version: 66.11
glider: 129
mission: 4
dive: 400
start: 2 7 113 17 51 52
data:
$ID,129
$MISSION,4
$DIVE,400
$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,-3255.6726
$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,79
$R_STBD_OVSHOOT,86
$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
$GPS1,070213,174400,1811.457,12258.130,37,1.8,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.6
$GPS2,070213,175125,1811.560,12258.065,15,1.6,15,-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,301.8,81963,-15.3,-9.429,-18.41
$D_GRID,3732
$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,-184.9,0.0,0.0,0,92,0.00,0.00,-69.97,0.000,2,0.000,0.000,56,1884,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-184.9,3.3,-4.4,12,145,8.02,2.17,-30.98,0.000,4,0.240,0.044,1956,3305,3164,0,0,0,0,0,0,24.87,26.03,26.55
$GC,275,-0.53,-184.9,41.4,-25.6,38,284,0.12,1.98,0.00,0.000,6,0.161,0.021,1988,1908,3164,0,0,0,0,0,0,25.85,26.25,28.83
$GC,592,-0.47,-184.9,123.0,-24.0,56,597,0.00,1.98,0.00,0.000,4,0.000,0.028,1988,535,3164,0,0,0,0,0,0,28.83,26.18,28.83
$GC,744,-0.44,-184.9,151.5,-18.5,63,751,0.15,1.95,0.00,0.000,6,0.148,0.020,2022,1916,3165,0,0,0,0,0,0,25.86,26.29,28.83
$GC,1060,-0.44,-184.9,199.4,-12.4,79,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1916,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-0.44,-184.9,232.0,-11.4,94,1368,0.00,2.00,0.00,0.000,4,0.000,0.028,2022,542,3166,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1460,-0.44,-184.9,241.8,-11.3,98,1467,0.00,1.98,0.00,0.000,6,0.000,0.019,2015,1946,3166,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1766,-0.44,-184.9,275.2,-10.4,114,1771,0.00,2.05,0.00,0.000,4,0.000,0.028,2015,542,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1793,-0.44,-184.9,277.6,-10.3,115,1799,0.00,1.95,0.00,0.000,6,0.000,0.020,2006,1924,3166,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2112,-0.44,-184.9,313.7,-10.9,131,2118,0.00,2.03,0.00,0.000,4,0.000,0.028,2005,531,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2166,-0.44,-184.9,318.5,-10.5,133,2172,0.00,1.98,0.00,0.000,6,0.000,0.020,1996,1926,3165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2481,-0.44,-184.9,354.3,-11.0,149,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1928,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2783,-0.44,-184.9,382.9,-10.0,164,2789,0.00,2.03,0.00,0.000,4,0.000,0.028,1996,544,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2811,-0.44,-184.9,385.8,-10.2,165,2817,0.12,1.98,0.00,0.000,6,0.140,0.020,2024,1933,3162,0,0,0,0,0,0,25.98,26.30,28.83
$GC,3132,-0.45,-184.9,412.3,-8.2,181,3137,0.00,2.05,0.00,0.000,4,0.000,0.028,2023,537,3161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3215,-0.47,-184.9,420.0,-9.2,185,3221,0.00,2.00,0.00,0.000,6,0.000,0.020,2018,1936,3161,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3539,-0.49,-184.9,445.7,-7.2,201,3544,0.00,2.03,0.00,0.000,4,0.000,0.033,2007,3306,3159,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3587,-0.51,-184.9,448.5,-6.7,203,3593,0.00,1.95,0.00,0.000,6,0.000,0.020,2007,1919,3159,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3907,-0.52,-184.9,472.1,-7.8,219,3913,0.00,2.00,0.00,0.000,4,0.000,0.028,2007,540,3156,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4028,-0.53,-184.9,481.5,-9.1,224,4036,0.00,1.98,0.00,0.000,6,0.000,0.020,1998,1932,3155,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4331,-0.53,-184.9,509.4,-8.9,240,4338,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,3321,3153,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4397,-0.54,-184.9,514.8,-8.5