version: 66.11
glider: 129
mission: 4
dive: 399
start: 2 7 113 12 24 59
data:
$ID,129
$MISSION,4
$DIVE,399
$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,-3254.4148
$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,89
$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
$GPS1,070213,121529,1810.328,12302.470,38,1.3,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-64.0
$GPS2,070213,122430,1810.523,12302.433,13,1.3,18,-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,292.3,89695,-15.3,-9.429,-18.41
$D_GRID,3555
$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,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.32,0.000,2,0.000,0.000,54,1891,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-5.2,12,141,7.95,2.17,-31.00,0.000,4,0.237,0.044,1957,3306,3166,0,0,0,0,0,0,24.85,26.06,26.55
$GC,251,-0.53,-184.9,35.9,-26.6,36,257,0.12,1.98,0.00,0.000,6,0.160,0.021,1989,1913,3164,0,0,0,0,0,0,25.86,26.25,28.83
$GC,575,-0.47,-184.9,120.9,-26.2,55,581,0.00,2.00,0.00,0.000,4,0.000,0.028,1989,541,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,770,-0.43,-184.9,161.3,-20.2,64,776,0.15,1.95,0.00,0.000,6,0.147,0.020,2023,1919,3163,0,0,0,0,0,0,25.87,26.29,28.83
$GC,1084,-0.43,-184.9,207.3,-11.4,80,1090,0.00,2.00,0.00,0.000,4,0.000,0.028,2023,545,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1149,-0.43,-184.9,214.0,-10.5,83,1154,0.00,1.95,0.00,0.000,6,0.000,0.020,2014,1932,3165,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1473,-0.43,-184.9,251.3,-10.9,99,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1933,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,-0.43,-184.9,283.8,-11.8,114,1781,0.00,2.03,0.00,0.000,4,0.000,0.028,2015,545,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1843,-0.43,-184.9,291.7,-11.8,117,1848,0.00,1.95,0.00,0.000,6,0.000,0.020,2005,1925,3165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2161,-0.43,-184.9,326.9,-10.9,133,2166,0.00,2.03,0.00,0.000,4,0.000,0.028,2005,535,3163,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2238,-0.43,-184.9,334.0,-11.2,136,2245,0.00,1.98,0.00,0.000,6,0.000,0.020,1996,1927,3163,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2544,-0.43,-184.9,366.0,-9.1,152,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1928,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2849,-0.43,-184.9,394.6,-10.1,167,2854,0.00,2.03,0.00,0.000,4,0.000,0.028,1996,548,3161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2916,-0.43,-184.9,402.0,-10.6,170,2922,0.12,1.98,0.00,0.000,6,0.142,0.021,2024,1929,3161,0,0,0,0,0,0,25.97,26.29,28.83
$GC,3236,-0.45,-184.9,427.5,-7.4,186,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1930,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,-0.47,-184.9,448.1,-6.9,201,3542,0.00,2.05,0.00,0.000,4,0.000,0.034,2015,3304,3157,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3591,-0.49,-184.9,451.2,-6.8,203,3597,0.00,1.95,0.00,0.000,6,0.000,0.021,2015,1932,3157,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3905,-0.50,-184.9,476.5,-7.6,219,3910,0.00,2.00,0.00,0.000,4,0.000,0.030,2015,543,3155,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4106,-0.52,-184.9,493.6,-9.2,228,4113,0.00,2.00,-0.08,0.000,6,0.000,0.021,2007,1939,3178,0,0,0,0,0,0,28.83,26.28,24.94
