version: 66.11
glider: 129
mission: 4
dive: 452
start: 2 17 113 22 37 4
data:
$ID,129
$MISSION,4
$DIVE,452
$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,-6
$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,-3349.1851
$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,83
$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
$GPS1,170213,222730,1927.345,12301.626,39,2.0,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-60.8
$GPS2,170213,223618,1927.310,12301.877,11,2.0,11,-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,40.8,161946,-15.3,-9.429,-18.41
$D_GRID,4569
$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,21,-0.58,-184.9,0.0,0.0,0,82,0.00,0.00,-58.70,0.000,2,0.000,0.000,46,1924,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.58,-184.9,3.3,-4.7,10,135,8.02,2.10,-31.65,0.000,4,0.239,0.047,1955,3295,3164,0,0,0,0,0,0,24.88,25.95,26.52
$GC,215,-0.53,-184.9,26.5,-22.0,32,224,0.12,2.00,0.00,0.000,6,0.161,0.022,1987,1894,3164,0,0,0,0,0,0,25.72,26.13,28.83
$GC,533,-0.49,-184.9,97.1,-20.7,53,538,0.00,1.98,0.00,0.000,4,0.000,0.031,1987,542,3164,0,0,0,0,0,0,28.83,25.99,28.83
$GC,748,-0.46,-184.9,134.8,-16.9,63,753,0.12,1.98,0.00,0.000,6,0.150,0.022,2012,1921,3165,0,0,0,0,0,0,25.78,26.15,28.83
$GC,1062,-0.46,-184.9,177.1,-12.3,79,1068,0.00,2.05,0.00,0.000,4,0.000,0.031,2012,537,3165,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1202,-0.46,-184.9,192.7,-12.4,85,1209,0.00,2.00,0.00,0.000,6,0.000,0.021,2003,1946,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1508,-0.46,-184.9,235.3,-12.9,101,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1947,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1810,-0.46,-184.9,272.6,-13.1,116,1815,0.00,1.98,0.00,0.000,4,0.000,0.032,1993,3301,3165,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1828,-0.46,-184.9,272.6,-13.1,116,1835,0.00,1.98,0.00,0.000,6,0.000,0.021,1993,1932,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2134,-0.46,-184.9,312.4,-11.5,132,2139,0.00,2.03,0.00,0.000,4,0.000,0.031,1993,538,3165,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2283,-0.46,-184.9,327.1,-9.7,139,2289,0.00,1.95,0.00,0.000,6,0.000,0.020,1983,1928,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2602,-0.46,-184.9,359.8,-10.3,155,2608,0.00,2.05,0.00,0.000,4,0.000,0.029,1983,532,3163,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2641,-0.46,-184.9,362.4,-10.5,156,2648,0.15,1.98,0.00,0.000,6,0.138,0.021,2018,1928,3163,0,0,0,0,0,0,25.78,26.20,28.83
$GC,2947,-0.48,-184.9,387.4,-8.0,172,2952,0.00,2.08,0.00,0.000,4,0.000,0.031,2018,535,3162,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2982,-0.49,-184.9,389.5,-8.1,173,2988,0.00,2.00,0.00,0.000,6,0.000,0.021,2010,1930,3162,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3296,-0.49,-184.9,418.5,-8.8,189,3301,0.00,2.08,0.00,0.000,4,0.000,0.031,2010,541,3161,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3324,-0.49,-184.9,420.7,-8.9,190,3329,0.00,1.98,0.00,0.000,6,0.000,0.021,2002,1934,3161,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3643,-0.49,-184.9,450.9,-9.4,206,3648,0.00,2.08,0.00,0.000,4,0.000,0.031,2002,531,3160,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3710,-0.49,-184.9,457.2,-9.6,209,3715,0.00,2.00,0.00,0.000,6,0.000,0.021,1993,1924,3158,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4028,-0.49,-184.9,486.3,-8.7,225,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1924,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.49,-184