version: 66.11
glider: 129
mission: 4
dive: 471
start: 2 22 113 7 21 12
data:
$ID,129
$MISSION,4
$DIVE,471
$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,-3374.0391
$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,60
$R_STBD_OVSHOOT,76
$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
$GPS1,220213,071136,1956.072,12343.854,33,1.0,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-62.4
$GPS2,220213,072043,1955.986,12343.818,13,1.5,13,-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,56.8,72057,-15.3,-9.429,-18.41
$D_GRID,5131
$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,-184.9,0.0,0.0,0,81,0.00,0.00,-58.62,0.000,2,0.000,0.000,54,1873,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.58,-184.9,3.2,-3.4,10,135,7.90,2.15,-31.77,0.000,4,0.236,0.045,1958,3306,3163,0,0,0,0,0,0,24.84,25.89,26.49
$GC,165,-0.54,-184.9,14.5,-18.9,23,172,0.00,2.00,0.00,0.000,6,0.000,0.023,1958,1915,3162,0,0,0,0,0,0,28.83,26.03,28.83
$GC,476,-0.48,-184.9,88.0,-22.3,50,482,0.12,2.03,0.00,0.000,4,0.161,0.028,1998,531,3164,0,0,0,0,0,0,25.89,25.84,28.83
$GC,601,-0.46,-184.9,110.4,-16.5,56,607,0.00,2.03,0.00,0.000,6,0.000,0.021,1989,1923,3164,0,0,0,0,0,0,28.83,26.07,28.83
$GC,925,-0.44,-184.9,160.0,-15.2,72,931,0.00,2.08,0.00,0.000,4,0.000,0.031,1989,531,3165,0,0,0,0,0,0,28.83,25.83,28.83
$GC,984,-0.42,-184.9,167.3,-15.8,74,991,0.17,2.00,0.00,0.000,6,0.135,0.021,2030,1924,3165,0,0,0,0,0,0,25.54,26.06,28.83
$GC,1290,-0.42,-184.9,200.2,-9.2,90,1295,0.00,2.03,0.00,0.000,4,0.000,0.033,2022,3301,3165,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1323,-0.42,-184.9,202.4,-9.1,91,1329,0.00,2.00,0.00,0.000,6,0.000,0.023,2021,1898,3164,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1637,-0.42,-184.9,233.3,-9.9,107,1642,0.00,1.98,0.00,0.000,4,0.000,0.031,2021,543,3165,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1715,-0.42,-184.9,239.4,-9.9,110,1722,0.00,2.00,0.00,0.000,6,0.000,0.021,2012,1946,3165,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2021,-0.42,-184.9,270.6,-10.4,126,2026,0.00,2.10,0.00,0.000,4,0.000,0.031,2012,543,3164,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2059,-0.42,-184.9,273.3,-10.6,127,2066,0.00,1.98,0.00,0.000,6,0.000,0.021,2002,1925,3164,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2365,-0.42,-184.9,304.9,-9.4,143,2370,0.00,2.03,0.00,0.000,4,0.000,0.033,1992,3305,3164,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2402,-0.42,-184.9,307.1,-9.4,144,2410,0.12,1.98,0.00,0.000,6,0.127,0.023,2029,1921,3164,0,0,0,0,0,0,25.75,26.03,28.83
$GC,2709,-0.43,-184.9,330.7,-8.2,160,2714,0.00,2.03,0.00,0.000,4,0.000,0.032,2029,542,3164,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2829,-0.45,-184.9,340.8,-9.9,165,2836,0.00,1.98,0.00,0.000,6,0.000,0.021,2022,1922,3163,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3133,-0.46,-184.9,368.1,-6.9,181,3138,0.00,2.08,0.00,0.000,4,0.000,0.033,2011,3308,3162,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3172,-0.48,-184.9,369.6,-6.6,182,3179,0.00,2.00,0.00,0.000,6,0.000,0.022,2012,1929,3163,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3478,-0.49,-184.9,392.0,-7.8,198,3483,0.00,2.05,0.00,0.000,4,0.000,0.032,2011,536,3163,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3599,-0.49,-184.9,402.2,-9.9,203,3606,0.00,2.00,0.00,0.000,6,0.000,0.021,2002,1928,3162,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3902,-0.49,-184.9,435.8,-10.4,219,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1928,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4207,-0.49,-184.9,463.6,-8.4,234,4212,0.00,2.10,0.00,0.000,4,0.000,0.