version: 66.11
glider: 129
mission: 4
dive: 301
start: 1 15 113 13 27 9
data:
$ID,129
$MISSION,4
$DIVE,301
$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,-3095.4221
$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,87
$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
$GPS1,150113,131630,1954.515,12346.059,41,1.1,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-60.6
$GPS2,150113,132642,1954.310,12346.044,12,1.4,12,-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,14.4,70351,-14.2,-8.462,-17.62
$D_GRID,5197
$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,-65.40,0.000,2,0.000,0.000,160,1935,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.54,-175.2,3.1,-3.3,11,146,8.77,2.08,-36.15,0.000,4,0.237,0.047,1987,3293,3124,11,0,0,0,0,0,24.87,26.10,26.55
$GC,196,-0.58,-175.2,10.6,-6.4,29,205,0.40,1.95,0.00,0.000,6,0.042,0.020,1946,1911,3124,0,0,0,0,0,0,26.15,26.32,28.83
$GC,524,-0.49,-175.2,113.7,-34.7,58,530,0.17,1.95,0.00,0.000,4,0.172,0.028,1998,552,3125,0,0,0,0,0,0,25.91,26.29,28.83
$GC,682,-0.46,-175.2,143.5,-16.0,65,690,0.00,1.95,0.00,0.000,6,0.000,0.021,1990,1911,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,989,-0.43,-175.2,195.1,-14.7,81,995,0.12,1.98,0.00,0.000,4,0.158,0.027,2030,538,3125,0,0,0,0,0,0,26.19,26.32,28.83
$GC,1053,-0.41,-175.2,202.7,-12.5,84,1059,0.00,1.95,0.00,0.000,6,0.000,0.021,2023,1937,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1377,-0.41,-175.2,236.7,-10.8,100,1382,0.00,2.00,0.00,0.000,4,0.000,0.028,2023,546,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1414,-0.41,-175.2,239.3,-10.9,101,1420,0.00,1.92,0.00,0.000,6,0.000,0.021,2015,1929,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1720,-0.40,-175.2,273.8,-10.8,117,1725,0.00,2.00,0.00,0.000,4,0.000,0.028,2015,537,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1772,-0.39,-175.2,278.8,-11.0,119,1778,0.00,1.95,0.00,0.000,6,0.000,0.021,2006,1929,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2087,-0.39,-175.2,310.7,-9.3,135,2092,0.00,2.00,0.00,0.000,4,0.000,0.034,1995,3304,3124,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2118,-0.39,-175.2,312.9,-9.3,136,2124,0.12,1.92,0.00,0.000,6,0.132,0.020,2034,1919,3121,0,0,0,0,0,0,26.15,26.44,28.83
$GC,2433,-0.39,-175.2,339.2,-8.7,152,2439,0.00,1.95,0.00,0.000,4,0.000,0.028,2034,546,3123,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2465,-0.39,-175.2,341.3,-8.7,153,2470,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1938,3123,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2779,-0.40,-175.2,365.5,-6.8,169,2784,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,553,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2867,-0.40,-175.2,371.9,-7.5,173,2873,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1930,3121,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3186,-0.41,-175.2,395.1,-7.8,189,3191,0.00,2.03,0.00,0.000,4,0.000,0.034,2034,3302,3119,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3213,-0.43,-175.2,396.9,-7.8,190,3219,0.00,1.90,0.00,0.000,6,0.000,0.020,2034,1926,3119,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3532,-0.44,-175.2,421.0,-7.3,206,3537,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,538,3117,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3631,-0.45,-175.2,427.4,-7.6,210,3639,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1933,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3936,-0.47,-175.2,447.5,-5.8,226,3943,0.00,2.05,-0.08,0.000,4,0.000,0.041,2034,539,3143,0,0,0,0,0,0,28.83,26.29,25.45
