version: 66.11
glider: 129
mission: 4
dive: 470
start: 2 22 113 1 56 12
data:
$ID,129
$MISSION,4
$DIVE,470
$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,-3372.7852
$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,79
$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
$GPS1,220213,014636,1956.252,12340.557,27,1.4,27,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-60.9
$GPS2,220213,015543,1956.261,12340.653,14,1.4,14,-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,89.4,76670,-15.3,-9.429,-18.41
$D_GRID,5136
$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,-184.9,0.0,0.0,0,82,0.00,0.00,-59.55,0.000,2,0.000,0.000,48,1924,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.58,-184.9,3.2,-3.4,10,141,7.93,2.15,-37.67,0.000,4,0.236,0.045,1969,517,3165,0,0,0,0,0,0,24.96,25.89,26.50
$GC,164,-0.53,-184.9,11.6,-18.0,22,170,0.00,2.03,0.00,0.000,6,0.000,0.022,1960,1926,3165,0,0,0,0,0,0,28.83,26.06,28.83
$GC,480,-0.47,-184.9,94.7,-25.9,50,486,0.12,2.10,0.00,0.000,4,0.162,0.029,2000,520,3165,0,0,0,0,0,0,25.89,25.84,28.83
$GC,566,-0.44,-184.9,111.9,-19.6,54,571,0.00,2.03,0.00,0.000,6,0.000,0.021,1991,1927,3166,0,0,0,0,0,0,28.83,26.06,28.83
$GC,889,-0.41,-184.9,162.6,-15.4,70,896,0.12,2.10,0.00,0.000,4,0.151,0.028,2031,520,3166,0,0,0,0,0,0,25.98,25.85,28.83
$GC,939,-0.40,-184.9,168.7,-14.6,72,945,0.00,2.00,0.00,0.000,6,0.000,0.021,2022,1928,3166,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1258,-0.40,-184.9,208.1,-12.2,88,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1929,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.40,-184.9,240.5,-11.0,103,1566,0.00,2.03,0.00,0.000,4,0.000,0.033,2012,3305,3166,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1608,-0.40,-184.9,245.3,-10.8,105,1614,0.00,2.03,0.00,0.000,6,0.000,0.022,2012,1911,3166,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1927,-0.40,-184.9,280.4,-10.3,121,1932,0.00,2.00,0.00,0.000,4,0.000,0.031,2012,539,3166,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2058,-0.40,-184.9,293.5,-10.2,127,2064,0.00,2.00,0.00,0.000,6,0.000,0.021,2002,1938,3165,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2377,-0.40,-184.9,329.7,-10.5,143,2383,0.00,2.10,0.00,0.000,4,0.000,0.031,2002,532,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2450,-0.40,-184.9,336.8,-11.0,146,2456,0.12,1.98,0.00,0.000,6,0.142,0.021,2028,1924,3165,0,0,0,0,0,0,25.72,26.09,28.83
$GC,2765,-0.41,-184.9,359.9,-6.9,162,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1924,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3067,-0.43,-184.9,384.5,-8.6,177,3072,0.00,2.08,0.00,0.000,4,0.000,0.031,2028,535,3163,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3096,-0.45,-184.9,386.9,-8.7,178,3101,0.00,2.00,0.00,0.000,6,0.000,0.021,2021,1925,3163,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3416,-0.46,-184.9,412.7,-7.5,194,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1926,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,-0.48,-184.9,439.1,-9.6,209,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1927,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4016,-0.49,-184.9,468.5,-9.6,224,4022,0.00,2.05,0.00,0.000,4,0.000,0.031,2021,543,3161,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4051,-0.51,-184.9,471.0,-9.6,225,4056,0.00,2.00,0.00,0.000,6,0.000,0.022,2012,1930,3161,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4365,-0.52,-184.9,497.7,-7.2,241,4370,0.00,2.03,0.00,0.000,4,0.000,0.033,2002,3302,3159,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4414,-0.54,-184.9,500.7,-6.9,243,