version: 66.11
glider: 129
mission: 4
dive: 448
start: 2 17 113 0 32 24
data:
$ID,129
$MISSION,4
$DIVE,448
$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,-14
$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,-3344.0654
$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,87
$R_STBD_OVSHOOT,81
$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,20
$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
$GPS1,170213,002253,1921.280,12254.184,38,1.8,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-55.4
$GPS2,170213,003155,1921.317,12254.248,15,1.7,15,-2.3
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,40.5,179121,-15.3,-9.429,-18.41
$D_GRID,4542
$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,-64.62,0.000,2,0.000,0.000,46,1891,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.7,-6.2,11,134,7.93,0.00,-27.38,0.000,6,0.234,0.000,1967,1898,3162,0,0,0,0,0,0,24.87,28.83,26.52
$GC,457,-0.53,-184.9,98.3,-21.7,45,463,0.00,1.98,0.00,0.000,4,0.000,0.031,1967,549,3162,0,0,0,0,0,0,28.83,26.02,28.83
$GC,617,-0.49,-184.9,128.7,-19.1,52,624,0.15,1.98,0.00,0.000,6,0.150,0.022,2000,1928,3164,0,0,0,0,0,0,25.71,26.15,28.83
$GC,923,-0.48,-184.9,178.1,-13.6,68,928,0.00,2.03,0.00,0.000,4,0.000,0.028,2000,549,3164,0,0,0,0,0,0,28.83,26.04,28.83
$GC,960,-0.46,-184.9,181.5,-13.7,69,967,0.00,1.95,0.00,0.000,6,0.000,0.021,1991,1942,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1268,-0.45,-184.9,224.3,-14.0,85,1273,0.00,2.03,0.00,0.000,4,0.000,0.028,1992,549,3164,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1312,-0.43,-184.9,230.9,-14.6,87,1318,0.15,1.92,0.00,0.000,6,0.139,0.021,2025,1918,3164,0,0,0,0,0,0,25.77,26.20,28.83
$GC,1637,-0.43,-184.9,267.2,-10.1,103,1642,0.00,2.03,0.00,0.000,4,0.000,0.029,2025,548,3163,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1694,-0.43,-184.9,271.5,-9.9,105,1702,0.00,1.98,0.00,0.000,6,0.000,0.020,2018,1944,3163,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2000,-0.43,-184.9,302.8,-9.5,121,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1945,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,-0.43,-184.9,328.6,-7.8,136,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1945,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2605,-0.43,-184.9,353.2,-8.4,151,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1945,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2904,-0.44,-184.9,378.5,-8.3,166,2909,0.00,2.05,0.00,0.000,4,0.000,0.030,2017,552,3160,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2969,-0.46,-184.9,384.5,-8.8,169,2974,0.00,1.95,0.00,0.000,6,0.000,0.021,2008,1931,3160,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3293,-0.46,-184.9,414.4,-9.3,185,3299,0.00,2.05,0.00,0.000,4,0.000,0.031,2009,542,3159,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3342,-0.46,-184.9,419.0,-9.8,187,3347,0.00,1.98,0.00,0.000,6,0.000,0.021,2000,1927,3159,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3661,-0.46,-184.9,450.0,-9.6,203,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1927,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3964,-0.46,-184.9,476.1,-7.9,218,3966,0.00,0.00,-0.08,0.000,6,0.000,0.000,2000,1928,3178,0,0,0,0,0,0,28.83,28.83,25.05
