version: 66.11
glider: 129
mission: 4
dive: 451
start: 2 17 113 17 19 6
data:
$ID,129
$MISSION,4
$DIVE,451
$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,-3347.8347
$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,59
$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
$GPS1,170213,170930,1926.064,12258.824,42,1.4,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-55.2
$GPS2,170213,171837,1926.122,12259.060,16,1.3,16,-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,54.4,167251,-15.3,-9.429,-18.41
$D_GRID,4529
$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,-184.9,0.0,0.0,0,88,0.00,0.00,-65.05,0.000,2,0.000,0.000,46,1871,1775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-3.7,11,147,8.00,2.15,-39.22,0.000,4,0.238,0.044,1957,3299,3164,0,0,0,0,0,0,24.98,25.94,26.52
$GC,192,-0.53,-184.9,17.4,-21.6,28,200,0.00,2.03,0.00,0.000,6,0.000,0.023,1957,1912,3165,0,0,0,0,0,0,28.83,26.11,28.83
$GC,518,-0.48,-184.9,102.8,-23.8,53,525,0.15,2.03,0.00,0.000,4,0.159,0.028,2004,528,3164,0,0,0,0,0,0,25.87,26.01,28.83
$GC,714,-0.45,-184.9,136.4,-17.9,62,719,0.00,2.00,0.00,0.000,6,0.000,0.021,1996,1928,3165,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1027,-0.43,-184.9,189.8,-15.2,78,1033,0.00,2.08,0.00,0.000,4,0.000,0.030,1995,521,3165,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1149,-0.42,-184.9,203.7,-13.3,83,1156,0.15,2.03,0.00,0.000,6,0.136,0.021,2030,1938,3166,0,0,0,0,0,0,25.77,26.17,28.83
$GC,1452,-0.42,-184.9,236.7,-9.0,99,1457,0.00,2.08,0.00,0.000,4,0.000,0.030,2030,532,3165,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1499,-0.42,-184.9,241.0,-9.3,101,1505,0.00,2.00,0.00,0.000,6,0.000,0.021,2022,1938,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1819,-0.42,-184.9,273.1,-9.9,117,1824,0.00,2.00,0.00,0.000,4,0.000,0.032,2011,3307,3164,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1856,-0.42,-184.9,275.6,-10.1,118,1864,0.00,2.00,0.00,0.000,6,0.000,0.022,2011,1908,3164,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2162,-0.42,-184.9,311.3,-11.7,134,2168,0.00,2.00,0.00,0.000,4,0.000,0.031,2011,531,3164,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2256,-0.42,-184.9,321.3,-11.9,138,2262,0.00,2.00,0.00,0.000,6,0.000,0.021,2002,1935,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2570,-0.42,-184.9,358.0,-10.4,154,2575,0.00,2.08,0.00,0.000,4,0.000,0.031,2002,540,3162,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2614,-0.42,-184.9,362.6,-10.5,156,2620,0.12,1.98,0.00,0.000,6,0.140,0.021,2029,1925,3162,0,0,0,0,0,0,25.86,26.20,28.83
$GC,2940,-0.43,-184.9,388.6,-7.9,172,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1925,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3243,-0.45,-184.9,413.5,-8.1,187,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1925,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,-0.48,-184.9,437.2,-7.7,202,3547,0.00,2.05,0.00,0.000,4,0.000,0.034,2020,3305,3159,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3566,-0.50,-184.9,439.4,-7.8,203,3573,0.00,2.03,0.00,0.000,6,0.000,0.023,2017,1935,3158,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3893,-0.52,-184.9,464.5,-7.4,219,3898,0.00,2.08,0.00,0.000,4,0.000,0.032,2020,522,3156,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4003,-0.53,-184.9,472.6,-7.8,224,4009,0.00,2.03,0.00,0.000,6,0.000,0.021,2010,1940,3156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4323,-0.55,-184.9,497.6,-8.1,240,4329,0.00,2.17,-0.08,0.000,4,0.000,0.043,2010,522,3184,0,0,0,0,0,0,28.83,25.93,25.13
