version: 66.11
glider: 129
mission: 4
dive: 464
start: 2 20 113 16 36 1
data:
$ID,129
$MISSION,4
$DIVE,464
$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,-3365.0471
$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,57
$R_STBD_OVSHOOT,78
$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
$GPS1,200213,162630,1945.979,12327.470,42,1.9,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-54.9
$GPS2,200213,163531,1945.984,12327.429,14,1.6,14,-2.4
$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,61.8,105979,-15.3,-9.429,-18.41
$D_GRID,5158
$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,-63.65,0.000,2,0.000,0.000,47,1907,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.5,-4.9,11,135,8.00,2.17,-30.02,0.000,4,0.238,0.049,1957,3301,3164,0,0,0,0,0,0,24.84,25.84,26.50
$GC,165,-0.54,-184.9,13.8,-18.7,23,172,0.00,2.00,0.00,0.000,6,0.000,0.023,1957,1913,3165,0,0,0,0,0,0,28.83,26.05,28.83
$GC,491,-0.50,-184.9,93.2,-20.4,50,497,0.12,2.05,0.00,0.000,4,0.157,0.030,1997,528,3164,0,0,0,0,0,0,25.94,25.86,28.83
$GC,626,-0.48,-184.9,113.6,-14.8,56,631,0.00,2.00,0.00,0.000,6,0.000,0.021,1988,1929,3165,0,0,0,0,0,0,28.83,26.10,28.83
$GC,939,-0.46,-184.9,162.4,-14.6,72,941,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1242,-0.43,-184.9,203.9,-13.8,87,1249,0.10,2.08,0.00,0.000,4,0.161,0.029,2015,534,3167,0,0,0,0,0,0,26.15,25.89,28.83
$GC,1336,-0.43,-184.9,214.1,-11.7,91,1342,0.00,1.98,0.00,0.000,6,0.000,0.021,2007,1933,3167,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1650,-0.43,-184.9,253.2,-12.5,107,1655,0.00,2.10,0.00,0.000,4,0.000,0.031,2007,523,3166,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1673,-0.43,-184.9,256.3,-12.5,108,1678,0.00,2.03,0.00,0.000,6,0.000,0.021,1997,1928,3166,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1997,-0.43,-184.9,296.2,-12.4,124,2002,0.00,2.03,0.00,0.000,4,0.000,0.033,1987,3306,3165,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2024,-0.43,-184.9,299.1,-12.3,125,2030,0.12,2.00,0.00,0.000,6,0.129,0.022,2022,1911,3164,0,0,0,0,0,0,25.78,26.08,28.83
$GC,2345,-0.45,-184.9,332.1,-10.5,141,2351,0.00,2.03,0.00,0.000,4,0.000,0.032,2023,539,3164,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2451,-0.46,-184.9,342.6,-9.8,146,2457,0.00,2.00,0.00,0.000,6,0.000,0.021,2015,1920,3164,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2776,-0.46,-184.9,370.5,-8.2,162,2781,0.00,2.05,0.00,0.000,4,0.000,0.032,2005,3300,3161,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2810,-0.47,-184.9,372.4,-8.2,163,2815,0.00,1.98,0.00,0.000,6,0.000,0.022,2005,1926,3163,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3124,-0.47,-184.9,400.6,-8.8,179,3129,0.00,2.05,0.00,0.000,4,0.000,0.031,2005,539,3163,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3253,-0.47,-184.9,412.5,-9.5,185,3258,0.00,2.00,0.00,0.000,6,0.000,0.021,1995,1934,3160,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3572,-0.47,-184.9,444.7,-10.3,201,3577,0.00,2.10,0.00,0.000,4,0.000,0.031,1995,534,3161,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3619,-0.47,-184.9,449.5,-10.6,203,3624,0.00,2.00,0.00,0.000,6,0.000,0.021,1987,1925,3161,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3937,-0.47,-184.9,483.4,-10.3,219,3943,0.00,2.03,0.00,0.000,4,0.000,0.033,1976,3299,3159,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3961,-0.47,-184.9,485.6,-9.8,220,3968,0.12,2.00,0.00,0.000,6,0.132,0.023,2011,1916,3159,0,0,0,0,0,0,25.75,26.06,28.83