$GC,4262,-0.47,-184.9,499.2,-7.6,233,4267,0.00,2.08,0.00,0.000,4,0.000,0.031,2000,554,3178,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4347,-0.48,-184.9,506.3,-8.3,237,4352,0.00,1.98,0.00,0.000,6,0.000,0.021,1991,1922,3179,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4671,-0.48,-184.9,535.4,-9.4,253,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1924,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4974,-0.48,-184.9,563.9,-9.3,268,4979,0.00,2.05,0.00,0.000,4,0.000,0.031,1991,546,3175,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5027,-0.48,-184.9,568.4,-9.5,270,5032,0.00,2.00,0.00,0.000,6,0.000,0.021,1983,1934,3175,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5340,-0.48,-184.9,597.6,-9.0,286,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1935,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5652,-0.48,-184.9,625.2,-9.0,297,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1935,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5951,-0.48,-184.9,653.0,-9.0,307,5956,0.00,2.08,0.00,0.000,4,0.000,0.032,1982,556,3169,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5985,-0.48,-184.9,656.2,-9.1,308,5991,0.05,2.00,0.00,0.000,6,0.097,0.022,2010,1917,3169,0,0,0,0,0,0,25.75,26.15,28.83
$GC,6321,-0.50,-184.9,679.1,-6.5,319,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1917,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6620,-0.52,-184.9,698.1,-6.1,329,6626,0.00,2.05,0.00,0.000,4,0.000,0.032,2010,543,3166,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6679,-0.54,-184.9,700.3,-6.2,330,6687,0.00,2.03,0.00,0.000,6,0.000,0.022,2003,1949,3165,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6987,-0.55,-184.9,720.9,-6.5,341,6992,0.00,2.03,0.00,0.000,4,0.000,0.035,1993,3301,3163,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7016,-0.57,-184.9,720.9,-6.5,341,7023,0.00,1.98,0.00,0.000,6,0.000,0.024,1993,1951,3163,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7324,-0.58,-184.9,744.6,-7.1,352,7329,0.00,2.10,0.00,0.000,4,0.000,0.034,1993,529,3162,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7413,-0.60,-184.9,749.7,-7.4,354,7419,0.00,2.00,0.00,0.000,6,0.000,0.022,1983,1928,3162,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7718,-0.60,-184.9,775.0,-7.9,365,7723,0.00,2.05,0.00,0.000,4,0.000,0.035,1973,3300,3161,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7742,-0.60,-184.9,775.0,-7.9,365,7747,0.00,2.03,0.00,0.000,6,0.000,0.024,1973,1916,3160,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8059,-0.60,-184.9,803.4,-8.5,376,8064,0.00,2.05,0.00,0.000,4,0.000,0.034,1973,529,3160,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8117,-0.60,-184.9,806.6,-8.6,377,8125,0.00,2.05,0.00,0.000,6,0.000,0.023,1964,1949,3159,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8424,-0.60,-184.9,836.2,-8.9,388,8429,0.00,2.12,0.00,0.000,4,0.000,0.032,1965,527,3158,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8466,-0.60,-184.9,839.4,-9.0,389,8472,0.00,2.05,0.00,0.000,6,0.000,0.023,1954,1937,3158,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8793,-0.60,-184.9,870.7,-9.3,400,8798,0.00,2.10,0.00,0.000,4,0.000,0.033,1954,534,3156,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8836,-0.60,-184.9,874.4,-9.4,401,8841,0.00,2.03,0.00,0.000,6,0.000,0.023,1946,1923,3156,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9159,-0.60,-184.9,906.9,-9.6,412,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1921,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9461,-0.60,-184.9,935.0,-9.3,422,9466,0.00,2.10,0.00,0.000,4,0.000,0.036,1935,3313,3154,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9495,-0.60,-184.9,938.4,-9.4,423,9501,0.12,2.05,0.00,0.000,6,0.144,0.025,1968,1917,3154,0,0,0,0,0,0,25.65,26.01,28.83
$GC,9830,-0.60,-184.9,965.0,-7.8,434,9835,0.00,2.05,0.00,0.000,4,0.000,0.034,1968,541,3153,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9925,-0.60,-184.9,972.6,-8.1,437,9930,0.00,2.03,0.00,0.000,6,0.000,0.024,1960,1925,3153,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10166,begin apogee
