version: 66.11
glider: 129
mission: 4
dive: 294
start: 1 13 113 18 49 29
data:
$ID,129
$MISSION,4
$DIVE,294
$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,-3086.2295
$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,97
$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
$GPS1,130113,184036,1951.610,12338.461,40,1.2,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-56.8
$GPS2,130113,184901,1951.409,12338.485,15,1.4,15,-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,60.3,84332,-14.2,-8.462,-17.62
$D_GRID,5271
$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,-175.2,0.0,0.0,0,86,0.00,0.00,-64.78,0.000,2,0.000,0.000,48,1918,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.3,-4.9,11,134,7.75,2.10,-29.33,0.000,4,0.232,0.042,1977,527,3124,0,0,0,0,0,0,24.96,26.15,26.54
$GC,177,-0.47,-175.2,22.9,-30.7,26,185,0.12,2.00,0.00,0.000,6,0.171,0.022,2000,1921,3125,0,0,0,0,0,0,25.86,26.24,28.83
$GC,504,-0.41,-175.2,107.8,-22.4,48,509,0.00,2.03,0.00,0.000,4,0.000,0.027,2001,522,3125,0,0,0,0,0,0,28.83,26.31,28.83
$GC,629,-0.36,-175.2,135.9,-23.0,54,635,0.17,2.00,0.00,0.000,6,0.143,0.022,2043,1926,3125,0,0,0,0,0,0,25.94,26.36,28.83
$GC,952,-0.36,-175.2,175.7,-11.7,70,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1927,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1255,-0.36,-175.2,209.9,-10.1,85,1260,0.00,2.00,0.00,0.000,4,0.000,0.033,2034,3312,3125,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1301,-0.36,-175.2,214.5,-10.3,87,1306,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1904,3126,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1619,-0.36,-175.2,248.6,-9.8,103,1625,0.00,1.92,0.00,0.000,4,0.000,0.028,2034,556,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1783,-0.36,-175.2,264.7,-9.7,111,1790,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1926,3125,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2107,-0.36,-175.2,295.8,-9.0,127,2112,0.00,1.98,0.00,0.000,4,0.000,0.028,2034,551,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2159,-0.36,-175.2,299.8,-9.1,129,2164,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1930,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2472,-0.36,-175.2,328.9,-9.2,145,2477,0.00,2.00,0.00,0.000,4,0.000,0.028,2032,556,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2498,-0.36,-175.2,331.0,-9.2,146,2504,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1932,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2817,-0.36,-175.2,356.8,-7.8,162,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1933,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,-0.36,-175.2,379.4,-7.0,177,3124,0.00,2.00,0.00,0.000,4,0.000,0.034,2033,3306,3121,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3147,-0.37,-175.2,381.0,-6.7,178,3152,0.00,1.92,0.00,0.000,6,0.000,0.020,2033,1932,3121,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3465,-0.38,-175.2,402.0,-6.6,194,3470,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,541,3121,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3608,-0.38,-175.2,413.5,-8.4,201,3614,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1932,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3932,-0.40,-175.2,437.0,-7.7,217,3937,0.00,2.03,0.00,0.000,4,0.000,0.029,2034,535,3117,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4005,-0.41,-175.2,442.5,-8.2,220,4011,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1928,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4321,-0.43,-175.2,467.3,-6.9,236,4327,0.00,2.05,-0.08,0.000,4,0.000,0.041,2034,546,3144,0,0,0,0,0,0,28.83,26.31,25.45
$GC,4369,-0.45,-175.2,470.5,-6.9,238,4374,0.00,1.92,0.00,0.000,6,0.000,0.021,2034,1925,3144,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4687,-0.47,-175.2,488.9,-5.4,254,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1925,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4988,-0.49,-175.2,504.8,-5.5,269,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1925,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5289,-0.51,-175.2,523.5,-6.8,284,5295,0.12,2.03,0.00,0.000,4,0.099,0.028,1966,545,3141,0,0,0,0,0,0,26.46,26.29,28.83
$GC,5328,-0.52,-175.2,526.0,-7.4,285,5336,0.12,1.98,0.00,0.000,6,0.149,0.022,1991,1919,3141,0,0,0,0,0,0,26.06,26.38,28.83
$GC,5633,-0.52,-175.2,557.6,-9.5,301,5639,0.00,2.05,0.00,0.000,4,0.000,0.030,1992,521,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5700,-0.52,-175.2,563.8,-9.7,304,5706,0.00,2.03,0.00,0.000,6,0.000,0.022,1985,1936,3139,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6018,-0.52,-175.2,594.9,-10.0,320,6024,0.00,2.05,0.00,0.000,4,0.000,0.030,1985,548,3138,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6086,-0.52,-175.2,601.9,-10.9,323,6091,0.00,1.98,0.00,0.000,6,0.000,0.022,1976,1925,3137,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6415,-0.52,-175.2,635.7,-9.9,334,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1926,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6713,-0.52,-175.2,662.4,-8.5,344,6719,0.00,2.03,0.00,0.000,4,0.000,0.031,1975,552,3133,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6751,-0.52,-175.2,665.5,-8.6,345,6756,0.00,1.98,0.00,0.000,6,0.000,0.023,1968,1925,3133,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7081,-0.52,-175.2,693.7,-8.4,356,7088,0.00,2.05,0.00,0.000,4,0.000,0.037,1957,3313,3131,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7104,-0.52,-175.2,693.7,-8.4,356,7111,0.12,1.98,0.00,0.000,6,0.142,0.023,1993,1922,3130,0,0,0,0,0,0,26.06,26.39,28.83