,243,4403,0.00,1.98,0.00,0.000,6,0.000,0.021,1988,1925,3153,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4724,-0.54,-184.9,541.8,-8.2,259,4729,0.00,2.00,0.00,0.000,4,0.000,0.029,1988,548,3151,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4843,-0.54,-184.9,551.5,-9.4,264,4850,0.00,1.98,0.00,0.000,6,0.000,0.021,1979,1933,3150,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5147,-0.54,-184.9,582.4,-9.7,280,5153,0.00,2.03,0.00,0.000,4,0.000,0.029,1979,548,3147,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5194,-0.54,-184.9,586.9,-10.2,282,5200,0.00,2.00,0.00,0.000,6,0.000,0.021,1970,1927,3147,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5516,-0.54,-184.9,618.4,-9.4,295,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1928,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,-0.54,-184.9,645.6,-8.8,305,5819,0.00,2.03,0.00,0.000,4,0.000,0.030,1970,549,3144,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5866,-0.54,-184.9,648.8,-8.8,306,5871,0.00,1.98,0.00,0.000,6,0.000,0.022,1961,1925,3144,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6180,-0.54,-184.9,680.7,-10.2,317,6185,0.00,2.03,0.00,0.000,4,0.000,0.031,1961,556,3141,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6232,-0.54,-184.9,684.4,-10.5,318,6239,0.12,1.98,0.00,0.000,6,0.152,0.022,1986,1926,3141,0,0,0,0,0,0,25.88,26.23,28.83
$GC,6550,-0.54,-184.9,713.0,-8.1,329,6556,0.00,2.08,0.00,0.000,4,0.000,0.035,1977,3317,3139,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6573,-0.54,-184.9,713.0,-8.1,329,6579,0.00,1.98,0.00,0.000,6,0.000,0.021,1977,1931,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6890,-0.54,-184.9,740.0,-8.1,340,6896,0.00,2.05,0.00,0.000,4,0.000,0.031,1977,534,3137,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7045,-0.54,-184.9,753.7,-8.8,345,7050,0.00,2.03,0.00,0.000,6,0.000,0.022,1968,1933,3137,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7382,-0.54,-184.9,783.5,-9.2,356,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1933,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7679,-0.54,-184.9,810.9,-9.2,366,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1933,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,-0.54,-184.9,838.9,-9.3,376,7986,0.00,2.05,0.00,0.000,4,0.000,0.031,1968,548,3132,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8062,-0.54,-184.9,845.1,-9.4,378,8068,0.00,2.00,0.00,0.000,6,0.000,0.023,1959,1931,3131,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8376,-0.54,-184.9,876.1,-9.2,389,8381,0.00,2.05,0.00,0.000,4,0.000,0.036,1948,3310,3130,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8424,-0.54,-184.9,879.4,-9.3,390,8430,0.12,2.00,0.00,0.000,6,0.145,0.022,1983,1912,3130,0,0,0,0,0,0,25.86,26.23,28.83
$GC,8746,-0.55,-184.9,906.0,-7.5,401,8752,0.00,2.00,0.00,0.000,4,0.000,0.031,1980,553,3129,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8891,-0.57,-184.9,916.3,-8.1,405,8896,0.00,2.00,0.00,0.000,6,0.000,0.022,1976,1938,3128,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9205,-0.57,-184.9,940.9,-7.2,416,9211,0.00,2.08,0.00,0.000,4,0.000,0.031,1976,552,3126,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9274,-0.57,-184.9,946.1,-7.6,418,9279,0.00,2.00,0.00,0.000,6,0.000,0.023,1968,1932,3127,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9604,-0.57,-184.9,973.4,-8.4,429,9610,0.00,2.05,0.00,0.000,4,0.000,0.037,1958,3306,3126,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9623,-0.57,-184.9,973.4,-8.4,429,9629,0.00,1.98,0.00,0.000,6,0.000,0.021,1958,1930,3126,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,9789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9789,begin apogee
