version: 66.11
glider: 129
mission: 4
dive: 468
start: 2 21 113 14 45 4
data:
$ID,129
$MISSION,4
$DIVE,468
$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,-3370.1753
$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,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
$GPS1,210213,143500,1952.755,12335.652,38,1.6,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-55.3
$GPS2,210213,144435,1952.713,12335.539,14,1.2,30,-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,82.2,87588,-15.3,-9.429,-18.41
$D_GRID,5261
$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,-64.53,0.000,2,0.000,0.000,50,1940,1727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-3.0,11,152,7.93,2.17,-43.92,0.000,4,0.236,0.046,1962,513,3164,0,0,0,0,0,0,24.81,25.86,26.51
$GC,169,-0.54,-184.9,10.5,-18.2,23,176,0.12,2.03,0.00,0.000,6,0.161,0.021,1985,1917,3164,0,0,0,0,0,0,25.66,26.07,28.83
$GC,480,-0.49,-184.9,79.7,-21.0,52,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1919,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,782,-0.46,-184.9,133.2,-15.6,67,788,0.00,2.05,0.00,0.000,4,0.000,0.029,1985,519,3165,0,0,0,0,0,0,28.83,25.88,28.83
$GC,909,-0.44,-184.9,151.0,-13.7,73,915,0.15,2.00,0.00,0.000,6,0.140,0.021,2020,1929,3165,0,0,0,0,0,0,25.64,26.08,28.83
$GC,1234,-0.44,-184.9,187.9,-11.9,89,1239,0.00,2.08,0.00,0.000,4,0.000,0.030,2020,517,3165,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1308,-0.44,-184.9,196.0,-12.5,92,1313,0.00,2.00,0.00,0.000,6,0.000,0.021,2012,1935,3165,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1621,-0.44,-184.9,235.7,-11.7,108,1627,0.00,2.03,0.00,0.000,4,0.000,0.032,2001,3301,3165,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1659,-0.44,-184.9,238.3,-11.5,109,1666,0.00,2.00,0.00,0.000,6,0.000,0.022,2001,1901,3165,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1966,-0.44,-184.9,276.2,-11.6,125,1972,0.00,2.03,0.00,0.000,4,0.000,0.031,2001,543,3164,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2053,-0.44,-184.9,285.9,-11.5,129,2059,0.00,1.95,0.00,0.000,6,0.000,0.021,1991,1929,3164,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2373,-0.43,-184.9,327.2,-13.1,145,2379,0.12,2.03,0.00,0.000,4,0.146,0.031,2024,3300,3163,0,0,0,0,0,0,26.01,25.83,28.83
$GC,2406,-0.43,-184.9,330.0,-12.8,146,2412,0.00,1.98,0.00,0.000,6,0.000,0.022,2024,1926,3163,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2721,-0.44,-184.9,355.4,-6.9,162,2727,0.00,2.03,0.00,0.000,4,0.000,0.031,2024,539,3163,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2837,-0.45,-184.9,363.5,-7.8,167,2842,0.00,1.98,0.00,0.000,6,0.000,0.021,2015,1931,3162,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3151,-0.45,-184.9,391.7,-9.0,183,3157,0.00,2.03,0.00,0.000,4,0.000,0.033,2005,3307,3162,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3196,-0.46,-184.9,395.7,-9.0,185,3202,0.00,2.00,0.00,0.000,6,0.000,0.022,2005,1932,3163,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3520,-0.46,-184.9,428.9,-10.5,201,3526,0.00,2.05,0.00,0.000,4,0.000,0.032,2005,535,3161,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3587,-0.46,-184.9,435.8,-10.8,204,3593,0.00,1.98,0.00,0.000,6,0.000,0.021,1996,1925,3161,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3907,-0.46,-184.9,467.5,-9.0,220,3912,0.00,2.08,0.00,0.000,4,0.000,0.031,1995,531,3159,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3985,-0.46,-184.9,473.4,-9.2,223,3992,0.00,2.03,0.00,0.000,6,0.000,0.021,1986,1941,3159,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4291,-0.46,-184.9,503.8,-10.1,239,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1941,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4592,-0.46,-184.9,534.1,-10.3,254,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1941,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-0.46,-184.9,565.4,-10.2,269,4898,0.00,2.12,0.00,0.000,4,0.000,0.031,1986,536,3154,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4926,-0.46,-184.9,568.1,-10.2,270,4932,0.12,2.03,0.00,0.000,6,0.146,0.022,2011,1932,3154,0,0,0,0,0,0,25.70,26.08,28.83
