version: 66.11
glider: 129
mission: 4
dive: 408
start: 2 9 113 14 26 6
data:
$ID,129
$MISSION,4
$DIVE,408
$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,-3266.4084
$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,104
$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
$GPS1,090213,141635,1824.986,12230.021,38,1.2,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-57.9
$GPS2,090213,142537,1825.203,12229.972,11,1.3,11,-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,256.5,26540,-15.3,-9.429,-18.41
$D_GRID,1170
$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,-184.9,0.0,0.0,0,86,0.00,0.00,-63.90,0.000,2,0.000,0.000,45,1921,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.2,-4.2,11,140,7.93,2.08,-35.78,0.000,4,0.233,0.044,1959,3280,3164,0,0,0,0,0,0,24.77,26.03,26.53
$GC,230,-0.53,-184.9,30.9,-25.7,34,236,0.00,1.95,0.00,0.000,6,0.000,0.022,1958,1922,3165,0,0,0,0,0,0,28.83,26.22,28.83
$GC,544,-0.46,-184.9,125.1,-28.6,53,550,0.15,2.00,0.00,0.000,4,0.160,0.027,2005,526,3164,0,0,0,0,0,0,25.93,26.14,28.83
$GC,749,-0.44,-184.9,158.6,-13.9,63,755,0.00,1.95,0.00,0.000,6,0.000,0.020,1996,1903,3165,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1073,-0.43,-184.9,199.7,-10.5,79,1078,0.00,1.98,0.00,0.000,4,0.000,0.028,1996,529,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1194,-0.42,-184.9,211.6,-11.9,84,1201,0.12,1.95,0.00,0.000,6,0.143,0.020,2022,1926,3166,0,0,0,0,0,0,25.94,26.28,28.83
$GC,1498,-0.43,-184.9,243.8,-9.2,100,1503,0.00,2.03,0.00,0.000,4,0.000,0.028,2023,537,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1565,-0.43,-184.9,249.6,-8.8,103,1570,0.00,1.98,0.00,0.000,6,0.000,0.021,2015,1932,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1883,-0.43,-184.9,278.4,-9.9,119,1889,0.00,2.05,0.00,0.000,4,0.000,0.028,2015,531,3163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2052,-0.43,-184.9,296.6,-11.2,127,2058,0.00,1.98,0.00,0.000,6,0.000,0.021,2006,1922,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2371,-0.43,-184.9,327.3,-8.6,143,2376,0.00,2.03,0.00,0.000,4,0.000,0.033,1995,3307,3163,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2398,-0.43,-184.9,329.3,-8.5,144,2404,0.00,1.98,0.00,0.000,6,0.000,0.020,1995,1897,3163,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2718,-0.43,-184.9,360.6,-9.4,160,2723,0.00,1.92,0.00,0.000,4,0.000,0.029,1995,550,3162,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2883,-0.43,-184.9,376.3,-9.7,168,2889,0.12,1.98,0.00,0.000,6,0.142,0.021,2022,1928,3161,0,0,0,0,0,0,25.94,26.27,28.83
$GC,3208,-0.45,-184.9,403.4,-7.5,184,3213,0.00,2.03,0.00,0.000,4,0.000,0.028,2022,556,3159,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3304,-0.46,-184.9,409.6,-7.2,188,3309,0.00,1.98,0.00,0.000,6,0.000,0.021,2015,1935,3161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3619,-0.48,-184.9,433.7,-8.3,204,3625,0.00,2.03,0.00,0.000,4,0.000,0.034,2005,3312,3155,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3643,-0.49,-184.9,435.9,-8.3,205,3650,0.00,1.98,0.00,0.000,6,0.000,0.021,2005,1926,3156,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3969,-0.51,-184.9,464.0,-7.8,221,3975,0.00,2.05,-0.08,0.000,4,0.000,0.042,2005,535,3182,0,0,0,0,0,0,28.83,26.10,25.25
