version: 66.11
glider: 129
mission: 4
dive: 409
start: 2 9 113 18 32 17
data:
$ID,129
$MISSION,4
$DIVE,409
$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,-3267.6677
$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,71
$R_STBD_OVSHOOT,95
$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
$GPS1,090213,182330,1826.187,12227.902,38,1.8,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-61.5
$GPS2,090213,183149,1826.455,12227.801,13,1.7,13,-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,251.5,22104,-15.3,-9.429,-18.41
$D_GRID,1041
$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,-184.9,0.0,0.0,0,82,0.00,0.00,-59.33,0.000,2,0.000,0.000,49,1930,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.58,-184.9,3.1,-4.1,10,135,8.00,2.08,-34.78,0.000,4,0.239,0.045,1959,3290,3165,0,0,0,0,0,0,24.91,26.06,26.55
$GC,277,-0.53,-184.9,41.7,-23.7,38,285,0.00,1.98,0.00,0.000,6,0.000,0.021,1959,1913,3165,0,0,0,0,0,0,28.83,26.25,28.83
$GC,593,-0.48,-184.9,127.5,-21.7,56,599,0.12,1.98,0.00,0.000,4,0.161,0.027,1999,528,3165,0,0,0,0,0,0,26.05,26.17,28.83
$GC,733,-0.46,-184.9,145.0,-13.0,62,740,0.00,1.95,0.00,0.000,6,0.000,0.021,1991,1907,3165,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1039,-0.45,-184.9,185.3,-11.9,78,1044,0.00,2.00,0.00,0.000,4,0.000,0.028,1991,534,3166,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1154,-0.44,-184.9,198.9,-13.2,83,1160,0.12,2.00,0.00,0.000,6,0.148,0.021,2016,1947,3166,0,0,0,0,0,0,25.94,26.27,28.83
$GC,1468,-0.44,-184.9,232.0,-9.7,99,1474,0.00,2.05,0.00,0.000,4,0.000,0.028,2016,529,3166,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1567,-0.44,-184.9,241.3,-11.1,103,1573,0.00,2.00,0.00,0.000,6,0.000,0.021,2008,1939,3166,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1873,-0.44,-184.9,272.7,-9.0,119,1878,0.00,2.05,0.00,0.000,4,0.000,0.028,2008,538,3164,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2037,-0.44,-184.9,287.0,-8.4,127,2043,0.00,2.00,0.00,0.000,6,0.000,0.021,1999,1922,3164,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2361,-0.44,-184.9,312.6,-8.5,143,2366,0.00,2.05,0.00,0.000,4,0.000,0.029,1999,529,3163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2399,-0.44,-184.9,315.0,-9.0,144,2406,0.00,2.00,0.00,0.000,6,0.000,0.021,1990,1933,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2705,-0.44,-184.9,349.6,-10.1,160,2710,0.00,2.05,0.00,0.000,4,0.000,0.029,1990,539,3162,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2824,-0.44,-184.9,359.9,-9.8,165,2832,0.08,2.00,0.00,0.000,6,0.125,0.021,2022,1921,3161,0,0,0,0,0,0,25.90,26.28,28.83
$GC,3129,-0.46,-184.9,380.6,-6.3,181,3135,0.00,2.05,0.00,0.000,4,0.000,0.029,2022,532,3159,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3177,-0.48,-184.9,383.5,-6.3,183,3182,0.00,2.00,0.00,0.000,6,0.000,0.020,2015,1935,3159,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3496,-0.49,-184.9,408.0,-8.3,199,3502,0.00,2.05,0.00,0.000,4,0.000,0.028,2015,538,3156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3544,-0.51,-184.9,412.1,-8.8,201,3550,0.00,2.00,0.00,0.000,6,0.000,0.021,2006,1922,3156,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3864,-0.52,-184.9,440.5,-9.1,217,3870,0.00,2.08,-0.08,0.000,4,0.000,0.041,2007,528,3182,0,0,0,0,0,0,28.83,26.13,25.26
