version: 66.11
glider: 129
mission: 4
dive: 403
start: 2 8 113 10 25 6
data:
$ID,129
$MISSION,4
$DIVE,403
$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,-13
$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,-3259.6418
$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,86
$R_STBD_OVSHOOT,92
$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
$GPS1,080213,101606,1816.929,12246.084,36,1.2,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-58.2
$GPS2,080213,102437,1817.065,12246.023,16,1.2,16,-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,292.2,58490,-15.3,-9.429,-18.41
$D_GRID,3668
$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,-184.9,0.0,0.0,0,87,0.00,0.00,-64.80,0.000,2,0.000,0.000,52,1927,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-3.7,11,141,8.10,2.10,-35.33,0.000,4,0.241,0.047,1960,3288,3164,0,0,0,0,0,0,24.85,26.01,26.55
$GC,230,-0.53,-184.9,30.7,-26.0,34,236,0.00,1.92,0.00,0.000,6,0.000,0.022,1960,1932,3164,0,0,0,0,0,0,28.83,26.22,28.83
$GC,544,-0.47,-184.9,126.6,-25.7,53,550,0.15,2.00,0.00,0.000,4,0.159,0.028,2006,536,3163,0,0,0,0,0,0,25.96,26.15,28.83
$GC,763,-0.45,-184.9,163.1,-16.4,63,770,0.00,1.95,0.00,0.000,6,0.000,0.020,1998,1915,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1068,-0.43,-184.9,208.6,-13.4,79,1074,0.00,2.05,0.00,0.000,4,0.000,0.028,1998,502,3165,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1133,-0.42,-184.9,217.4,-14.0,82,1139,0.12,2.03,0.00,0.000,6,0.145,0.020,2023,1925,3165,0,0,0,0,0,0,25.95,26.29,28.83
$GC,1457,-0.42,-184.9,249.3,-9.7,98,1462,0.00,2.03,0.00,0.000,4,0.000,0.028,2023,535,3165,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1530,-0.42,-184.9,255.8,-10.3,101,1536,0.00,1.98,0.00,0.000,6,0.000,0.020,2013,1936,3165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1843,-0.42,-184.9,287.5,-10.4,117,1849,0.00,2.05,0.00,0.000,4,0.000,0.028,2015,534,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1897,-0.42,-184.9,292.3,-10.9,119,1902,0.00,1.98,0.00,0.000,6,0.000,0.019,2006,1933,3161,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2211,-0.42,-184.9,326.6,-10.9,135,2216,0.00,2.03,0.00,0.000,4,0.000,0.028,2006,535,3162,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2330,-0.42,-184.9,337.3,-10.3,140,2337,0.00,1.98,0.00,0.000,6,0.000,0.020,1997,1931,3162,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2635,-0.42,-184.9,368.6,-9.8,156,2640,0.00,2.08,0.00,0.000,4,0.000,0.028,1997,536,3161,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2783,-0.42,-184.9,383.5,-10.1,163,2789,0.12,1.98,0.00,0.000,6,0.144,0.021,2024,1922,3161,0,0,0,0,0,0,25.96,26.29,28.83
$GC,3103,-0.44,-184.9,410.7,-8.5,179,3108,0.00,2.05,0.00,0.000,4,0.000,0.034,2015,3307,3159,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3121,-0.45,-184.9,410.7,-8.5,179,3129,0.00,1.98,0.00,0.000,6,0.000,0.020,2015,1903,3159,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3427,-0.47,-184.9,438.8,-8.5,195,3433,0.00,1.98,0.00,0.000,4,0.000,0.029,2015,544,3156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3501,-0.49,-184.9,444.6,-8.8,198,3506,0.00,1.98,0.00,0.000,6,0.000,0.021,2008,1932,3154,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3815,-0.50,-184.9,469.1,-7.4,214,3821,0.00,2.08,-0.08,0.000,4,0.000,0.046,1998,3301,3182,0,0,0,0,0,0,28.83,26.07,25.27
