version: 66.11
glider: 129
mission: 4
dive: 304
start: 1 16 113 7 17 3
data:
$ID,129
$MISSION,4
$DIVE,304
$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,-3099.2903
$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,125
$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,77
$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
$GPS1,160113,070823,1955.461,12344.649,28,1.4,45,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-58.8
$GPS2,160113,071637,1955.398,12344.771,11,1.9,11,-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,37.9,71166,-14.2,-8.462,-17.62
$D_GRID,5131
$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,20,-0.54,-175.2,0.0,0.0,0,87,0.00,0.00,-65.25,0.000,2,0.000,0.000,266,1927,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.54,-175.2,3.2,-3.8,11,140,9.93,2.08,-33.20,0.000,4,0.233,0.047,2296,3275,3124,6,0,0,0,0,0,24.82,26.08,26.54
$GC,219,-0.69,-175.2,17.8,-10.6,34,227,1.50,1.92,0.00,0.000,6,0.041,0.021,1921,1906,3125,0,0,0,0,0,0,26.15,26.29,28.83
$GC,536,-0.60,-175.2,124.2,-32.9,59,542,0.15,2.03,0.00,0.000,4,0.181,0.028,1956,3287,3125,0,0,0,0,0,0,25.95,26.27,28.83
$GC,686,-0.55,-175.2,153.6,-19.2,66,691,0.00,1.90,0.00,0.000,6,0.000,0.020,1955,1926,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1004,-0.51,-175.2,213.4,-18.9,82,1011,0.12,1.98,0.00,0.000,4,0.160,0.026,1995,547,3124,0,0,0,0,0,0,26.16,26.32,28.83
$GC,1180,-0.49,-175.2,237.7,-13.8,90,1186,0.00,1.90,0.00,0.000,6,0.000,0.020,1987,1913,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1494,-0.47,-175.2,283.9,-14.8,106,1499,0.00,2.05,0.00,0.000,4,0.000,0.033,1977,3310,3124,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1531,-0.45,-175.2,287.2,-14.8,107,1538,0.15,1.95,0.00,0.000,6,0.133,0.020,2021,1905,3124,0,0,0,0,0,0,26.07,26.42,28.83
$GC,1836,-0.45,-175.2,326.0,-11.5,123,1841,0.00,1.92,0.00,0.000,4,0.000,0.028,2021,546,3123,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1999,-0.45,-175.2,345.2,-11.8,131,2005,0.00,1.98,0.00,0.000,6,0.000,0.020,2013,1925,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2323,-0.45,-175.2,378.8,-9.8,147,2328,0.00,2.00,0.00,0.000,4,0.000,0.028,2013,556,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2379,-0.45,-175.2,383.1,-9.9,149,2387,0.00,1.92,0.00,0.000,6,0.000,0.021,2006,1919,3121,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2685,-0.45,-175.2,414.3,-9.3,165,2691,0.00,2.03,0.00,0.000,4,0.000,0.028,2006,532,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2763,-0.45,-175.2,420.7,-10.1,168,2770,0.00,1.98,0.00,0.000,6,0.000,0.020,1998,1932,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3069,-0.45,-175.2,454.9,-11.0,184,3075,0.00,2.03,0.00,0.000,4,0.000,0.033,1988,3292,3119,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3092,-0.45,-175.2,457.4,-11.1,185,3098,0.00,1.90,0.00,0.000,6,0.000,0.020,1988,1934,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3416,-0.45,-175.2,493.0,-10.7,201,3421,0.00,2.00,0.00,0.000,4,0.000,0.028,1988,547,3116,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3629,-0.45,-175.2,517.6,-12.5,211,3635,0.12,1.95,0.00,0.000,6,0.149,0.021,2016,1932,3115,0,0,0,0,0,0,26.07,26.39,28.83
