version: 66.11
glider: 129
mission: 4
dive: 319
start: 1 20 113 2 42 10
data:
$ID,129
$MISSION,4
$DIVE,319
$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,350
$T_MISSION,380
$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,190
$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,-3118.1726
$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,81
$R_STBD_OVSHOOT,100
$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
$GPS1,200113,022936,1954.256,12343.229,36,1.2,36,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-58.7
$GPS2,200113,024142,1954.176,12343.435,10,1.1,15,-2.4
$SPEED_LIMITS,0.163,0.283
$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,16.1,74323,-15.3,-9.429,-18.41
$D_GRID,5146
$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,-0.58,-184.9,0.0,0.0,0,87,0.00,0.00,-65.43,0.000,2,0.000,0.000,52,1908,1828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.2,-4.0,11,141,8.35,2.10,-36.42,0.000,4,0.239,0.046,2065,3280,3163,1,0,0,0,0,0,24.92,26.10,26.56
$GC,189,-0.58,-184.9,13.9,-13.2,28,197,0.20,1.95,0.00,0.000,6,0.049,0.021,1952,1913,3164,0,0,0,0,0,0,26.13,26.29,28.83
$GC,501,-0.51,-184.9,108.1,-30.0,54,506,0.12,1.98,0.00,0.000,4,0.177,0.027,1990,539,3164,0,0,0,0,0,0,26.08,26.28,28.83
$GC,719,-0.47,-184.9,149.0,-17.8,64,727,0.00,1.90,0.00,0.000,6,0.000,0.021,1982,1897,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1025,-0.44,-184.9,202.6,-16.0,80,1032,0.12,2.08,0.00,0.000,4,0.155,0.031,2013,3314,3164,0,0,0,0,0,0,26.17,26.25,28.83
$GC,1070,-0.42,-184.9,209.5,-16.0,82,1076,0.00,1.92,0.00,0.000,6,0.000,0.021,2012,1916,3164,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1394,-0.42,-184.9,252.3,-11.5,98,1399,0.00,1.98,0.00,0.000,4,0.000,0.028,2012,535,3164,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1512,-0.42,-184.9,264.1,-11.4,103,1519,0.00,1.95,0.00,0.000,6,0.000,0.020,2002,1937,3164,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1817,-0.42,-184.9,300.4,-11.5,119,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1938,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2119,-0.42,-184.9,333.1,-11.7,134,2124,0.00,2.03,0.00,0.000,4,0.000,0.028,2003,541,3163,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2186,-0.42,-184.9,341.4,-12.8,137,2191,0.00,1.92,0.00,0.000,6,0.000,0.020,1995,1921,3162,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2504,-0.42,-184.9,382.2,-12.1,153,2510,0.00,2.00,0.00,0.000,4,0.000,0.033,1984,3303,3162,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2548,-0.42,-184.9,386.8,-11.1,155,2555,0.12,1.90,0.00,0.000,6,0.131,0.020,2022,1912,3162,0,0,0,0,0,0,26.13,26.42,28.83
$GC,2874,-0.44,-184.9,413.4,-7.5,171,2879,0.00,1.95,0.00,0.000,4,0.000,0.028,2022,555,3161,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3053,-0.45,-184.9,425.6,-7.2,179,3060,0.00,1.98,0.00,0.000,6,0.000,0.021,2013,1939,3160,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3359,-0.46,-184.9,446.6,-6.3,195,3364,0.00,2.03,0.00,0.000,4,0.000,0.028,2013,555,3158,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3412,-0.47,-184.9,449.6,-6.6,197,3418,0.00,1.95,0.00,0.000,6,0.000,0.020,2005,1935,3158,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3726,-0.47,-184.9,474.1,-8.1,213,3731,0.00,2.00,0.00,0.000,4,0.000,0.028,2005,553,3156,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3763,-0.47,-184.9,476.1,-8.2,214,3770,0.00,1.92,0.00,0.000,6,0.000,0.021,1996,1932,3156,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4069,-0.47,-184.9,503.9,-8.5,230,4076,0.00,2.03,0.00,0.000,4,0.000,0.028,1996,565,3153,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