version: 66.11
glider: 129
mission: 4
dive: 466
start: 2 21 113 3 37 42
data:
$ID,129
$MISSION,4
$DIVE,466
$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,-3367.6555
$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,62
$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
$GPS1,210213,032824,1949.440,12332.954,41,1.4,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-61.5
$GPS2,210213,033713,1949.361,12333.040,16,1.3,16,-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,56.2,94405,-15.3,-9.429,-18.41
$D_GRID,5208
$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,-184.9,0.0,0.0,0,75,0.00,0.00,-52.42,0.000,2,0.000,0.000,47,1915,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.58,-184.9,3.0,-2.6,9,128,8.07,0.00,-37.22,0.000,6,0.240,0.000,1962,1915,3163,0,0,0,0,0,0,24.87,28.83,26.50
$GC,440,-0.53,-184.9,81.2,-23.0,49,447,0.00,2.08,0.00,0.000,4,0.000,0.031,1962,506,3165,0,0,0,0,0,0,28.83,25.87,28.83
$GC,547,-0.48,-184.9,103.3,-20.7,54,554,0.17,2.05,0.00,0.000,6,0.146,0.021,2003,1927,3165,0,0,0,0,0,0,25.52,26.07,28.83
$GC,872,-0.47,-184.9,147.8,-13.0,70,877,0.00,2.05,0.00,0.000,4,0.000,0.030,2003,527,3166,0,0,0,0,0,0,28.83,25.88,28.83
$GC,960,-0.45,-184.9,158.8,-13.1,74,966,0.00,2.00,0.00,0.000,6,0.000,0.021,1994,1928,3166,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1280,-0.44,-184.9,204.9,-14.2,90,1285,0.00,2.10,0.00,0.000,4,0.000,0.030,1994,519,3166,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1324,-0.42,-184.9,211.2,-14.0,92,1330,0.15,2.03,0.00,0.000,6,0.139,0.021,2028,1926,3166,0,0,0,0,0,0,25.65,26.09,28.83
$GC,1649,-0.42,-184.9,243.0,-9.7,108,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1926,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1950,-0.42,-184.9,269.4,-8.3,123,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1927,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2251,-0.42,-184.9,294.6,-8.5,138,2256,0.00,2.10,0.00,0.000,4,0.000,0.031,2028,523,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2289,-0.42,-184.9,296.8,-8.6,139,2296,0.00,2.03,0.00,0.000,6,0.000,0.022,2020,1929,3164,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2596,-0.42,-184.9,324.3,-8.1,155,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1929,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-0.42,-184.9,349.8,-8.7,170,2903,0.00,2.10,0.00,0.000,4,0.000,0.031,2020,529,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2936,-0.42,-184.9,352.2,-8.9,171,2943,0.00,2.03,0.00,0.000,6,0.000,0.022,2010,1935,3164,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3241,-0.42,-184.9,383.5,-9.8,187,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1935,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-0.42,-184.9,411.8,-9.1,202,3549,0.00,2.12,0.00,0.000,4,0.000,0.032,2010,521,3162,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3597,-0.42,-184.9,416.4,-9.7,204,3602,0.00,2.03,0.00,0.000,6,0.000,0.022,2001,1925,3162,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3910,-0.42,-184.9,448.2,-10.3,220,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1925,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,-0.42,-184.9,477.3,-9.3,235,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1925,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4513,-0.42,-184.9,504.2,-8.9,250,4519,0.00,2.10,0.00,0.000,4,0.000,0.033,2002,523,3157,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4612,-0.42,-184.9,512.4,-9.4,254,4619,0.12,2.03,0.00,0.000,6,0.138,0.023,2029,1921,3158,0,0,0,0,0,0,25.73,26.07,28.83