$GC,4412,-0.53,-184.9,520.0,-8.1,244,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1939,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-0.54,-184.9,543.4,-7.5,259,4719,0.00,2.03,0.00,0.000,4,0.000,0.034,1997,3300,3176,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4758,-0.56,-184.9,546.8,-7.3,261,4764,0.00,1.98,0.00,0.000,6,0.000,0.021,1998,1915,3176,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5082,-0.56,-184.9,573.7,-8.6,277,5088,0.00,2.00,0.00,0.000,4,0.000,0.030,1997,546,3174,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5231,-0.56,-184.9,586.5,-8.8,284,5237,0.00,1.98,0.00,0.000,6,0.000,0.021,1989,1925,3174,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5543,-0.56,-184.9,613.4,-8.8,297,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1925,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5841,-0.56,-184.9,640.8,-9.3,307,5846,0.00,2.05,0.00,0.000,4,0.000,0.031,1989,548,3170,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5888,-0.56,-184.9,644.0,-9.4,308,5893,0.00,1.98,0.00,0.000,6,0.000,0.022,1980,1922,3170,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6208,-0.56,-184.9,677.1,-10.1,319,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1922,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6507,-0.56,-184.9,706.0,-9.5,329,6512,0.00,2.05,0.00,0.000,4,0.000,0.031,1980,550,3166,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6550,-0.56,-184.9,709.3,-9.6,330,6555,0.00,1.98,0.00,0.000,6,0.000,0.021,1971,1924,3166,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6875,-0.56,-184.9,741.5,-9.3,341,6881,0.00,2.05,0.00,0.000,4,0.000,0.036,1961,3302,3164,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6903,-0.56,-184.9,741.5,-9.3,341,6911,0.00,1.98,0.00,0.000,6,0.000,0.021,1961,1916,3163,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7210,-0.56,-184.9,775.1,-10.3,352,7215,0.00,2.03,0.00,0.000,4,0.000,0.031,1961,538,3162,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7297,-0.56,-184.9,781.9,-10.5,354,7304,0.00,2.00,0.00,0.000,6,0.000,0.022,1952,1925,3162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7604,-0.56,-184.9,816.2,-10.3,365,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1925,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7903,-0.56,-184.9,847.2,-10.3,375,7908,0.00,2.05,0.00,0.000,4,0.000,0.031,1951,541,3160,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7946,-0.56,-184.9,850.7,-10.3,376,7952,0.12,2.00,0.00,0.000,6,0.151,0.022,1976,1922,3159,0,0,0,0,0,0,25.84,26.20,28.83
$GC,8273,-0.56,-184.9,878.6,-8.0,387,8279,0.00,2.08,0.00,0.000,4,0.000,0.037,1968,3317,3157,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8308,-0.57,-184.9,881.5,-8.0,388,8313,0.00,2.00,0.00,0.000,6,0.000,0.021,1968,1937,3157,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8646,-0.57,-184.9,910.4,-8.8,399,8651,0.00,2.05,0.00,0.000,4,0.000,0.031,1968,532,3155,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8749,-0.57,-184.9,919.9,-9.6,402,8754,0.00,2.03,0.00,0.000,6,0.000,0.022,1958,1932,3155,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9076,-0.57,-184.9,950.9,-9.2,413,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1932,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,-0.57,-184.9,976.2,-8.2,423,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1932,3153,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9550,begin apogee
$GC,9557,-0.17,0.0,990.4,-7.8,429,9723,0.43,0.00,159.18,1.408,6,0.119,0.000,2100,1932,2410,0,0,0,0,0,0,25.47,28.83,22.46
$STATE,9725,end apogee,CONTROL_FINISHED_OK
$STATE,9725,begin climb
$GC,9727,0.58,184.9,995.3,0.0,434,9907,0.73,2.40,168.73,1.359,4,0.086,0.032,2355,527,1656,0,0,0,0,0,0,24.53,23.80,21.89
$GC,9965,0.61,259.9,984.8,6.9,442,10040,0.00,2.08,67.38,1.332,6,0.000,0.021,2355,1904,1349,0,0,0,0,0,0,28.83,25.32,22.82
$GC,10369,0.64,289.3,949.1,8.4,456,10403,0.00,2.17,26.48,1.302,4,0.000,0.035,2355,3286,1228,0,0,0,0,0,0,28.83,25.51,23.56
