version: 66.11
glider: 129
mission: 4
dive: 424
start: 2 11 113 10 39 11
data:
$ID,129
$MISSION,4
$DIVE,424
$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,-13
$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,-3288.4011
$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,65
$R_STBD_OVSHOOT,92
$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
$GPS1,110213,103005,1844.880,12218.925,32,1.3,32,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.5
$GPS2,110213,103843,1845.145,12218.607,15,1.3,15,-2.1
$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,98.8,268666,-15.3,-9.429,-18.41
$D_GRID,1005
$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,21,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.50,0.000,2,0.000,0.000,55,1932,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.2,-5.3,12,141,7.95,2.10,-28.23,0.000,4,0.236,0.041,1962,518,3164,0,0,0,0,0,0,24.78,26.02,26.51
$GC,192,-0.50,-184.9,24.6,-29.8,28,199,0.15,2.00,0.00,0.000,6,0.167,0.022,1993,1901,3164,0,0,0,0,0,0,25.65,26.15,28.83
$GC,508,-0.45,-184.9,110.5,-23.7,49,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1902,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,809,-0.43,-184.9,164.1,-16.0,64,811,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1902,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1110,-0.41,-184.9,205.8,-13.1,79,1116,0.12,2.08,0.00,0.000,4,0.150,0.031,2026,3317,3165,0,0,0,0,0,0,26.10,26.06,28.83
$GC,1149,-0.40,-184.9,208.7,-12.3,80,1156,0.00,2.00,0.00,0.000,6,0.000,0.020,2026,1890,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1456,-0.40,-184.9,234.9,-7.9,96,1461,0.00,1.95,0.00,0.000,4,0.000,0.029,2027,545,3165,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1500,-0.40,-184.9,238.5,-8.1,98,1505,0.00,2.00,0.00,0.000,6,0.000,0.020,2017,1950,3165,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1823,-0.40,-184.9,268.6,-10.0,114,1829,0.00,2.05,0.00,0.000,4,0.000,0.028,2017,552,3164,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1867,-0.40,-184.9,273.0,-10.0,116,1873,0.00,1.95,0.00,0.000,6,0.000,0.020,2008,1926,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2191,-0.40,-184.9,302.2,-9.6,132,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1927,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,-0.40,-184.9,327.3,-7.3,147,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1927,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-0.40,-184.9,350.1,-8.2,162,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1927,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,-0.40,-184.9,375.5,-8.9,177,3100,0.00,2.05,0.00,0.000,4,0.000,0.029,2008,542,3159,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3211,-0.40,-184.9,385.4,-9.1,182,3216,0.00,1.98,0.00,0.000,6,0.000,0.022,1999,1918,3158,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3524,-0.40,-184.9,413.6,-8.5,198,3526,0.12,0.00,0.00,0.000,6,0.139,0.000,2036,1920,3155,0,0,0,0,0,0,26.17,28.83,28.83
$GC,3827,-0.42,-184.9,433.9,-7.0,213,3828,0.00,0.00,-0.08,0.000,6,0.000,0.000,2036,1920,3176,0,0,0,0,0,0,28.83,28.83,25.10
$GC,4125,-0.45,-184.9,456.3,-7.2,228,4130,0.00,2.05,0.00,0.000,4,0.000,0.031,2037,546,3175,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4158,-0.48,-184.9,458.0,-7.1,229,4163,0.00,2.00,0.00,0.000,6,0.000,0.020,2034,1941,3175,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4472,-0.50,-184.9,479.1,-6.5,245,4479,0.12,2.03,0.00,0.000,4,0.098,0.033,1959,3309,3173,0,0,0,0,0,0,26.32,26.01,28.83
$GC,4518,-0.52,-184.9,483.4,-8.1,247,4525,0.12,1.98,0.00,0.000,6,0.140,0.022,1994,1916,3174,0,0,0,0,0,0,25.92,26.25,28.83