$GC,4287,-0.49,-184.9,510.3,-7.1,236,4292,0.00,2.03,0.00,0.000,4,0.000,0.032,2012,541,3158,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4407,-0.50,-184.9,518.0,-7.3,241,4413,0.00,2.00,0.00,0.000,6,0.000,0.021,2004,1928,3157,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4713,-0.51,-184.9,539.3,-6.7,257,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1928,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5014,-0.52,-184.9,557.9,-6.1,272,5019,0.00,2.10,0.00,0.000,4,0.000,0.032,2004,540,3154,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5079,-0.54,-184.9,562.5,-6.7,275,5084,0.00,2.03,0.00,0.000,6,0.000,0.022,1995,1928,3154,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5404,-0.54,-184.9,584.4,-7.0,291,5410,0.00,2.10,0.00,0.000,4,0.000,0.032,1995,540,3152,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5437,-0.54,-184.9,586.3,-7.2,292,5442,0.00,2.03,0.00,0.000,6,0.000,0.022,1987,1935,3151,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5764,-0.54,-184.9,614.8,-9.1,306,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1935,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6060,-0.54,-184.9,643.7,-9.8,316,6066,0.00,2.12,0.00,0.000,4,0.000,0.033,1987,541,3148,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6113,-0.54,-184.9,647.1,-10.0,317,6119,0.00,2.03,0.00,0.000,6,0.000,0.023,1979,1928,3147,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6428,-0.54,-184.9,678.8,-9.2,328,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1928,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6728,-0.54,-184.9,704.8,-8.5,338,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1928,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7028,-0.54,-184.9,729.5,-8.1,348,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1928,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7327,-0.54,-184.9,754.4,-8.2,358,7332,0.00,2.12,0.00,0.000,4,0.000,0.034,1978,538,3141,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7376,-0.54,-184.9,757.5,-8.4,359,7382,0.00,2.03,0.00,0.000,6,0.000,0.024,1969,1921,3141,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7699,-0.54,-184.9,786.0,-8.4,370,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1921,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,-0.54,-184.9,812.6,-9.0,380,8000,0.00,2.08,0.00,0.000,4,0.000,0.035,1960,3308,3138,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8019,-0.54,-184.9,812.6,-9.0,380,8025,0.00,2.05,0.00,0.000,6,0.000,0.026,1959,1937,3139,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8333,-0.54,-184.9,844.7,-9.6,391,8338,0.00,2.10,0.00,0.000,4,0.000,0.034,1959,532,3137,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8488,-0.54,-184.9,860.6,-10.2,396,8494,0.15,2.05,0.00,0.000,6,0.144,0.024,1991,1927,3136,0,0,0,0,0,0,25.51,25.98,28.83
$GC,8827,-0.55,-184.9,884.8,-6.9,407,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1927,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9124,-0.57,-184.9,905.3,-6.8,417,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1928,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9423,-0.58,-184.9,926.8,-7.3,427,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1927,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9724,-0.60,-184.9,947.4,-6.6,437,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1927,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10023,-0.62,-184.9,965.0,-5.7,447,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1927,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10324,-0.63,-184.9,981.5,-5.6,457,10326,0.12,0.00,0.00,0.000,6,0.101,0.000,1941,1929,3131,0,0,0,0,0,0,26.23,28.83,28.83
