version: 66.11
glider: 129
mission: 4
dive: 293
start: 1 13 113 12 37 19
data:
$ID,129
$MISSION,4
$DIVE,293
$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,-3084.8733
$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,76
$R_STBD_OVSHOOT,105
$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
$GPS1,130113,122806,1950.516,12338.685,31,1.2,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-58.1
$GPS2,130113,123651,1950.360,12338.759,10,2.2,29,-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,45.1,84954,-14.2,-8.462,-17.62
$D_GRID,5293
$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,19,-0.54,-175.2,0.0,0.0,0,87,0.00,0.00,-65.78,0.000,2,0.000,0.000,56,1927,1882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.1,-4.2,11,140,7.90,2.12,-31.85,0.000,4,0.239,0.042,1978,520,3126,0,0,0,0,0,0,25.08,26.15,26.55
$GC,325,-0.47,-175.2,55.5,-28.2,42,332,0.12,1.98,0.00,0.000,6,0.170,0.023,2002,1897,3126,0,0,0,0,0,0,25.93,26.30,28.83
$GC,630,-0.42,-175.2,134.0,-20.7,58,636,0.00,2.00,0.00,0.000,4,0.000,0.028,2001,533,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,774,-0.39,-175.2,157.4,-15.7,65,780,0.15,2.00,0.00,0.000,6,0.142,0.022,2035,1939,3126,0,0,0,0,0,0,26.01,26.36,28.83
$GC,1099,-0.39,-175.2,194.9,-11.0,81,1104,0.00,2.00,0.00,0.000,4,0.000,0.033,2027,3311,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1145,-0.39,-175.2,199.4,-10.6,83,1151,0.00,1.95,0.00,0.000,6,0.000,0.020,2027,1908,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1463,-0.39,-175.2,232.8,-10.0,99,1470,0.00,1.98,0.00,0.000,4,0.000,0.028,2027,545,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1637,-0.39,-175.2,250.2,-10.2,107,1643,0.00,1.98,0.00,0.000,6,0.000,0.021,2017,1945,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1950,-0.39,-175.2,284.8,-11.3,123,1955,0.00,2.03,0.00,0.000,4,0.000,0.028,2017,550,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2056,-0.39,-175.2,296.3,-11.1,128,2063,0.00,1.98,0.00,0.000,6,0.000,0.021,2008,1959,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2375,-0.39,-175.2,329.0,-11.0,144,2380,0.00,2.05,0.00,0.000,4,0.000,0.028,2007,550,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2441,-0.39,-175.2,336.5,-12.2,147,2447,0.12,1.95,0.00,0.000,6,0.145,0.021,2036,1928,3124,0,0,0,0,0,0,26.10,26.41,28.83
$GC,2761,-0.41,-175.2,364.4,-7.5,163,2766,0.00,2.03,0.00,0.000,4,0.000,0.034,2034,3306,3123,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2819,-0.42,-175.2,367.6,-7.2,165,2826,0.00,1.92,0.00,0.000,6,0.000,0.019,2034,1920,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3124,-0.44,-175.2,387.3,-6.1,181,3131,0.00,2.00,0.00,0.000,4,0.000,0.029,2034,552,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3304,-0.45,-175.2,399.2,-7.5,189,3311,0.00,1.95,0.00,0.000,6,0.000,0.021,1998,1930,3121,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3611,-0.47,-175.2,422.8,-7.4,205,3616,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,549,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3704,-0.48,-175.2,429.2,-7.6,209,3709,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1924,3118,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4019,-0.50,-175.2,451.1,-7.1,225,4024,0.10,2.00,0.00,0.000,4,0.112,0.027,1986,548,3116,0,0,0,0,0,0,26.47,26.31,28.83
$GC,4071,-0.50,-175.2,455.5,-8.4,227,4078,0.00,1.98,-0.08,0.000,6,0.000,0.022,1976,1932,3139,0,0,0,0,0,0,28.83,26.39,25.12
