version: 66.11
glider: 129
mission: 4
dive: 269
start: 1 7 113 10 43 3
data:
$ID,129
$MISSION,4
$DIVE,269
$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,-13
$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,-2994.6096
$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,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,22
$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
$GPS1,070113,103406,1910.466,12247.567,40,1.2,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-60.8
$GPS2,070113,104236,1910.600,12247.506,11,1.4,11,-2.2
$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,100.6,200133,-14.2,-8.462,-17.62
$D_GRID,4359
$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,-65.68,0.000,2,0.000,0.000,62,1937,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.54,-175.2,3.1,-4.0,11,140,7.88,2.10,-32.33,0.000,4,0.240,0.044,1977,537,3124,0,0,0,0,0,0,25.07,26.12,26.52
$GC,174,-0.48,-175.2,18.9,-28.8,25,182,0.12,1.95,0.00,0.000,6,0.174,0.020,2000,1912,3124,0,0,0,0,0,0,25.83,26.24,28.83
$GC,490,-0.40,-175.2,110.1,-28.8,48,495,0.00,2.00,0.00,0.000,4,0.000,0.030,2000,523,3124,0,0,0,0,0,0,28.83,26.28,28.83
$GC,614,-0.35,-175.2,141.2,-23.0,54,620,0.20,2.00,0.00,0.000,6,0.143,0.021,2051,1931,3124,0,0,0,0,0,0,25.90,26.38,28.83
$GC,938,-0.34,-175.2,180.5,-11.1,70,943,0.00,2.00,0.00,0.000,4,0.000,0.028,2051,534,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,970,-0.34,-175.2,183.0,-11.0,71,976,0.00,1.95,0.00,0.000,6,0.000,0.021,2045,1933,3125,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1284,-0.34,-175.2,219.0,-10.0,87,1289,0.00,2.03,0.00,0.000,4,0.000,0.028,2045,534,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1315,-0.34,-175.2,221.2,-9.9,88,1321,0.00,1.95,0.00,0.000,6,0.000,0.021,2037,1937,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1628,-0.34,-175.2,250.7,-9.2,104,1634,0.00,2.05,0.00,0.000,4,0.000,0.029,2037,524,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1665,-0.34,-175.2,253.2,-9.6,105,1672,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1919,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1972,-0.34,-175.2,278.9,-8.0,121,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1919,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.34,-175.2,304.9,-9.5,136,2278,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,524,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2376,-0.34,-175.2,315.7,-10.4,141,2382,0.00,2.00,0.00,0.000,6,0.000,0.021,2034,1922,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2700,-0.34,-175.2,344.1,-8.5,157,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1922,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3003,-0.35,-175.2,370.5,-9.2,172,3009,0.00,2.03,0.00,0.000,4,0.000,0.029,2034,538,3120,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3077,-0.35,-175.2,376.7,-9.1,175,3082,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1934,3120,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3390,-0.36,-175.2,398.2,-6.3,191,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1934,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.37,-175.2,419.4,-7.3,206,3698,0.00,2.08,-0.08,0.000,4,0.000,0.041,2033,537,3143,0,0,0,0,0,0,28.83,26.32,25.45
$GC,3766,-0.39,-175.2,424.6,-7.7,209,3772,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1929,3144,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4081,-0.40,-175.2,446.1,-6.5,225,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1930,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4382,-0.42,-175.2,465.3,-6.6,240,4387,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,535,3142,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4435,-0.43,-175.2,468.7,-7.1,242,4440,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1926,3141,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4749,-0.45,-175.2,491.2,-6.9,258,4754,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,535,3140,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4794,-0.47,-175.2,494.4,-7.1,260,4799,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1925,3139,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5117,-0.49,-175.2,515.2,-6.2,276,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1925,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5419,-0.51,-175.2,534.1,-6.5,291,5425,0.12,2.05,0.00,0.000,4,0.103,0.028,1968,529,3135,0,0,0,0,0,0,26.44,26.29,28.83
$GC,5477,-0.51,-175.2,538.7,-8.3,293,5486,0.05,2.03,0.00,0.000,6,0.106,0.023,1992,1920,3135,0,0,0,0,0,0,26.05,26.39,28.83
$GC,5783,-0.51,-175.2,567.3,-8.7,309,5789,0.00,2.05,0.00,0.000,4,0.000,0.031,1992,534,3133,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5846,-0.51,-175.2,573.7,-9.8,312,5852,0.00,2.00,0.00,0.000,6,0.000,0.022,1985,1940,3132,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6160,-0.51,-175.2,603.7,-9.2,327,6165,0.00,2.05,0.00,0.000,4,0.000,0.030,1984,536,3131,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6217,-0.51,-175.2,607.1,-9.4,328,6224,0.00,2.00,0.00,0.000,6,0.000,0.022,1975,1936,3130,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6524,-0.51,-175.2,642.4,-11.3,339,6530,0.00,2.08,0.00,0.000,4,0.000,0.031,1975,534,3129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6626,-0.51,-175.2,654.0,-12.1,342,6633,0.00,1.98,0.00,0.000,6,0.000,0.023,1966,1924,3128,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6952,-0.51,-175.2,691.9,-11.2,353,6957,0.00,2.05,0.00,0.000,4,0.000,0.031,1966,531,3127,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6994,-0.51,-175.2,695.9,-11.1,354,6999,0.12,1.98,0.00,0.000,6,0.151,0.023,1993,1924,3127,0,0,0,0,0,0,26.01,26.36,28.83