$GC,4918,-0.44,-184.9,533.3,-6.2,270,4924,0.00,2.08,0.00,0.000,4,0.000,0.034,2021,3311,3156,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4952,-0.47,-184.9,534.7,-6.1,271,4958,0.00,2.03,0.00,0.000,6,0.000,0.023,2021,1923,3156,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5267,-0.49,-184.9,556.1,-6.4,287,5272,0.00,2.05,0.00,0.000,4,0.000,0.033,2021,534,3155,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5331,-0.51,-184.9,560.4,-6.6,290,5336,0.00,2.03,0.00,0.000,6,0.000,0.021,2012,1931,3154,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5656,-0.53,-184.9,579.7,-5.6,306,5661,0.00,2.12,0.00,0.000,4,0.000,0.032,2012,527,3155,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5711,-0.54,-184.9,582.4,-5.8,308,5716,0.00,2.03,0.00,0.000,6,0.000,0.022,2004,1921,3153,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6045,-0.56,-184.9,606.0,-7.5,324,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1922,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6346,-0.57,-184.9,629.4,-7.8,334,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1922,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6645,-0.59,-184.9,651.3,-6.9,344,6651,0.00,2.12,0.00,0.000,4,0.000,0.034,2004,527,3148,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6685,-0.60,-184.9,654.0,-7.1,345,6691,0.00,2.05,0.00,0.000,6,0.000,0.023,1995,1933,3147,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7017,-0.61,-184.9,677.6,-7.2,356,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1933,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.63,-184.9,700.3,-7.7,366,7317,0.12,0.00,0.00,0.000,6,0.097,0.000,1941,1935,3142,0,0,0,0,0,0,26.26,28.83,28.83
$GC,7614,-0.61,-184.9,735.0,-12.2,376,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1935,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7914,-0.60,-184.9,771.9,-12.5,386,7921,0.00,2.12,0.00,0.000,4,0.000,0.034,1941,532,3142,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7950,-0.59,-184.9,776.5,-12.5,387,7956,0.15,2.05,0.00,0.000,6,0.145,0.024,1972,1928,3141,0,0,0,0,0,0,25.52,25.99,28.83
$GC,8285,-0.59,-184.9,810.4,-9.8,398,8290,0.00,2.12,0.00,0.000,4,0.000,0.034,1973,531,3140,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8333,-0.59,-184.9,813.8,-9.8,399,8338,0.00,2.05,0.00,0.000,6,0.000,0.024,1964,1935,3140,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8652,-0.59,-184.9,843.7,-8.4,410,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1935,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8953,-0.59,-184.9,866.8,-7.6,420,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1935,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,-0.59,-184.9,890.0,-8.1,430,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1935,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9552,-0.59,-184.9,916.7,-9.2,440,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1935,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9853,-0.59,-184.9,943.9,-8.8,450,9859,0.00,2.15,0.00,0.000,4,0.000,0.035,1965,538,3134,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9891,-0.59,-184.9,947.2,-8.8,451,9897,0.00,2.03,0.00,0.000,6,0.000,0.024,1955,1929,3134,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10223,-0.59,-184.9,977.8,-9.0,462,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1930,3133,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10367,begin apogee
$GC,10374,-0.17,0.0,991.8,-9.4,467,10537,0.45,0.00,153.77,1.427,6,0.123,0.000,2100,1931,2408,0,0,0,0,0,0,24.96,28.83,22.45
$STATE,10538,end apogee,CONTROL_FINISHED_OK