$GC,3863,-0.52,-184.9,472.2,-7.3,216,3870,0.00,1.95,0.00,0.000,6,0.000,0.020,1998,1927,3182,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4183,-0.52,-184.9,497.6,-8.0,232,4188,0.00,2.03,0.00,0.000,4,0.000,0.030,1998,538,3182,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4266,-0.52,-184.9,504.8,-8.6,236,4271,0.00,2.00,0.00,0.000,6,0.000,0.021,1991,1929,3181,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4591,-0.52,-184.9,531.6,-8.4,252,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1929,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4892,-0.52,-184.9,556.3,-7.9,267,4898,0.00,2.05,0.00,0.000,4,0.000,0.030,1991,549,3178,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4926,-0.52,-184.9,558.6,-8.0,268,4931,0.00,1.98,0.00,0.000,6,0.000,0.021,1983,1924,3178,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5239,-0.52,-184.9,587.5,-9.7,284,5244,0.00,2.05,0.00,0.000,4,0.000,0.029,1982,538,3175,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5262,-0.52,-184.9,589.9,-9.9,285,5267,0.00,2.00,0.00,0.000,6,0.000,0.021,1974,1927,3175,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5577,-0.52,-184.9,622.1,-9.8,297,5582,0.00,2.05,0.00,0.000,4,0.000,0.035,1964,3301,3173,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5600,-0.52,-184.9,622.1,-9.8,297,5605,0.00,1.98,0.00,0.000,6,0.000,0.021,1964,1908,3173,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5915,-0.52,-184.9,651.8,-8.3,308,5921,0.00,2.00,0.00,0.000,4,0.000,0.030,1964,541,3171,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5994,-0.52,-184.9,657.8,-8.8,310,6000,0.15,2.00,0.00,0.000,6,0.144,0.021,1998,1931,3171,0,0,0,0,0,0,25.82,26.23,28.83
$GC,6316,-0.53,-184.9,680.3,-6.5,321,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1931,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,-0.55,-184.9,697.8,-5.5,331,6621,0.00,2.08,0.00,0.000,4,0.000,0.036,1988,3309,3167,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6669,-0.57,-184.9,699.9,-5.6,332,6674,0.00,1.98,0.00,0.000,6,0.000,0.021,1989,1935,3169,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6985,-0.58,-184.9,720.5,-6.4,343,6990,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,542,3166,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7140,-0.58,-184.9,732.2,-7.6,348,7146,0.00,2.00,0.00,0.000,6,0.000,0.022,1980,1925,3165,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7478,-0.58,-184.9,757.2,-7.7,359,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1926,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7774,-0.58,-184.9,781.8,-8.5,369,7779,0.00,2.08,0.00,0.000,4,0.000,0.031,1980,535,3163,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7808,-0.58,-184.9,784.9,-8.6,370,7814,0.00,2.03,0.00,0.000,6,0.000,0.022,1971,1930,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8145,-0.58,-184.9,815.2,-8.7,381,8151,0.00,2.08,0.00,0.000,4,0.000,0.031,1971,533,3162,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8218,-0.58,-184.9,821.6,-9.0,383,8224,0.00,2.03,0.00,0.000,6,0.000,0.023,1963,1934,3161,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8545,-0.58,-184.9,852.0,-8.7,394,8551,0.00,2.05,0.00,0.000,4,0.000,0.037,1952,3303,3160,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8579,-0.58,-184.9,855.1,-8.6,395,8584,0.00,2.00,0.00,0.000,6,0.000,0.022,1952,1915,3160,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8915,-0.58,-184.9,884.1,-8.6,406,8920,0.00,2.03,0.00,0.000,4,0.000,0.032,1952,541,3158,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8979,-0.58,-184.9,890.1,-8.9,408,8984,0.00,2.03,0.00,0.000,6,0.000,0.023,1942,1917,3158,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9316,-0.58,-184.9,921.1,-9.5,419,9321,0.12,2.08,0.00,0.000,4,0.153,0.030,1983,538,3157,0,0,0,0,0,0,26.06,26.00,28.83