$GC,7320,-0.51,-175.2,725.0,-8.5,365,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1925,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,-0.51,-175.2,750.5,-8.5,375,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1925,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,-0.51,-175.2,775.9,-8.4,385,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1926,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8218,-0.51,-175.2,800.6,-8.2,395,8223,0.00,2.05,0.00,0.000,4,0.000,0.032,1993,542,3120,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8281,-0.51,-175.2,806.3,-8.5,397,8286,0.00,2.00,0.00,0.000,6,0.000,0.024,1986,1924,3120,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8617,-0.51,-175.2,833.3,-8.0,408,8622,0.00,2.05,0.00,0.000,4,0.000,0.032,1986,544,3118,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8684,-0.51,-175.2,839.1,-8.5,410,8689,0.00,2.00,0.00,0.000,6,0.000,0.024,1978,1926,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9014,-0.51,-175.2,866.3,-7.9,421,9019,0.00,2.08,0.00,0.000,4,0.000,0.033,1978,533,3117,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9056,-0.51,-175.2,869.1,-7.9,422,9062,0.00,2.00,0.00,0.000,6,0.000,0.024,1968,1926,3116,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9381,-0.51,-175.2,894.8,-7.2,433,9387,0.00,2.05,0.00,0.000,4,0.000,0.033,1968,539,3116,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9430,-0.51,-175.2,897.7,-7.5,434,9435,0.12,2.03,0.00,0.000,6,0.158,0.024,1993,1934,3115,0,0,0,0,0,0,25.94,26.30,28.83
$GC,9751,-0.52,-175.2,917.6,-5.8,445,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1935,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10049,-0.53,-175.2,936.5,-6.6,455,10055,0.00,2.05,0.00,0.000,4,0.000,0.033,1992,545,3113,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10117,-0.53,-175.2,941.4,-7.1,457,10122,0.00,2.00,0.00,0.000,6,0.000,0.024,1986,1928,3112,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10447,-0.53,-175.2,967.6,-8.1,468,10454,0.00,2.08,0.00,0.000,4,0.000,0.034,1986,538,3109,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10486,-0.53,-175.2,970.7,-8.3,469,10491,0.00,2.03,0.00,0.000,6,0.000,0.024,1977,1929,3112,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,10721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10727,-0.17,0.0,991.5,-8.5,477,10884,0.38,0.00,149.68,1.415,6,0.119,0.000,2103,1928,2409,0,0,0,0,0,0,25.67,28.83,22.41
$STATE,10886,end apogee,CONTROL_FINISHED_OK
$STATE,10886,begin climb
$GC,10888,0.54,175.2,998.9,0.0,482,11061,0.68,2.38,162.25,1.367,4,0.087,0.034,2330,531,1693,0,0,0,0,0,0,24.08,23.57,22.01
$GC,11093,0.58,270.0,992.4,5.4,489,11188,0.00,2.12,87.65,1.343,6,0.000,0.021,2330,1893,1308,0,0,0,0,0,0,28.83,24.39,21.99
$GC,11512,0.61,291.1,960.9,7.8,503,11536,0.00,2.22,18.98,1.290,4,0.000,0.037,2330,3300,1221,0,0,0,0,0,0,28.83,25.51,23.85
$GC,11601,0.64,298.5,955.5,8.2,505,11617,0.10,2.05,7.68,1.122,6,0.116,0.025,2370,1910,1193,0,0,0,0,0,0,25.79,25.91,23.93
$GC,11939,0.64,298.5,918.2,10.1,517,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1907,1189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12240,0.64,298.5,888.1,9.8,527,12246,0.00,2.10,0.00,0.000,4,0.000,0.035,2370,3302,1188,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12293,0.64,298.5,884.5,9.9,528,12298,0.00,2.05,0.00,0.000,6,0.000,0.024,2376,1892,1188,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12606,0.64,298.5,851.4,9.9,539,12611,0.00,2.12,0.00,0.000,4,0.000,0.035,2375,3300,1187,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12639,0.64,298.5,848.0,10.0,540,12645,0.00,2.05,0.00,0.000,6,0.000,0.024,2383,1887,1186,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12974,0.64,298.5,815.1,9.8,551,12975,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1888,1186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13273,0.64,298.5,785.9,9.7,561,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1885,1186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13572,0.64,298.5,756.6,9.7,571,13578,0.00,2.10,0.00,0.000,4,0.000,0.034,2383,3297,1185,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13621,0.64,298.5,753.1,9.8,572,13626,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1900,1185,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21285,end climb,SURFACE_DEPTH_REACHED
$STATE,21285,begin surface coast
$FINISH,0.9,1.021904
$STATE,21298,end surface coast,CONTROL_FINISHED_OK
$STATE,21298,begin surface
$SM_CCo,21373,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1900.10,12245.07,070113,040444
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.11
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3917056
$24V_AH,22.0,53.488
$10V_AH,10.0,37.384
$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,16.625,179.150,636.400,0.000,0.000,0.000,0.000,315.350,0.000,0.000,12.769,3070.192,14929.792,782.119,2654.028,435.226,0.000,2396.131,0.000,2248.716,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,44.370,1415.250,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21320.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.463,0.000,0.000,0.000
$MEM,308692
$DATA_FILE_SIZE,36679,959
$CAP_FILE_SIZE,232602,0
$CFSIZE,260034560,224727040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174,340.5,1
$GPS,070113,164035,1912.474,12250.332,36,1.0,41,-2.2