$GC,3946,-0.53,-184.9,446.3,-9.1,220,3953,0.00,2.03,0.00,0.000,6,0.000,0.021,1998,1950,3181,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4249,-0.53,-184.9,474.8,-9.6,236,4254,0.00,2.10,0.00,0.000,4,0.000,0.029,1998,532,3181,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4327,-0.53,-184.9,481.3,-10.1,239,4334,0.00,2.00,0.00,0.000,6,0.000,0.021,1990,1930,3181,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4633,-0.53,-184.9,508.2,-7.5,255,4640,0.00,2.05,0.00,0.000,4,0.000,0.029,1989,536,3180,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4673,-0.53,-184.9,510.6,-8.0,256,4680,0.00,2.00,0.00,0.000,6,0.000,0.021,1981,1933,3180,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4978,-0.53,-184.9,539.4,-8.8,272,4984,0.00,2.05,0.00,0.000,4,0.000,0.030,1981,539,3177,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5052,-0.53,-184.9,545.7,-9.7,275,5057,0.00,2.00,0.00,0.000,6,0.000,0.021,1972,1932,3178,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5366,-0.53,-184.9,575.6,-7.2,291,5371,0.00,2.08,0.00,0.000,4,0.000,0.030,1972,537,3177,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5430,-0.53,-184.9,579.9,-7.0,294,5436,0.00,2.03,0.00,0.000,6,0.000,0.023,1963,1931,3176,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5744,-0.53,-184.9,607.8,-8.1,308,5749,0.00,2.05,0.00,0.000,4,0.000,0.031,1963,537,3174,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5899,-0.53,-184.9,625.5,-11.6,313,5905,0.12,2.03,0.00,0.000,6,0.150,0.023,1989,1929,3173,0,0,0,0,0,0,25.87,26.20,28.83
$GC,6236,-0.53,-184.9,660.6,-10.3,324,6241,0.00,2.08,0.00,0.000,4,0.000,0.035,1980,3318,3171,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6280,-0.54,-184.9,663.8,-9.5,325,6285,0.00,2.00,0.00,0.000,6,0.000,0.021,1980,1873,3171,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6606,-0.60,-184.9,667.2,-1.1,336,6611,0.00,1.95,0.00,0.000,4,0.000,0.030,1979,537,3170,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6842,-0.64,-184.9,669.2,-1.4,343,6847,0.00,2.05,0.00,0.000,6,0.000,0.030,1969,1919,3165,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7159,-0.70,-184.9,673.6,-1.5,354,7164,0.00,2.03,0.00,0.000,4,0.000,0.024,1969,518,3164,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7394,-0.73,-184.9,675.5,-0.7,361,7400,0.10,2.10,0.00,0.000,6,0.115,0.031,1919,1928,3163,0,0,0,0,0,0,25.95,26.09,28.83
$STATE,7406,end dive,NO_VERTICAL_VELOCITY
$STATE,7406,begin apogee
$GC,7412,-0.17,0.0,675.7,0.0,362,7574,0.50,0.00,153.60,1.183,6,0.073,0.000,2112,1930,2408,0,0,0,0,0,0,25.87,28.83,23.22
$STATE,7576,end apogee,CONTROL_FINISHED_OK
$STATE,7576,begin climb
$GC,7579,0.58,184.9,676.9,0.0,367,7745,0.65,2.22,155.23,1.146,4,0.076,0.031,2355,514,1656,0,0,0,0,0,0,25.19,25.06,23.28
$GC,7762,0.69,447.1,677.2,0.4,373,7993,0.00,2.10,221.75,1.131,6,0.000,0.021,2355,1938,586,0,0,0,0,0,0,28.83,25.56,23.36
$GC,8318,0.78,584.8,649.1,4.7,392,8407,0.12,2.12,79.25,1.117,4,0.101,0.037,2415,3264,210,0,0,0,0,0,0,26.22,25.26,23.60
$GC,8516,0.81,584.8,632.4,9.6,398,8522,0.00,2.00,0.00,0.000,6,0.000,0.024,2415,1900,208,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8838,0.84,584.8,590.0,13.5,410,8844,0.00,2.08,0.00,0.000,4,0.000,0.035,2418,508,207,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8887,0.87,584.8,584.5,11.7,412,8892,0.00,2.00,0.00,0.000,6,0.000,0.021,2418,1901,207,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9206,0.90,584.8,536.6,14.7,428,9211,0.00,2.05,0.00,0.000,4,0.000,0.034,2418,3281,206,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9233,0.93,584.8,533.6,14.1,429,9240,0.12,2.00,0.00,0.000,6,0.099,0.023,2477,1896,206,0,0,0,0,0,0,26.10,26.26,28.83
$GC,9553,0.93,584.8,482.0,15.4,445,9558,0.00,2.05,0.00,0.000,4,0.000,0.035,2487,515,206,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9656,0.93,584.8,465.5,16.0,450,9661,0.00,2.03,0.00,0.000,6,0.000,0.021,2486,1919,206,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9980,0.93,584.8,414.7,15.9,466,9985,0.00,2.12,0.00,0.000,4,0.000,0.034,2495,518,205,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10023,0.93,584.8,408.0,15.8,468,10029,0.12,2.00,0.00,0.000,6,0.138,0.020,2459,1901,205,0,0,0,0,0,0,25.96,26.30,28.83
