version: 66.11
glider: 129
mission: 4
dive: 298
start: 1 14 113 19 24 50
data:
$ID,129
$MISSION,4
$DIVE,298
$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,-3091.3618
$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,103
$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
$GPS1,140113,191337,1953.980,12341.889,28,1.8,29,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-52.4
$GPS2,140113,192424,1953.911,12342.006,16,1.7,33,-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,53.7,76705,-14.2,-8.462,-17.62
$D_GRID,5156
$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,-175.2,0.0,0.0,0,87,0.00,0.00,-64.90,0.000,2,0.000,0.000,144,1935,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.2,-3.9,11,140,8.98,2.03,-33.33,0.000,4,0.236,0.041,2232,534,3124,6,0,0,0,0,0,24.96,26.15,26.56
$GC,194,-0.62,-175.2,16.1,-16.7,29,202,0.82,1.92,0.00,0.000,6,0.085,0.018,1960,1926,3124,0,0,0,0,0,0,25.90,26.33,28.83
$GC,520,-0.53,-175.2,117.9,-34.9,55,526,0.00,2.03,0.00,0.000,4,0.000,0.028,1960,524,3124,0,0,0,0,0,0,28.83,26.31,28.83
$GC,729,-0.47,-175.2,170.3,-24.3,65,735,0.20,1.95,0.00,0.000,6,0.147,0.021,2008,1899,3124,0,0,0,0,0,0,25.91,26.38,28.83
$GC,1048,-0.45,-175.2,215.3,-13.4,81,1053,0.00,1.98,0.00,0.000,4,0.000,0.028,2008,536,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1071,-0.43,-175.2,218.7,-13.6,82,1077,0.00,1.98,0.00,0.000,6,0.000,0.021,2000,1932,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1395,-0.41,-175.2,263.9,-13.7,98,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1932,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1697,-0.39,-175.2,301.7,-12.4,113,1702,0.12,2.03,0.00,0.000,4,0.148,0.032,2032,3311,3123,0,0,0,0,0,0,26.23,26.27,28.83
$GC,1715,-0.37,-175.2,301.7,-12.4,113,1723,0.00,1.95,0.00,0.000,6,0.000,0.020,2032,1910,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2020,-0.37,-175.2,332.1,-9.0,129,2026,0.00,1.92,0.00,0.000,4,0.000,0.029,2032,553,3123,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2152,-0.37,-175.2,343.7,-9.3,135,2157,0.00,1.95,0.00,0.000,6,0.000,0.021,2024,1940,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2469,-0.37,-175.2,372.6,-8.8,151,2475,0.00,2.03,0.00,0.000,4,0.000,0.028,2024,552,3121,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2502,-0.37,-175.2,374.6,-8.8,152,2507,0.00,1.95,0.00,0.000,6,0.000,0.020,2015,1937,3121,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2815,-0.37,-175.2,405.4,-10.1,168,2820,0.00,2.00,0.00,0.000,4,0.000,0.028,2016,553,3120,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2878,-0.37,-175.2,412.2,-10.7,171,2884,0.12,1.95,0.00,0.000,6,0.143,0.021,2045,1929,3117,0,0,0,0,0,0,26.11,26.41,28.83
$GC,3203,-0.39,-175.2,436.2,-6.9,187,3208,0.00,2.03,0.00,0.000,4,0.000,0.028,2045,544,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3241,-0.41,-175.2,438.1,-7.0,188,3249,0.00,1.95,0.00,0.000,6,0.000,0.020,2039,1931,3117,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3546,-0.43,-175.2,460.0,-6.5,204,3553,0.00,2.03,-0.08,0.000,4,0.000,0.047,2037,3301,3143,0,0,0,0,0,0,28.83,26.24,25.46
$GC,3598,-0.45,-175.2,462.7,-6.2,206,3603,0.00,1.92,0.00,0.000,6,0.000,0.020,2036,1924,3141,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3916,-0.47,-175.2,481.9,-5.9,222,3921,0.00,1.98,0.00,0.000,4,0.000,0.030,2018,550,3142,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4025,-0.49,-175.2,489.7,-7.8,227,4032,0.12,1.95,0.00,0.000,6,0.097,0.021,1978,1932,3141,0,0,0,0,0,0,26.26,26.41,28.83
