version: 66.11
glider: 129
mission: 4
dive: 288
start: 1 12 113 6 9 4
data:
$ID,129
$MISSION,4
$DIVE,288
$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,-3078.1946
$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,77
$R_STBD_OVSHOOT,100
$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
$GPS1,120113,060036,1945.579,12333.221,33,1.0,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-56.8
$GPS2,120113,060837,1945.429,12333.265,9,1.4,9,-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,47.1,97946,-14.2,-8.462,-17.62
$D_GRID,5187
$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,-64.95,0.000,2,0.000,0.000,53,1919,1763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.0,-4.1,11,145,7.97,2.08,-37.30,0.000,4,0.243,0.049,1966,3280,3125,0,0,0,0,0,0,25.10,26.10,26.55
$GC,193,-0.48,-175.2,19.8,-26.8,29,202,0.08,1.95,0.00,0.000,6,0.146,0.021,2000,1908,3125,0,0,0,0,0,0,25.86,26.27,28.83
$GC,520,-0.42,-175.2,112.7,-25.2,52,526,0.00,1.95,0.00,0.000,4,0.000,0.028,2000,544,3125,0,0,0,0,0,0,28.83,26.30,28.83
$GC,664,-0.38,-175.2,141.5,-18.8,59,671,0.10,1.95,0.00,0.000,6,0.128,0.022,2037,1892,3125,0,0,0,0,0,0,25.98,26.38,28.83
$GC,989,-0.36,-175.2,191.6,-13.4,75,994,0.00,2.08,0.00,0.000,4,0.000,0.034,2030,3313,3125,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1012,-0.35,-175.2,193.8,-11.6,76,1018,0.00,1.95,0.00,0.000,6,0.000,0.020,2030,1903,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1336,-0.35,-175.2,230.2,-11.1,92,1341,0.00,1.92,0.00,0.000,4,0.000,0.028,2027,555,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1524,-0.35,-175.2,250.7,-11.0,101,1529,0.00,1.95,0.00,0.000,6,0.000,0.021,2022,1939,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1843,-0.34,-175.2,288.0,-12.2,117,1849,0.00,2.03,0.00,0.000,4,0.000,0.028,2022,543,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1881,-0.33,-175.2,290.8,-12.1,118,1889,0.15,1.95,0.00,0.000,6,0.136,0.021,2058,1922,3124,0,0,0,0,0,0,26.08,26.41,28.83
$GC,2188,-0.34,-175.2,314.8,-6.6,134,2193,0.00,2.00,0.00,0.000,4,0.000,0.028,2058,548,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2225,-0.36,-175.2,316.4,-6.6,135,2232,0.00,1.95,0.00,0.000,6,0.000,0.020,2052,1932,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2532,-0.37,-175.2,340.7,-7.9,151,2537,0.00,2.00,0.00,0.000,4,0.000,0.028,2052,543,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2595,-0.39,-175.2,346.4,-8.8,154,2601,0.00,1.95,0.00,0.000,6,0.000,0.021,2049,1925,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2920,-0.40,-175.2,371.0,-7.1,170,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1926,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.42,-175.2,391.4,-6.9,185,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1926,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3523,-0.44,-175.2,413.3,-7.6,200,3528,0.00,2.00,0.00,0.000,4,0.000,0.028,2050,557,3120,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3580,-0.46,-175.2,417.0,-7.7,202,3587,0.12,1.95,0.00,0.000,6,0.096,0.021,1986,1938,3118,0,0,0,0,0,0,26.27,26.41,28.83
$GC,3885,-0.46,-175.2,446.8,-9.1,218,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1938,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.46,-175.2,477.3,-10.5,233,4192,0.00,2.03,0.00,0.000,4,0.000,0.029,1986,559,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4274,-0.46,-175.2,486.5,-10.9,237,4280,0.12,1.92,0.00,0.000,6,0.145,0.021,2012,1918,3116,0,0,0,0,0,0,26.10,26.41,28.83
