version: 66.11
glider: 129
mission: 4
dive: 405
start: 2 8 113 21 29 16
data:
$ID,129
$MISSION,4
$DIVE,405
$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,-3262.3521
$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,90
$R_STBD_OVSHOOT,91
$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
$GPS1,080213,212006,1820.742,12239.141,28,1.2,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-53.7
$GPS2,080213,212847,1820.921,12239.016,11,1.2,15,-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,268.1,44290,-15.3,-9.429,-18.41
$D_GRID,3310
$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,20,-0.58,-184.9,0.0,0.0,0,86,0.00,0.00,-64.32,0.000,2,0.000,0.000,57,1880,1746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.0,-4.0,11,140,8.05,2.17,-36.55,0.000,4,0.240,0.044,1959,3292,3164,0,0,0,0,0,0,24.82,26.04,26.55
$GC,264,-0.53,-184.9,39.9,-26.2,37,272,0.12,1.92,0.00,0.000,6,0.160,0.020,1991,1912,3164,0,0,0,0,0,0,25.86,26.27,28.83
$GC,580,-0.49,-184.9,119.3,-19.1,55,587,0.00,1.98,0.00,0.000,4,0.000,0.028,1991,542,3164,0,0,0,0,0,0,28.83,26.17,28.83
$GC,770,-0.47,-184.9,150.7,-16.2,64,775,0.00,1.95,0.00,0.000,6,0.000,0.020,1982,1910,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1089,-0.44,-184.9,199.7,-14.2,80,1095,0.12,1.98,0.00,0.000,4,0.148,0.025,2023,539,3166,0,0,0,0,0,0,26.12,26.20,28.83
$GC,1159,-0.43,-184.9,207.0,-11.8,83,1166,0.00,1.95,0.00,0.000,6,0.000,0.019,2015,1930,3166,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1479,-0.43,-184.9,240.4,-10.4,99,1484,0.00,2.00,0.00,0.000,4,0.000,0.028,2015,553,3166,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1511,-0.43,-184.9,242.8,-10.3,100,1517,0.00,1.92,0.00,0.000,6,0.000,0.020,2005,1922,3165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1826,-0.43,-184.9,271.8,-9.6,116,1831,0.00,2.03,0.00,0.000,4,0.000,0.027,2005,532,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1973,-0.43,-184.9,286.1,-9.2,123,1978,0.00,1.98,0.00,0.000,6,0.000,0.019,1996,1924,3164,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2296,-0.43,-184.9,318.5,-10.1,139,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1924,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2598,-0.43,-184.9,344.6,-8.2,154,2603,0.00,2.00,0.00,0.000,4,0.000,0.028,1996,548,3160,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2718,-0.43,-184.9,352.7,-7.5,159,2726,0.12,1.98,0.00,0.000,6,0.141,0.021,2023,1938,3162,0,0,0,0,0,0,25.97,26.29,28.83
$GC,3022,-0.45,-184.9,374.0,-7.3,175,3027,0.00,2.03,0.00,0.000,4,0.000,0.028,2023,555,3160,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3086,-0.47,-184.9,379.0,-7.8,178,3092,0.00,1.98,0.00,0.000,6,0.000,0.019,2017,1947,3160,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3412,-0.48,-184.9,402.7,-6.7,194,3417,0.00,2.05,0.00,0.000,4,0.000,0.028,2016,554,3157,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3459,-0.50,-184.9,406.0,-7.0,196,3464,0.00,1.95,0.00,0.000,6,0.000,0.021,2009,1921,3157,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3779,-0.51,-184.9,429.7,-7.2,212,3785,0.00,2.03,0.00,0.000,4,0.000,0.034,1999,3302,3155,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3818,-0.52,-184.9,431.4,-7.0,213,3825,0.00,1.95,-0.08,0.000,6,0.000,0.020,1999,1919,3176,0,0,0,0,0,0,28.83,26.32,24.95