$GC,3996,-0.49,-175.2,450.4,-5.9,228,4002,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1931,3143,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4302,-0.51,-175.2,468.6,-5.8,244,4307,0.12,2.03,0.00,0.000,4,0.098,0.033,1958,3302,3142,0,0,0,0,0,0,26.44,26.25,28.83
$GC,4330,-0.52,-175.2,470.5,-6.3,245,4337,0.12,1.92,0.00,0.000,6,0.141,0.021,1994,1908,3142,0,0,0,0,0,0,26.09,26.41,28.83
$GC,4650,-0.52,-175.2,499.6,-9.0,261,4655,0.00,1.98,0.00,0.000,4,0.000,0.030,1994,554,3141,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4733,-0.52,-175.2,507.7,-9.7,265,4738,0.00,1.95,0.00,0.000,6,0.000,0.022,1989,1934,3141,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5057,-0.52,-175.2,537.7,-9.2,281,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1935,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5358,-0.52,-175.2,563.8,-8.6,296,5364,0.00,2.03,0.00,0.000,4,0.000,0.030,1989,561,3137,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5436,-0.52,-175.2,569.7,-8.8,299,5443,0.00,1.92,0.00,0.000,6,0.000,0.023,1982,1921,3137,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5742,-0.52,-175.2,596.7,-8.3,315,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1921,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6042,-0.52,-175.2,621.0,-8.3,326,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1922,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6343,-0.52,-175.2,648.1,-9.5,336,6349,0.00,2.05,0.00,0.000,4,0.000,0.036,1971,3314,3133,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6371,-0.52,-175.2,648.1,-9.5,336,6378,0.00,1.92,0.00,0.000,6,0.000,0.021,1972,1948,3131,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6678,-0.52,-175.2,680.3,-9.4,347,6684,0.00,2.05,0.00,0.000,4,0.000,0.031,1972,529,3129,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6731,-0.52,-175.2,683.6,-9.4,348,6736,0.00,2.03,0.00,0.000,6,0.000,0.023,1964,1936,3129,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7044,-0.52,-175.2,713.4,-8.6,359,7049,0.00,2.03,0.00,0.000,4,0.000,0.036,1954,3314,3127,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7066,-0.52,-175.2,713.4,-8.6,359,7072,0.12,2.00,0.00,0.000,6,0.147,0.023,1989,1923,3127,0,0,0,0,0,0,26.04,26.38,28.83
$GC,7383,-0.52,-175.2,737.4,-7.0,370,7388,0.00,2.00,0.00,0.000,4,0.000,0.032,1989,546,3125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7480,-0.52,-175.2,745.0,-7.8,373,7485,0.00,1.98,0.00,0.000,6,0.000,0.023,1982,1935,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7810,-0.52,-175.2,770.3,-7.5,384,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8108,-0.52,-175.2,794.3,-8.2,394,8113,0.00,2.08,0.00,0.000,4,0.000,0.031,1982,544,3122,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8181,-0.52,-175.2,800.1,-8.7,396,8187,0.00,2.00,0.00,0.000,6,0.000,0.024,1974,1936,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8505,-0.52,-175.2,829.9,-8.9,407,8510,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,546,3120,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8548,-0.52,-175.2,833.1,-9.0,408,8553,0.00,2.03,0.00,0.000,6,0.000,0.024,1967,1952,3120,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8871,-0.52,-175.2,862.3,-8.5,419,8878,0.00,2.08,0.00,0.000,4,0.000,0.032,1967,546,3121,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8900,-0.52,-175.2,862.3,-8.5,419,8907,0.12,1.98,0.00,0.000,6,0.153,0.024,1994,1929,3119,0,0,0,0,0,0,25.96,26.30,28.83