$GC,4593,-0.46,-175.2,514.2,-8.4,253,4599,0.00,2.00,0.00,0.000,4,0.000,0.029,2012,554,3114,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4686,-0.46,-175.2,521.7,-9.0,257,4692,0.00,1.95,0.00,0.000,6,0.000,0.021,2005,1926,3113,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5000,-0.46,-175.2,548.7,-8.5,273,5005,0.00,2.03,0.00,0.000,4,0.000,0.029,2005,549,3111,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5022,-0.46,-175.2,550.7,-8.6,274,5027,0.00,1.95,0.00,0.000,6,0.000,0.021,1997,1926,3111,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5345,-0.46,-175.2,578.7,-8.2,290,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1926,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,-0.46,-175.2,603.4,-7.7,305,5664,0.00,2.03,0.00,0.000,4,0.000,0.030,1994,551,3108,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5696,-0.46,-175.2,606.4,-8.0,306,5702,0.00,1.98,0.00,0.000,6,0.000,0.022,1989,1921,3107,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6028,-0.46,-175.2,633.0,-8.2,317,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1922,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6326,-0.46,-175.2,657.0,-8.0,327,6331,0.00,2.03,0.00,0.000,4,0.000,0.031,1988,550,3103,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6363,-0.46,-175.2,660.0,-8.3,328,6369,0.00,1.98,0.00,0.000,6,0.000,0.023,1981,1929,3102,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6693,-0.46,-175.2,689.1,-8.7,339,6699,0.00,2.03,0.00,0.000,4,0.000,0.031,1981,543,3101,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6727,-0.46,-175.2,692.4,-9.0,340,6733,0.12,2.00,0.00,0.000,6,0.148,0.023,2007,1932,3100,0,0,0,0,0,0,26.04,26.36,28.83
$GC,7064,-0.47,-175.2,715.5,-6.5,351,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1932,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7361,-0.49,-175.2,734.1,-6.1,361,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1932,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7662,-0.50,-175.2,752.0,-5.8,371,7667,0.00,2.03,0.00,0.000,4,0.000,0.032,2007,563,3095,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7710,-0.51,-175.2,754.3,-6.0,372,7715,0.00,1.98,0.00,0.000,6,0.000,0.023,2002,1940,3095,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8031,-0.52,-175.2,774.5,-6.0,383,8036,0.00,2.03,0.00,0.000,4,0.000,0.031,2002,564,3094,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8073,-0.54,-175.2,776.8,-6.2,384,8078,0.00,1.98,0.00,0.000,6,0.000,0.024,1995,1936,3093,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8399,-0.54,-175.2,800.5,-7.3,395,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1936,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8696,-0.54,-175.2,823.2,-7.6,405,8701,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,559,3090,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8730,-0.54,-175.2,826.0,-7.8,406,8735,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1926,3090,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9066,-0.54,-175.2,853.6,-8.3,417,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1927,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9363,-0.54,-175.2,879.5,-8.8,427,9368,0.00,2.03,0.00,0.000,4,0.000,0.032,1988,564,3088,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9386,-0.54,-175.2,879.5,-8.8,427,9391,0.00,1.98,0.00,0.000,6,0.000,0.024,1980,1933,3087,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9698,-0.54,-175.2,909.9,-8.8,438,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1935,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10000,-0.54,-175.2,934.2,-7.9,448,10005,0.00,2.05,0.00,0.000,4,0.000,0.032,1980,562,3086,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10027,-0.54,-175.2,934.2,-7.9,448,10034,0.00,1.98,0.00,0.000,6,0.000,0.024,1971,1930,3086,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10334,-0.54,-175.2,961.3,-8.1,459,10339,0.00,2.03,0.00,0.000,4,0.000,0.032,1971,556,3084,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10387,-0.54,-175.2,964.3,-8.3,460,10392,0.00,1.98,0.00,0.000,6,0.000,0.024,1963,1926,3084,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10667,begin apogee