$GC,9795,-0.17,0.0,990.1,-9.0,435,9959,0.45,0.00,153.93,1.414,6,0.122,0.000,2105,1924,2409,0,0,0,0,0,0,25.34,28.83,22.43
$STATE,9960,end apogee,CONTROL_FINISHED_OK
$STATE,9960,begin climb
$GC,9963,0.58,184.9,996.6,0.0,440,10142,0.70,2.33,168.95,1.369,4,0.090,0.035,2342,3279,1654,0,0,0,0,0,0,24.57,23.77,21.86
$GC,10175,0.63,290.2,989.7,5.8,447,10279,0.00,2.12,96.53,1.342,6,0.000,0.022,2351,1903,1224,0,0,0,0,0,0,28.83,24.84,22.18
$GC,10611,0.66,319.7,952.6,8.4,462,10644,0.00,2.20,26.00,1.307,4,0.000,0.035,2348,3286,1104,0,0,0,0,0,0,28.83,25.51,23.54
$GC,10688,0.69,338.5,946.8,8.8,464,10713,0.00,2.05,18.42,1.268,6,0.000,0.024,2359,1896,1029,0,0,0,0,0,0,28.83,25.93,23.56
$GC,11037,0.72,358.3,914.3,8.7,476,11066,0.00,2.15,18.92,1.281,4,0.000,0.034,2369,510,948,0,0,0,0,0,0,28.83,25.70,23.66
$GC,11088,0.75,377.9,911.9,8.8,477,11113,0.00,2.03,19.30,1.269,6,0.000,0.021,2369,1907,869,0,0,0,0,0,0,28.83,25.96,23.57
$GC,11432,0.78,380.8,878.5,9.3,489,11438,0.12,2.05,0.00,0.000,4,0.106,0.034,2428,3285,863,0,0,0,0,0,0,26.21,26.08,28.83
$GC,11533,0.79,380.8,865.3,13.0,492,11539,0.00,2.03,0.00,0.000,6,0.000,0.024,2437,1892,863,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11865,0.79,380.8,817.9,14.2,503,11870,0.00,2.10,0.00,0.000,4,0.000,0.034,2437,3282,862,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11917,0.79,380.8,812.7,14.4,504,11922,0.00,2.03,0.00,0.000,6,0.000,0.024,2444,1891,862,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12232,0.79,380.8,764.9,14.7,515,12234,0.12,0.00,0.00,0.000,6,0.168,0.000,2410,1891,862,0,0,0,0,0,0,26.08,28.83,28.83
$GC,12531,0.79,380.8,728.1,11.8,525,12536,0.00,2.12,0.00,0.000,4,0.000,0.034,2410,3293,862,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12579,0.80,380.8,723.8,11.8,526,12585,0.00,2.05,0.00,0.000,6,0.000,0.024,2415,1885,861,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12900,0.80,380.8,684.3,11.5,537,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1885,861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13199,0.80,380.8,650.5,11.4,547,13205,0.00,2.03,0.00,0.000,4,0.000,0.034,2426,514,861,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13233,0.80,380.8,646.4,11.6,548,13238,0.00,2.03,0.00,0.000,6,0.000,0.021,2425,1911,859,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13571,0.80,380.8,604.2,13.0,559,13576,0.00,2.05,0.00,0.000,4,0.000,0.034,2425,3285,860,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,18996,end climb,SURFACE_DEPTH_REACHED
$STATE,18996,begin surface coast
$FINISH,1.1,1.009757
$STATE,19011,end surface coast,CONTROL_FINISHED_OK
$STATE,19011,begin surface
$SM_CCo,19090,0.00,0.000,0,0,508,466.32
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$IRIDIUM_FIX,1803.24,12304.29,070213,121211
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.26
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3866848
$24V_AH,21.9,82.397
$10V_AH,9.7,54.743
$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,16.900,162.900,583.925,0.000,0.000,0.000,0.000,246.825,0.000,0.000,16.234,2856.733,13005.619,703.934,2446.321,511.408,0.000,2190.518,0.000,2149.066,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,44.370,1414.485,0.000,0.000,0.000,0.000,128.520,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19022.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.118,0.000,0.000,0.000
$MEM,329008
$DATA_FILE_SIZE,33394,865
$CAP_FILE_SIZE,212256,0
$CFSIZE,260034560,211173376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,325.9,1
$GPS,070213,231124,1813.691,12254.462,42,1.3,42,-2.0