4419,0.00,2.00,0.00,0.000,6,0.000,0.023,2002,1926,3159,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4733,-0.54,-184.9,526.0,-8.3,259,4738,0.00,2.08,0.00,0.000,4,0.000,0.033,2002,535,3157,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4827,-0.54,-184.9,533.8,-9.3,263,4832,0.00,2.00,0.00,0.000,6,0.000,0.021,1993,1936,3157,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5140,-0.54,-184.9,566.6,-10.4,279,5146,0.00,2.10,0.00,0.000,4,0.000,0.031,1993,530,3155,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5185,-0.54,-184.9,571.2,-10.5,281,5191,0.00,2.03,0.00,0.000,6,0.000,0.021,1984,1925,3155,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5500,-0.54,-184.9,602.8,-9.3,296,5505,0.00,2.10,0.00,0.000,4,0.000,0.032,1984,531,3153,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5559,-0.54,-184.9,606.3,-9.7,297,5566,0.00,2.03,0.00,0.000,6,0.000,0.021,1975,1929,3153,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5864,-0.54,-184.9,641.2,-11.1,308,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1930,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6165,-0.54,-184.9,675.6,-11.4,318,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1929,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6464,-0.54,-184.9,708.0,-10.2,328,6469,0.00,2.12,0.00,0.000,4,0.000,0.033,1975,534,3148,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6522,-0.54,-184.9,711.3,-10.0,329,6528,0.00,2.03,0.00,0.000,6,0.000,0.023,1967,1921,3148,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6829,-0.54,-184.9,738.6,-7.6,340,6834,0.00,2.10,0.00,0.000,4,0.000,0.033,1967,528,3145,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6877,-0.54,-184.9,741.3,-7.7,341,6882,0.00,2.03,0.00,0.000,6,0.000,0.023,1957,1933,3145,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7195,-0.54,-184.9,773.1,-10.7,352,7201,0.00,2.12,0.00,0.000,4,0.000,0.033,1957,534,3144,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7265,-0.54,-184.9,780.8,-11.5,354,7271,0.15,2.00,0.00,0.000,6,0.142,0.023,1990,1924,3144,0,0,0,0,0,0,25.55,26.01,28.83
$GC,7598,-0.55,-184.9,812.0,-9.3,365,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1924,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7895,-0.56,-184.9,838.0,-8.3,375,7900,0.00,2.10,0.00,0.000,4,0.000,0.034,1990,535,3141,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7939,-0.57,-184.9,840.8,-8.2,376,7944,0.00,2.05,0.00,0.000,6,0.000,0.024,1983,1921,3141,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8266,-0.57,-184.9,865.3,-6.9,387,8272,0.00,2.10,0.00,0.000,4,0.000,0.035,1973,3313,3139,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8336,-0.58,-184.9,869.9,-6.9,389,8341,0.00,2.05,0.00,0.000,6,0.000,0.026,1973,1920,3139,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8668,-0.58,-184.9,893.5,-6.9,400,8674,0.00,2.10,0.00,0.000,4,0.000,0.035,1973,532,3137,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8757,-0.58,-184.9,898.5,-7.0,402,8763,0.00,2.03,0.00,0.000,6,0.000,0.024,1963,1931,3137,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9063,-0.58,-184.9,923.2,-7.8,413,9069,0.00,2.12,0.00,0.000,4,0.000,0.034,1963,535,3136,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9162,-0.58,-184.9,931.6,-8.6,416,9167,0.00,2.03,0.00,0.000,6,0.000,0.024,1953,1932,3135,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9493,-0.58,-184.9,963.5,-9.8,427,9498,0.00,2.10,0.00,0.000,4,0.000,0.034,1953,536,3134,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9536,-0.58,-184.9,967.2,-9.9,428,9541,0.00,2.03,0.00,0.000,6,0.000,0.024,1943,1931,3134,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9767,begin apogee