$GC,4125,-0.52,-184.9,457.4,-8.8,229,4130,0.00,2.00,0.00,0.000,4,0.000,0.029,1998,549,3176,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4223,-0.52,-184.9,465.4,-9.4,233,4229,0.00,1.98,0.00,0.000,6,0.000,0.021,1990,1939,3175,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4528,-0.52,-184.9,493.3,-8.4,249,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1939,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4831,-0.52,-184.9,518.7,-7.6,264,4836,0.00,2.03,0.00,0.000,4,0.000,0.029,1990,552,3173,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4951,-0.52,-184.9,527.9,-8.9,269,4959,0.00,1.98,0.00,0.000,6,0.000,0.021,1981,1931,3172,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5254,-0.52,-184.9,557.4,-9.9,285,5260,0.00,2.05,0.00,0.000,4,0.000,0.029,1980,545,3170,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5299,-0.52,-184.9,562.2,-10.5,287,5305,0.00,2.00,0.00,0.000,6,0.000,0.021,1971,1936,3170,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5622,-0.52,-184.9,597.1,-10.1,303,5628,0.00,2.05,0.00,0.000,4,0.000,0.030,1971,552,3168,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5650,-0.52,-184.9,599.5,-10.0,304,5656,0.00,2.00,0.00,0.000,6,0.000,0.021,1962,1955,3168,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5972,-0.52,-184.9,627.8,-8.5,315,5978,0.00,2.08,0.00,0.000,4,0.000,0.030,1962,553,3166,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6006,-0.52,-184.9,631.2,-8.6,316,6012,0.15,1.98,0.00,0.000,6,0.146,0.021,1995,1926,3166,0,0,0,0,0,0,25.81,26.24,28.83
$GC,6344,-0.54,-184.9,658.1,-8.3,327,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1927,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,-0.55,-184.9,683.8,-8.9,337,6647,0.00,2.05,0.00,0.000,4,0.000,0.030,1995,547,3163,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6680,-0.57,-184.9,687.1,-9.0,338,6686,0.00,1.98,0.00,0.000,6,0.000,0.021,1990,1927,3163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7012,-0.58,-184.9,714.7,-7.5,349,7017,0.00,2.05,0.00,0.000,4,0.000,0.035,1980,3313,3161,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7055,-0.59,-184.9,716.9,-6.9,350,7061,0.00,2.00,0.00,0.000,6,0.000,0.021,1980,1937,3161,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7383,-0.59,-184.9,738.3,-6.4,361,7388,0.00,2.08,0.00,0.000,4,0.000,0.031,1980,517,3159,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7527,-0.59,-184.9,747.5,-7.2,365,7532,0.00,2.03,0.00,0.000,6,0.000,0.022,1971,1924,3159,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7844,-0.59,-184.9,776.6,-9.2,376,7849,0.00,2.05,0.00,0.000,4,0.000,0.031,1970,540,3157,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7907,-0.59,-184.9,783.7,-10.0,378,7913,0.00,2.03,0.00,0.000,6,0.000,0.023,1962,1922,3157,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8244,-0.59,-184.9,819.1,-10.8,389,8249,0.00,2.08,0.00,0.000,4,0.000,0.037,1952,3310,3156,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8272,-0.59,-184.9,819.1,-10.8,389,8279,0.00,2.03,0.00,0.000,6,0.000,0.022,1951,1880,3155,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8578,-0.59,-184.9,855.5,-11.1,400,8583,0.00,1.95,0.00,0.000,4,0.000,0.031,1951,550,3155,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8685,-0.59,-184.9,866.3,-11.4,403,8691,0.00,1.98,0.00,0.000,6,0.000,0.022,1942,1935,3155,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9004,-0.59,-184.9,902.6,-10.7,414,9009,0.00,2.08,0.00,0.000,4,0.000,0.031,1942,539,3153,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9081,-0.59,-184.9,909.8,-11.0,416,9087,0.12,2.03,0.00,0.000,6,0.157,0.023,1968,1933,3153,0,0,0,0,0,0,25.79,26.15,28.83
$GC,9403,-0.59,-184.9,939.9,-8.7,427,9408,0.00,2.08,0.00,0.000,4,0.000,0.037,1959,3313,3152,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9431,-0.59,-184.9,939.9,-8.7,427,9438,0.00,2.00,0.00,0.000,6,0.000,0.022,1959,1921,3153,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9737,-0.59,-184.9,971.3,-9.4,438,9743,0.00,2.05,0.00,0.000,4,0.000,0.031,1959,521,3151,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9840,-0.59,-184.9,981.6,-10.5,441,9846,0.00,2.05,0.00,0.000,6,0.000,0.023,1949,1938,3151,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,9921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9922,begin apogee
