version: 66.11
glider: 129
mission: 4
dive: 383
start: 2 3 113 19 42 16
data:
$ID,129
$MISSION,4
$DIVE,383
$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,-3
$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,-3230.7275
$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,73
$R_STBD_OVSHOOT,79
$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
$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
$GPS1,030213,193336,1757.469,12346.429,38,0.9,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-58.6
$GPS2,030213,194148,1757.509,12346.411,9,1.9,9,-2.0
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,277.6,170160,-15.3,-9.429,-18.41
$D_GRID,4658
$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,18,begin dive
$GC,21,-0.58,-184.9,0.0,0.0,0,94,0.00,0.00,-70.60,0.000,2,0.000,0.000,54,1898,1915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-4.2,12,141,7.97,2.10,-30.27,0.000,4,0.240,0.043,1963,518,3164,0,0,0,0,0,0,24.91,26.10,26.55
$GC,337,-0.52,-184.9,66.4,-30.2,41,344,0.12,2.00,0.00,0.000,6,0.171,0.021,1986,1918,3165,0,0,0,0,0,0,25.88,26.28,28.83
$GC,657,-0.47,-184.9,150.5,-22.3,57,662,0.00,2.00,0.00,0.000,4,0.000,0.028,1986,531,3163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,751,-0.43,-184.9,168.8,-22.0,61,758,0.15,2.00,0.00,0.000,6,0.145,0.021,2020,1937,3165,0,0,0,0,0,0,25.91,26.31,28.83
$GC,1066,-0.41,-184.9,215.4,-14.2,77,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1938,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1368,-0.41,-184.9,250.7,-9.8,92,1374,0.00,2.05,0.00,0.000,4,0.000,0.028,2020,528,3164,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1456,-0.41,-184.9,259.7,-10.5,96,1462,0.00,2.00,0.00,0.000,6,0.000,0.020,2013,1944,3166,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1775,-0.41,-184.9,295.9,-11.4,112,1780,0.00,2.00,0.00,0.000,4,0.000,0.031,2002,3310,3165,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1832,-0.41,-184.9,300.6,-11.1,114,1839,0.00,1.98,0.00,0.000,6,0.000,0.019,2002,1886,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2138,-0.41,-184.9,337.0,-10.7,130,2143,0.00,1.92,0.00,0.000,4,0.000,0.028,2002,546,3163,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2286,-0.41,-184.9,352.0,-10.5,137,2292,0.12,1.95,0.00,0.000,6,0.141,0.020,2030,1922,3163,0,0,0,0,0,0,26.02,26.33,28.83
$GC,2607,-0.43,-184.9,375.7,-6.2,153,2612,0.00,2.05,0.00,0.000,4,0.000,0.032,2021,3313,3162,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2642,-0.45,-184.9,377.1,-6.1,154,2647,0.00,1.92,0.00,0.000,6,0.000,0.020,2021,1940,3162,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2957,-0.46,-184.9,400.1,-7.5,170,2963,0.00,2.00,0.00,0.000,4,0.000,0.028,2021,541,3162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3107,-0.48,-184.9,413.2,-9.2,177,3112,0.00,1.98,0.00,0.000,6,0.000,0.020,2011,1937,3161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3427,-0.49,-184.9,443.5,-9.2,193,3432,0.00,2.08,0.00,0.000,4,0.000,0.028,2011,541,3159,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3500,-0.50,-184.9,449.5,-9.1,196,3506,0.00,1.98,0.00,0.000,6,0.000,0.020,2003,1933,3159,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3814,-0.50,-184.9,476.9,-8.6,212,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1933,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-0.51,-184.9,504.1,-9.1,227,4122,0.00,2.05,0.00,0.000,4,0.000,0.029,2003,542,3155,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4165,-0.52,-184.9,508.5,-9.4,229,4171,0.00,2.00,0.00,0.000,6,0.000,0.021,1994,1928,3154,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4484,-0.52,-184.9,538.6,-9.1,245,4490,0.00,2.03,0.00,0.000,4,0.000,0.034,1984,3300,3152,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