$GC,4387,-0.50,-175.2,490.8,-11.4,243,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1932,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4688,-0.50,-175.2,521.7,-9.7,258,4694,0.00,2.00,0.00,0.000,4,0.000,0.030,1976,559,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4762,-0.50,-175.2,528.8,-10.6,261,4767,0.00,1.92,0.00,0.000,6,0.000,0.023,1968,1921,3138,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5075,-0.49,-175.2,562.0,-9.9,277,5077,0.12,0.00,0.00,0.000,6,0.151,0.000,2003,1922,3135,0,0,0,0,0,0,26.26,28.83,28.83
$GC,5377,-0.49,-175.2,584.2,-7.0,292,5382,0.00,2.03,0.00,0.000,4,0.000,0.031,2003,554,3133,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5404,-0.49,-175.2,586.1,-7.1,293,5409,0.00,1.95,0.00,0.000,6,0.000,0.022,1996,1929,3133,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5724,-0.49,-175.2,608.7,-7.1,307,5729,0.00,2.05,0.00,0.000,4,0.000,0.036,1986,3311,3131,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5746,-0.49,-175.2,608.7,-7.1,307,5751,0.00,1.95,0.00,0.000,6,0.000,0.021,1987,1942,3130,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6059,-0.49,-175.2,636.5,-8.8,318,6064,0.00,2.05,0.00,0.000,4,0.000,0.031,1986,534,3128,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6137,-0.49,-175.2,642.6,-9.4,320,6142,0.00,2.00,0.00,0.000,6,0.000,0.023,1977,1929,3128,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6454,-0.49,-175.2,675.7,-9.8,331,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1929,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6755,-0.49,-175.2,703.7,-9.1,341,6761,0.00,2.08,0.00,0.000,4,0.000,0.031,1977,531,3125,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6797,-0.49,-175.2,707.0,-9.2,342,6803,0.12,2.00,0.00,0.000,6,0.148,0.023,2004,1921,3124,0,0,0,0,0,0,26.01,26.34,28.83
$GC,7124,-0.50,-175.2,732.0,-7.4,353,7129,0.00,2.08,0.00,0.000,4,0.000,0.036,1996,3311,3122,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7151,-0.51,-175.2,732.0,-7.4,353,7159,0.00,2.00,0.00,0.000,6,0.000,0.022,1996,1916,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7457,-0.51,-175.2,758.1,-7.9,364,7462,0.00,2.00,0.00,0.000,4,0.000,0.032,1995,539,3121,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7540,-0.51,-175.2,763.7,-8.5,366,7545,0.00,2.00,0.00,0.000,6,0.000,0.023,1995,1937,3121,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7853,-0.51,-175.2,790.1,-7.6,377,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1938,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8154,-0.51,-175.2,811.0,-6.5,387,8159,0.00,2.10,0.00,0.000,4,0.000,0.031,1995,537,3119,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8197,-0.51,-175.2,813.3,-6.5,388,8202,0.00,2.03,0.00,0.000,6,0.000,0.024,1988,1933,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8522,-0.51,-175.2,833.6,-5.8,399,8527,0.00,2.05,0.00,0.000,4,0.000,0.036,1978,3310,3117,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8544,-0.51,-175.2,833.6,-5.8,399,8550,0.00,1.98,0.00,0.000,6,0.000,0.022,1977,1918,3116,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8859,-0.51,-175.2,856.6,-7.1,410,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1917,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9159,-0.51,-175.2,879.0,-7.8,420,9164,0.00,2.03,0.00,0.000,4,0.000,0.032,1977,538,3115,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9242,-0.51,-175.2,884.6,-8.3,422,9247,0.00,2.00,0.00,0.000,6,0.000,0.024,1968,1927,3114,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9556,-0.51,-175.2,913.3,-8.5,433,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1926,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9855,-0.51,-175.2,938.2,-8.2,443,9860,0.00,2.08,0.00,0.000,4,0.000,0.031,1968,532,3113,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9888,-0.51,-175.2,941.1,-8.3,444,9894,0.12,2.03,0.00,0.000,6,0.152,0.024,1995,1926,3112,0,0,0,0,0,0,25.94,26.29,28.83