$GC,4357,-0.56,-184.9,499.5,-8.0,241,4363,0.00,2.03,0.00,0.000,6,0.000,0.022,2002,1925,3184,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4672,-0.57,-184.9,526.9,-8.1,257,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1925,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4974,-0.59,-184.9,549.9,-7.4,272,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1925,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5274,-0.60,-184.9,571.2,-7.5,287,5280,0.12,2.10,0.00,0.000,4,0.094,0.031,1939,525,3181,0,0,0,0,0,0,26.30,25.93,28.83
$GC,5328,-0.60,-184.9,576.3,-9.2,289,5334,0.15,2.03,0.00,0.000,6,0.148,0.023,1974,1919,3180,0,0,0,0,0,0,25.69,26.13,28.83
$GC,5653,-0.60,-184.9,610.9,-10.5,304,5659,0.00,2.08,0.00,0.000,4,0.000,0.035,1961,3317,3178,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5690,-0.60,-184.9,614.5,-10.5,305,5697,0.00,2.03,0.00,0.000,6,0.000,0.024,1961,1912,3179,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6023,-0.60,-184.9,652.4,-11.3,316,6028,0.00,2.03,0.00,0.000,4,0.000,0.033,1961,536,3176,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6126,-0.60,-184.9,663.5,-11.6,319,6131,0.00,2.03,0.00,0.000,6,0.000,0.023,1951,1932,3176,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6450,-0.60,-184.9,701.8,-11.3,330,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1933,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6749,-0.60,-184.9,734.1,-10.6,340,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1933,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7049,-0.60,-184.9,766.2,-10.6,350,7055,0.00,2.12,0.00,0.000,4,0.000,0.033,1951,532,3171,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7083,-0.60,-184.9,769.8,-10.6,351,7088,0.00,2.03,0.00,0.000,6,0.000,0.024,1942,1930,3171,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7418,-0.59,-184.9,803.8,-9.8,362,7423,0.00,2.10,0.00,0.000,4,0.000,0.033,1942,531,3169,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7493,-0.58,-184.9,810.5,-10.1,364,7499,0.15,2.03,0.00,0.000,6,0.148,0.024,1974,1931,3169,0,0,0,0,0,0,25.62,26.06,28.83
$GC,7820,-0.58,-184.9,836.7,-7.8,375,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1932,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8120,-0.58,-184.9,861.7,-8.7,385,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1932,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8418,-0.58,-184.9,888.7,-9.2,395,8423,0.00,2.05,0.00,0.000,4,0.000,0.036,1966,3307,3165,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8453,-0.58,-184.9,891.7,-9.1,396,8458,0.00,2.03,0.00,0.000,6,0.000,0.024,1966,1916,3164,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8788,-0.58,-184.9,923.5,-9.5,407,8794,0.00,2.10,0.00,0.000,4,0.000,0.034,1966,543,3163,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8836,-0.58,-184.9,927.2,-9.6,408,8842,0.00,2.05,0.00,0.000,6,0.000,0.024,1956,1952,3163,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9156,-0.58,-184.9,959.9,-10.0,419,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1952,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9455,-0.58,-184.9,989.1,-9.7,429,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1952,3160,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9482,begin apogee
$GC,9489,-0.17,0.0,992.1,-9.8,430,9656,0.45,0.00,159.45,1.421,6,0.120,0.000,2104,1952,2409,0,0,0,0,0,0,25.20,28.83,22.59
$STATE,9657,end apogee,CONTROL_FINISHED_OK
$STATE,9657,begin climb
$GC,9660,0.58,184.9,999.1,0.0,435,9841,0.70,2.50,168.60,1.369,4,0.086,0.038,2350,531,1654,0,0,0,0,0,0,24.30,23.46,21.79
$GC,9954,0.61,255.3,987.4,7.0,445,10023,0.00,2.03,61.90,1.349,6,0.000,0.023,2350,1904,1367,0,0,0,0,0,0,28.83,25.79,23.14