$GC,9928,-0.17,0.0,990.8,-10.0,444,10094,0.45,0.00,159.18,1.417,6,0.123,0.000,2097,1937,2409,0,0,0,0,0,0,25.33,28.83,22.34
$STATE,10096,end apogee,CONTROL_FINISHED_OK
$STATE,10096,begin climb
$GC,10098,0.58,184.9,997.5,0.0,449,10279,0.73,2.42,170.35,1.365,4,0.088,0.033,2349,531,1655,0,0,0,0,0,0,24.41,23.64,21.71
$GC,10321,0.61,256.0,987.5,7.0,457,10391,0.00,2.10,64.70,1.333,6,0.000,0.020,2349,1901,1365,0,0,0,0,0,0,28.83,24.89,22.38
$GC,10710,0.63,260.9,952.4,9.3,470,10720,0.00,2.10,4.32,0.892,4,0.000,0.034,2349,3291,1346,0,0,0,0,0,0,28.83,25.98,23.89
$GC,10816,0.65,260.9,942.8,10.0,473,10821,0.00,2.03,0.00,0.000,6,0.000,0.023,2356,1898,1344,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11142,0.67,267.8,911.6,9.2,484,11157,0.00,2.15,7.95,1.147,4,0.000,0.034,2356,3279,1316,0,0,0,0,0,0,28.83,25.96,23.92
$GC,11180,0.68,270.3,908.0,9.3,485,11185,0.00,2.03,0.00,0.000,6,0.000,0.024,2362,1892,1315,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11511,0.70,270.3,874.1,9.7,496,11516,0.00,2.03,0.00,0.000,4,0.000,0.034,2372,514,1314,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11564,0.71,270.3,870.5,9.7,497,11569,0.00,2.03,0.00,0.000,6,0.000,0.021,2372,1917,1313,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11880,0.72,270.5,837.8,9.4,508,11885,0.00,2.05,0.00,0.000,4,0.000,0.035,2373,3286,1313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11977,0.72,270.5,827.6,10.4,511,11982,0.00,2.03,0.00,0.000,6,0.000,0.024,2378,1893,1313,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12308,0.72,272.2,795.4,9.4,522,12315,0.00,0.00,4.85,0.956,6,0.000,0.000,2381,1893,1300,0,0,0,0,0,0,28.83,28.83,23.95
$GC,12606,0.72,272.2,765.9,9.9,532,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1893,1299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12906,0.73,272.2,736.2,10.0,542,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1893,1298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13207,0.75,272.2,704.7,10.7,552,13212,0.00,2.12,0.00,0.000,4,0.000,0.034,2378,3284,1298,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13260,0.76,272.2,700.7,10.8,553,13265,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1898,1298,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,19974,end climb,SURFACE_DEPTH_REACHED
$STATE,19974,begin surface coast
$FINISH,1.0,1.001311
$STATE,19990,end surface coast,CONTROL_FINISHED_OK
$STATE,19990,begin surface
$SM_CCo,20070,0.00,0.000,0,0,203,541.13
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$IRIDIUM_FIX,1812.31,12240.98,080213,161639
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.55
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3864928
$24V_AH,21.7,83.552
$10V_AH,9.7,55.388
$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,16.750,187.175,646.100,0.000,0.000,0.000,0.000,299.150,0.000,0.000,16.161,3042.866,13554.690,774.230,2667.615,542.226,0.000,2408.173,0.000,2293.921,0.000,0.540,0.000
$DEVICE_MAMPS,240.210,43.605,1416.780,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20025.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.017,0.000,0.000,0.000
$MEM,308620
$DATA_FILE_SIZE,33346,902
$CAP_FILE_SIZE,228871,0
$CFSIZE,260034560,210640896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135, 19.9,1
$GPS,090213,030506,1821.628,12236.605,39,1.0,39,-2.0