$GC,10348,0.95,584.8,368.6,12.5,484,10354,0.00,2.10,0.00,0.000,4,0.000,0.034,2467,511,205,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10397,0.97,584.8,362.7,13.1,486,10402,0.00,2.00,0.00,0.000,6,0.000,0.020,2467,1898,205,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10715,0.98,584.8,313.5,14.2,502,10721,0.00,2.08,0.00,0.000,4,0.000,0.034,2475,522,205,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10749,1.00,584.8,310.4,13.5,503,10754,0.00,2.00,0.00,0.000,6,0.000,0.019,2476,1913,205,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11063,1.01,584.8,263.8,14.1,519,11068,0.00,2.12,0.00,0.000,4,0.000,0.033,2482,515,205,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11101,1.02,584.8,260.3,14.1,520,11108,0.00,2.00,0.00,0.000,6,0.000,0.020,2482,1891,205,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11407,1.02,584.8,214.0,14.7,536,11412,0.00,2.10,0.00,0.000,4,0.000,0.034,2482,508,205,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11474,1.04,584.8,205.2,13.8,539,11479,0.00,2.00,0.00,0.000,6,0.000,0.019,2482,1902,205,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11792,1.05,584.8,162.4,12.8,555,11798,0.00,2.10,0.00,0.000,4,0.000,0.033,2482,507,205,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11852,1.07,584.8,157.2,12.0,557,11858,0.00,2.00,0.00,0.000,6,0.000,0.019,2482,1907,205,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12157,1.10,584.8,122.6,10.4,573,12162,0.00,2.10,0.00,0.000,4,0.000,0.032,2482,507,205,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12211,1.13,584.8,118.6,9.7,575,12217,0.12,2.00,0.00,0.000,6,0.096,0.019,2537,1919,205,0,0,0,0,0,0,26.09,26.28,28.83
$GC,12525,1.15,584.8,79.3,11.3,591,12530,0.00,2.08,0.00,0.000,4,0.000,0.031,2544,515,204,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12565,1.16,584.8,76.6,11.3,592,12571,0.00,1.98,0.00,0.000,6,0.000,0.018,2544,1907,207,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12869,1.18,584.8,38.0,12.4,612,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1911,209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13173,1.19,584.8,4.7,10.5,660,13180,0.00,2.08,0.00,0.000,4,0.000,0.031,2553,508,210,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,13196,end climb,SURFACE_DEPTH_REACHED
$STATE,13196,begin surface coast
$FINISH,1.0,1.022366
$STATE,13211,end surface coast,CONTROL_FINISHED_OK
$STATE,13212,begin surface
$SM_CCo,13291,0.00,0.000,0,0,208,539.91
$SM_GC,1.57,6.47,2.08,0.00,0.043,0.021,0.000,53,1906,208,-6.48,-2.29,539.91,0,0,0,0,0,0,25.98,26.19,28.83
$IRIDIUM_FIX,1819.13,12232.10,090213,141414
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.52
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3863392
$24V_AH,23.2,84.408
$10V_AH,9.7,55.858
$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,16.675,130.525,609.825,0.000,0.000,0.000,0.000,290.325,0.000,0.000,13.817,2299.284,8235.426,687.461,2135.799,425.924,0.000,2014.983,0.000,1792.558,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,45.135,1182.690,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13234.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.151,0.000,0.000,0.000
$MEM,308676
$DATA_FILE_SIZE,23408,667
$CAP_FILE_SIZE,167784,0
$CFSIZE,260034560,210317312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,  2.3,1
$GPS,090213,221506,1826.594,12226.111,37,1.0,37,-2.0