version: 66.11
glider: 129
mission: 4
dive: 289
start: 1 12 113 12 9 46
data:
$ID,129
$MISSION,4
$DIVE,289
$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,-3079.4561
$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,73
$R_STBD_OVSHOOT,89
$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
$GPS1,120113,120036,1946.419,12333.383,34,1.5,34,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-55.8
$GPS2,120113,120918,1946.304,12333.352,17,1.3,34,-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,52.7,96923,-14.2,-8.462,-17.62
$D_GRID,5193
$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,18,-0.54,-175.2,0.0,0.0,0,92,0.00,0.00,-71.53,0.000,2,0.000,0.000,49,1898,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.54,-175.2,3.4,-5.2,12,140,8.05,2.08,-28.52,0.000,4,0.243,0.044,1973,3305,3125,0,0,0,0,0,0,25.07,26.11,26.56
$GC,189,-0.49,-175.2,20.9,-24.8,28,197,0.12,2.00,0.00,0.000,6,0.159,0.021,2002,1907,3125,0,0,0,0,0,0,25.91,26.27,28.83
$GC,500,-0.42,-175.2,106.1,-28.4,50,506,0.00,1.98,0.00,0.000,4,0.000,0.028,2002,544,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,685,-0.38,-175.2,147.3,-19.0,59,691,0.15,1.92,0.00,0.000,6,0.152,0.021,2036,1912,3125,0,0,0,0,0,0,25.98,26.39,28.83
$GC,1009,-0.38,-175.2,187.5,-11.2,75,1015,0.00,2.00,0.00,0.000,4,0.000,0.028,2036,531,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1047,-0.38,-175.2,190.4,-11.4,76,1054,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1955,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1352,-0.38,-175.2,227.2,-11.1,92,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1955,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1654,-0.38,-175.2,259.5,-11.0,107,1660,0.00,2.05,0.00,0.000,4,0.000,0.028,2033,531,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1717,-0.38,-175.2,266.9,-11.5,110,1723,0.00,2.00,0.00,0.000,6,0.000,0.021,2031,1923,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2040,-0.38,-175.2,298.8,-9.3,126,2046,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,531,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2092,-0.38,-175.2,303.0,-9.4,128,2097,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1928,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2405,-0.38,-175.2,333.8,-9.5,144,2411,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3303,3123,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2422,-0.38,-175.2,333.8,-9.5,144,2429,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1910,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2729,-0.39,-175.2,360.0,-8.1,160,2734,0.00,1.98,0.00,0.000,4,0.000,0.029,2033,536,3122,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2854,-0.40,-175.2,370.6,-8.7,166,2859,0.00,1.98,0.00,0.000,6,0.000,0.020,2033,1931,3121,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3178,-0.41,-175.2,393.4,-6.5,182,3183,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,530,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3216,-0.43,-175.2,395.0,-6.5,183,3223,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1929,3119,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3523,-0.44,-175.2,414.5,-6.7,199,3528,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,545,3119,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3560,-0.46,-175.2,416.4,-7.0,200,3568,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1922,3117,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3866,-0.47,-175.2,443.5,-8.8,216,3872,0.00,2.05,-0.08,0.000,4,0.000,0.047,2033,3311,3144,0,0,0,0,0,0,28.83,26.24,25.45
$GC,3900,-0.49,-175.2,445.6,-8.7,217,3905,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1921,3144,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4214,-0.51,-175.2,470.5,-6.7,233,4219,0.12,1.98,0.00,0.000,4,0.099,0.028,1965,544,3143,0,0,0,0,0,0,26.44,26.30,28.83
$GC,4322,-0.50,-175.2,482.0,-11.7,238,4330,0.10,1.98,0.00,0.000,6,0.122,0.021,2002,1917,3143,0,0,0,0,0,0,26.00,26.39,28.83
$GC,4642,-0.50,-175.2,511.9,-8.9,254,4648,0.00,2.05,0.00,0.000,4,0.000,0.034,1993,3312,3141,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4666,-0.50,-175.2,513.9,-8.9,255,4671,0.00,1.95,0.00,0.000,6,0.000,0.021,1993,1922,3141,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4989,-0.50,-175.2,540.9,-7.3,271,4994,0.00,2.00,0.00,0.000,4,0.000,0.030,1993,544,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5118,-0.50,-175.2,550.9,-8.1,277,5124,0.00,1.98,0.00,0.000,6,0.000,0.021,1984,1935,3138,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5436,-0.50,-175.2,578.1,-8.6,293,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1935,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5759,-0.50,-175.2,606.6,-9.1,308,5764,0.00,2.05,0.00,0.000,4,0.000,0.030,1984,546,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5792,-0.50,-175.2,610.1,-9.3,309,5798,0.00,2.00,0.00,0.000,6,0.000,0.022,1975,1922,3134,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6128,-0.50,-175.2,642.6,-9.7,320,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1919,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6426,-0.50,-175.2,671.0,-9.5,330,6431,0.00,2.05,0.00,0.000,4,0.000,0.031,1975,545,3130,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6473,-0.50,-175.2,674.6,-9.8,331,6479,0.12,1.98,0.00,0.000,6,0.154,0.022,2002,1922,3130,0,0,0,0,0,0,26.02,26.36,28.83