$GC,5241,-0.48,-184.9,593.7,-7.5,286,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1932,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5553,-0.50,-184.9,616.3,-7.2,298,5559,0.00,2.12,0.00,0.000,4,0.000,0.032,2012,530,3151,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5593,-0.52,-184.9,619.0,-7.3,299,5598,0.00,2.00,0.00,0.000,6,0.000,0.022,2004,1927,3150,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5924,-0.53,-184.9,642.7,-6.9,310,5931,0.00,2.05,0.00,0.000,4,0.000,0.034,1994,3299,3148,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5965,-0.55,-184.9,645.1,-6.7,311,5970,0.00,2.03,0.00,0.000,6,0.000,0.024,1994,1930,3148,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6296,-0.56,-184.9,670.5,-8.2,322,6302,0.00,2.10,0.00,0.000,4,0.000,0.034,1994,531,3146,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6423,-0.57,-184.9,682.8,-9.7,326,6429,0.00,2.03,0.00,0.000,6,0.000,0.022,1985,1921,3146,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6759,-0.57,-184.9,716.0,-9.6,337,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1921,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7058,-0.57,-184.9,742.3,-8.5,347,7064,0.00,2.10,0.00,0.000,4,0.000,0.035,1974,3305,3142,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7082,-0.57,-184.9,742.3,-8.5,347,7088,0.00,2.03,0.00,0.000,6,0.000,0.024,1975,1923,3141,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7399,-0.57,-184.9,768.7,-7.6,358,7405,0.00,2.10,0.00,0.000,4,0.000,0.034,1974,518,3141,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7512,-0.57,-184.9,776.0,-7.6,361,7518,0.00,2.03,0.00,0.000,6,0.000,0.023,1966,1921,3140,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7829,-0.57,-184.9,798.1,-6.4,372,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1921,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.57,-184.9,819.0,-7.3,382,8133,0.00,2.10,0.00,0.000,4,0.000,0.036,1956,3308,3138,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8171,-0.57,-184.9,821.7,-7.4,383,8177,0.00,2.03,0.00,0.000,6,0.000,0.025,1955,1916,3137,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8499,-0.57,-184.9,850.8,-8.7,394,8504,0.00,2.08,0.00,0.000,4,0.000,0.034,1956,530,3136,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8630,-0.57,-184.9,861.5,-8.4,398,8635,0.00,2.05,0.00,0.000,6,0.000,0.023,1946,1932,3135,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8962,-0.57,-184.9,889.4,-8.6,409,8968,0.12,2.08,0.00,0.000,4,0.151,0.034,1978,3310,3134,0,0,0,0,0,0,25.96,25.57,28.83
$GC,9010,-0.57,-184.9,892.3,-8.5,410,9016,0.00,2.03,0.00,0.000,6,0.000,0.026,1978,1930,3134,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9332,-0.57,-184.9,918.9,-8.4,421,9338,0.00,2.10,0.00,0.000,4,0.000,0.034,1978,525,3132,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9416,-0.57,-184.9,925.2,-8.8,423,9422,0.00,2.03,0.00,0.000,6,0.000,0.024,1969,1922,3132,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9733,-0.57,-184.9,954.9,-8.7,434,9739,0.00,2.08,0.00,0.000,4,0.000,0.037,1958,3308,3129,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9768,-0.57,-184.9,958.2,-8.7,435,9773,0.00,2.05,0.00,0.000,6,0.000,0.026,1959,1912,3131,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10104,-0.57,-184.9,987.3,-8.6,446,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1912,3130,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10158,begin apogee