$GC,4345,-0.49,-175.2,525.1,-10.7,243,4350,0.00,2.00,0.00,0.000,4,0.000,0.029,1978,554,3141,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4412,-0.49,-175.2,532.0,-10.6,246,4418,0.12,1.95,0.00,0.000,6,0.148,0.022,2004,1920,3141,0,0,0,0,0,0,26.06,26.39,28.83
$GC,4731,-0.49,-175.2,560.1,-9.1,262,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1920,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.49,-175.2,585.8,-8.3,277,5038,0.00,2.00,0.00,0.000,4,0.000,0.030,2004,553,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5107,-0.49,-175.2,591.5,-8.5,280,5112,0.00,1.98,0.00,0.000,6,0.000,0.021,1997,1937,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5431,-0.49,-175.2,617.4,-7.5,293,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1938,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5730,-0.49,-175.2,640.2,-7.7,303,5735,0.00,2.08,0.00,0.000,4,0.000,0.031,1997,532,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5809,-0.49,-175.2,645.7,-8.2,305,5814,0.00,2.00,0.00,0.000,6,0.000,0.022,1994,1928,3131,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6128,-0.49,-175.2,672.8,-8.3,316,6133,0.00,2.03,0.00,0.000,4,0.000,0.031,1993,556,3129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6171,-0.49,-175.2,676.0,-8.6,317,6176,0.00,1.98,0.00,0.000,6,0.000,0.023,1994,1929,3129,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6493,-0.49,-175.2,706.8,-9.2,328,6499,0.00,2.05,0.00,0.000,4,0.000,0.031,1998,546,3128,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6532,-0.49,-175.2,709.9,-9.2,329,6537,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1936,3128,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6861,-0.49,-175.2,736.5,-7.6,340,6866,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,554,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6969,-0.49,-175.2,744.2,-8.0,343,6974,0.00,1.98,0.00,0.000,6,0.000,0.024,1994,1926,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7288,-0.49,-175.2,766.3,-6.3,354,7293,0.00,2.05,0.00,0.000,4,0.000,0.036,1992,3307,3123,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7325,-0.49,-175.2,768.3,-6.1,355,7330,0.00,1.92,0.00,0.000,6,0.000,0.021,1992,1935,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7655,-0.49,-175.2,787.1,-5.5,366,7660,0.00,2.03,0.00,0.000,4,0.000,0.031,1992,535,3122,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7718,-0.49,-175.2,791.2,-6.0,368,7724,0.00,2.03,0.00,0.000,6,0.000,0.023,1989,1919,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8055,-0.49,-175.2,812.4,-6.7,379,8060,0.00,2.05,0.00,0.000,4,0.000,0.031,1989,539,3121,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8097,-0.49,-175.2,815.1,-6.9,380,8102,0.00,2.00,0.00,0.000,6,0.000,0.023,1981,1925,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8422,-0.49,-175.2,841.5,-8.3,391,8428,0.00,2.05,0.00,0.000,4,0.000,0.031,1981,537,3119,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8464,-0.49,-175.2,844.7,-8.5,392,8470,0.00,2.00,0.00,0.000,6,0.000,0.024,1975,1925,3119,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8788,-0.49,-175.2,874.3,-9.0,403,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1925,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9089,-0.49,-175.2,900.1,-8.6,413,9095,0.00,2.05,0.00,0.000,4,0.000,0.032,1975,546,3116,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9117,-0.49,-175.2,900.1,-8.6,413,9124,0.12,2.00,0.00,0.000,6,0.157,0.024,2003,1921,3116,0,0,0,0,0,0,25.94,26.29,28.83
