version: 66.11
glider: 129
mission: 4
dive: 308
start: 1 17 113 7 35 21
data:
$ID,129
$MISSION,4
$DIVE,308
$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,-3104.3232
$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,75
$R_STBD_OVSHOOT,99
$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
$GPS1,170113,072635,1955.350,12344.771,40,1.1,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-58.9
$GPS2,170113,073455,1955.229,12344.877,12,1.7,12,-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,26.1,71169,-14.2,-8.462,-17.62
$D_GRID,5131
$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,20,-0.54,-175.2,0.0,0.0,0,88,0.00,0.00,-65.57,0.000,2,0.000,0.000,60,1912,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.54,-175.2,3.1,-3.7,11,141,7.82,2.03,-34.90,0.000,4,0.235,0.044,1971,3290,3123,0,0,0,0,0,0,25.03,26.10,26.56
$GC,204,-0.48,-175.2,24.1,-28.6,31,211,0.12,1.95,0.00,0.000,6,0.163,0.021,2002,1898,3124,0,0,0,0,0,0,25.90,26.29,28.83
$GC,520,-0.42,-175.2,109.0,-26.5,52,525,0.00,1.92,0.00,0.000,4,0.000,0.029,2003,541,3124,0,0,0,0,0,0,28.83,26.28,28.83
$GC,639,-0.37,-175.2,131.6,-20.7,57,646,0.15,1.92,0.00,0.000,6,0.145,0.021,2037,1901,3124,0,0,0,0,0,0,25.99,26.37,28.83
$GC,943,-0.36,-175.2,172.7,-11.5,73,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1902,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1246,-0.36,-175.2,203.3,-10.3,88,1252,0.00,1.98,0.00,0.000,4,0.000,0.028,2037,541,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1313,-0.36,-175.2,210.5,-10.6,91,1318,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1939,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1631,-0.36,-175.2,241.7,-9.6,107,1637,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,548,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1739,-0.36,-175.2,252.7,-10.6,112,1744,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1929,3123,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2057,-0.36,-175.2,284.8,-10.0,128,2062,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,548,3123,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2094,-0.36,-175.2,287.1,-10.1,129,2100,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1928,3122,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2400,-0.36,-175.2,318.3,-10.0,145,2405,0.00,2.00,0.00,0.000,4,0.000,0.033,2034,3307,3122,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2431,-0.36,-175.2,320.4,-9.8,146,2437,0.00,1.92,0.00,0.000,6,0.000,0.020,2034,1909,3122,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2746,-0.36,-175.2,349.3,-8.7,162,2751,0.00,1.95,0.00,0.000,4,0.000,0.028,2039,553,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2861,-0.36,-175.2,359.3,-9.5,167,2866,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1934,3120,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3175,-0.37,-175.2,387.5,-8.3,183,3180,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,547,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3223,-0.38,-175.2,391.1,-8.0,185,3228,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1928,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3541,-0.40,-175.2,415.5,-7.6,201,3546,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,541,3117,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3695,-0.41,-175.2,427.9,-8.7,208,3700,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1932,3118,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4008,-0.43,-175.2,452.1,-7.3,224,4014,0.00,2.03,-0.08,0.000,4,0.000,0.040,2034,549,3144,0,0,0,0,0,0,28.83,26.30,25.44
$GC,4036,-0.45,-175.2,454.1,-7.6,225,4042,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1928,3145,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4356,-0.46,-175.2,478.5,-7.2,241,4361,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,549,3144,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4403,-0.48,-175.2,482.0,-7.5,243,4408,0.00,1.92,0.00,0.000,6,0.000,0.021,2034,1922,3144,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4722,-0.50,-175.2,504.0,-6.8,259,4728,0.12,2.00,0.00,0.000,4,0.099,0.028,1966,549,3142,0,0,0,0,0,0,26.43,26.29,28.83
$GC,4767,-0.50,-175.2,508.7,-8.8,261,4774,0.15,1.95,0.00,0.000,6,0.138,0.021,1998,1921,3142,0,0,0,0,0,0,26.03,26.38,28.83
$GC,5092,-0.50,-175.2,537.7,-8.7,277,5097,0.00,2.05,0.00,0.000,4,0.000,0.035,1992,3307,3144,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5118,-0.50,-175.2,539.6,-8.6,278,5124,0.00,1.92,0.00,0.000,6,0.000,0.021,1991,1930,3141,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5437,-0.50,-175.2,570.1,-9.3,294,5442,0.00,2.03,0.00,0.000,4,0.000,0.030,1992,532,3138,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5540,-0.50,-175.2,579.8,-9.3,299,5546,0.00,1.98,0.00,0.000,6,0.000,0.021,1982,1935,3138,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5855,-0.50,-175.2,608.5,-9.1,313,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1935,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6154,-0.50,-175.2,636.1,-9.2,323,6159,0.00,2.03,0.00,0.000,4,0.000,0.030,1982,546,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6201,-0.50,-175.2,639.4,-9.4,324,6206,0.00,1.98,0.00,0.000,6,0.000,0.022,1974,1926,3134,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6519,-0.50,-175.2,672.8,-10.2,335,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1926,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6820,-0.50,-175.2,704.4,-10.7,345,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1926,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7119,-0.50,-175.2,735.0,-10.0,355,7124,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,544,3129,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7156,-0.50,-175.2,738.5,-10.0,356,7162,0.12,1.98,0.00,0.000,6,0.149,0.023,2000,1928,3128,0,0,0,0,0,0,26.00,26.34,28.83