$GC,10332,0.65,302.4,956.8,7.8,458,10379,0.00,2.15,42.05,1.342,4,0.000,0.034,2350,3294,1175,0,0,0,0,0,0,28.83,25.25,23.42
$GC,10445,0.68,333.4,948.9,8.4,461,10483,0.00,2.10,28.52,1.309,6,0.000,0.028,2360,1905,1049,0,0,0,0,0,0,28.83,25.88,23.46
$GC,10785,0.72,370.2,918.0,8.2,473,10821,0.00,0.00,34.12,1.326,6,0.000,0.000,2360,1905,899,0,0,0,0,0,0,28.83,28.83,23.53
$GC,11115,0.77,416.2,892.1,7.9,484,11167,0.12,2.28,41.70,1.327,4,0.105,0.039,2424,490,713,0,0,0,0,0,0,26.15,25.27,23.46
$GC,11187,0.79,416.2,885.2,9.5,486,11193,0.00,2.12,0.00,0.000,6,0.000,0.024,2424,1912,712,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11512,0.79,416.2,841.7,13.4,497,11518,0.00,2.05,0.00,0.000,4,0.000,0.035,2424,3294,709,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11588,0.79,416.2,832.8,13.5,499,11593,0.00,2.08,0.00,0.000,6,0.000,0.028,2431,1898,708,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11913,0.79,416.2,788.7,13.1,510,11919,0.00,2.12,0.00,0.000,4,0.000,0.038,2441,495,708,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11962,0.79,416.2,784.0,13.2,511,11967,0.00,2.05,0.00,0.000,6,0.000,0.024,2441,1899,707,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12281,0.79,416.2,736.9,14.3,522,12286,0.00,2.05,0.00,0.000,4,0.000,0.034,2441,3285,707,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12338,0.79,416.2,731.9,14.3,523,12346,0.12,2.05,0.00,0.000,6,0.161,0.028,2416,1900,706,0,0,0,0,0,0,25.67,26.03,28.83
$GC,12647,0.80,416.2,692.4,11.2,534,12653,0.00,2.12,0.00,0.000,4,0.000,0.038,2424,496,706,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12676,0.82,416.2,692.4,11.2,534,12683,0.00,2.05,0.00,0.000,6,0.000,0.024,2425,1899,706,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12985,0.83,416.2,652.8,12.1,545,12991,0.00,2.08,0.00,0.000,4,0.000,0.034,2425,3296,706,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13054,0.84,416.2,644.5,12.3,547,13059,0.00,2.08,0.00,0.000,6,0.000,0.028,2426,1901,706,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13386,0.85,416.2,602.2,12.8,558,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1901,706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13695,0.86,416.2,562.5,12.7,573,13700,0.00,2.10,0.00,0.000,4,0.000,0.038,2426,507,706,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13739,0.88,416.2,557.2,12.1,575,13744,0.00,2.05,0.00,0.000,6,0.000,0.023,2426,1912,706,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,18331,end climb,SURFACE_DEPTH_REACHED
$STATE,18331,begin surface coast
$FINISH,1.1,1.022619
$STATE,18347,end surface coast,CONTROL_FINISHED_OK
$STATE,18347,begin surface
$SM_CCo,18425,0.00,0.000,0,0,488,471.22
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$IRIDIUM_FIX,1913.80,12255.78,170213,111102
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.57
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3847264
$24V_AH,21.8,93.043
$10V_AH,9.6,60.576
$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,17.150,153.100,587.725,0.000,0.000,0.000,0.000,317.200,0.000,0.000,18.957,2678.663,12662.357,699.246,2371.828,550.353,0.000,2180.442,0.000,1997.226,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,44.370,1421.370,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18384.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.298,0.000,0.000,0.000
$MEM,344068
$DATA_FILE_SIZE,30025,843
$CAP_FILE_SIZE,202939,0
$CFSIZE,260034560,206475264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,165.3,1
$GPS,170213,222730,1927.345,12301.626,39,2.0,39,-2.3