031,2002,535,3159,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4260,-0.49,-184.9,467.5,-7.9,236,4265,0.00,2.03,0.00,0.000,6,0.000,0.021,1993,1935,3158,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4574,-0.49,-184.9,493.7,-8.4,252,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1936,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4877,-0.49,-184.9,520.3,-9.5,267,4882,0.00,2.12,0.00,0.000,4,0.000,0.032,1993,532,3155,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4915,-0.49,-184.9,523.0,-9.8,268,4923,0.00,2.05,0.00,0.000,6,0.000,0.022,1984,1956,3155,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5220,-0.49,-184.9,556.2,-9.8,284,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1956,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5524,-0.49,-184.9,580.5,-7.0,299,5529,0.00,2.15,0.00,0.000,4,0.000,0.033,1984,540,3152,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5562,-0.49,-184.9,582.3,-6.8,300,5568,0.00,2.03,0.00,0.000,6,0.000,0.023,1974,1930,3152,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5881,-0.49,-184.9,608.3,-8.6,315,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1930,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6178,-0.49,-184.9,633.8,-8.5,325,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1930,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6478,-0.49,-184.9,659.4,-8.7,335,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1930,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6779,-0.49,-184.9,686.6,-9.0,345,6784,0.00,2.12,0.00,0.000,4,0.000,0.034,1974,542,3145,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6813,-0.49,-184.9,689.8,-9.0,346,6819,0.12,2.03,0.00,0.000,6,0.148,0.024,2000,1918,3145,0,0,0,0,0,0,25.60,25.98,28.83
$GC,7148,-0.50,-184.9,714.1,-7.3,357,7153,0.00,2.10,0.00,0.000,4,0.000,0.035,1991,3311,3143,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7183,-0.52,-184.9,716.6,-7.4,358,7189,0.00,2.03,0.00,0.000,6,0.000,0.025,1991,1931,3143,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7520,-0.53,-184.9,743.7,-8.1,369,7526,0.00,2.10,0.00,0.000,4,0.000,0.035,1991,531,3141,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7594,-0.54,-184.9,749.4,-8.2,371,7600,0.00,2.05,0.00,0.000,6,0.000,0.023,1981,1941,3141,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7921,-0.54,-184.9,777.8,-8.7,382,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1941,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8219,-0.54,-184.9,803.4,-8.7,392,8225,0.00,2.05,0.00,0.000,4,0.000,0.036,1971,3312,3139,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8247,-0.54,-184.9,803.4,-8.7,392,8254,0.00,2.05,0.00,0.000,6,0.000,0.025,1971,1919,3138,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8554,-0.54,-184.9,834.2,-9.3,403,8560,0.00,2.08,0.00,0.000,4,0.000,0.035,1972,531,3137,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8637,-0.54,-184.9,840.7,-9.5,405,8643,0.00,2.03,0.00,0.000,6,0.000,0.024,1962,1933,3137,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8953,-0.54,-184.9,873.2,-9.8,416,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1934,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9251,-0.54,-184.9,900.7,-8.9,426,9256,0.00,2.12,0.00,0.000,4,0.000,0.034,1962,528,3135,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9274,-0.54,-184.9,900.7,-8.9,426,9280,0.12,2.05,0.00,0.000,6,0.152,0.024,1986,1924,3135,0,0,0,0,0,0,25.49,25.91,28.83