$GC,9208,-0.53,-175.2,887.4,-7.4,430,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9506,-0.54,-175.2,910.0,-7.6,440,9511,0.00,2.05,0.00,0.000,4,0.000,0.033,1994,539,3117,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9529,-0.56,-175.2,910.0,-7.6,440,9535,0.00,2.00,0.00,0.000,6,0.000,0.024,1993,1928,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9844,-0.57,-175.2,935.4,-7.2,451,9850,0.00,2.03,0.00,0.000,4,0.000,0.033,1993,549,3115,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9887,-0.57,-175.2,938.1,-7.3,452,9892,0.00,1.98,0.00,0.000,6,0.000,0.024,1986,1931,3115,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10212,-0.57,-175.2,961.1,-6.6,463,10218,0.00,2.05,0.00,0.000,4,0.000,0.033,1986,544,3115,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10235,-0.57,-175.2,961.1,-6.6,463,10241,0.00,1.98,0.00,0.000,6,0.000,0.024,1979,1924,3114,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10550,-0.57,-175.2,984.1,-6.5,474,10556,0.00,2.05,0.00,0.000,4,0.000,0.033,1979,538,3114,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10584,-0.57,-175.2,986.7,-6.7,475,10590,0.00,2.05,0.00,0.000,6,0.000,0.024,1970,1948,3114,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,10646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10646,begin apogee
$GC,10652,-0.17,0.0,991.3,-7.1,477,10809,0.38,0.00,150.65,1.414,6,0.121,0.000,2096,1949,2410,0,0,0,0,0,0,25.65,28.83,22.29
$STATE,10810,end apogee,CONTROL_FINISHED_OK
$STATE,10810,begin climb
$GC,10813,0.54,175.2,995.7,0.0,482,10986,0.70,2.42,162.25,1.361,4,0.090,0.034,2329,535,1693,0,0,0,0,0,0,24.12,23.62,21.93
$GC,11028,0.57,227.8,985.9,6.7,489,11083,0.00,2.12,48.80,1.323,6,0.000,0.021,2330,1894,1480,0,0,0,0,0,0,28.83,24.63,22.18
$GC,11407,0.59,253.7,954.9,7.6,502,11437,0.00,2.12,22.88,1.302,4,0.000,0.034,2329,3292,1373,0,0,0,0,0,0,28.83,25.51,23.75
$GC,11497,0.62,280.3,950.0,7.6,504,11531,0.00,2.03,24.48,1.303,6,0.000,0.024,2332,1910,1267,0,0,0,0,0,0,28.83,25.94,23.68
$GC,11831,0.67,334.5,925.0,6.7,516,11892,0.12,2.22,48.90,1.342,4,0.108,0.036,2387,513,1045,0,0,0,0,0,0,26.20,25.19,23.56
$GC,11936,0.68,334.5,915.8,9.2,519,11941,0.00,2.08,0.00,0.000,6,0.000,0.022,2387,1935,1043,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12260,0.68,334.5,881.4,10.3,530,12266,0.00,2.03,0.00,0.000,4,0.000,0.035,2387,3272,1038,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12338,0.68,334.5,874.3,10.6,532,12344,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1898,1036,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12656,0.68,334.5,841.0,9.8,543,12661,0.00,2.08,0.00,0.000,4,0.000,0.036,2387,506,1036,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,21083,end climb,SURFACE_DEPTH_REACHED
$STATE,21083,begin surface coast
$FINISH,1.0,1.013933
$STATE,21094,end surface coast,CONTROL_FINISHED_OK
$STATE,21094,begin surface
$SM_CCo,21180,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1950.41,12344.58,150113,070750
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.99
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3904768
$24V_AH,21.9,60.502
$10V_AH,9.8,41.873
$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,26.025,201.575,632.775,0.000,0.000,0.000,0.000,379.300,0.000,0.000,13.797,3126.193,14519.414,817.624,2803.273,495.277,0.000,2576.041,0.000,2344.936,0.000,0.541,0.000
$DEVICE_MAMPS,322.065,47.430,1413.720,0.000,0.000,0.000,0.000,141.525,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21119.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.732,0.000,0.000,0.000
$MEM,329008
$DATA_FILE_SIZE,36666,955
$CAP_FILE_SIZE,243112,8
$CFSIZE,260034560,221327360
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,40,0,0,0,0
$CURRENT,0.252,205.2,1
$GPS,150113,192125,1954.724,12345.034,37,1.6,37,-2.4