version: 66.11
glider: 129
mission: 4
dive: 299
start: 1 15 113 1 25 53
data:
$ID,129
$MISSION,4
$DIVE,299
$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,-3092.7141
$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,91
$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
$GPS1,150113,011659,1954.339,12343.881,36,1.0,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-55.8
$GPS2,150113,012525,1954.291,12343.971,16,1.0,16,-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,36.3,73417,-14.2,-8.462,-17.62
$D_GRID,5146
$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,-65.12,0.000,2,0.000,0.000,87,1924,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-3.6,11,133,7.93,0.00,-32.85,0.000,6,0.239,0.000,1979,1922,3125,4,0,0,0,0,0,24.81,28.83,26.55
$GC,449,-0.47,-175.2,106.4,-30.9,46,455,0.10,2.03,0.00,0.000,4,0.193,0.028,2004,535,3126,0,0,0,0,0,0,26.21,26.27,28.83
$GC,654,-0.42,-175.2,146.8,-20.4,56,659,0.00,1.98,0.00,0.000,6,0.000,0.021,1995,1919,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,977,-0.39,-175.2,197.8,-14.4,72,983,0.12,2.03,0.00,0.000,4,0.153,0.031,2027,3312,3127,0,0,0,0,0,0,26.20,26.26,28.83
$GC,1010,-0.37,-175.2,201.1,-14.4,73,1016,0.00,1.95,0.00,0.000,6,0.000,0.020,2027,1904,3127,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1323,-0.37,-175.2,237.3,-11.1,89,1328,0.00,1.92,0.00,0.000,4,0.000,0.028,2027,557,3127,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1517,-0.37,-175.2,256.6,-9.7,98,1522,0.00,1.92,0.00,0.000,6,0.000,0.021,2018,1937,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1830,-0.37,-175.2,289.5,-11.5,114,1835,0.00,2.03,0.00,0.000,4,0.000,0.028,2018,546,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1922,-0.37,-175.2,299.4,-12.0,118,1928,0.00,1.95,0.00,0.000,6,0.000,0.020,2010,1932,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2237,-0.37,-175.2,333.4,-9.0,134,2239,0.10,0.00,0.00,0.000,6,0.151,0.000,2038,1933,3124,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2539,-0.38,-175.2,352.7,-6.8,149,2545,0.00,2.00,0.00,0.000,4,0.000,0.028,2038,558,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2644,-0.40,-175.2,360.8,-7.7,154,2650,0.00,1.92,0.00,0.000,6,0.000,0.020,2037,1925,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2969,-0.41,-175.2,383.8,-6.3,170,2974,0.00,2.00,0.00,0.000,4,0.000,0.029,2036,551,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2996,-0.42,-175.2,385.3,-6.3,171,3002,0.00,1.92,0.00,0.000,6,0.000,0.021,2034,1926,3122,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3316,-0.43,-175.2,408.3,-8.2,187,3321,0.00,2.03,0.00,0.000,4,0.000,0.034,2034,3302,3121,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3369,-0.45,-175.2,411.9,-8.2,189,3375,0.00,1.92,0.00,0.000,6,0.000,0.020,2034,1926,3120,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3683,-0.47,-175.2,438.0,-8.6,205,3689,0.00,2.00,0.00,0.000,4,0.000,0.029,2033,555,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3812,-0.48,-175.2,449.3,-9.0,211,3817,0.00,1.92,0.00,0.000,6,0.000,0.021,2032,1928,3118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4131,-0.50,-175.2,470.2,-5.4,227,4138,0.10,2.00,0.00,0.000,4,0.112,0.027,1985,552,3116,0,0,0,0,0,0,26.47,26.31,28.83
$GC,4206,-0.50,-175.2,475.8,-7.9,230,4212,0.00,1.95,-0.08,0.000,6,0.000,0.021,1974,1924,3139,0,0,0,0,0,0,28.83,26.39,25.11
$GC,4520,-0.49,-175.2,507.6,-10.1,246,4526,0.00,2.03,0.00,0.000,4,0.000,0.029,1975,562,3138,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4558,-0.48,-175.2,510.2,-10.4,247,4565,0.12,1.92,0.00,0.000,6,0.153,0.021,2003,1923,3139,0,0,0,0,0,0,26.05,26.38,28.83