$GC,9774,-0.17,0.0,992.4,-10.4,436,9939,0.50,0.00,153.77,1.424,6,0.122,0.000,2104,1932,2409,0,0,0,0,0,0,24.87,28.83,22.56
$STATE,9940,end apogee,CONTROL_FINISHED_OK
$STATE,9940,begin climb
$GC,9943,0.58,184.9,999.6,0.0,441,10125,0.73,2.50,170.75,1.373,4,0.086,0.038,2356,525,1654,0,0,0,0,0,0,24.17,23.13,21.60
$GC,10186,0.63,297.9,992.8,5.6,449,10296,0.00,2.10,103.25,1.353,6,0.000,0.023,2356,1893,1194,0,0,0,0,0,0,28.83,24.88,22.20
$GC,10619,0.67,339.5,957.2,8.0,464,10661,0.00,2.17,37.20,1.333,4,0.000,0.034,2356,3293,1024,0,0,0,0,0,0,28.83,25.28,23.56
$GC,10732,0.70,375.9,949.4,8.2,467,10774,0.00,2.05,33.90,1.317,6,0.000,0.029,2365,1910,876,0,0,0,0,0,0,28.83,25.91,23.50
$GC,11104,0.74,395.5,915.2,8.8,480,11134,0.10,2.25,17.98,1.279,4,0.116,0.040,2413,501,797,0,0,0,0,0,0,26.18,25.60,23.83
$GC,11200,0.76,395.5,905.0,10.3,483,11206,0.00,2.10,0.00,0.000,6,0.000,0.024,2413,1912,795,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11538,0.77,395.5,865.3,11.7,494,11543,0.00,2.08,0.00,0.000,4,0.000,0.034,2413,3293,793,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11581,0.78,395.5,860.8,11.8,495,11586,0.00,2.05,0.00,0.000,6,0.000,0.028,2422,1901,792,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11905,0.78,395.5,820.9,11.8,506,11910,0.00,2.12,0.00,0.000,4,0.000,0.039,2432,505,792,0,0,0,0,0,0,28.83,25.74,28.83
$GC,11933,0.78,395.5,820.9,11.8,506,11940,0.00,2.08,0.00,0.000,6,0.000,0.024,2432,1906,791,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12239,0.78,395.5,777.0,13.8,517,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1905,791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12540,0.78,395.5,733.3,14.6,527,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1905,791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12839,0.78,395.5,691.0,13.7,537,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1906,791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13140,0.78,395.5,653.2,11.9,547,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1906,790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13439,0.78,395.5,619.9,10.9,557,13444,0.00,2.10,0.00,0.000,4,0.000,0.034,2432,3293,790,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13486,0.78,395.5,616.0,11.1,558,13492,0.00,2.08,0.00,0.000,6,0.000,0.028,2439,1896,790,0,0,0,0,0,0,28.83,25.80,28.83
$GC,13805,0.78,395.5,573.7,13.3,572,13811,0.00,2.12,0.00,0.000,4,0.000,0.039,2449,498,790,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,18752,end climb,SURFACE_DEPTH_REACHED
$STATE,18752,begin surface coast
$FINISH,1.2,1.022922
$STATE,18773,end surface coast,CONTROL_FINISHED_OK
$STATE,18773,begin surface
$SM_CCo,18850,0.00,0.000,0,0,588,446.69
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$IRIDIUM_FIX,1948.12,12336.32,210213,202057
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.85
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3839968
$24V_AH,21.6,97.239
$10V_AH,9.6,62.988
$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,16.600,153.525,559.000,0.000,0.000,0.000,0.000,314.275,0.000,0.000,17.048,2711.349,13062.706,674.421,2383.651,554.436,0.000,2159.914,0.000,2000.437,0.000,0.539,0.000
$DEVICE_MAMPS,236.385,45.135,1423.665,0.000,0.000,0.000,0.000,131.580,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.706,0.000,0.000,0.000
$MEM,329032
$DATA_FILE_SIZE,30043,866
$CAP_FILE_SIZE,204683,0
$CFSIZE,260034560,204533760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,205.6,1
$GPS,220213,071136,1956.072,12343.854,33,1.0,33,-2.4