version: 66.11
glider: 129
mission: 4
dive: 306
start: 1 16 113 19 26 33
data:
$ID,129
$MISSION,4
$DIVE,306
$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,-3101.8057
$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,82
$R_STBD_OVSHOOT,94
$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
$GPS1,160113,191729,1955.006,12345.065,38,1.1,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-57.5
$GPS2,160113,192607,1954.849,12345.111,12,1.7,12,-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,27.0,71187,-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,16,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,92,0.00,0.00,-70.90,0.000,2,0.000,0.000,57,1927,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.54,-175.2,3.5,-4.7,12,139,7.97,2.05,-26.98,0.000,4,0.241,0.047,1971,3282,3125,0,0,0,0,0,0,25.06,26.11,26.55
$GC,193,-0.48,-175.2,22.1,-23.7,29,202,0.12,1.92,0.00,0.000,6,0.163,0.021,2003,1912,3125,0,0,0,0,0,0,25.89,26.27,28.83
$GC,510,-0.42,-175.2,101.3,-25.5,51,515,0.00,1.98,0.00,0.000,4,0.000,0.028,2003,534,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,597,-0.37,-175.2,117.7,-19.4,55,603,0.15,1.95,0.00,0.000,6,0.146,0.021,2037,1925,3125,0,0,0,0,0,0,25.99,26.37,28.83
$GC,917,-0.36,-175.2,167.6,-14.0,71,922,0.00,1.98,0.00,0.000,4,0.000,0.029,2037,541,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,934,-0.34,-175.2,167.6,-14.0,71,942,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1951,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1242,-0.34,-175.2,212.7,-13.1,87,1248,0.00,2.05,0.00,0.000,4,0.000,0.028,2034,535,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1361,-0.34,-175.2,224.6,-11.1,92,1368,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1924,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1666,-0.34,-175.2,253.9,-9.0,108,1671,0.00,1.98,0.00,0.000,4,0.000,0.028,2034,545,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1688,-0.34,-175.2,256.1,-8.9,109,1694,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1923,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2011,-0.34,-175.2,289.3,-11.0,125,2016,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,539,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2094,-0.34,-175.2,298.0,-10.6,129,2099,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1925,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2417,-0.34,-175.2,328.2,-8.9,145,2422,0.00,1.98,0.00,0.000,4,0.000,0.028,2034,546,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2454,-0.34,-175.2,330.2,-8.7,146,2461,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1938,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2760,-0.34,-175.2,355.0,-7.2,162,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1939,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,-0.35,-175.2,379.7,-8.5,177,3067,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,548,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3106,-0.37,-175.2,383.6,-8.5,179,3111,0.00,2.00,0.00,0.000,6,0.000,0.021,2034,1932,3122,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3430,-0.38,-175.2,406.5,-6.7,195,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1932,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3732,-0.39,-175.2,425.4,-5.7,210,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1932,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4032,-0.41,-175.2,441.4,-5.6,225,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1932,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.43,-175.2,461.1,-6.8,240,4337,0.00,2.05,-0.08,0.000,4,0.000,0.041,2034,537,3144,0,0,0,0,0,0,28.83,26.28,25.45
$GC,4390,-0.44,-175.2,464.6,-7.3,242,4397,0.00,2.00,0.00,0.000,6,0.000,0.021,2034,1928,3144,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4695,-0.46,-175.2,490.4,-8.6,258,4700,0.00,2.05,0.00,0.000,4,0.000,0.030,2034,539,3143,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4722,-0.48,-175.2,492.5,-8.9,259,4728,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1928,3143,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5041,-0.50,-175.2,521.9,-8.8,275,5047,0.12,2.00,0.00,0.000,4,0.099,0.028,1971,549,3142,0,0,0,0,0,0,26.43,26.29,28.83
$GC,5069,-0.52,-175.2,524.5,-9.2,276,5075,0.12,1.95,0.00,0.000,6,0.154,0.021,1992,1923,3142,0,0,0,0,0,0,26.04,26.38,28.83
$GC,5388,-0.52,-175.2,555.2,-8.2,292,5394,0.00,2.00,0.00,0.000,4,0.000,0.031,1992,550,3139,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5416,-0.52,-175.2,557.1,-8.1,293,5422,0.00,1.98,0.00,0.000,6,0.000,0.021,1985,1936,3141,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5735,-0.52,-175.2,582.6,-8.1,309,5740,0.00,2.03,0.00,0.000,4,0.000,0.030,1985,548,3140,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5792,-0.52,-175.2,586.7,-8.7,311,5798,0.00,1.95,0.00,0.000,6,0.000,0.022,1976,1926,3138,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6100,-0.52,-175.2,617.5,-9.4,324,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1928,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6399,-0.52,-175.2,644.4,-8.5,334,6404,0.00,2.03,0.00,0.000,4,0.000,0.031,1976,543,3134,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6442,-0.52,-175.2,647.5,-8.5,335,6447,0.00,2.00,0.00,0.000,6,0.000,0.023,1967,1933,3134,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6765,-0.52,-175.2,677.7,-9.4,346,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1935,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-0.52,-175.2,707.9,-10.4,356,7071,0.00,2.03,0.00,0.000,4,0.000,0.031,1967,553,3130,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7109,-0.52,-175.2,711.6,-10.5,357,7115,0.12,1.95,0.00,0.000,6,0.151,0.023,1994,1925,3130,0,0,0,0,0,0,26.01,26.34,28.83