$GC,4864,-0.48,-175.2,536.1,-7.3,263,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1923,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5166,-0.48,-175.2,558.3,-7.6,278,5171,0.00,2.03,0.00,0.000,4,0.000,0.031,2003,539,3136,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5258,-0.48,-175.2,565.8,-8.9,282,5264,0.00,2.00,0.00,0.000,6,0.000,0.022,1996,1938,3136,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5572,-0.48,-175.2,595.3,-9.2,298,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1937,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5872,-0.48,-175.2,621.1,-8.2,309,5877,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,557,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5894,-0.48,-175.2,621.1,-8.2,309,5899,0.00,1.98,0.00,0.000,6,0.000,0.023,1989,1931,3132,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6208,-0.48,-175.2,647.1,-7.6,320,6213,0.00,2.03,0.00,0.000,4,0.000,0.031,1989,545,3130,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6261,-0.48,-175.2,649.9,-7.8,321,6266,0.00,1.98,0.00,0.000,6,0.000,0.022,1981,1924,3131,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6577,-0.48,-175.2,676.5,-7.9,332,6582,0.00,2.00,0.00,0.000,4,0.000,0.031,1981,555,3128,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6624,-0.48,-175.2,679.6,-8.1,333,6630,0.12,1.95,0.00,0.000,6,0.149,0.023,2008,1928,3128,0,0,0,0,0,0,26.02,26.34,28.83
$GC,6945,-0.49,-175.2,703.9,-7.6,344,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1928,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7245,-0.50,-175.2,728.6,-8.2,354,7251,0.00,2.03,0.00,0.000,4,0.000,0.031,2008,549,3125,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7289,-0.52,-175.2,731.5,-8.1,355,7294,0.00,2.00,0.00,0.000,6,0.000,0.023,2005,1940,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7615,-0.53,-175.2,755.4,-6.5,366,7620,0.00,2.03,0.00,0.000,4,0.000,0.031,2005,557,3124,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7689,-0.54,-175.2,760.3,-6.9,368,7694,0.00,1.98,0.00,0.000,6,0.000,0.023,1998,1931,3123,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8014,-0.56,-175.2,784.7,-7.1,379,8020,0.00,2.08,0.00,0.000,4,0.000,0.036,1988,3334,3122,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8072,-0.57,-175.2,787.4,-7.2,380,8079,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1940,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8381,-0.60,-175.2,812.0,-7.4,391,8386,0.00,2.05,0.00,0.000,4,0.000,0.035,1981,3307,3120,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8459,-0.63,-175.2,816.8,-7.2,393,8465,0.00,1.98,0.00,0.000,6,0.000,0.022,1981,1922,3120,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8780,-0.65,-175.2,839.6,-6.8,404,8786,0.00,2.03,0.00,0.000,4,0.000,0.031,1981,536,3119,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8880,-0.67,-175.2,846.6,-7.2,407,8887,0.00,2.00,0.00,0.000,6,0.000,0.023,1974,1928,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9211,-0.67,-175.2,872.1,-7.7,418,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1928,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9511,-0.67,-175.2,892.7,-6.6,428,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1929,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9810,-0.67,-175.2,912.0,-6.5,438,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1929,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10111,-0.67,-175.2,933.9,-7.7,448,10116,0.00,2.05,0.00,0.000,4,0.000,0.037,1964,3310,3113,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10133,-0.67,-175.2,933.9,-7.7,448,10139,0.00,2.00,0.00,0.000,6,0.000,0.022,1964,1918,3114,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10448,-0.67,-175.2,964.9,-9.7,459,10453,0.00,2.00,0.00,0.000,4,0.000,0.032,1964,542,3114,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10535,-0.67,-175.2,971.9,-10.4,461,10542,0.00,2.03,0.00,0.000,6,0.000,0.023,1955,1925,3115,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10689,begin apogee
