version: 66.11
glider: 129
mission: 4
dive: 388
start: 2 4 113 23 10 31
data:
$ID,129
$MISSION,4
$DIVE,388
$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,-3239.5251
$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,78
$R_STBD_OVSHOOT,80
$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,21.5
$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
$GPS1,040213,230136,1800.661,12335.765,41,1.1,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-62.7
$GPS2,040213,231001,1800.755,12335.726,10,1.4,10,-2.0
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,258.8,150507,-15.3,-9.429,-18.41
$D_GRID,5574
$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,-184.9,0.0,0.0,0,94,0.00,0.00,-71.10,0.000,2,0.000,0.000,52,1901,1931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-4.4,12,141,8.00,2.08,-29.83,0.000,4,0.239,0.044,1963,528,3164,0,0,0,0,0,0,24.87,26.10,26.56
$GC,332,-0.52,-184.9,59.7,-26.5,43,338,0.15,2.00,0.00,0.000,6,0.161,0.022,1994,1916,3165,0,0,0,0,0,0,25.80,26.26,28.83
$GC,656,-0.47,-184.9,141.2,-21.3,59,662,0.00,2.03,0.00,0.000,4,0.000,0.028,1994,527,3165,0,0,0,0,0,0,28.83,26.22,28.83
$GC,710,-0.42,-184.9,150.7,-21.8,61,716,0.12,2.00,0.00,0.000,6,0.158,0.021,2019,1934,3165,0,0,0,0,0,0,25.93,26.29,28.83
$GC,1026,-0.39,-184.9,210.7,-19.0,77,1031,0.00,2.05,0.00,0.000,4,0.000,0.028,2019,526,3167,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1133,-0.37,-184.9,227.8,-16.1,82,1138,0.00,1.98,0.00,0.000,6,0.000,0.021,2011,1936,3165,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1456,-0.37,-184.9,267.7,-12.9,98,1462,0.00,2.00,0.00,0.000,4,0.000,0.033,2000,3305,3165,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1505,-0.37,-184.9,273.7,-13.0,100,1511,0.15,1.95,0.00,0.000,6,0.123,0.021,2047,1907,3165,0,0,0,0,0,0,26.01,26.34,28.83
$GC,1825,-0.39,-184.9,302.2,-8.7,116,1830,0.00,1.92,0.00,0.000,4,0.000,0.028,2047,552,3165,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1984,-0.40,-184.9,315.4,-8.8,123,1991,0.00,1.98,0.00,0.000,6,0.000,0.020,2040,1935,3163,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2290,-0.42,-184.9,341.6,-8.2,139,2295,0.00,2.03,0.00,0.000,4,0.000,0.028,2040,551,3163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2365,-0.44,-184.9,347.4,-8.9,142,2371,0.00,1.95,0.00,0.000,6,0.000,0.019,2037,1935,3163,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2680,-0.46,-184.9,374.0,-8.1,158,2685,0.00,2.00,0.00,0.000,4,0.000,0.032,2027,3296,3162,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2727,-0.48,-184.9,377.6,-8.0,160,2733,0.00,1.92,0.00,0.000,6,0.000,0.019,2027,1924,3162,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3046,-0.50,-184.9,406.4,-8.9,176,3052,0.00,1.98,0.00,0.000,4,0.000,0.029,2027,545,3161,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3140,-0.51,-184.9,414.4,-9.5,180,3146,0.00,1.95,0.00,0.000,6,0.000,0.020,2021,1931,3161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3454,-0.53,-184.9,441.4,-7.7,196,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1932,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3759,-0.54,-184.9,461.6,-6.9,211,3764,0.12,2.05,0.00,0.000,4,0.095,0.026,1949,539,3158,0,0,0,0,0,0,26.38,26.22,28.83
$GC,3864,-0.52,-184.9,474.5,-13.1,216,3870,0.17,1.98,0.00,0.000,6,0.138,0.020,1990,1926,3158,0,0,0,0,0,0,25.87,26.32,28.83