$GC,9425,-0.51,-175.2,923.3,-6.5,424,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1922,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9724,-0.52,-175.2,942.4,-6.4,434,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1922,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10024,-0.54,-175.2,960.6,-5.9,444,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1922,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10323,-0.56,-175.2,977.5,-5.7,454,10329,0.00,2.08,0.00,0.000,4,0.000,0.037,1994,3311,3112,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10357,-0.58,-175.2,979.6,-5.8,455,10364,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1931,3112,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,10539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10539,begin apogee
$GC,10545,-0.17,0.0,991.3,-6.4,461,10702,0.32,0.00,150.70,1.409,6,0.115,0.000,2104,1922,2409,0,0,0,0,0,0,25.78,28.83,22.31
$STATE,10703,end apogee,CONTROL_FINISHED_OK
$STATE,10704,begin climb
$GC,10706,0.54,175.2,996.6,0.0,466,10879,0.68,2.35,161.70,1.359,4,0.090,0.034,2327,3284,1692,0,0,0,0,0,0,24.13,23.62,21.93
$GC,10911,0.57,241.8,988.0,6.3,473,10980,0.00,2.15,61.28,1.328,6,0.000,0.023,2331,1912,1424,0,0,0,0,0,0,28.83,24.49,22.04
$GC,11299,0.60,268.9,958.2,7.6,486,11328,0.00,0.00,24.52,1.306,6,0.000,0.000,2331,1911,1309,0,0,0,0,0,0,28.83,28.83,23.74
$GC,11631,0.63,295.8,933.6,7.6,497,11664,0.10,2.20,24.62,1.314,4,0.121,0.036,2373,510,1202,0,0,0,0,0,0,26.25,25.56,23.84
$GC,11682,0.66,309.8,930.9,8.0,498,11702,0.00,2.05,13.95,1.232,6,0.000,0.021,2373,1913,1146,0,0,0,0,0,0,28.83,25.82,23.75
$GC,12024,0.66,309.8,892.2,10.9,510,12030,0.00,2.05,0.00,0.000,4,0.000,0.035,2374,3293,1139,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12118,0.66,309.8,881.2,11.7,513,12124,0.00,2.05,0.00,0.000,6,0.000,0.024,2374,1888,1139,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12454,0.66,309.8,843.1,11.5,524,12460,0.00,2.05,0.00,0.000,4,0.000,0.035,2374,510,1138,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12492,0.67,309.8,838.8,11.6,525,12498,0.00,2.03,0.00,0.000,6,0.000,0.021,2374,1914,1138,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12823,0.68,309.8,800.0,11.5,536,12828,0.00,2.03,0.00,0.000,4,0.000,0.035,2374,3292,1137,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12870,0.68,309.8,795.8,11.6,537,12875,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1891,1137,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13190,0.69,309.8,760.4,10.1,548,13196,0.00,2.05,0.00,0.000,4,0.000,0.036,2374,507,1136,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13248,0.70,309.8,756.9,9.9,549,13255,0.00,2.00,0.00,0.000,6,0.000,0.021,2374,1897,1136,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,20957,end climb,SURFACE_DEPTH_REACHED
$STATE,20957,begin surface coast
$FINISH,1.1,1.003864
$STATE,20973,end surface coast,CONTROL_FINISHED_OK
$STATE,20973,begin surface
$SM_CCo,21048,0.00,0.000,0,0,205,540.64
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$IRIDIUM_FIX,1945.83,12341.40,140113,131353
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.26
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3905920
$24V_AH,21.9,59.825
$10V_AH,9.7,41.446
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,236.385,46.665,1409.130,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.566,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,36690,947
$CAP_FILE_SIZE,236544,0
$CFSIZE,260034560,221655040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,0,0,0
$CURRENT,0.163,195.8,1
$GPS,150113,011659,1954.339,12343.881,36,1.0,42,-2.4