$GC,9592,-0.55,-184.9,925.0,-6.6,437,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1924,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9890,-0.57,-184.9,944.3,-6.4,447,9895,0.00,2.10,0.00,0.000,4,0.000,0.036,1977,3309,3132,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9939,-0.58,-184.9,946.5,-6.4,448,9944,0.00,2.05,0.00,0.000,6,0.000,0.027,1977,1936,3132,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10260,-0.58,-184.9,971.6,-7.7,459,10265,0.00,2.12,0.00,0.000,4,0.000,0.035,1977,528,3131,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10290,-0.58,-184.9,971.6,-7.7,459,10297,0.00,2.08,0.00,0.000,6,0.000,0.024,1968,1938,3131,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,10500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10501,begin apogee
$GC,10507,-0.17,0.0,992.3,-8.4,467,10670,0.40,0.00,153.95,1.430,6,0.119,0.000,2100,1938,2409,0,0,0,0,0,0,25.08,28.83,22.40
$STATE,10672,end apogee,CONTROL_FINISHED_OK
$STATE,10672,begin climb
$GC,10674,0.58,184.9,998.6,0.0,472,10857,0.73,2.53,173.07,1.376,4,0.087,0.038,2349,510,1655,0,0,0,0,0,0,23.98,22.99,21.45
$GC,10920,0.63,266.3,989.1,6.6,480,11004,0.00,2.17,75.15,1.350,6,0.000,0.023,2349,1895,1324,0,0,0,0,0,0,28.83,24.60,22.06
$GC,11318,0.65,275.5,952.0,9.1,494,11334,0.00,2.17,8.12,1.138,4,0.000,0.036,2349,3295,1286,0,0,0,0,0,0,28.83,25.81,23.95
$GC,11404,0.67,275.6,945.6,9.4,496,11409,0.00,2.08,0.00,0.000,6,0.000,0.028,2358,1892,1284,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11721,0.69,291.1,914.2,8.9,507,11739,0.00,0.00,15.65,1.278,6,0.000,0.000,2359,1892,1223,0,0,0,0,0,0,28.83,28.83,23.87
$GC,12020,0.72,309.4,888.4,8.8,517,12044,0.10,2.22,17.77,1.290,4,0.119,0.039,2408,497,1147,0,0,0,0,0,0,26.18,25.59,23.82
$GC,12068,0.74,316.7,884.8,9.2,518,12084,0.00,2.10,8.05,1.134,6,0.000,0.024,2408,1912,1118,0,0,0,0,0,0,28.83,25.90,23.75
$GC,12384,0.74,316.7,845.4,12.2,529,12389,0.00,2.08,0.00,0.000,4,0.000,0.034,2408,3291,1115,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12432,0.74,316.7,840.9,12.4,530,12438,0.00,2.08,0.00,0.000,6,0.000,0.028,2417,1899,1113,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12752,0.74,316.7,800.5,12.0,541,12757,0.00,2.15,0.00,0.000,4,0.000,0.039,2427,493,1113,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12779,0.74,316.7,800.5,12.0,541,12786,0.00,2.10,0.00,0.000,6,0.000,0.024,2427,1919,1112,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13087,0.74,316.7,757.9,12.8,552,13092,0.00,2.08,0.00,0.000,4,0.000,0.034,2427,3291,1112,0,0,0,0,0,0,28.83,25.71,28.83
$GC,13144,0.74,316.7,753.3,12.8,553,13152,0.15,2.10,0.00,0.000,6,0.155,0.028,2397,1890,1111,0,0,0,0,0,0,25.38,25.84,28.83
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$STATE,19910,end climb,SURFACE_DEPTH_REACHED
$STATE,19910,begin surface coast
$FINISH,1.4,1.023271
$STATE,19921,end surface coast,CONTROL_FINISHED_OK
$STATE,19921,begin surface
$SM_CCo,20002,0.00,0.000,0,0,564,452.58
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$IRIDIUM_FIX,1948.12,12342.68,220213,010129
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.52
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3839584
$24V_AH,21.5,97.456
$10V_AH,9.8,63.121
$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,16.475,166.125,573.825,0.000,0.000,0.000,0.000,313.425,0.000,0.000,16.561,2843.502,13933.660,711.894,2447.936,600.524,0.000,2225.330,0.000,2080.593,0.000,0.539,0.000
$DEVICE_MAMPS,236.385,45.135,1429.785,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19954.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.597,0.000,0.000,0.000
$MEM,329004
$DATA_FILE_SIZE,33360,908
$CAP_FILE_SIZE,215702,0
$CFSIZE,260034560,204414976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,287.7,1
$GPS,220213,125553,1958.628,12344.500,37,1.3,37,-2.4