$GC,4189,-0.52,-184.9,502.9,-8.7,232,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1927,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4491,-0.52,-184.9,529.2,-8.9,247,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1927,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-0.52,-184.9,558.8,-10.1,262,4795,0.00,2.05,0.00,0.000,4,0.000,0.030,1990,543,3151,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4833,-0.52,-184.9,563.7,-10.5,264,4838,0.00,1.98,0.00,0.000,6,0.000,0.021,1982,1922,3151,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5156,-0.52,-184.9,598.1,-10.7,280,5162,0.00,2.03,0.00,0.000,4,0.000,0.030,1982,553,3149,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5250,-0.52,-184.9,608.8,-11.4,284,5257,0.00,2.00,0.00,0.000,6,0.000,0.022,1973,1925,3149,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5587,-0.52,-184.9,644.8,-10.6,295,5593,0.00,2.03,0.00,0.000,4,0.000,0.030,1973,548,3146,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5660,-0.52,-184.9,652.0,-10.6,297,5665,0.00,1.98,0.00,0.000,6,0.000,0.022,1965,1925,3146,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5984,-0.52,-184.9,685.3,-10.1,308,5990,0.00,2.03,0.00,0.000,4,0.000,0.031,1965,548,3143,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6062,-0.52,-184.9,692.2,-10.4,310,6068,0.12,1.98,0.00,0.000,6,0.148,0.022,1991,1924,3143,0,0,0,0,0,0,25.94,26.27,28.83
$GC,6385,-0.53,-184.9,716.8,-7.3,321,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1924,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6682,-0.55,-184.9,739.3,-7.5,331,6687,0.00,2.05,0.00,0.000,4,0.000,0.031,1991,546,3140,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6731,-0.56,-184.9,742.0,-7.5,332,6736,0.00,2.00,0.00,0.000,6,0.000,0.022,1983,1935,3139,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7051,-0.56,-184.9,767.8,-7.6,343,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1935,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7350,-0.56,-184.9,790.7,-7.7,353,7355,0.00,2.08,0.00,0.000,4,0.000,0.031,1983,548,3136,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7402,-0.56,-184.9,793.6,-7.8,354,7408,0.00,2.00,0.00,0.000,6,0.000,0.022,1975,1933,3136,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7718,-0.56,-184.9,821.3,-8.2,365,7724,0.00,2.05,0.00,0.000,4,0.000,0.031,1975,555,3134,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7756,-0.56,-184.9,824.4,-8.4,366,7761,0.00,1.98,0.00,0.000,6,0.000,0.023,1966,1922,3134,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8086,-0.56,-184.9,854.8,-9.4,377,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1922,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8385,-0.56,-184.9,884.7,-10.2,387,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1922,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8684,-0.56,-184.9,914.4,-9.8,397,8689,0.00,2.05,0.00,0.000,4,0.000,0.037,1956,3303,3130,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8711,-0.56,-184.9,914.4,-9.8,397,8718,0.00,1.98,0.00,0.000,6,0.000,0.023,1956,1931,3129,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9019,-0.56,-184.9,946.4,-9.4,408,9024,0.00,2.03,0.00,0.000,4,0.000,0.031,1956,540,3128,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9223,-0.56,-184.9,964.6,-9.7,414,9229,0.12,2.03,0.00,0.000,6,0.149,0.023,1981,1932,3128,0,0,0,0,0,0,25.84,26.20,28.83
$GC,9540,-0.57,-184.9,988.6,-6.8,425,9545,0.00,2.10,0.00,0.000,4,0.000,0.031,1981,529,3126,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9568,-0.58,-184.9,988.6,-6.8,425,9575,0.00,2.05,0.00,0.000,6,0.000,0.023,1973,1957,3127,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,9601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9601,begin apogee
$GC,9607,-0.17,0.0,993.2,-6.8,427,9768,0.38,0.00,153.80,1.406,6,0.114,0.000,2101,1957,2409,0,0,0,0,0,0,25.58,28.83,22.61
$STATE,9770,end apogee,CONTROL_FINISHED_OK
$STATE,9770,begin climb