$GC,7422,-0.52,-175.2,717.2,-6.6,367,7428,0.00,2.00,0.00,0.000,4,0.000,0.031,1993,539,3129,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7535,-0.52,-175.2,724.6,-7.5,370,7540,0.00,2.00,0.00,0.000,6,0.000,0.023,1986,1933,3129,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7848,-0.52,-175.2,748.8,-7.3,381,7853,0.00,2.05,0.00,0.000,4,0.000,0.036,1975,3317,3128,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7870,-0.52,-175.2,748.8,-7.3,381,7875,0.00,1.98,0.00,0.000,6,0.000,0.021,1975,1927,3128,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8185,-0.52,-175.2,776.4,-8.4,392,8191,0.00,2.00,0.00,0.000,4,0.000,0.031,1975,541,3126,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8252,-0.52,-175.2,782.5,-9.0,394,8257,0.00,2.00,0.00,0.000,6,0.000,0.023,1967,1935,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8581,-0.52,-175.2,813.8,-9.4,405,8586,0.00,2.05,0.00,0.000,4,0.000,0.031,1967,535,3124,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8614,-0.52,-175.2,817.3,-9.6,406,8621,0.12,2.00,0.00,0.000,6,0.149,0.022,1993,1922,3124,0,0,0,0,0,0,26.00,26.34,28.83
$GC,8949,-0.52,-175.2,844.1,-7.8,417,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1923,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9250,-0.52,-175.2,865.7,-6.9,427,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1923,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9549,-0.52,-175.2,883.6,-5.8,437,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1924,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9850,-0.53,-175.2,900.6,-5.7,447,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1923,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10150,-0.54,-175.2,917.7,-5.8,457,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1923,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10450,-0.55,-175.2,934.8,-5.7,467,10455,0.00,2.08,0.00,0.000,4,0.000,0.032,1993,542,3118,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10473,-0.56,-175.2,934.8,-5.7,467,10478,0.00,2.00,0.00,0.000,6,0.000,0.023,1987,1925,3118,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10786,-0.56,-175.2,955.7,-6.2,478,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1925,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11087,-0.56,-175.2,975.3,-6.6,488,11092,0.00,2.05,0.00,0.000,4,0.000,0.032,1987,546,3116,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11115,-0.56,-175.2,975.3,-6.6,488,11121,0.00,2.00,0.00,0.000,6,0.000,0.024,1980,1929,3116,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11298,begin apogee
$GC,11304,-0.17,0.0,991.1,-7.4,495,11465,0.35,0.00,151.12,1.414,6,0.116,0.000,2100,1929,2410,0,0,0,0,0,0,25.73,28.83,22.31
$STATE,11466,end apogee,CONTROL_FINISHED_OK
$STATE,11466,begin climb
$GC,11469,0.54,175.2,997.2,0.0,500,11638,0.70,2.35,162.10,1.366,4,0.088,0.033,2333,534,1694,0,0,0,0,0,0,24.16,23.61,21.93
$GC,11685,0.58,268.4,990.5,5.4,507,11780,0.00,2.12,85.72,1.341,6,0.000,0.021,2333,1892,1315,0,0,0,0,0,0,28.83,24.63,21.99
$GC,12089,0.62,311.4,961.4,7.1,521,12136,0.00,2.25,38.45,1.336,4,0.000,0.035,2333,3294,1138,0,0,0,0,0,0,28.83,25.22,23.59
$GC,12164,0.65,346.2,957.0,7.3,523,12203,0.12,2.08,32.62,1.313,6,0.106,0.024,2381,1902,997,0,0,0,0,0,0,25.53,25.67,23.46
$GC,12511,0.67,346.2,919.0,11.0,535,12516,0.00,2.08,0.00,0.000,4,0.000,0.035,2386,516,990,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12548,0.68,346.2,915.2,11.2,536,12554,0.00,2.03,0.00,0.000,6,0.000,0.021,2386,1912,990,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12878,0.68,346.2,874.0,12.8,547,12884,0.00,2.05,0.00,0.000,4,0.000,0.035,2386,3293,988,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12921,0.68,346.2,869.3,13.0,548,12926,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1897,990,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13246,0.68,346.2,825.5,13.0,559,13252,0.00,2.05,0.00,0.000,4,0.000,0.037,2386,513,987,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13280,0.68,346.2,820.9,13.0,560,13285,0.00,2.00,0.00,0.000,6,0.000,0.021,2386,1897,988,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13617,0.68,346.2,780.3,11.6,571,13622,0.00,2.05,0.00,0.000,4,0.000,0.034,2386,3296,987,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21142,end climb,SURFACE_DEPTH_REACHED
$STATE,21142,begin surface coast
$FINISH,1.2,1.011387
$STATE,21159,end surface coast,CONTROL_FINISHED_OK
$STATE,21159,begin surface
$SM_CCo,21236,0.00,0.000,0,0,451,480.30
$SM_GC,1.93,6.32,0.00,0.00,0.040,0.000,0.000,58,1900,451,-6.45,-0.71,480.30,0,0,0,0,0,0,26.15,28.83,28.83
$IRIDIUM_FIX,1943.54,12340.13,130113,121234
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.18
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3907456
$24V_AH,21.9,58.949
$10V_AH,9.7,40.877
$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,16.350,174.075,591.000,0.000,0.000,0.000,0.000,300.500,0.000,0.000,16.520,3059.031,14874.645,716.800,2624.800,453.795,0.000,2310.703,0.000,2230.276,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,42.075,1413.720,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21188.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.948,0.000,0.000,0.000
$MEM,329008
$DATA_FILE_SIZE,36646,957
$CAP_FILE_SIZE,230632,0
$CFSIZE,260034560,222085120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,208.7,1
$GPS,140113,004437,1951.820,12340.490,32,1.2,33,-2.4