$GC,3944,-0.46,-175.2,547.6,-8.7,227,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1932,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4246,-0.47,-175.2,570.0,-7.2,242,4252,0.00,2.05,0.00,0.000,4,0.000,0.029,2016,535,3111,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4300,-0.48,-175.2,573.8,-7.7,244,4305,0.00,1.98,0.00,0.000,6,0.000,0.021,2010,1927,3110,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4613,-0.48,-175.2,598.3,-7.3,260,4618,0.00,2.03,0.00,0.000,4,0.000,0.029,2010,549,3108,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4655,-0.48,-175.2,600.9,-7.5,262,4661,0.00,1.95,0.00,0.000,6,0.000,0.021,2009,1932,3108,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4982,-0.49,-175.2,624.7,-7.0,273,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1932,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.50,-175.2,646.1,-7.3,283,5284,0.00,2.03,0.00,0.000,4,0.000,0.029,2009,545,3104,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5353,-0.50,-175.2,651.2,-7.5,285,5358,0.00,1.95,0.00,0.000,6,0.000,0.022,2009,1924,3103,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5678,-0.51,-175.2,673.5,-6.5,296,5683,0.00,2.03,0.00,0.000,4,0.000,0.030,2009,539,3101,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5716,-0.52,-175.2,675.9,-6.6,297,5721,0.00,1.98,0.00,0.000,6,0.000,0.021,2009,1925,3101,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6046,-0.54,-175.2,695.8,-5.7,308,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1922,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6345,-0.55,-175.2,710.7,-4.8,318,6350,0.00,2.00,0.00,0.000,4,0.000,0.031,2009,552,3098,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6392,-0.56,-175.2,712.4,-4.8,319,6398,0.00,1.95,0.00,0.000,6,0.000,0.022,2009,1928,3097,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6714,-0.57,-175.2,727.0,-4.3,330,6719,0.00,2.05,0.00,0.000,4,0.000,0.031,2009,543,3096,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6738,-0.58,-175.2,727.0,-4.3,330,6743,0.12,1.98,0.00,0.000,6,0.101,0.022,1955,1938,3095,0,0,0,0,0,0,26.18,26.34,28.83
$GC,7055,-0.57,-175.2,754.0,-8.5,341,7060,0.00,2.05,0.00,0.000,4,0.000,0.031,1954,544,3094,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7122,-0.56,-175.2,760.2,-8.9,343,7128,0.12,1.98,0.00,0.000,6,0.156,0.023,1978,1931,3094,0,0,0,0,0,0,25.98,26.33,28.83
$GC,7454,-0.56,-175.2,785.1,-7.6,354,7459,0.00,2.03,0.00,0.000,4,0.000,0.031,1979,552,3093,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7561,-0.56,-175.2,793.4,-8.6,357,7566,0.00,1.95,0.00,0.000,6,0.000,0.023,1971,1926,3092,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7879,-0.56,-175.2,822.3,-8.8,368,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1926,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8181,-0.56,-175.2,847.7,-8.2,378,8186,0.00,2.03,0.00,0.000,4,0.000,0.031,1972,549,3090,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8257,-0.56,-175.2,853.6,-8.6,380,8264,0.00,2.00,0.00,0.000,6,0.000,0.024,1964,1919,3089,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8578,-0.56,-175.2,881.8,-8.6,391,8583,0.00,2.05,0.00,0.000,4,0.000,0.031,1964,535,3088,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8625,-0.56,-175.2,885.0,-8.8,392,8630,0.00,2.03,0.00,0.000,6,0.000,0.023,1955,1921,3088,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8943,-0.56,-175.2,915.9,-9.4,403,8948,0.00,2.05,0.00,0.000,4,0.000,0.031,1955,541,3087,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8970,-0.56,-175.2,915.9,-9.4,403,8979,0.12,1.98,0.00,0.000,6,0.158,0.023,1981,1927,3087,0,0,0,0,0,0,25.94,26.30,28.83
$GC,9278,-0.56,-175.2,941.6,-7.3,414,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1926,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9577,-0.56,-175.2,962.3,-6.6,424,9583,0.00,2.03,0.00,0.000,4,0.000,0.031,1981,553,3085,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9641,-0.56,-175.2,967.1,-6.9,426,9646,0.00,1.98,0.00,0.000,6,0.000,0.023,1975,1931,3085,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9977,-0.56,-175.2,989.7,-7.0,437,9982,0.00,2.05,0.00,0.000,4,0.000,0.032,1975,548,3083,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,10008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10008,begin apogee
