,639.7,-7.9,321,6189,0.00,2.05,0.00,0.000,4,0.000,0.030,2002,542,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6247,-0.49,-175.2,645.1,-8.2,323,6253,0.00,1.98,0.00,0.000,6,0.000,0.021,1995,1924,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6582,-0.49,-175.2,670.7,-7.4,334,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1924,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6881,-0.49,-175.2,691.8,-6.9,344,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1924,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,-0.49,-175.2,712.1,-6.8,354,7186,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,557,3131,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7228,-0.49,-175.2,714.7,-7.0,355,7234,0.00,1.95,0.00,0.000,6,0.000,0.022,1988,1923,3131,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7548,-0.49,-175.2,739.5,-7.5,366,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1923,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7848,-0.49,-175.2,764.1,-8.4,376,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1923,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8147,-0.49,-175.2,788.8,-8.2,386,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1923,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8447,-0.49,-175.2,812.2,-7.8,396,8452,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,546,3126,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8481,-0.49,-175.2,815.0,-8.0,397,8487,0.00,2.00,0.00,0.000,6,0.000,0.022,1980,1933,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8816,-0.49,-175.2,840.6,-7.3,408,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1933,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9116,-0.49,-175.2,863.4,-7.8,418,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1934,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9415,-0.49,-175.2,886.9,-7.7,428,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1933,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9716,-0.49,-175.2,910.6,-8.0,438,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1933,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,-0.49,-175.2,934.1,-7.8,448,10021,0.00,2.03,0.00,0.000,4,0.000,0.032,1980,559,3119,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10053,-0.49,-175.2,936.6,-7.7,449,10058,0.00,1.98,0.00,0.000,6,0.000,0.024,1971,1929,3119,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10383,-0.49,-175.2,961.4,-7.3,460,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10681,-0.49,-175.2,982.8,-7.2,470,10683,0.10,0.00,0.00,0.000,6,0.161,0.000,1998,1929,3117,0,0,0,0,0,0,26.32,28.83,28.83
$STATE,10829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10829,begin apogee
$GC,10835,-0.17,0.0,991.7,-5.9,475,10996,0.30,0.00,151.43,1.410,6,0.115,0.000,2103,1929,2408,0,0,0,0,0,0,25.83,28.83,22.37
$STATE,10997,end apogee,CONTROL_FINISHED_OK
$STATE,10997,begin climb
$GC,11000,0.54,175.2,996.7,0.0,480,11169,0.68,2.35,161.43,1.361,4,0.086,0.034,2330,543,1693,0,0,0,0,0,0,24.15,23.61,21.98
$GC,11216,0.57,250.5,988.6,6.0,487,11292,0.00,2.10,69.22,1.334,6,0.000,0.022,2330,1894,1388,0,0,0,0,0,0,28.83,24.60,22.08
$GC,11621,0.60,275.3,957.0,7.7,501,11650,0.00,2.12,22.15,1.299,4,0.000,0.034,2330,3294,1284,0,0,0,0,0,0,28.83,25.51,23.82
$GC,11716,0.62,281.1,949.1,8.3,504,11727,0.00,2.00,6.40,1.057,6,0.000,0.024,2331,1923,1264,0,0,0,0,0,0,28.83,25.94,23.87
$GC,12051,0.66,311.2,922.9,7.5,515,12087,0.12,2.20,28.02,1.322,4,0.108,0.037,2386,522,1140,0,0,0,0,0,0,26.22,25.51,23.88
$GC,12126,0.67,311.2,916.6,8.7,517,12132,0.00,2.05,0.00,0.000,6,0.000,0.022,2386,1915,1138,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12451,0.67,311.2,882.3,10.3,528,12456,0.00,2.03,0.00,0.000,4,0.000,0.035,2386,3286,1135,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12528,0.67,311.2,874.9,11.0,530,12533,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1894,1133,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12846,0.67,311.2,837.8,11.3,541,12851,0.00,2.08,0.00,0.000,4,0.000,0.034,2386,3292,1132,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12880,0.67,311.2,833.8,11.5,542,12885,0.00,2.03,0.00,0.000,6,0.000,0.024,2382,1900,1132,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13214,0.67,311.2,796.0,11.4,553,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1900,1132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13513,0.67,311.2,760.4,12.0,563,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1900,1131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13813,0.67,311.2,725.4,11.5,573,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1900,1131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14112,0.67,311.2,693.5,10.3,583,14118,0.00,2.08,0.00,0.000,4,0.000,0.034,2386,3295,1130,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14155,0.67,311.2,689.9,10.5,584,14161,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1899,1131,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21434,end climb,SURFACE_DEPTH_REACHED
$STATE,21434,begin surface coast
$FINISH,1.5,1.022450
$STATE,21451,end surface coast,CONTROL_FINISHED_OK
$STATE,21451,begin surface
$SM_CCo,21528,0.00,0.000,0,0,208,539.91
$SM_GC,1.83,6.22,0.00,0.00,0.038,0.000,0.000,56,1918,208,-6.47,-0.23,539.91,0,0,0,0,0,0,26.21,28.83,28.83
$IRIDIUM_FIX,1929.80,12321.10,100113,232309
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.26
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3911296
$24V_AH,22.0,56.750
$10V_AH,9.9,39.468
$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,16.075,153.375,628.650,0.000,0.000,0.000,0.000,278.850,0.000,0.000,21.176,3055.146,15174.007,723.830,2608.772,439.819,0.000,2286.809,0.000,2238.914,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,42.075,1409.895,0.000,0.000,0.000,0.000,141.525,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21479.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.751,0.000,0.000,0.000
$MEM,329052
$DATA_FILE_SIZE,36702,972
$CAP_FILE_SIZE,226133,0
$CFSIZE,260034560,223150080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,244.0,1
$GPS,110113,114136,1941.649,12327.121,34,1.3,34,-2.4