$GC,10173,-0.17,0.0,990.7,-7.2,445,10339,0.43,0.00,158.50,1.417,6,0.118,0.000,2101,1926,2409,0,0,0,0,0,0,25.24,28.83,22.50
$STATE,10340,end apogee,CONTROL_FINISHED_OK
$STATE,10340,begin climb
$GC,10343,0.58,184.9,994.1,0.0,450,10524,0.73,2.45,169.80,1.364,4,0.086,0.037,2353,533,1655,0,0,0,0,0,0,24.22,23.36,21.67
$GC,10563,0.60,216.0,980.6,8.4,458,10601,0.00,2.12,29.58,1.300,6,0.000,0.022,2353,1890,1527,0,0,0,0,0,0,28.83,24.72,22.50
$GC,10925,0.61,216.0,946.5,9.4,470,10931,0.00,2.10,0.00,0.000,4,0.000,0.036,2349,3297,1519,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11004,0.62,216.0,939.9,9.9,472,11009,0.00,2.03,0.00,0.000,6,0.000,0.028,2362,1915,1519,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11325,0.63,216.0,906.5,10.0,483,11330,0.00,2.10,0.00,0.000,4,0.000,0.035,2362,3293,1518,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11367,0.63,216.0,902.8,10.1,484,11372,0.00,2.08,0.00,0.000,6,0.000,0.028,2372,1896,1517,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11692,0.63,216.0,869.0,9.8,495,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1896,1517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11990,0.64,225.7,840.8,9.1,505,12005,0.00,2.17,7.70,1.132,4,0.000,0.034,2371,3288,1490,0,0,0,0,0,0,28.83,25.86,23.95
$GC,12048,0.64,234.1,837.7,9.1,506,12065,0.00,2.05,9.55,1.172,6,0.000,0.028,2380,1896,1454,0,0,0,0,0,0,28.83,26.04,23.82
$GC,12388,0.64,238.0,803.9,9.3,518,12395,0.00,0.00,5.03,0.964,6,0.000,0.000,2380,1896,1438,0,0,0,0,0,0,28.83,28.83,24.01
$GC,12689,0.64,238.0,775.3,9.6,528,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1896,1436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12988,0.65,249.5,747.2,9.0,538,13006,0.00,2.20,11.27,1.176,4,0.000,0.034,2380,3299,1392,0,0,0,0,0,0,28.83,25.81,23.92
$GC,13051,0.65,254.7,741.3,9.2,540,13062,0.00,2.08,6.55,1.033,6,0.000,0.028,2388,1901,1370,0,0,0,0,0,0,28.83,26.00,23.86
$GC,13385,0.65,264.8,710.7,9.1,551,13400,0.00,2.12,10.02,1.130,4,0.000,0.037,2399,503,1331,0,0,0,0,0,0,28.83,25.84,23.96
$GC,13434,0.66,274.0,707.5,9.1,552,13450,0.00,2.08,10.38,1.121,6,0.000,0.024,2398,1923,1291,0,0,0,0,0,0,28.83,26.04,23.82
$GC,13751,0.66,274.0,675.2,9.9,563,13756,0.00,2.03,0.00,0.000,4,0.000,0.035,2398,3287,1286,0,0,0,0,0,0,28.83,25.90,28.83
$GC,13845,0.66,274.0,664.8,10.6,566,13851,0.12,2.08,0.00,0.000,6,0.165,0.028,2373,1900,1287,0,0,0,0,0,0,25.65,26.03,28.83
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$STATE,20044,end climb,SURFACE_DEPTH_REACHED
$STATE,20044,begin surface coast
$FINISH,1.1,1.011124
$STATE,20060,end surface coast,CONTROL_FINISHED_OK
$STATE,20060,begin surface
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$IRIDIUM_FIX,1911.51,12251.38,160213,191916
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.61
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3848416
$24V_AH,21.7,92.349
$10V_AH,9.6,60.198
$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,16.450,164.875,612.200,0.000,0.000,0.000,0.000,311.225,0.000,0.000,18.423,2889.738,13966.729,714.682,2525.470,572.175,0.000,2281.837,0.000,2137.764,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,39.015,1416.780,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20096.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.986,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,33341,902
$CAP_FILE_SIZE,220535,0
$CFSIZE,260034560,206761984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,229.7,1
$GPS,170213,060924,1922.999,12254.839,41,1.1,41,-2.3