$GC,10225,-0.53,-175.2,962.9,-6.3,455,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1926,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10523,-0.54,-175.2,981.4,-6.1,465,10529,0.00,2.08,0.00,0.000,4,0.000,0.037,1986,3313,3110,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10557,-0.55,-175.2,983.3,-6.1,466,10563,0.00,2.00,0.00,0.000,6,0.000,0.022,1986,1922,3111,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,10678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10678,begin apogee
$GC,10683,-0.17,0.0,991.0,-6.3,470,10841,0.35,0.00,150.00,1.411,6,0.117,0.000,2104,1911,2409,0,0,0,0,0,0,25.71,28.83,22.32
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10845,0.54,175.2,995.3,0.0,475,11015,0.70,2.40,161.32,1.362,4,0.091,0.034,2334,528,1694,0,0,0,0,0,0,24.09,23.59,21.92
$GC,11058,0.56,208.8,984.3,7.4,482,11097,0.00,2.15,31.25,1.304,6,0.000,0.021,2334,1900,1558,0,0,0,0,0,0,28.83,24.55,22.33
$GC,11411,0.57,208.8,952.6,8.7,494,11416,0.00,2.10,0.00,0.000,4,0.000,0.035,2334,3300,1550,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11504,0.57,208.8,943.6,9.4,497,11509,0.00,2.05,0.00,0.000,6,0.000,0.024,2334,1899,1550,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11840,0.59,224.3,916.2,8.0,508,11855,0.00,0.00,13.95,1.261,6,0.000,0.000,2334,1899,1495,0,0,0,0,0,0,28.83,28.83,23.92
$GC,12139,0.62,259.9,893.8,7.3,518,12177,0.00,2.25,32.08,1.333,4,0.000,0.034,2334,3301,1349,0,0,0,0,0,0,28.83,25.42,23.73
$GC,12210,0.65,294.3,889.1,7.3,520,12249,0.10,2.08,32.08,1.306,6,0.117,0.024,2373,1897,1209,0,0,0,0,0,0,25.65,25.79,23.53
$GC,12562,0.65,294.3,855.8,9.5,532,12567,0.00,2.08,0.00,0.000,4,0.000,0.035,2383,507,1202,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12584,0.65,294.3,855.8,9.5,532,12589,0.00,2.05,0.00,0.000,6,0.000,0.021,2383,1933,1201,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12897,0.65,294.3,820.8,10.5,543,12902,0.00,1.98,0.00,0.000,4,0.000,0.036,2383,3271,1199,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12994,0.65,294.3,810.4,11.1,546,13000,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1890,1198,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13324,0.65,294.3,776.1,9.9,557,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1890,1198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13623,0.65,294.3,748.3,8.9,567,13628,0.00,2.10,0.00,0.000,4,0.000,0.034,2386,3282,1196,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,21631,end climb,SURFACE_DEPTH_REACHED
$STATE,21631,begin surface coast
$FINISH,1.7,1.022349
$STATE,21642,end surface coast,CONTROL_FINISHED_OK
$STATE,21642,begin surface
$SM_CCo,21719,0.00,0.000,0,0,326,510.96
$SM_GC,1.67,6.45,0.00,0.00,0.045,0.000,0.000,55,1929,326,-6.47,-0.03,510.96,0,0,0,0,0,0,26.08,28.83,28.83
$IRIDIUM_FIX,1941.24,12335.05,130113,060656
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.48
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3907840
$24V_AH,21.9,58.730
$10V_AH,10.0,40.736
$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,16.725,182.550,587.350,0.000,0.000,0.000,0.000,306.450,0.000,0.000,31.146,3237.484,15007.324,729.372,2802.952,455.640,0.000,2394.319,0.000,2397.474,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,42.075,1411.425,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21667.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.787,0.000,0.000,0.000
$MEM,329040
$DATA_FILE_SIZE,36735,984
$CAP_FILE_SIZE,239273,0
$CFSIZE,260034560,222187520
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,237.6,1
$GPS,130113,184036,1951.610,12338.461,40,1.2,40,-2.4