$GC,4083,-0.52,-184.9,472.8,-8.4,226,4088,0.00,2.00,0.00,0.000,6,0.000,0.021,1996,1932,3182,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4397,-0.52,-184.9,500.2,-8.8,242,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1932,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4699,-0.52,-184.9,523.8,-8.5,257,4704,0.00,2.05,0.00,0.000,4,0.000,0.030,1996,546,3181,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4788,-0.52,-184.9,531.6,-8.9,261,4793,0.00,1.98,0.00,0.000,6,0.000,0.021,1988,1925,3180,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5106,-0.52,-184.9,557.1,-7.5,277,5112,0.00,2.05,0.00,0.000,4,0.000,0.035,1977,3302,3178,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5192,-0.53,-184.9,563.7,-7.9,281,5199,0.00,2.00,0.00,0.000,6,0.000,0.021,1977,1918,3177,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5517,-0.53,-184.9,597.0,-10.7,297,5522,0.00,2.00,0.00,0.000,4,0.000,0.030,1977,549,3176,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5630,-0.53,-184.9,606.8,-10.4,301,5635,0.00,1.98,0.00,0.000,6,0.000,0.021,1968,1927,3175,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5944,-0.53,-184.9,641.1,-10.3,312,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1927,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6244,-0.53,-184.9,669.4,-8.5,322,6249,0.00,2.05,0.00,0.000,4,0.000,0.030,1968,547,3172,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6312,-0.53,-184.9,674.7,-8.3,324,6318,0.12,1.98,0.00,0.000,6,0.148,0.021,1993,1922,3171,0,0,0,0,0,0,25.86,26.22,28.83
$GC,6645,-0.54,-184.9,699.0,-8.2,335,6650,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,550,3170,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6680,-0.56,-184.9,702.5,-8.8,336,6685,0.00,2.00,0.00,0.000,6,0.000,0.021,1987,1936,3169,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7018,-0.59,-184.9,726.7,-3.5,347,7023,0.00,2.05,0.00,0.000,4,0.000,0.028,1987,542,3168,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,7199,end dive,NO_VERTICAL_VELOCITY
$STATE,7199,begin apogee
$GC,7208,-0.17,0.0,727.1,0.0,353,7371,0.35,0.00,155.07,1.219,6,0.103,0.000,2106,1893,2409,0,0,0,0,0,0,25.74,28.83,23.11
$STATE,7374,end apogee,CONTROL_FINISHED_OK
$STATE,7374,begin climb
$GC,7376,0.58,184.9,726.7,0.0,358,7544,0.70,2.15,157.27,1.181,4,0.093,0.032,2345,3296,1653,0,0,0,0,0,0,25.04,24.88,23.10
$GC,7733,0.60,224.3,708.3,8.1,370,7771,0.00,2.00,33.65,1.144,6,0.000,0.023,2353,1907,1494,0,0,0,0,0,0,28.83,26.15,23.65
$GC,8080,0.63,265.8,678.4,8.0,382,8118,0.00,0.00,36.22,1.151,6,0.000,0.000,2353,1907,1325,0,0,0,0,0,0,28.83,28.83,23.69
$GC,8412,0.68,333.8,654.3,7.1,393,8478,0.00,2.15,59.45,1.158,4,0.000,0.032,2360,517,1048,0,0,0,0,0,0,28.83,25.32,23.58
$GC,8504,0.74,428.1,648.8,6.2,396,8595,0.12,2.08,82.45,1.143,6,0.101,0.020,2411,1928,662,0,0,0,0,0,0,25.63,25.79,23.45
$GC,8926,0.76,431.9,608.4,9.3,410,8932,0.00,2.03,0.00,0.000,4,0.000,0.034,2411,3286,656,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8982,0.78,435.6,605.2,9.3,411,8994,0.00,2.00,6.75,0.920,6,0.000,0.024,2416,1907,632,0,0,0,0,0,0,28.83,26.24,24.06
$GC,9302,0.80,440.8,573.2,9.2,427,9309,0.00,0.00,5.60,0.868,6,0.000,0.000,2416,1908,613,0,0,0,0,0,0,28.83,28.83,24.07
$GC,9600,0.82,440.8,539.9,11.3,442,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1907,612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9904,0.84,440.8,506.8,11.0,457,9909,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,507,611,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9937,0.86,440.8,503.5,11.2,458,9943,0.00,2.00,0.00,0.000,6,0.000,0.020,2426,1905,611,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10251,0.87,440.8,460.4,13.8,474,10256,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,3293,610,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10315,0.89,440.8,451.3,14.2,477,10320,0.00,2.03,0.00,0.000,6,0.000,0.024,2426,1902,611,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10639,0.90,440.8,409.3,12.4,493,10644,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,512,610,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10703,0.92,440.8,401.9,11.7,496,10708,0.00,2.03,0.00,0.000,6,0.000,0.020,2426,1902,610,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11027,0.94,440.8,363.2,9.6,512,11029,0.12,0.00,0.00,0.000,6,0.100,0.000,2480,1908,610,0,0,0,0,0,0,26.31,28.83,28.83
