version: 66.11
glider: 129
mission: 4
dive: 303
start: 1 16 113 1 20 14
data:
$ID,129
$MISSION,4
$DIVE,303
$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,-3098.0308
$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,125
$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,72
$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
$GPS1,160113,011136,1954.723,12345.146,35,1.0,35,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-58.9
$GPS2,160113,011948,1954.642,12345.153,11,1.0,16,-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,23.5,71327,-14.2,-8.462,-17.62
$D_GRID,5160
$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,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-64.12,0.000,2,0.000,0.000,90,1937,1755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.0,-3.9,11,144,8.68,2.05,-36.72,0.000,4,0.237,0.049,2154,3277,3125,3,0,0,0,0,0,24.87,26.08,26.55
$GC,164,-0.58,-175.2,9.0,-9.6,23,171,0.52,1.92,0.00,0.000,6,0.048,0.020,1943,1888,3125,0,0,0,0,0,0,26.14,26.28,28.83
$GC,489,-0.49,-175.2,113.4,-33.7,53,496,0.17,1.90,0.00,0.000,4,0.163,0.027,1996,561,3124,0,0,0,0,0,0,25.94,26.29,28.83
$GC,689,-0.45,-175.2,152.0,-20.3,62,696,0.00,1.90,0.00,0.000,6,0.000,0.021,1988,1889,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,994,-0.42,-175.2,205.2,-15.2,78,1000,0.12,1.92,0.00,0.000,4,0.155,0.026,2029,552,3125,0,0,0,0,0,0,26.19,26.32,28.83
$GC,1039,-0.40,-175.2,211.0,-14.8,80,1044,0.00,1.95,0.00,0.000,6,0.000,0.021,2022,1931,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1361,-0.40,-175.2,245.4,-10.2,96,1367,0.00,2.03,0.00,0.000,4,0.000,0.028,2022,534,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1385,-0.40,-175.2,248.1,-10.5,97,1390,0.00,1.95,0.00,0.000,6,0.000,0.021,2013,1930,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1709,-0.39,-175.2,284.4,-11.1,113,1714,0.00,2.00,0.00,0.000,4,0.000,0.034,2003,3310,3124,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1736,-0.39,-175.2,287.2,-11.2,114,1741,0.00,1.90,0.00,0.000,6,0.000,0.020,2003,1926,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2054,-0.38,-175.2,326.9,-11.7,130,2061,0.12,1.95,0.00,0.000,4,0.144,0.026,2045,553,3125,0,0,0,0,0,0,26.22,26.32,28.83
$GC,2189,-0.40,-175.2,337.3,-7.8,136,2194,0.00,1.98,0.00,0.000,6,0.000,0.020,2038,1957,3123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2503,-0.41,-175.2,363.4,-8.3,152,2508,0.00,2.03,0.00,0.000,4,0.000,0.028,2038,553,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2556,-0.42,-175.2,367.1,-8.2,154,2561,0.00,1.95,0.00,0.000,6,0.000,0.021,2037,1932,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2870,-0.44,-175.2,392.6,-7.2,170,2875,0.00,2.03,0.00,0.000,4,0.000,0.028,2037,548,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2895,-0.45,-175.2,394.5,-7.2,171,2900,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1927,3121,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3219,-0.47,-175.2,418.8,-7.9,187,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1927,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.49,-175.2,440.5,-7.1,202,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1926,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3820,-0.50,-175.2,460.9,-6.5,217,3827,0.12,2.03,0.00,0.000,4,0.098,0.028,1968,551,3115,0,0,0,0,0,0,26.44,26.30,28.83
$GC,3875,-0.50,-175.2,465.6,-8.2,219,3881,0.15,1.95,-0.10,0.000,6,0.142,0.021,2001,1919,3139,0,0,0,0,0,0,26.01,26.38,25.58