$GC,7488,-0.51,-175.2,762.7,-6.6,367,7494,0.00,2.05,0.00,0.000,4,0.000,0.031,2000,533,3127,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7522,-0.51,-175.2,765.3,-6.6,368,7527,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1930,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7857,-0.51,-175.2,786.0,-6.0,379,7862,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,546,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7911,-0.51,-175.2,788.3,-6.1,380,7916,0.00,2.00,0.00,0.000,6,0.000,0.023,1987,1935,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8226,-0.51,-175.2,809.7,-6.2,391,8231,0.00,2.05,0.00,0.000,4,0.000,0.031,1987,541,3124,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8253,-0.51,-175.2,809.7,-6.2,391,8260,0.00,2.00,0.00,0.000,6,0.000,0.023,1978,1932,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8560,-0.51,-175.2,834.1,-7.4,402,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1932,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,-0.51,-175.2,856.6,-7.5,412,8866,0.00,2.05,0.00,0.000,4,0.000,0.031,1978,538,3121,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8923,-0.51,-175.2,861.9,-7.8,414,8929,0.00,2.03,0.00,0.000,6,0.000,0.024,1969,1933,3121,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9259,-0.51,-175.2,890.2,-8.7,425,9264,0.00,2.08,0.00,0.000,4,0.000,0.032,1969,538,3120,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9305,-0.51,-175.2,893.4,-8.9,426,9311,0.00,2.03,0.00,0.000,6,0.000,0.024,1967,1938,3120,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9625,-0.51,-175.2,923.3,-9.0,437,9630,0.00,2.08,0.00,0.000,4,0.000,0.031,1967,541,3119,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9689,-0.51,-175.2,929.5,-9.3,439,9695,0.12,2.03,0.00,0.000,6,0.153,0.024,1993,1949,3118,0,0,0,0,0,0,25.94,26.29,28.83
$GC,10026,-0.52,-175.2,952.6,-6.6,450,10032,0.00,2.08,0.00,0.000,4,0.000,0.031,1993,541,3117,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10065,-0.53,-175.2,955.2,-6.7,451,10071,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1928,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10396,-0.53,-175.2,978.8,-7.1,462,10401,0.00,2.05,0.00,0.000,4,0.000,0.032,1989,538,3116,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10425,-0.53,-175.2,978.8,-7.1,462,10432,0.00,1.98,0.00,0.000,6,0.000,0.024,1982,1921,3116,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,10548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10548,begin apogee
$GC,10553,-0.17,0.0,990.5,-7.5,467,10715,0.35,0.00,151.20,1.401,6,0.116,0.000,2101,1921,2409,0,0,0,0,0,0,25.75,28.83,22.37
$STATE,10716,end apogee,CONTROL_FINISHED_OK
$STATE,10717,begin climb
$GC,10719,0.54,175.2,996.2,0.0,472,10890,0.70,2.35,161.57,1.356,4,0.086,0.034,2336,524,1693,0,0,0,0,0,0,24.28,23.65,21.94
$GC,10938,0.58,254.7,988.6,5.9,479,11017,0.00,2.10,72.78,1.330,6,0.000,0.021,2336,1895,1370,0,0,0,0,0,0,28.83,24.76,22.12
$GC,11337,0.60,272.2,955.8,7.9,493,11359,0.00,2.15,15.52,1.251,4,0.000,0.035,2336,3286,1298,0,0,0,0,0,0,28.83,25.70,23.84
$GC,11407,0.62,285.6,950.6,8.0,495,11427,0.00,2.03,13.52,1.232,6,0.000,0.024,2336,1906,1243,0,0,0,0,0,0,28.83,25.98,23.80
$GC,11730,0.66,307.5,925.2,7.7,506,11758,0.00,2.12,20.25,1.291,4,0.000,0.034,2336,506,1159,0,0,0,0,0,0,28.83,25.67,23.91
$GC,11795,0.69,329.3,920.3,7.8,508,11822,0.15,2.05,21.38,1.281,6,0.094,0.021,2395,1915,1066,0,0,0,0,0,0,25.82,25.98,23.73
$GC,12121,0.69,329.3,883.0,11.7,519,12126,0.00,2.03,0.00,0.000,4,0.000,0.034,2394,3286,1060,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12173,0.69,329.3,879.0,11.9,520,12178,0.00,2.03,0.00,0.000,6,0.000,0.024,2402,1893,1059,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12486,0.69,329.3,838.5,12.1,531,12491,0.00,2.03,0.00,0.000,4,0.000,0.034,2402,513,1059,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12543,0.69,329.3,834.3,12.1,532,12550,0.00,1.98,0.00,0.000,6,0.000,0.021,2402,1906,1059,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12850,0.69,329.3,793.1,12.8,543,12856,0.00,2.05,0.00,0.000,4,0.000,0.035,2402,3280,1058,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,20855,end climb,SURFACE_DEPTH_REACHED
$STATE,20855,begin surface coast
$FINISH,1.3,1.022539
$STATE,20866,end surface coast,CONTROL_FINISHED_OK
$STATE,20866,begin surface
$SM_CCo,20943,0.00,0.000,0,0,207,539.91
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$IRIDIUM_FIX,1948.12,12344.58,170113,010156
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.26
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3902080
$24V_AH,21.9,62.034
$10V_AH,9.9,42.862
$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,16.750,189.500,635.250,0.000,0.000,0.000,0.000,294.575,0.000,0.000,13.302,3136.203,14307.497,770.068,2739.320,476.227,0.000,2435.118,0.000,2355.515,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,43.605,1401.480,0.000,0.000,0.000,0.000,136.935,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20895.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.040,0.000,0.000,0.000
$MEM,329052
$DATA_FILE_SIZE,36679,947
$CAP_FILE_SIZE,234842,0
$CFSIZE,260034560,220585984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.298,184.4,1
$GPS,170113,132535,1954.804,12345.487,32,0.9,32,-2.4