$GC,10672,-0.17,0.0,991.3,-8.9,470,10826,0.43,0.00,144.15,1.411,6,0.120,0.000,2104,1926,2409,0,0,0,0,0,0,25.62,28.83,22.46
$STATE,10828,end apogee,CONTROL_FINISHED_OK
$STATE,10828,begin climb
$GC,10830,0.54,175.2,997.3,0.0,475,11003,0.68,2.33,161.20,1.366,4,0.087,0.034,2330,539,1694,0,0,0,0,0,0,24.26,23.62,22.00
$GC,11075,0.57,236.2,986.8,6.5,483,11139,0.00,2.08,55.40,1.335,6,0.000,0.021,2330,1893,1446,0,0,0,0,0,0,28.83,24.98,22.44
$GC,11459,0.60,272.6,958.1,7.3,496,11497,0.00,2.22,32.17,1.332,4,0.000,0.035,2330,3290,1296,0,0,0,0,0,0,28.83,25.35,23.71
$GC,11552,0.63,293.6,950.7,7.8,499,11581,0.00,2.00,19.65,1.284,6,0.000,0.024,2333,1930,1213,0,0,0,0,0,0,28.83,25.85,23.75
$GC,11880,0.66,320.2,926.0,7.6,510,11912,0.12,2.22,24.30,1.314,4,0.106,0.035,2398,513,1103,0,0,0,0,0,0,26.22,25.56,23.91
$GC,11940,0.68,332.7,923.1,8.1,511,11960,0.00,2.08,12.62,1.220,6,0.000,0.022,2398,1922,1053,0,0,0,0,0,0,28.83,25.82,23.85
$GC,12278,0.68,332.7,878.7,12.5,523,12283,0.00,2.00,0.00,0.000,4,0.000,0.035,2398,3279,1048,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12386,0.68,332.7,865.9,13.4,526,12392,0.00,2.00,0.00,0.000,6,0.000,0.024,2407,1892,1046,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12706,0.68,332.7,822.0,13.0,537,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1891,1046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13004,0.68,332.7,784.8,12.0,547,13010,0.00,2.08,0.00,0.000,4,0.000,0.034,2406,3288,1045,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13077,0.68,332.7,777.0,12.2,549,13084,0.12,2.00,0.00,0.000,6,0.174,0.024,2381,1889,1045,0,0,0,0,0,0,25.98,26.35,28.83
$GC,13404,0.69,332.7,743.3,10.0,560,13409,0.00,2.05,0.00,0.000,4,0.000,0.034,2390,509,1044,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13439,0.71,332.7,739.7,10.1,561,13444,0.00,2.03,0.00,0.000,6,0.000,0.021,2390,1895,1045,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13774,0.71,332.7,700.9,12.0,572,13779,0.00,2.05,0.00,0.000,4,0.000,0.034,2390,3289,1044,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,20929,end climb,SURFACE_DEPTH_REACHED
$STATE,20929,begin surface coast
$FINISH,1.3,1.022430
$STATE,20941,end surface coast,CONTROL_FINISHED_OK
$STATE,20944,begin surface
$SM_CCo,21020,0.00,0.000,0,0,208,539.91
$SM_GC,1.86,6.50,0.00,0.00,0.046,0.000,0.000,59,1900,208,-6.48,-0.71,539.91,0,0,0,0,0,0,26.11,28.83,28.83
$IRIDIUM_FIX,1938.95,12330.61,120113,000046
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.48
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3909760
$24V_AH,22.0,57.633
$10V_AH,10.1,40.027
$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,17.025,177.300,602.125,0.000,0.000,0.000,0.000,288.875,0.000,0.000,10.536,3057.140,14630.271,735.462,2624.371,443.964,0.000,2330.297,0.000,2260.336,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,48.960,1411.425,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.088,0.000,0.000,0.000
$MEM,329048
$DATA_FILE_SIZE,36663,952
$CAP_FILE_SIZE,231792,0
$CFSIZE,260034560,222724096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,228.5,1
$GPS,120113,120036,1946.419,12333.383,34,1.5,34,-2.4