.9,513.4,-9.1,240,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1924,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.49,-184.9,541.2,-9.4,255,4636,0.00,2.05,0.00,0.000,4,0.000,0.034,1982,3302,3153,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4654,-0.49,-184.9,543.7,-9.4,256,4659,0.00,2.00,0.00,0.000,6,0.000,0.023,1983,1933,3153,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4978,-0.49,-184.9,574.9,-9.6,272,4983,0.00,2.08,0.00,0.000,4,0.000,0.033,1983,538,3151,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5133,-0.49,-184.9,589.6,-9.9,279,5138,0.00,1.98,0.00,0.000,6,0.000,0.022,1973,1924,3150,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5459,-0.49,-184.9,621.1,-9.4,292,5464,0.00,2.10,0.00,0.000,4,0.000,0.032,1973,531,3147,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5497,-0.49,-184.9,624.7,-9.6,293,5503,0.12,2.03,0.00,0.000,6,0.146,0.022,2000,1928,3147,0,0,0,0,0,0,25.79,26.15,28.83
$GC,5829,-0.50,-184.9,649.9,-7.1,304,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1928,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6129,-0.52,-184.9,671.5,-7.3,314,6134,0.00,2.08,0.00,0.000,4,0.000,0.035,1991,3306,3143,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6157,-0.53,-184.9,671.5,-7.3,314,6164,0.00,2.05,0.00,0.000,6,0.000,0.024,1991,1893,3143,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6463,-0.53,-184.9,697.2,-7.7,325,6468,0.00,2.00,0.00,0.000,4,0.000,0.033,1990,538,3142,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6516,-0.53,-184.9,700.2,-7.9,326,6522,0.00,2.00,0.00,0.000,6,0.000,0.022,1982,1932,3142,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6830,-0.53,-184.9,728.4,-8.5,337,6835,0.00,2.05,0.00,0.000,4,0.000,0.035,1972,3311,3139,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6859,-0.53,-184.9,728.4,-8.5,337,6866,0.00,2.03,0.00,0.000,6,0.000,0.024,1972,1926,3139,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7164,-0.53,-184.9,756.3,-8.2,348,7169,0.00,2.08,0.00,0.000,4,0.000,0.034,1972,537,3138,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7291,-0.53,-184.9,767.1,-8.6,352,7296,0.00,2.00,0.00,0.000,6,0.000,0.022,1963,1927,3138,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7627,-0.53,-184.9,795.9,-8.8,363,7632,0.00,2.10,0.00,0.000,4,0.000,0.033,1962,530,3139,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7670,-0.53,-184.9,799.5,-9.1,364,7676,0.12,2.05,0.00,0.000,6,0.151,0.022,1988,1942,3136,0,0,0,0,0,0,25.70,26.09,28.83
$GC,8000,-0.54,-184.9,826.2,-8.0,375,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1942,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,-0.56,-184.9,849.5,-7.7,385,8300,0.00,2.15,0.00,0.000,4,0.000,0.033,1988,528,3132,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8331,-0.57,-184.9,852.3,-7.8,386,8336,0.00,2.03,0.00,0.000,6,0.000,0.023,1981,1928,3133,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8667,-0.57,-184.9,880.0,-8.4,397,8672,0.00,2.08,0.00,0.000,4,0.000,0.036,1971,3312,3131,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8721,-0.57,-184.9,883.0,-8.4,398,8727,0.00,2.03,0.00,0.000,6,0.000,0.024,1970,1934,3131,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9037,-0.57,-184.9,911.9,-8.7,409,9043,0.00,2.10,0.00,0.000,4,0.000,0.034,1971,532,3129,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9121,-0.57,-184.9,918.3,-9.3,411,9126,0.00,2.03,0.00,0.000,6,0.000,0.023,1961,1933,3132,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9437,-0.57,-184.9,947.2,-8.1,422,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1934,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9737,-0.57,-184.9,969.7,-7.4,432,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1933,3127,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10032,begin apogee