$GC,6796,-0.51,-175.2,702.8,-8.4,342,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1923,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7093,-0.52,-175.2,725.9,-7.5,352,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1923,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7394,-0.53,-175.2,746.5,-6.6,362,7400,0.00,2.03,0.00,0.000,4,0.000,0.031,2002,548,3125,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7472,-0.53,-175.2,751.1,-6.7,364,7477,0.00,1.98,0.00,0.000,6,0.000,0.023,1995,1925,3125,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7792,-0.53,-175.2,772.0,-6.1,375,7797,0.00,2.05,0.00,0.000,4,0.000,0.032,1995,538,3123,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7825,-0.53,-175.2,774.3,-6.2,376,7830,0.00,2.03,0.00,0.000,6,0.000,0.023,1988,1939,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8159,-0.53,-175.2,794.5,-6.1,387,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1940,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8459,-0.53,-175.2,814.3,-7.0,397,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1940,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8758,-0.53,-175.2,837.3,-7.9,407,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1940,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9059,-0.53,-175.2,862.0,-8.3,417,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1940,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9357,-0.53,-175.2,887.8,-8.7,427,9363,0.00,2.08,0.00,0.000,4,0.000,0.032,1988,549,3117,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9391,-0.53,-175.2,890.8,-8.9,428,9396,0.00,2.00,0.00,0.000,6,0.000,0.023,1980,1929,3117,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9727,-0.53,-175.2,921.0,-9.1,439,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1929,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10024,-0.53,-175.2,947.6,-8.9,449,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1929,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10325,-0.53,-175.2,974.0,-8.7,459,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1929,3115,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10532,begin apogee
$GC,10537,-0.17,0.0,991.5,-8.1,466,10695,0.35,0.00,150.73,1.414,6,0.120,0.000,2096,1929,2409,0,0,0,0,0,0,25.71,28.83,22.32
$STATE,10697,end apogee,CONTROL_FINISHED_OK
$STATE,10697,begin climb
$GC,10699,0.54,175.2,997.9,0.0,471,10872,0.70,2.42,161.65,1.362,4,0.090,0.036,2331,531,1693,0,0,0,0,0,0,24.11,23.60,21.94
$GC,10924,0.58,255.2,990.2,5.9,478,11003,0.00,2.10,73.55,1.336,6,0.000,0.022,2330,1884,1369,0,0,0,0,0,0,28.83,24.72,22.08
$GC,11323,0.61,286.0,958.7,7.5,492,11355,0.00,2.17,26.90,1.314,4,0.000,0.034,2331,3304,1244,0,0,0,0,0,0,28.83,25.41,23.77
$GC,11393,0.63,307.3,953.6,7.8,494,11424,0.10,2.08,20.75,1.282,6,0.120,0.023,2369,1898,1155,0,0,0,0,0,0,25.66,25.80,23.68
$GC,11746,0.63,307.3,917.5,9.9,506,11751,0.00,2.10,0.00,0.000,4,0.000,0.034,2369,3298,1150,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11779,0.63,307.3,914.0,10.1,507,11785,0.00,2.05,0.00,0.000,6,0.000,0.024,2377,1889,1149,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12115,0.63,307.3,880.3,10.1,518,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1889,1148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12412,0.63,307.3,850.1,10.1,528,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1889,1147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12713,0.63,307.3,819.3,10.4,538,12718,0.00,2.12,0.00,0.000,4,0.000,0.034,2377,3301,1146,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12761,0.63,307.3,815.5,10.6,539,12766,0.00,2.03,0.00,0.000,6,0.000,0.024,2377,1892,1145,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13079,0.63,307.3,779.3,11.0,550,13084,0.00,2.05,0.00,0.000,4,0.000,0.035,2384,500,1145,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13106,0.63,307.3,779.3,11.0,550,13114,0.00,2.05,0.00,0.000,6,0.000,0.021,2384,1942,1145,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13412,0.63,307.3,742.9,10.7,561,13417,0.00,1.95,0.00,0.000,4,0.000,0.035,2384,3274,1145,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13454,0.63,307.3,739.3,10.8,562,13459,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1887,1145,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13779,0.63,307.3,705.3,9.8,573,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1886,1145,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20858,end climb,SURFACE_DEPTH_REACHED
$STATE,20858,begin surface coast
$FINISH,1.0,1.022369
$STATE,20882,end surface coast,CONTROL_FINISHED_OK
$STATE,20882,begin surface
$SM_CCo,20958,0.00,0.000,0,0,207,540.15
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$IRIDIUM_FIX,1936.66,12333.78,120113,060653
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.18
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3909376
$24V_AH,21.9,57.859
$10V_AH,9.9,40.164
$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,16.375,154.275,635.425,0.000,0.000,0.000,0.000,300.275,0.000,0.000,36.084,2947.973,14774.075,727.294,2576.339,442.992,0.000,2294.008,0.000,2172.071,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,46.665,1413.720,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20908.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.736,0.000,0.000,0.000
$MEM,329032
$DATA_FILE_SIZE,36615,952
$CAP_FILE_SIZE,220694,0
$CFSIZE,260034560,222629888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,262.1,1
$GPS,120113,180023,1948.354,12333.618,39,1.4,39,-2.4