$GC,10694,-0.17,0.0,991.3,-10.7,467,10852,0.45,0.00,151.02,1.410,6,0.123,0.000,2102,1926,2409,0,0,0,0,0,0,25.55,28.83,22.30
$STATE,10854,end apogee,CONTROL_FINISHED_OK
$STATE,10854,begin climb
$GC,10856,0.54,175.2,1000.1,0.0,472,11028,0.68,2.45,161.98,1.365,4,0.089,0.034,2328,520,1693,0,0,0,0,0,0,24.13,23.61,21.89
$GC,11101,0.60,301.4,995.5,4.4,480,11227,0.00,2.12,115.32,1.349,6,0.000,0.021,2328,1901,1180,0,0,0,0,0,0,28.83,24.99,22.00
$GC,11535,0.65,364.5,969.0,6.4,495,11599,0.12,2.20,56.38,1.350,4,0.109,0.035,2383,3297,922,0,0,0,0,0,0,26.05,25.04,23.41
$GC,11639,0.66,364.5,960.0,8.9,498,11644,0.00,2.08,0.00,0.000,6,0.000,0.024,2387,1901,917,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11964,0.66,364.5,925.1,10.3,509,11969,0.00,2.08,0.00,0.000,4,0.000,0.036,2387,506,916,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12002,0.67,364.5,921.5,10.3,510,12008,0.00,2.05,0.00,0.000,6,0.000,0.021,2386,1927,915,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12332,0.67,364.5,889.0,9.6,521,12338,0.00,2.05,0.00,0.000,4,0.000,0.034,2386,3297,914,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12359,0.67,364.5,889.0,9.6,521,12367,0.00,2.05,0.00,0.000,6,0.000,0.024,2387,1886,914,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12668,0.68,364.5,857.8,9.5,532,12673,0.00,2.08,0.00,0.000,4,0.000,0.036,2387,504,914,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12715,0.69,364.5,854.3,9.6,533,12721,0.00,1.98,0.00,0.000,6,0.000,0.021,2387,1889,913,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13037,0.70,364.5,818.9,11.0,544,13042,0.00,2.10,0.00,0.000,4,0.000,0.035,2387,3294,913,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13109,0.71,364.5,811.0,11.5,546,13114,0.00,2.03,0.00,0.000,6,0.000,0.024,2387,1896,912,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13435,0.72,364.5,772.0,11.8,557,13440,0.00,2.08,0.00,0.000,4,0.000,0.036,2387,508,912,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13477,0.73,364.5,767.9,11.8,558,13483,0.00,2.03,0.00,0.000,6,0.000,0.021,2387,1914,910,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,20825,end climb,SURFACE_DEPTH_REACHED
$STATE,20826,begin surface coast
$FINISH,1.0,1.022390
$STATE,20838,end surface coast,CONTROL_FINISHED_OK
$STATE,20838,begin surface
$SM_CCo,20914,0.00,0.000,0,0,207,540.15
$SM_GC,1.94,6.43,0.00,0.00,0.046,0.000,0.000,68,1907,207,-6.45,-0.76,540.15,0,0,0,0,0,0,26.12,28.83,28.83
$IRIDIUM_FIX,1945.83,12341.40,140113,191950
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.95
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3905536
$24V_AH,21.9,60.054
$10V_AH,9.9,41.587
$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,16.800,189.975,633.625,0.000,0.000,0.000,0.000,299.725,0.000,0.000,17.238,3165.268,14235.155,762.722,2770.722,475.741,0.000,2441.328,0.000,2371.380,0.000,0.542,0.000
$DEVICE_MAMPS,239.445,37.485,1409.895,0.000,0.000,0.000,0.000,138.465,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20863.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.702,0.000,0.000,0.000
$MEM,329068
$DATA_FILE_SIZE,36701,942
$CAP_FILE_SIZE,237830,0
$CFSIZE,260034560,221544448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0,0
$CURRENT,0.175,186.4,1
$GPS,150113,071536,1954.991,12345.221,30,1.4,30,-2.4