$GC,10038,-0.17,0.0,991.1,-7.1,442,10201,0.43,0.00,152.35,1.426,6,0.120,0.000,2101,1933,2409,0,0,0,0,0,0,25.18,28.83,22.56
$STATE,10203,end apogee,CONTROL_FINISHED_OK
$STATE,10203,begin climb
$GC,10205,0.58,184.9,994.6,0.0,447,10382,0.73,0.00,169.70,1.370,6,0.087,0.000,2344,1935,1656,0,0,0,0,0,0,24.30,28.83,21.70
$GC,10666,0.64,252.7,965.4,7.1,463,10733,0.00,2.30,59.53,1.359,4,0.000,0.040,2349,506,1378,0,0,0,0,0,0,28.83,25.03,23.26
$GC,10878,0.68,304.9,949.9,7.6,470,10930,0.00,2.08,46.75,1.346,6,0.000,0.024,2349,1904,1166,0,0,0,0,0,0,28.83,26.04,23.32
$GC,11238,0.72,354.7,922.5,7.7,482,11292,0.12,2.22,44.53,1.342,4,0.104,0.036,2406,3292,962,0,0,0,0,0,0,26.13,25.22,23.42
$GC,11323,0.75,373.3,916.2,8.8,484,11348,0.00,2.12,18.05,1.260,6,0.000,0.028,2414,1895,887,0,0,0,0,0,0,28.83,25.72,23.50
$GC,11667,0.75,373.3,873.2,11.8,496,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1895,882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11966,0.75,373.3,838.5,11.6,506,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1895,881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12266,0.75,373.3,800.9,12.9,516,12272,0.00,2.12,0.00,0.000,4,0.000,0.038,2425,503,881,0,0,0,0,0,0,28.83,25.87,28.83
$GC,12301,0.75,373.3,796.5,12.9,517,12307,0.00,2.08,0.00,0.000,6,0.000,0.024,2424,1902,880,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12638,0.75,373.3,751.4,13.4,528,12643,0.00,2.08,0.00,0.000,4,0.000,0.034,2424,3297,879,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12717,0.75,373.3,742.5,13.3,530,12722,0.00,2.08,0.00,0.000,6,0.000,0.029,2427,1897,879,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13035,0.75,373.3,700.9,12.5,541,13040,0.00,2.12,0.00,0.000,4,0.000,0.040,2427,499,878,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13068,0.75,373.3,696.7,12.4,542,13075,0.00,2.08,0.00,0.000,6,0.000,0.024,2427,1907,878,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13406,0.75,373.3,654.8,12.6,553,13412,0.00,2.08,0.00,0.000,4,0.000,0.034,2427,3285,877,0,0,0,0,0,0,28.83,25.83,28.83
$GC,13509,0.75,373.3,642.4,12.8,556,13516,0.12,2.08,0.00,0.000,6,0.165,0.028,2401,1888,877,0,0,0,0,0,0,25.58,25.96,28.83
$GC,13838,0.76,373.3,608.4,9.6,567,13843,0.00,2.10,0.00,0.000,4,0.000,0.038,2410,501,876,0,0,0,0,0,0,28.83,25.76,28.83
$GC,13881,0.78,373.3,604.9,9.7,568,13886,0.00,2.05,0.00,0.000,6,0.000,0.024,2410,1902,880,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,19301,end climb,SURFACE_DEPTH_REACHED
$STATE,19301,begin surface coast
$FINISH,1.2,1.022497
$STATE,19320,end surface coast,CONTROL_FINISHED_OK
$STATE,19320,begin surface
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$IRIDIUM_FIX,1920.65,12300.19,170213,171713
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.37
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3846880
$24V_AH,21.7,93.258
$10V_AH,9.7,60.705
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,239.445,47.430,1425.960,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.311,0.000,0.000,0.000
$MEM,329176
$DATA_FILE_SIZE,33386,886
$CAP_FILE_SIZE,213550,0
$CFSIZE,260034560,206356480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,196.2,1
$GPS,180213,040136,1928.735,12303.124,32,1.2,32,-2.3