$STATE,10538,begin climb
$GC,10541,0.58,184.9,998.1,0.0,472,10724,0.73,2.55,171.70,1.374,4,0.090,0.039,2350,517,1654,0,0,0,0,0,0,24.06,23.08,21.53
$GC,10764,0.62,280.6,989.6,6.1,480,10861,0.00,2.20,89.57,1.346,6,0.000,0.024,2350,1890,1264,0,0,0,0,0,0,28.83,24.34,21.75
$GC,11186,0.65,307.2,954.2,8.5,494,11216,0.00,2.22,23.58,1.310,4,0.000,0.036,2350,3292,1156,0,0,0,0,0,0,28.83,25.48,23.66
$GC,11282,0.68,318.4,945.4,9.0,497,11301,0.00,2.10,11.27,1.208,6,0.000,0.028,2359,1899,1110,0,0,0,0,0,0,28.83,25.92,23.77
$GC,11615,0.71,333.3,915.1,8.9,508,11637,0.00,2.20,14.52,1.267,4,0.000,0.041,2369,504,1050,0,0,0,0,0,0,28.83,25.68,23.87
$GC,11656,0.74,348.6,912.3,8.9,509,11677,0.00,2.10,16.02,1.263,6,0.000,0.025,2369,1917,987,0,0,0,0,0,0,28.83,25.94,23.65
$GC,11979,0.76,352.4,881.9,9.3,520,11990,0.10,2.08,4.28,0.896,4,0.116,0.034,2416,3299,971,0,0,0,0,0,0,26.19,25.92,24.08
$GC,12070,0.77,352.4,873.7,10.7,522,12078,0.00,2.10,0.00,0.000,6,0.000,0.028,2421,1891,973,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12375,0.77,352.4,830.3,13.2,533,12380,0.00,2.10,0.00,0.000,4,0.000,0.039,2430,499,970,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12408,0.77,352.4,825.8,13.1,534,12414,0.00,2.08,0.00,0.000,6,0.000,0.024,2430,1905,970,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12745,0.77,352.4,781.8,12.8,545,12750,0.00,2.05,0.00,0.000,4,0.000,0.034,2430,3285,970,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12842,0.77,352.4,769.1,13.1,548,12849,0.12,2.08,0.00,0.000,6,0.157,0.028,2407,1896,969,0,0,0,0,0,0,25.55,25.90,28.83
$GC,13172,0.77,352.4,732.3,11.0,559,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1896,969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13472,0.77,352.4,698.3,11.3,569,13474,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1896,969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13773,0.79,352.4,665.2,11.0,579,13779,0.00,2.10,0.00,0.000,4,0.000,0.034,2407,3285,968,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13801,0.80,352.4,665.2,11.0,579,13809,0.00,2.08,0.00,0.000,6,0.000,0.028,2413,1899,968,0,0,0,0,0,0,28.83,25.84,28.83
$GC,14107,0.80,352.4,627.5,11.1,590,14112,0.00,2.12,0.00,0.000,4,0.000,0.038,2423,495,968,0,0,0,0,0,0,28.83,25.59,28.83
$GC,14136,0.80,352.4,627.5,11.1,590,14143,0.00,2.05,0.00,0.000,6,0.000,0.024,2423,1904,969,0,0,0,0,0,0,28.83,25.95,28.83
$GC,14453,0.80,352.4,588.5,11.4,603,14458,0.00,2.08,0.00,0.000,4,0.000,0.034,2423,3292,968,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,19854,end climb,SURFACE_DEPTH_REACHED
$STATE,19855,begin surface coast
$FINISH,1.4,1.010350
$STATE,19871,end surface coast,CONTROL_FINISHED_OK
$STATE,19871,begin surface
$SM_CCo,19950,0.00,0.000,0,0,736,410.39
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$IRIDIUM_FIX,1941.24,12331.87,200213,222217
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.34
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3841504
$24V_AH,21.5,96.384
$10V_AH,9.6,62.478
$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,16.800,150.100,530.725,0.000,0.000,0.000,0.000,294.675,0.000,0.000,17.081,2888.060,13911.389,637.065,2469.287,563.450,0.000,2135.135,0.000,2107.630,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,40.545,1426.725,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.195,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,33392,922
$CAP_FILE_SIZE,213613,0
$CFSIZE,260034560,204931072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,238.2,1
$GPS,210213,091136,1950.725,12334.252,42,1.1,42,-2.4