$GC,4189,-0.50,-175.2,495.2,-8.6,235,4194,0.00,1.98,0.00,0.000,4,0.000,0.030,2001,558,3138,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4232,-0.50,-175.2,499.4,-9.2,237,4237,0.00,1.98,0.00,0.000,6,0.000,0.022,1994,1935,3139,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4555,-0.50,-175.2,530.3,-9.6,253,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1936,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4856,-0.50,-175.2,559.9,-10.1,268,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1936,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.50,-175.2,589.4,-9.8,283,5162,0.00,2.03,0.00,0.000,4,0.000,0.030,1994,554,3133,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5243,-0.50,-175.2,598.1,-10.3,287,5249,0.00,1.98,0.00,0.000,6,0.000,0.022,1985,1932,3133,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5563,-0.50,-175.2,626.1,-8.0,298,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1933,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5862,-0.50,-175.2,649.6,-7.4,308,5867,0.00,2.05,0.00,0.000,4,0.000,0.031,1985,553,3129,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5910,-0.50,-175.2,652.1,-7.4,309,5916,0.00,1.98,0.00,0.000,6,0.000,0.023,1976,1928,3129,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6229,-0.50,-175.2,676.2,-6.9,320,6234,0.00,2.00,0.00,0.000,4,0.000,0.031,1976,560,3128,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6293,-0.50,-175.2,681.2,-7.3,322,6298,0.00,2.00,0.00,0.000,6,0.000,0.023,1967,1923,3127,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6629,-0.50,-175.2,708.6,-8.5,333,6634,0.00,2.00,0.00,0.000,4,0.000,0.031,1967,559,3125,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6681,-0.50,-175.2,712.0,-8.7,334,6687,0.12,1.98,0.00,0.000,6,0.151,0.023,1994,1931,3125,0,0,0,0,0,0,26.00,26.34,28.83
$GC,6997,-0.50,-175.2,738.2,-7.8,345,7002,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,548,3123,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7050,-0.50,-175.2,741.2,-8.1,346,7055,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1936,3123,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7367,-0.50,-175.2,769.3,-8.3,357,7372,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,553,3121,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7438,-0.50,-175.2,775.2,-8.6,359,7444,0.00,1.98,0.00,0.000,6,0.000,0.024,1981,1924,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7764,-0.50,-175.2,802.6,-8.4,370,7770,0.00,2.05,0.00,0.000,4,0.000,0.032,1981,560,3120,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7801,-0.50,-175.2,805.9,-8.5,371,7807,0.00,1.98,0.00,0.000,6,0.000,0.024,1973,1932,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8130,-0.50,-175.2,835.5,-8.8,382,8135,0.00,2.03,0.00,0.000,4,0.000,0.031,1973,557,3119,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8167,-0.50,-175.2,838.6,-9.1,383,8172,0.00,1.98,0.00,0.000,6,0.000,0.024,1967,1922,3119,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8497,-0.50,-175.2,869.3,-9.4,394,8499,0.12,0.00,0.00,0.000,6,0.154,0.000,2003,1923,3117,0,0,0,0,0,0,26.22,28.83,28.83
$GC,8798,-0.52,-175.2,892.3,-7.6,404,8803,0.00,2.03,0.00,0.000,4,0.000,0.032,2003,564,3116,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8845,-0.53,-175.2,895.3,-7.8,405,8851,0.00,1.98,0.00,0.000,6,0.000,0.024,1998,1927,3115,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9167,-0.54,-175.2,922.0,-8.0,416,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1928,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9464,-0.56,-175.2,944.4,-7.2,426,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1928,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9765,-0.57,-175.2,964.4,-6.6,436,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1928,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10065,-0.58,-175.2,983.3,-6.2,446,10070,0.00,2.03,0.00,0.000,4,0.000,0.033,1997,563,3111,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10099,-0.60,-175.2,985.4,-6.1,447,10104,0.00,2.00,0.00,0.000,6,0.000,0.024,1991,1934,3112,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10190,begin apogee