4108,-0.47,-184.9,506.2,-8.7,231,4114,0.00,1.90,0.00,0.000,6,0.000,0.021,1988,1924,3153,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4413,-0.47,-184.9,535.3,-9.5,247,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4715,-0.47,-184.9,565.3,-10.2,262,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-0.47,-184.9,594.8,-9.1,277,5023,0.00,2.00,0.00,0.000,4,0.000,0.029,1988,557,3147,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5065,-0.47,-184.9,599.4,-9.4,279,5070,0.00,1.92,0.00,0.000,6,0.000,0.021,1980,1915,3146,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5384,-0.47,-184.9,630.3,-9.6,290,5389,0.00,1.98,0.00,0.000,4,0.000,0.029,1980,560,3144,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5426,-0.47,-184.9,633.7,-9.7,291,5432,0.12,1.95,0.00,0.000,6,0.145,0.021,2007,1942,3143,0,0,0,0,0,0,26.03,26.36,28.83
$GC,5754,-0.49,-184.9,658.7,-7.3,302,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1942,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6051,-0.51,-184.9,679.9,-7.0,312,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1942,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6351,-0.53,-184.9,701.5,-7.3,322,6356,0.00,2.03,0.00,0.000,4,0.000,0.030,2008,564,3138,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6386,-0.54,-184.9,704.2,-7.5,323,6391,0.00,1.95,0.00,0.000,6,0.000,0.021,2002,1934,3138,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6721,-0.56,-184.9,729.5,-7.6,334,6726,0.00,2.03,0.00,0.000,4,0.000,0.030,2002,565,3136,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6755,-0.57,-184.9,732.3,-7.7,335,6761,0.00,1.92,0.00,0.000,6,0.000,0.022,1994,1924,3136,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7091,-0.59,-184.9,757.4,-7.3,346,7096,0.00,2.00,0.00,0.000,4,0.000,0.030,1994,559,3134,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7149,-0.60,-184.9,760.1,-7.3,347,7157,0.00,1.98,0.00,0.000,6,0.000,0.022,1988,1921,3134,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7456,-0.61,-184.9,784.2,-7.4,358,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1921,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7756,-0.62,-184.9,805.9,-7.3,368,7761,0.00,2.00,0.00,0.000,4,0.000,0.031,1988,564,3131,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7804,-0.63,-184.9,808.6,-7.4,369,7809,0.00,1.95,0.00,0.000,6,0.000,0.022,1980,1932,3131,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8124,-0.63,-184.9,835.1,-8.1,380,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1932,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8423,-0.63,-184.9,859.3,-7.9,390,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1932,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8722,-0.63,-184.9,883.8,-8.0,400,8727,0.00,2.05,0.00,0.000,4,0.000,0.031,1981,561,3128,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8759,-0.63,-184.9,886.6,-8.1,401,8764,0.00,1.98,0.00,0.000,6,0.000,0.022,1972,1932,3127,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9089,-0.63,-184.9,911.6,-7.2,412,9095,0.00,2.05,0.00,0.000,4,0.000,0.031,1972,570,3126,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9138,-0.63,-184.9,914.4,-7.5,413,9144,0.00,1.98,0.00,0.000,6,0.000,0.023,1966,1922,3126,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9458,-0.63,-184.9,939.2,-7.2,424,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1922,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9758,-0.63,-184.9,961.4,-7.4,434,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1922,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10057,-0.63,-184.9,984.1,-7.6,444,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1923,3123,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10144,begin apogee