$GC,11326,0.94,440.8,323.3,15.5,527,11331,0.00,2.08,0.00,0.000,4,0.000,0.034,2480,3294,610,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11404,0.94,440.8,312.1,17.4,530,11411,0.00,2.03,0.00,0.000,6,0.000,0.023,2486,1901,610,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11709,0.94,440.8,258.3,14.3,546,11714,0.00,2.05,0.00,0.000,4,0.000,0.031,2496,513,610,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11748,0.94,440.8,254.8,14.4,547,11755,0.12,2.00,0.00,0.000,6,0.145,0.019,2462,1922,610,0,0,0,0,0,0,25.88,26.25,28.83
$GC,12053,0.94,440.8,208.3,14.9,563,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1927,610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12355,0.95,440.8,170.6,10.9,578,12362,0.00,2.12,0.00,0.000,4,0.000,0.031,2470,504,610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12394,0.96,440.8,167.9,10.2,579,12401,0.00,1.98,0.00,0.000,6,0.000,0.019,2470,1888,610,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12700,0.98,440.8,128.3,11.4,595,12706,0.00,2.05,0.00,0.000,4,0.000,0.031,2478,509,610,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12750,1.01,462.0,125.0,8.7,597,12775,0.00,2.00,19.48,0.759,6,0.000,0.019,2478,1908,525,0,0,0,0,0,0,28.83,26.28,24.01
$GC,13088,1.04,462.0,95.0,10.5,614,13093,0.00,2.03,0.00,0.000,4,0.000,0.031,2478,3278,523,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13100,1.07,462.0,95.0,10.5,614,13106,0.00,2.00,0.00,0.000,6,0.000,0.022,2482,1893,523,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13416,1.12,498.2,70.9,8.2,630,13456,0.12,2.05,30.92,0.692,4,0.093,0.031,2558,512,377,0,0,0,0,0,0,26.31,25.79,24.18
$GC,13544,1.12,498.2,55.2,13.0,636,13550,0.15,2.00,0.00,0.000,6,0.144,0.018,2516,1927,376,0,0,0,0,0,0,25.73,26.13,28.83
$GC,13854,1.14,498.2,24.3,11.8,664,13861,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1936,376,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,14066,end climb,SURFACE_DEPTH_REACHED
$STATE,14066,begin surface coast
$FINISH,1.1,1.014142
$STATE,14088,end surface coast,CONTROL_FINISHED_OK
$STATE,14088,begin surface
$SM_CCo,14165,0.00,0.000,0,0,377,498.69
$SM_GC,1.81,6.30,0.00,0.00,0.041,0.000,0.000,56,1929,377,-6.45,0.11,498.69,0,0,0,0,0,0,26.06,28.83,28.83
$IRIDIUM_FIX,1816.86,12232.10,090213,080835
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.85
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3863776
$24V_AH,23.1,84.201
$10V_AH,9.8,55.754
$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,16.450,113.100,586.875,0.000,0.000,0.000,0.000,323.800,0.000,0.000,12.430,2368.545,9061.528,641.461,2191.191,435.034,0.000,2002.609,0.000,1811.419,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,44.370,1219.410,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14123.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.071,0.000,0.000,0.000
$MEM,308628
$DATA_FILE_SIZE,26722,709
$CAP_FILE_SIZE,171091,0
$CFSIZE,260034560,210399232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243,356.8,1
$GPS,090213,182330,1826.187,12227.902,38,1.8,38,-2.0