$GC,9773,0.58,184.9,997.6,0.0,432,9949,0.73,2.35,167.00,1.359,4,0.086,0.031,2357,521,1655,0,0,0,0,0,0,24.71,24.02,22.15
$GC,9998,0.59,207.9,983.5,8.6,440,10027,0.00,2.10,21.40,1.271,6,0.000,0.021,2357,1903,1561,0,0,0,0,0,0,28.83,25.30,23.14
$GC,10327,0.59,207.9,948.4,10.6,451,10332,0.00,2.05,0.00,0.000,4,0.000,0.035,2357,3288,1554,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10481,0.59,207.9,930.9,11.4,456,10486,0.00,2.03,0.00,0.000,6,0.000,0.023,2365,1894,1553,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10816,0.59,207.9,897.1,9.8,467,10821,0.00,2.12,0.00,0.000,4,0.000,0.034,2365,3292,1552,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10879,0.59,207.9,890.3,10.1,469,10885,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1899,1551,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11215,0.59,207.9,856.0,10.1,480,11220,0.00,2.12,0.00,0.000,4,0.000,0.034,2373,3292,1550,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11318,0.59,207.9,846.2,10.2,483,11324,0.00,2.03,0.00,0.000,6,0.000,0.024,2374,1904,1549,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11644,0.60,214.8,815.3,9.2,494,11658,0.00,2.15,5.62,1.013,4,0.000,0.034,2374,3282,1533,0,0,0,0,0,0,28.83,25.94,23.93
$GC,11726,0.60,214.8,808.9,9.7,496,11731,0.00,2.03,0.00,0.000,6,0.000,0.024,2374,1895,1532,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12040,0.61,239.9,779.3,8.6,507,12070,0.00,2.22,23.77,1.255,4,0.000,0.034,2374,3292,1431,0,0,0,0,0,0,28.83,25.62,23.56
$GC,12123,0.61,259.2,773.5,8.8,509,12147,0.00,2.03,18.58,1.216,6,0.000,0.024,2374,1900,1353,0,0,0,0,0,0,28.83,25.98,23.53
$GC,12466,0.63,275.8,740.9,8.9,521,12484,0.00,0.00,15.90,1.189,6,0.000,0.000,2374,1900,1285,0,0,0,0,0,0,28.83,28.83,23.75
$GC,12767,0.65,275.8,712.7,9.4,531,12772,0.00,2.08,0.00,0.000,4,0.000,0.034,2374,3287,1280,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12840,0.66,275.8,706.0,9.9,533,12845,0.00,2.03,0.00,0.000,6,0.000,0.024,2374,1893,1279,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13167,0.68,275.8,673.1,9.9,544,13172,0.00,2.10,0.00,0.000,4,0.000,0.034,2374,3292,1278,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13225,0.69,275.8,669.0,10.1,545,13233,0.00,2.03,0.00,0.000,6,0.000,0.024,2374,1897,1277,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13533,0.71,275.8,635.2,10.2,556,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1897,1277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13831,0.73,275.8,605.7,9.7,566,13836,0.00,2.12,0.00,0.000,4,0.000,0.034,2374,3297,1277,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,19718,end climb,SURFACE_DEPTH_REACHED
$STATE,19718,begin surface coast
$FINISH,1.2,0.998560
$STATE,19729,end surface coast,CONTROL_FINISHED_OK
$STATE,19729,begin surface
$SM_CCo,19807,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1751.90,12336.38,040213,171706
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.72
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3871328
$24V_AH,22.1,79.704
$10V_AH,9.6,53.228
$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,16.925,163.150,630.925,0.000,0.000,0.000,0.000,294.950,0.000,0.000,11.677,3005.993,13410.021,740.740,2627.104,520.702,0.000,2329.349,0.000,2251.762,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,43.605,1406.070,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19756.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.799,0.000,0.000,0.000
$MEM,329048
$DATA_FILE_SIZE,33337,883
$CAP_FILE_SIZE,220647,0
$CFSIZE,260034560,212406272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 13.2,1
$GPS,050213,044200,1801.009,12333.314,41,1.0,41,-2.0