$GC,7434,-0.52,-175.2,739.6,-8.1,368,7439,0.00,2.05,0.00,0.000,4,0.000,0.037,1986,3321,3129,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7471,-0.52,-175.2,742.4,-8.0,369,7477,0.00,1.95,0.00,0.000,6,0.000,0.022,1986,1938,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7801,-0.52,-175.2,768.4,-7.6,380,7807,0.00,2.05,0.00,0.000,4,0.000,0.032,1986,532,3127,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7965,-0.52,-175.2,781.3,-8.3,385,7971,0.00,2.03,0.00,0.000,6,0.000,0.024,1980,1931,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8291,-0.52,-175.2,807.1,-7.7,396,8296,0.00,2.05,0.00,0.000,4,0.000,0.036,1968,3308,3124,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8325,-0.52,-175.2,809.9,-7.8,397,8331,0.00,2.00,0.00,0.000,6,0.000,0.021,1967,1929,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8661,-0.52,-175.2,839.6,-9.1,408,8666,0.00,2.03,0.00,0.000,4,0.000,0.031,1967,541,3123,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8759,-0.52,-175.2,848.9,-9.6,411,8765,0.12,2.00,0.00,0.000,6,0.151,0.023,1993,1932,3122,0,0,0,0,0,0,25.98,26.32,28.83
$GC,9090,-0.53,-175.2,875.1,-7.8,422,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1932,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9390,-0.54,-175.2,898.7,-8.0,432,9396,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,540,3120,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9438,-0.55,-175.2,901.9,-8.2,433,9444,0.00,2.03,0.00,0.000,6,0.000,0.023,1988,1931,3120,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9757,-0.55,-175.2,930.1,-8.6,444,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1929,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10057,-0.55,-175.2,955.3,-8.3,454,10062,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,538,3118,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10085,-0.55,-175.2,955.3,-8.3,454,10091,0.00,2.00,0.00,0.000,6,0.000,0.023,1980,1925,3118,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10391,-0.55,-175.2,983.2,-8.4,465,10397,0.00,2.05,0.00,0.000,4,0.000,0.032,1980,537,3117,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10414,-0.55,-175.2,983.2,-8.4,465,10420,0.00,2.00,0.00,0.000,6,0.000,0.023,1972,1922,3117,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10486,begin apogee
$GC,10492,-0.17,0.0,991.8,-8.8,468,10652,0.40,0.00,151.80,1.408,6,0.117,0.000,2106,1922,2409,0,0,0,0,0,0,25.66,28.83,22.38
$STATE,10654,end apogee,CONTROL_FINISHED_OK
$STATE,10654,begin climb
$GC,10656,0.54,175.2,998.2,0.0,473,10826,0.68,2.35,161.55,1.361,4,0.086,0.032,2333,521,1693,0,0,0,0,0,0,24.25,23.65,21.95
$GC,10863,0.58,267.7,991.7,5.5,480,10957,0.00,2.12,84.90,1.335,6,0.000,0.021,2333,1896,1316,0,0,0,0,0,0,28.83,24.58,22.03
$GC,11277,0.61,290.9,960.4,7.7,494,11306,0.00,2.15,20.77,1.284,4,0.000,0.035,2333,3294,1222,0,0,0,0,0,0,28.83,25.57,23.79
$GC,11385,0.63,290.9,952.1,8.8,497,11390,0.00,2.05,0.00,0.000,6,0.000,0.024,2333,1894,1219,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11705,0.66,292.8,924.0,8.4,508,11707,0.12,0.00,0.00,0.000,6,0.107,0.000,2383,1893,1217,0,0,0,0,0,0,26.28,28.83,28.83
$GC,12004,0.66,292.8,890.8,11.3,518,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1893,1217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12303,0.66,292.8,859.1,10.5,528,12308,0.00,2.10,0.00,0.000,4,0.000,0.034,2382,3289,1217,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12355,0.66,292.8,855.4,10.6,529,12360,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1890,1216,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12669,0.66,292.8,820.5,10.4,540,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1890,1218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12968,0.66,292.8,788.9,10.6,550,12973,0.00,2.12,0.00,0.000,4,0.000,0.034,2386,3290,1215,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13021,0.66,292.8,785.2,10.7,551,13026,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1895,1215,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13335,0.66,292.8,748.7,11.2,562,13340,0.00,2.05,0.00,0.000,4,0.000,0.034,2387,506,1215,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,21008,end climb,SURFACE_DEPTH_REACHED
$STATE,21008,begin surface coast
$FINISH,1.1,1.023308
$STATE,21024,end surface coast,CONTROL_FINISHED_OK
$STATE,21024,begin surface
$SM_CCo,21101,0.00,0.000,0,0,208,539.91
$SM_GC,1.89,6.30,0.00,0.00,0.041,0.000,0.000,59,1927,208,-6.46,0.11,539.91,0,0,0,0,0,0,26.15,28.83,28.83
$IRIDIUM_FIX,1948.12,12347.76,160113,131354
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.07
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3902848
$24V_AH,22.0,61.595
$10V_AH,9.9,42.577
$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,16.825,186.175,630.725,0.000,0.000,0.000,0.000,313.475,0.000,0.000,13.367,3106.176,14556.919,765.016,2708.144,468.775,0.000,2425.385,0.000,2314.292,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,47.430,1407.600,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21054.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.940,0.000,0.000,0.000
$MEM,329048
$DATA_FILE_SIZE,36690,960
$CAP_FILE_SIZE,234622,0
$CFSIZE,260034560,220798976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245,188.6,1
$GPS,170113,011929,1955.114,12345.517,36,1.1,36,-2.4