4534,-0.52,-184.9,542.6,-9.1,247,4539,0.00,1.95,0.00,0.000,6,0.000,0.020,1984,1917,3152,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4852,-0.52,-184.9,573.5,-9.6,263,4857,0.00,2.03,0.00,0.000,4,0.000,0.029,1984,543,3149,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5051,-0.52,-184.9,593.4,-10.9,272,5058,0.00,1.98,0.00,0.000,6,0.000,0.021,1975,1925,3148,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5368,-0.52,-184.9,630.7,-11.4,284,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1926,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5668,-0.52,-184.9,660.7,-9.4,294,5674,0.00,2.03,0.00,0.000,4,0.000,0.030,1975,550,3144,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5696,-0.52,-184.9,660.7,-9.4,294,5703,0.00,1.98,0.00,0.000,6,0.000,0.021,1967,1928,3144,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6003,-0.52,-184.9,690.5,-9.1,305,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1928,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6302,-0.52,-184.9,718.5,-9.3,315,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1928,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6603,-0.52,-184.9,746.3,-9.3,325,6609,0.00,2.05,0.00,0.000,4,0.000,0.030,1967,550,3139,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6646,-0.52,-184.9,749.8,-9.5,326,6652,0.12,1.98,0.00,0.000,6,0.148,0.022,1994,1924,3140,0,0,0,0,0,0,25.92,26.26,28.83
$GC,6974,-0.54,-184.9,775.4,-7.3,337,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1925,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7272,-0.55,-184.9,795.7,-6.8,347,7278,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,543,3136,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7337,-0.57,-184.9,800.7,-7.2,349,7343,0.00,2.00,0.00,0.000,6,0.000,0.022,1988,1929,3135,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7676,-0.58,-184.9,826.6,-7.8,360,7682,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,547,3133,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7711,-0.59,-184.9,829.9,-8.0,361,7717,0.00,2.03,0.00,0.000,6,0.000,0.022,1979,1930,3133,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8048,-0.59,-184.9,861.3,-10.0,372,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1931,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8345,-0.59,-184.9,890.6,-9.3,382,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1930,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8646,-0.60,-184.9,916.4,-8.3,392,8651,0.00,2.08,0.00,0.000,4,0.000,0.031,1979,544,3130,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8689,-0.61,-184.9,919.5,-8.3,393,8695,0.00,2.00,0.00,0.000,6,0.000,0.022,1970,1923,3129,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9015,-0.61,-184.9,944.9,-7.1,404,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1924,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,-0.61,-184.9,965.2,-6.7,414,9318,0.00,2.05,0.00,0.000,4,0.000,0.031,1970,552,3127,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9361,-0.61,-184.9,967.6,-6.8,415,9366,0.00,2.00,0.00,0.000,6,0.000,0.023,1964,1931,3126,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,9677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9677,begin apogee
$GC,9686,-0.17,0.0,991.3,-7.2,426,9850,0.40,0.00,153.90,1.418,6,0.119,0.000,2099,1932,2410,0,0,0,0,0,0,25.52,28.83,22.48
$STATE,9852,end apogee,CONTROL_FINISHED_OK
$STATE,9852,begin climb
$GC,9854,0.58,184.9,996.4,0.0,431,10033,0.73,2.38,168.75,1.369,4,0.086,0.034,2346,535,1654,0,0,0,0,0,0,24.62,23.84,21.96
$GC,10052,0.63,290.3,989.3,5.8,438,10155,0.00,2.12,97.53,1.337,6,0.000,0.020,2346,1904,1225,0,0,0,0,0,0,28.83,24.58,22.06