$GC,10149,-0.17,0.0,991.2,-7.9,447,10313,0.40,0.00,153.30,1.403,6,0.122,0.000,2098,1922,2409,0,0,0,0,0,0,25.60,28.83,22.34
$STATE,10314,end apogee,CONTROL_FINISHED_OK
$STATE,10314,begin climb
$GC,10317,0.58,184.9,996.0,0.0,452,10497,0.73,2.30,170.25,1.356,4,0.089,0.032,2346,552,1654,0,0,0,0,0,0,24.28,23.67,21.93
$GC,10555,0.62,266.1,985.9,6.6,460,10639,0.00,2.08,73.85,1.330,6,0.000,0.021,2346,1910,1323,0,0,0,0,0,0,28.83,24.95,22.25
$GC,10962,0.66,314.8,952.6,7.8,474,11011,0.00,2.20,43.47,1.329,4,0.000,0.034,2347,3290,1124,0,0,0,0,0,0,28.83,25.24,23.53
$GC,11096,0.69,349.2,942.4,8.3,478,11135,0.12,2.00,31.75,1.304,6,0.105,0.024,2395,1927,985,0,0,0,0,0,0,25.82,25.95,23.60
$GC,11449,0.70,349.2,905.4,10.2,490,11454,0.00,2.10,0.00,0.000,4,0.000,0.034,2405,513,979,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11477,0.72,349.2,905.4,10.2,490,11483,0.00,2.03,0.00,0.000,6,0.000,0.021,2406,1925,978,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11782,0.72,349.2,868.3,11.3,501,11787,0.00,2.00,0.00,0.000,4,0.000,0.034,2406,3271,977,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11876,0.72,349.2,857.0,12.0,504,11881,0.00,1.98,0.00,0.000,6,0.000,0.024,2413,1894,976,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12210,0.72,349.2,818.0,11.6,515,12215,0.00,2.05,0.00,0.000,4,0.000,0.035,2422,506,975,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12237,0.72,349.2,818.0,11.6,515,12245,0.12,1.98,0.00,0.000,6,0.141,0.021,2387,1906,975,0,0,0,0,0,0,26.05,26.35,28.83
$GC,12546,0.74,363.2,786.3,8.9,526,12565,0.00,2.05,12.50,1.193,4,0.000,0.033,2387,3268,928,0,0,0,0,0,0,28.83,25.94,23.82
$GC,12653,0.76,363.2,776.9,9.7,529,12659,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,1896,927,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12975,0.78,363.2,745.0,9.7,540,12980,0.00,2.05,0.00,0.000,4,0.000,0.035,2387,513,926,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13027,0.80,363.2,741.5,9.9,541,13032,0.00,1.98,0.00,0.000,6,0.000,0.021,2387,1890,926,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13343,0.81,363.2,707.0,10.5,552,13348,0.10,2.08,0.00,0.000,4,0.116,0.033,2430,3289,925,0,0,0,0,0,0,26.40,26.17,28.83
$GC,13452,0.81,363.2,693.9,12.8,555,13458,0.00,2.00,0.00,0.000,6,0.000,0.025,2430,1895,925,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13771,0.81,363.2,647.3,14.0,566,13777,0.00,2.05,0.00,0.000,4,0.000,0.034,2441,499,925,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,19019,end climb,SURFACE_DEPTH_REACHED
$STATE,19019,begin surface coast
$FINISH,1.4,1.022549
$STATE,19031,end surface coast,CONTROL_FINISHED_OK
$STATE,19031,begin surface
$SM_CCo,19107,0.00,0.000,0,0,209,539.91
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$IRIDIUM_FIX,1945.83,12341.40,200113,020236
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.15
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3897856
$24V_AH,21.9,64.390
$10V_AH,9.7,44.407
$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,17.325,156.475,634.400,0.000,0.000,0.000,0.000,401.750,0.000,0.000,16.203,2765.570,13304.282,741.375,2565.252,447.423,0.000,2370.047,0.000,2078.089,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,45.900,1403.010,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.494,0.000,0.000,0.000
$MEM,329052
$DATA_FILE_SIZE,30055,850
$CAP_FILE_SIZE,212956,0
$CFSIZE,260034560,219443200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.305,194.9,1
$GPS,200113,080159,1953.969,12342.919,38,1.0,43,-2.4