$GC,10015,-0.17,0.0,992.4,-7.2,438,10167,0.40,0.00,144.55,1.402,6,0.122,0.000,2102,1902,2409,0,0,0,0,0,0,25.63,28.83,22.38
$STATE,10169,end apogee,CONTROL_FINISHED_OK
$STATE,10169,begin climb
$GC,10171,0.54,175.2,997.2,0.0,443,10344,0.70,2.30,161.77,1.358,4,0.087,0.034,2335,538,1693,0,0,0,0,0,0,24.23,23.63,21.92
$GC,10377,0.57,226.4,987.1,6.8,450,10430,0.00,2.12,47.53,1.317,6,0.000,0.020,2335,1891,1486,0,0,0,0,0,0,28.83,24.53,22.13
$GC,10739,0.58,226.4,955.8,9.1,462,10744,0.00,2.12,0.00,0.000,4,0.000,0.034,2335,3300,1478,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10822,0.59,226.4,949.5,9.5,464,10828,0.00,2.03,0.00,0.000,6,0.000,0.024,2335,1913,1477,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11138,0.61,230.3,920.3,8.3,475,11143,0.00,2.05,0.00,0.000,4,0.000,0.034,2335,514,1476,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11176,0.63,235.5,917.5,8.3,476,11190,0.00,2.03,7.95,1.137,6,0.000,0.021,2335,1923,1448,0,0,0,0,0,0,28.83,26.33,23.82
$GC,11504,0.65,251.5,890.8,7.9,487,11527,0.10,2.10,15.65,1.264,4,0.116,0.035,2378,3275,1383,0,0,0,0,0,0,26.35,25.83,23.89
$GC,11611,0.65,251.5,880.6,10.4,490,11617,0.00,2.03,0.00,0.000,6,0.000,0.024,2385,1889,1380,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11930,0.65,251.5,841.2,12.0,501,11935,0.00,2.08,0.00,0.000,4,0.000,0.034,2384,3281,1379,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11967,0.65,251.5,837.0,12.2,502,11973,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1898,1378,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12297,0.65,251.5,799.1,11.1,513,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1898,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12597,0.65,251.5,766.8,10.6,523,12602,0.00,2.08,0.00,0.000,4,0.000,0.034,2387,3277,1377,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12654,0.65,251.5,763.0,10.7,524,12661,0.00,1.98,0.00,0.000,6,0.000,0.024,2386,1898,1377,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12960,0.65,251.5,727.7,10.6,535,12965,0.00,2.08,0.00,0.000,4,0.000,0.035,2387,503,1377,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13027,0.65,251.5,721.1,10.5,537,13033,0.00,2.00,0.00,0.000,6,0.000,0.021,2386,1917,1376,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13357,0.65,251.5,686.4,10.3,548,13363,0.00,2.00,0.00,0.000,4,0.000,0.035,2386,3278,1376,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,20604,end climb,SURFACE_DEPTH_REACHED
$STATE,20604,begin surface coast
$FINISH,1.2,1.022612
$STATE,20623,end surface coast,CONTROL_FINISHED_OK
$STATE,20623,begin surface
$SM_CCo,20699,0.00,0.000,0,0,210,539.41
$SM_GC,1.99,6.30,0.00,0.00,0.043,0.000,0.000,55,1894,210,-6.48,-0.76,539.41,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,1945.83,12346.49,160113,010157
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.26
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3903616
$24V_AH,21.9,61.155
$10V_AH,9.7,42.290
$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,20.125,184.975,624.650,0.000,0.000,0.000,0.000,290.850,0.000,0.000,11.712,3177.999,14006.349,754.057,2773.940,466.362,0.000,2420.088,0.000,2391.543,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,47.430,1402.245,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.475,0.000,0.000,0.000
$MEM,329020
$DATA_FILE_SIZE,33410,939
$CAP_FILE_SIZE,233955,0
$CFSIZE,260034560,221011968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,6,0,0,0,0
$CURRENT,0.277,186.9,1
$GPS,160113,130324,1954.778,12345.786,42,1.0,42,-2.4