$GC,10518,0.66,292.9,937.5,9.3,460,10530,0.00,2.03,4.22,0.864,6,0.000,0.024,2362,1903,1214,0,0,0,0,0,0,28.83,26.09,23.82
$GC,10859,0.67,292.9,903.4,9.4,472,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1902,1212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11159,0.70,321.6,877.6,8.4,482,11193,0.00,2.20,26.85,1.303,4,0.000,0.034,2362,3289,1097,0,0,0,0,0,0,28.83,25.56,23.58
$GC,11238,0.73,346.9,872.0,8.6,484,11271,0.00,2.05,24.80,1.279,6,0.000,0.024,2368,1894,994,0,0,0,0,0,0,28.83,25.94,23.52
$GC,11585,0.75,347.1,838.7,9.4,496,11587,0.10,0.00,0.00,0.000,6,0.118,0.000,2410,1893,989,0,0,0,0,0,0,26.27,28.83,28.83
$GC,11884,0.75,347.1,802.3,12.3,506,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1893,988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12186,0.75,347.1,765.8,12.0,516,12191,0.00,2.10,0.00,0.000,4,0.000,0.034,2411,3285,987,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12264,0.75,347.1,757.9,12.0,518,12270,0.00,2.03,0.00,0.000,6,0.000,0.024,2418,1893,987,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12583,0.75,347.1,717.6,12.6,529,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1893,986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12884,0.75,347.1,677.7,13.5,539,12889,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,514,986,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12911,0.75,347.1,677.7,13.5,539,12919,0.00,2.05,0.00,0.000,6,0.000,0.021,2426,1914,986,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13217,0.75,347.1,633.5,12.9,550,13222,0.00,2.05,0.00,0.000,4,0.000,0.034,2426,3283,986,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13305,0.75,347.1,625.1,13.2,552,13312,0.00,2.03,0.00,0.000,6,0.000,0.024,2426,1896,985,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13612,0.75,347.1,583.5,12.9,565,13618,0.00,2.08,0.00,0.000,4,0.000,0.035,2426,510,985,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13650,0.75,347.1,580.2,12.8,566,13658,0.00,2.00,0.00,0.000,6,0.000,0.021,2426,1898,988,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13955,0.75,347.1,539.5,12.5,582,13961,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,3284,985,0,0,0,0,0,0,28.83,25.99,28.83
$GC,14044,0.75,347.1,529.1,12.4,586,14049,0.00,2.03,0.00,0.000,6,0.000,0.024,2426,1897,985,0,0,0,0,0,0,28.83,26.18,28.83
$GC,14362,0.75,347.1,491.0,11.9,602,14368,0.00,2.10,0.00,0.000,4,0.000,0.034,2426,3284,985,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,18971,end climb,SURFACE_DEPTH_REACHED
$STATE,18972,begin surface coast
$FINISH,1.1,0.000000
$STATE,18987,end surface coast,CONTROL_FINISHED_OK
$STATE,18987,begin surface
$SM_CCo,19064,0.00,0.000,0,0,210,539.41
$SM_GC,1.93,6.38,0.00,0.00,0.040,0.000,0.000,57,1886,210,-6.47,-1.39,539.41,0,0,0,0,0,0,26.03,28.83,28.83
$IRIDIUM_FIX,1800.97,12309.32,070213,060605
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.39
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3867232
$24V_AH,21.9,82.179
$10V_AH,9.6,54.617
$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,16.500,146.650,643.125,0.000,0.000,0.000,0.000,315.700,0.000,0.000,18.869,2619.946,13245.222,717.335,2518.347,493.286,0.000,2264.866,0.000,2121.364,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,43.605,1407.600,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19021.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.440,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,33405,862
$CAP_FILE_SIZE,210003,0
$CFSIZE,260034560,211271680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,290.8,1
$GPS,070213,174400,1811.457,12258.130,37,1.8,37,-2.0