$GC,10165,-0.17,0.0,992.4,-8.4,448,10327,0.43,0.00,153.48,1.424,6,0.119,0.000,2098,1904,2410,0,0,0,0,0,0,25.04,28.83,22.48
$STATE,10328,end apogee,CONTROL_FINISHED_OK
$STATE,10328,begin climb
$GC,10332,0.58,184.9,998.2,0.0,453,10515,0.75,2.45,172.32,1.373,4,0.091,0.038,2353,516,1655,0,0,0,0,0,0,24.04,23.07,21.53
$GC,10558,0.62,271.9,988.9,6.4,461,10647,0.00,2.17,81.38,1.345,6,0.000,0.023,2354,1896,1299,0,0,0,0,0,0,28.83,24.36,21.82
$GC,10977,0.64,282.1,951.5,9.1,475,10992,0.00,2.12,8.48,1.153,4,0.000,0.037,2354,3291,1260,0,0,0,0,0,0,28.83,25.81,23.94
$GC,11067,0.66,283.9,945.1,9.4,477,11075,0.00,2.08,0.00,0.000,6,0.000,0.028,2363,1908,1258,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11374,0.69,298.3,914.7,8.9,488,11397,0.00,2.17,16.50,1.286,4,0.000,0.038,2373,504,1192,0,0,0,0,0,0,28.83,25.62,23.84
$GC,11425,0.71,316.4,911.8,8.8,489,11449,0.00,2.10,17.33,1.276,6,0.000,0.024,2373,1916,1119,0,0,0,0,0,0,28.83,25.94,23.63
$GC,11768,0.73,316.4,877.0,9.8,501,11774,0.00,2.05,0.00,0.000,4,0.000,0.035,2373,3287,1117,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11803,0.74,316.4,873.4,9.9,502,11808,0.00,2.08,0.00,0.000,6,0.000,0.028,2382,1888,1113,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12142,0.76,316.4,839.7,9.8,513,12147,0.00,2.10,0.00,0.000,4,0.000,0.038,2387,499,1113,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12165,0.77,316.4,839.7,9.8,513,12170,0.00,2.05,0.00,0.000,6,0.000,0.024,2387,1902,1113,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12481,0.79,316.4,804.6,10.8,524,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1903,1112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12779,0.80,316.4,772.0,11.0,534,12784,0.00,2.10,0.00,0.000,4,0.000,0.034,2387,3292,1111,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12817,0.81,316.4,768.0,11.1,535,12822,0.00,2.08,0.00,0.000,6,0.000,0.028,2395,1891,1111,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13149,0.82,316.4,732.4,10.6,546,13154,0.00,2.12,0.00,0.000,4,0.000,0.038,2405,503,1110,0,0,0,0,0,0,28.83,25.62,28.83
$GC,13183,0.83,316.4,728.5,10.6,547,13188,0.00,2.05,0.00,0.000,6,0.000,0.024,2405,1905,1110,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,19738,end climb,SURFACE_DEPTH_REACHED
$STATE,19738,begin surface coast
$FINISH,1.2,1.023346
$STATE,19758,end surface coast,CONTROL_FINISHED_OK
$STATE,19759,begin surface
$SM_CCo,19776,0.93,0.063,0,0,778,400.08
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$IRIDIUM_FIX,1943.54,12335.05,210213,090921
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.29
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,3840736
$24V_AH,21.5,96.810
$10V_AH,9.5,62.735
$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
$DEVICE_SECS,16.375,177.875,521.425,0.925,0.000,0.000,0.000,325.175,0.000,0.000,33.195,2959.328,13477.551,688.588,2606.982,611.572,0.000,2278.991,0.000,2197.914,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.195,0.000,0.000,0.000
$MEM,329004
$DATA_FILE_SIZE,33343,900
$CAP_FILE_SIZE,220688,0
$CFSIZE,260034560,204722176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,285.8,1
$GPS,210213,201606,1953.817,12338.051,39,1.0,39,-2.4