$GC,9354,-0.58,-184.9,924.3,-9.2,420,9359,0.00,2.03,0.00,0.000,6,0.000,0.023,1975,1933,3157,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9686,-0.59,-184.9,949.9,-7.6,431,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1933,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9983,-0.60,-184.9,972.9,-7.8,441,9989,0.00,2.08,0.00,0.000,4,0.000,0.031,1975,548,3155,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10011,-0.61,-184.9,972.9,-7.8,441,10018,0.00,2.00,0.00,0.000,6,0.000,0.022,1968,1929,3155,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,10194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10194,begin apogee
$GC,10201,-0.17,0.0,991.5,-8.7,448,10372,0.40,0.00,160.85,1.414,6,0.118,0.000,2098,1929,2409,0,0,0,0,0,0,25.44,28.83,22.27
$STATE,10374,end apogee,CONTROL_FINISHED_OK
$STATE,10374,begin climb
$GC,10377,0.58,184.9,998.1,0.0,453,10557,0.73,2.35,170.25,1.365,4,0.087,0.032,2347,531,1656,0,0,0,0,0,0,24.46,23.63,21.70
$GC,10655,0.63,268.6,986.6,6.6,463,10740,0.00,2.05,74.55,1.347,6,0.000,0.021,2347,1905,1313,0,0,0,0,0,0,28.83,25.65,22.88
$GC,11043,0.67,325.3,958.1,7.5,476,11102,0.00,2.15,51.03,1.339,4,0.000,0.034,2347,3292,1081,0,0,0,0,0,0,28.83,25.18,23.31
$GC,11170,0.71,363.0,948.0,8.1,480,11214,0.12,2.05,34.90,1.312,6,0.106,0.024,2396,1905,926,0,0,0,0,0,0,25.76,25.91,23.39
$GC,11528,0.72,363.0,906.0,13.0,492,11533,0.00,2.10,0.00,0.000,4,0.000,0.034,2406,502,923,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11570,0.73,363.0,901.8,12.9,493,11576,0.00,2.05,0.00,0.000,6,0.000,0.021,2407,1923,922,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11897,0.73,363.0,860.8,12.4,504,11902,0.00,2.03,0.00,0.000,4,0.000,0.035,2407,3279,921,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12000,0.73,363.0,848.1,13.0,507,12005,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1888,920,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12325,0.73,363.0,806.7,12.0,518,12331,0.00,2.08,0.00,0.000,4,0.000,0.034,2423,503,920,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12373,0.73,363.0,802.4,11.9,519,12379,0.00,2.03,0.00,0.000,6,0.000,0.021,2423,1901,920,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12695,0.73,363.0,762.2,12.1,530,12701,0.00,2.08,0.00,0.000,4,0.000,0.035,2423,3290,919,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12778,0.73,363.0,753.6,12.4,532,12784,0.12,2.03,0.00,0.000,6,0.168,0.024,2394,1899,919,0,0,0,0,0,0,25.80,26.21,28.83
$GC,13096,0.74,363.0,719.7,10.1,543,13101,0.00,2.08,0.00,0.000,4,0.000,0.034,2403,513,919,0,0,0,0,0,0,28.83,26.05,28.83
$GC,13143,0.76,363.0,716.0,10.0,544,13149,0.00,2.03,0.00,0.000,6,0.000,0.021,2403,1913,918,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,19756,end climb,SURFACE_DEPTH_REACHED
$STATE,19756,begin surface coast
$FINISH,1.0,1.014022
$STATE,19773,end surface coast,CONTROL_FINISHED_OK
$STATE,19773,begin surface
$SM_CCo,19851,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1810.04,12249.16,080213,040409
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.92
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3865696
$24V_AH,21.7,83.088
$10V_AH,9.7,55.130
$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,16.925,187.325,639.950,0.000,0.000,0.000,0.000,289.875,0.000,0.000,17.234,3050.502,13292.876,788.110,2667.759,554.046,0.000,2405.362,0.000,2304.598,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,47.430,1413.720,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.049,0.000,0.000,0.000
$MEM,308676
$DATA_FILE_SIZE,33337,890
$CAP_FILE_SIZE,227765,0
$CFSIZE,260034560,210849792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,335.9,1
$GPS,080213,155706,1819.084,12242.457,28,1.4,28,-2.0