$STATE,10439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10439,begin apogee
$GC,10446,-0.17,0.0,991.6,-8.5,461,10608,0.50,0.00,154.15,1.423,6,0.122,0.000,2102,1929,2409,0,0,0,0,0,0,24.88,28.83,22.36
$STATE,10610,end apogee,CONTROL_FINISHED_OK
$STATE,10610,begin climb
$GC,10613,0.58,184.9,996.4,0.0,466,10796,0.73,2.53,172.57,1.372,4,0.088,0.039,2350,525,1655,0,0,0,0,0,0,23.96,23.02,21.44
$GC,10851,0.62,265.0,986.0,6.7,474,10933,0.00,2.12,74.18,1.345,6,0.000,0.024,2350,1886,1327,0,0,0,0,0,0,28.83,24.56,22.01
$GC,11258,0.65,306.3,951.8,8.0,488,11300,0.00,2.28,36.62,1.335,4,0.000,0.036,2350,3299,1160,0,0,0,0,0,0,28.83,25.27,23.48
$GC,11373,0.69,341.2,944.2,8.2,491,11413,0.00,2.08,32.38,1.317,6,0.000,0.028,2359,1910,1018,0,0,0,0,0,0,28.83,25.89,23.44
$GC,11743,0.73,401.0,914.0,7.4,504,11804,0.12,2.30,54.45,1.339,4,0.105,0.040,2425,504,772,0,0,0,0,0,0,26.11,25.09,23.39
$GC,11825,0.75,415.3,907.6,8.9,506,11845,0.00,2.12,14.00,1.218,6,0.000,0.024,2425,1917,717,0,0,0,0,0,0,28.83,25.61,23.46
$GC,12174,0.75,415.3,862.3,12.6,518,12179,0.00,2.05,0.00,0.000,4,0.000,0.035,2425,3292,712,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12217,0.75,415.3,858.0,12.6,519,12223,0.12,2.08,0.00,0.000,6,0.160,0.029,2401,1888,712,0,0,0,0,0,0,25.66,25.99,28.83
$GC,12545,0.77,415.3,822.1,10.5,530,12550,0.00,2.12,0.00,0.000,4,0.000,0.038,2410,495,711,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12609,0.79,415.3,814.8,10.7,532,12614,0.00,2.08,0.00,0.000,6,0.000,0.024,2410,1897,711,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12948,0.80,415.3,776.9,11.3,543,12953,0.00,2.10,0.00,0.000,4,0.000,0.034,2410,3293,710,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12995,0.82,415.3,772.5,11.4,544,13001,0.00,2.08,0.00,0.000,6,0.000,0.029,2418,1888,710,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13317,0.83,415.3,732.9,11.9,555,13322,0.00,2.12,0.00,0.000,4,0.000,0.038,2428,494,709,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13370,0.84,415.3,728.4,11.9,556,13375,0.00,2.08,0.00,0.000,6,0.000,0.024,2428,1904,709,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13685,0.84,415.3,687.6,12.2,567,13690,0.00,2.08,0.00,0.000,4,0.000,0.034,2428,3297,709,0,0,0,0,0,0,28.83,25.74,28.83
$GC,13762,0.84,415.3,679.7,12.1,569,13768,0.00,2.10,0.00,0.000,6,0.000,0.028,2436,1889,709,0,0,0,0,0,0,28.83,25.87,28.83
$GC,14083,0.84,415.3,637.9,12.7,580,14089,0.00,2.12,0.00,0.000,4,0.000,0.038,2446,500,709,0,0,0,0,0,0,28.83,25.64,28.83
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$STATE,19353,end climb,SURFACE_DEPTH_REACHED
$STATE,19353,begin surface coast
$FINISH,1.3,1.000635
$STATE,19367,end surface coast,CONTROL_FINISHED_OK
$STATE,19367,begin surface
$SM_CCo,19444,0.00,0.000,0,0,206,540.40
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$IRIDIUM_FIX,1936.66,12324.27,200213,101025
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.62
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3842272
$24V_AH,21.4,95.958
$10V_AH,9.5,62.223
$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,17.025,149.450,625.000,0.000,0.000,0.000,0.000,308.425,0.000,0.000,15.342,2800.274,13451.506,692.283,2462.289,570.366,0.000,2210.330,0.000,2079.779,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,48.960,1422.900,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19400.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.023,0.000,0.000,0.000
$MEM,329032
$DATA_FILE_SIZE,33349,875
$CAP_FILE_SIZE,209431,0
$CFSIZE,260034560,205139968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,322.3,1
$GPS,200213,220129,1948.156,12329.748,37,1.0,42,-2.4