$GC,10196,-0.17,0.0,990.9,-5.9,450,10353,0.32,0.00,150.38,1.407,6,0.117,0.000,2098,1934,2409,0,0,0,0,0,0,25.77,28.83,22.32
$STATE,10354,end apogee,CONTROL_FINISHED_OK
$STATE,10354,begin climb
$GC,10357,0.54,175.2,994.8,0.0,455,10530,0.70,2.33,162.25,1.353,4,0.088,0.034,2334,3285,1692,0,0,0,0,0,0,24.14,23.62,21.92
$GC,10589,0.55,187.6,980.7,8.1,463,10608,0.00,2.08,11.85,1.196,6,0.000,0.023,2334,1933,1644,0,0,0,0,0,0,28.83,24.86,22.78
$GC,10921,0.55,198.7,953.7,8.1,474,10939,0.00,2.20,10.68,1.206,4,0.000,0.035,2334,511,1598,0,0,0,0,0,0,28.83,25.86,23.88
$GC,10972,0.57,214.1,951.1,8.0,475,10992,0.00,2.03,14.93,1.255,6,0.000,0.021,2334,1915,1536,0,0,0,0,0,0,28.83,26.05,23.83
$GC,11316,0.59,239.6,923.0,7.6,487,11346,0.00,2.15,23.10,1.306,4,0.000,0.035,2334,3280,1432,0,0,0,0,0,0,28.83,25.60,23.86
$GC,11405,0.61,261.0,918.0,7.8,489,11433,0.00,2.05,20.42,1.278,6,0.000,0.024,2334,1886,1343,0,0,0,0,0,0,28.83,25.98,23.76
$GC,11741,0.65,307.6,891.8,6.9,501,11790,0.12,2.12,41.65,1.323,4,0.110,0.036,2387,508,1155,0,0,0,0,0,0,26.23,25.30,23.65
$GC,11808,0.67,321.4,886.1,8.0,503,11827,0.00,2.05,13.75,1.206,6,0.000,0.021,2386,1911,1099,0,0,0,0,0,0,28.83,25.63,23.65
$GC,12134,0.67,321.4,852.0,10.6,514,12139,0.00,2.03,0.00,0.000,4,0.000,0.035,2387,3275,1093,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12192,0.67,321.4,848.3,10.7,515,12199,0.00,2.00,0.00,0.000,6,0.000,0.025,2387,1898,1091,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12497,0.67,321.4,814.0,10.2,526,12503,0.00,2.05,0.00,0.000,4,0.000,0.036,2387,513,1090,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12561,0.67,321.4,807.5,10.2,528,12568,0.00,2.03,0.00,0.000,6,0.000,0.022,2387,1891,1090,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12897,0.67,321.4,772.7,10.4,539,12903,0.00,2.08,0.00,0.000,4,0.000,0.035,2387,3283,1090,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12955,0.67,321.4,768.7,10.5,540,12962,0.00,1.98,0.00,0.000,6,0.000,0.024,2387,1900,1089,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13262,0.67,321.4,735.2,10.3,551,13267,0.00,2.05,0.00,0.000,4,0.000,0.036,2387,505,1089,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,20713,end climb,SURFACE_DEPTH_REACHED
$STATE,20713,begin surface coast
$FINISH,1.0,1.022324
$STATE,20729,end surface coast,CONTROL_FINISHED_OK
$STATE,20729,begin surface
$SM_CCo,20805,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1945.83,12344.58,150113,191915
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.26
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3904000
$24V_AH,21.9,60.940
$10V_AH,9.9,42.152
$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,18.350,177.225,632.175,0.000,0.000,0.000,0.000,284.900,0.000,0.000,17.025,3074.210,14326.324,761.110,2658.102,463.923,0.000,2372.520,0.000,2276.505,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,48.960,1406.835,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.742,0.000,0.000,0.000
$MEM,329040
$DATA_FILE_SIZE,33354,943
$CAP_FILE_SIZE,232443,0
$CFSIZE,260034560,221122560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0,0
$CURRENT,0.221,210.1,1
$GPS,160113,070823,1955.461,12344.649,28,1.4,45,-2.4