$GC,10457,0.66,305.5,954.1,8.9,451,10476,0.00,2.08,13.40,1.232,4,0.000,0.033,2347,3285,1164,0,0,0,0,0,0,28.83,25.77,23.68
$GC,10556,0.68,309.9,945.5,9.3,454,10567,0.00,1.98,5.65,1.005,6,0.000,0.024,2347,1917,1145,0,0,0,0,0,0,28.83,26.08,23.80
$GC,10885,0.72,343.0,917.7,8.3,465,10925,0.12,2.20,31.67,1.320,4,0.106,0.035,2399,519,1011,0,0,0,0,0,0,26.23,25.48,23.56
$GC,10949,0.73,343.0,910.9,9.5,467,10954,0.00,2.05,0.00,0.000,6,0.000,0.021,2401,1896,1009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11284,0.73,343.0,872.7,11.1,478,11290,0.00,2.05,0.00,0.000,4,0.000,0.034,2401,3286,1005,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11404,0.73,343.0,861.7,11.3,481,11411,0.00,2.03,0.00,0.000,6,0.000,0.024,2401,1889,1003,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11711,0.74,343.0,827.5,10.2,492,11716,0.00,2.05,0.00,0.000,4,0.000,0.035,2401,513,1004,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11739,0.75,343.0,827.5,10.2,492,11746,0.00,2.03,0.00,0.000,6,0.000,0.021,2401,1912,1004,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12048,0.76,343.0,793.8,10.0,503,12054,0.00,2.05,0.00,0.000,4,0.000,0.035,2401,3288,1003,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12146,0.78,343.0,783.2,10.7,506,12151,0.00,2.03,0.00,0.000,6,0.000,0.024,2401,1894,1002,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12477,0.79,343.0,749.5,10.3,517,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1894,1001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12775,0.80,343.0,716.6,11.3,527,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1894,1001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13075,0.81,343.0,682.7,11.2,537,13081,0.00,2.12,0.00,0.000,4,0.000,0.034,2401,3290,1001,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13133,0.82,343.0,678.7,11.2,538,13140,0.00,2.05,0.00,0.000,6,0.000,0.024,2401,1900,1001,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13439,0.84,343.0,645.1,9.9,549,13445,0.00,2.05,0.00,0.000,4,0.000,0.034,2401,512,1001,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13458,0.85,343.0,645.1,9.9,549,13463,0.00,2.03,0.00,0.000,6,0.000,0.020,2401,1911,1001,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13778,0.86,343.0,612.1,9.9,560,13785,0.10,2.05,0.00,0.000,4,0.115,0.032,2446,3282,1001,0,0,0,0,0,0,26.36,26.03,28.83
$GC,13869,0.86,343.0,603.5,11.5,562,13875,0.00,2.03,0.00,0.000,6,0.000,0.024,2455,1888,1001,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14173,0.86,343.0,557.9,14.0,578,14179,0.00,2.12,0.00,0.000,4,0.000,0.034,2455,3292,1000,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,19016,end climb,SURFACE_DEPTH_REACHED
$STATE,19017,begin surface coast
$FINISH,1.3,1.022596
$STATE,19034,end surface coast,CONTROL_FINISHED_OK
$STATE,19034,begin surface
$SM_CCo,19112,0.00,0.000,0,0,390,495.26
$SM_GC,2.15,6.38,0.00,0.00,0.044,0.000,0.000,55,1914,390,-6.48,-0.31,495.26,0,0,0,0,0,0,26.03,28.83,28.83
$IRIDIUM_FIX,1749.63,12347.69,030213,141406
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.35
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3873248
$24V_AH,22.0,78.591
$10V_AH,9.7,52.595
$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,16.650,150.475,602.175,0.000,0.000,0.000,0.000,280.625,0.000,0.000,10.745,2817.136,13118.135,698.755,2460.153,499.695,0.000,2203.402,0.000,2100.490,0.000,0.540,0.000
$DEVICE_MAMPS,240.210,42.840,1417.545,0.000,0.000,0.000,0.000,136.935,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19068.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.839,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,33379,859
$CAP_FILE_SIZE,210098,0
$CFSIZE,260034560,212922368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 85.7,1
$GPS,040213,010206,1757.188,12344.326,39,1.4,39,-2.0