$GC,4844,-0.52,-184.9,514.8,-10.1,263,4849,0.00,2.00,0.00,0.000,4,0.000,0.031,1994,554,3173,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4952,-0.52,-184.9,525.2,-10.0,268,4958,0.00,1.98,0.00,0.000,6,0.000,0.021,1987,1930,3172,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5271,-0.52,-184.9,554.1,-8.3,284,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5574,-0.52,-184.9,577.3,-7.7,299,5579,0.00,2.05,0.00,0.000,4,0.000,0.035,1977,3299,3169,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5612,-0.52,-184.9,579.2,-7.5,300,5619,0.00,1.95,0.00,0.000,6,0.000,0.021,1977,1933,3168,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5921,-0.52,-184.9,606.5,-9.2,315,5926,0.00,2.05,0.00,0.000,4,0.000,0.031,1977,545,3167,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6018,-0.52,-184.9,615.9,-9.6,318,6023,0.00,1.98,0.00,0.000,6,0.000,0.021,1967,1924,3166,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6349,-0.52,-184.9,646.7,-9.0,329,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1924,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6646,-0.52,-184.9,673.7,-9.0,339,6651,0.00,2.08,0.00,0.000,4,0.000,0.030,1968,538,3163,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6760,-0.52,-184.9,683.0,-9.8,342,6766,0.12,2.00,0.00,0.000,6,0.146,0.022,1993,1924,3163,0,0,0,0,0,0,25.84,26.19,28.83
$GC,7077,-0.53,-184.9,708.6,-7.4,353,7082,0.00,2.08,0.00,0.000,4,0.000,0.035,1985,3309,3162,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7120,-0.55,-184.9,711.3,-7.4,354,7125,0.00,2.00,0.00,0.000,6,0.000,0.022,1984,1918,3161,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7446,-0.55,-184.9,736.9,-7.3,365,7452,0.00,2.03,0.00,0.000,4,0.000,0.031,1984,541,3160,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7590,-0.55,-184.9,747.0,-8.0,369,7595,0.00,2.00,0.00,0.000,6,0.000,0.022,1975,1925,3159,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7904,-0.55,-184.9,771.9,-7.8,380,7909,0.00,2.08,0.00,0.000,4,0.000,0.036,1965,3313,3158,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7973,-0.55,-184.9,776.9,-8.0,382,7979,0.00,2.00,0.00,0.000,6,0.000,0.022,1964,1922,3158,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8305,-0.55,-184.9,806.8,-9.0,393,8311,0.00,2.03,0.00,0.000,4,0.000,0.031,1965,538,3157,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8423,-0.55,-184.9,816.4,-9.7,396,8430,0.00,2.00,0.00,0.000,6,0.000,0.022,1960,1923,3156,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8729,-0.55,-184.9,850.9,-10.7,407,8734,0.00,2.08,0.00,0.000,4,0.000,0.036,1945,3305,3155,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8781,-0.55,-184.9,854.4,-10.7,408,8787,0.15,2.00,0.00,0.000,6,0.138,0.023,1988,1907,3155,0,0,0,0,0,0,25.73,26.17,28.83
$GC,9099,-0.56,-184.9,883.3,-8.5,419,9104,0.00,2.00,0.00,0.000,4,0.000,0.032,1988,555,3154,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9204,-0.57,-184.9,892.2,-9.1,422,9209,0.00,2.00,0.00,0.000,6,0.000,0.023,1981,1939,3153,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9531,-0.58,-184.9,920.0,-8.0,433,9536,0.00,2.08,0.00,0.000,4,0.000,0.031,1981,554,3152,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9559,-0.59,-184.9,920.0,-8.0,433,9566,0.00,1.98,0.00,0.000,6,0.000,0.022,1972,1925,3152,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9867,-0.59,-184.9,946.0,-7.6,444,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1926,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10165,-0.59,-184.9,968.4,-7.5,454,10170,0.00,2.05,0.00,0.000,4,0.000,0.031,1972,554,3151,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10234,-0.59,-184.9,974.1,-8.5,456,10240,0.00,2.00,0.00,0.000,6,0.000,0.023,1964,1932,3151,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,10410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10410,begin apogee
$GC,10416,-0.17,0.0,991.9,-9.9,462,10585,0.43,0.00,160.07,1.415,6,0.119,0.000,2105,1932,2409,0,0,0,0,0,0,25.33,28.83,22.27
$STATE,10586,end apogee,CONTROL_FINISHED_OK
$STATE,10587,begin climb
$GC,10589,0.58,184.9,1000.6,0.0,467,10771,0.73,2.42,172.70,1.361,4,0.088,0.034,2356,538,1654,0,0,0,0,0,0,24.31,23.53,21.53
$GC,10841,0.63,309.3,994.5,5.2,476,10965,0.00,2.05,112.43,1.346,6,0.000,0.021,2356,1898,1148,0,0,0,0,0,0,28.83,25.31,22.22
$GC,11290,0.68,368.4,960.5,7.4,491,11352,0.00,2.20,53.80,1.337,4,0.000,0.034,2356,3283,906,0,0,0,0,0,0,28.83,25.12,23.20
$GC,11416,0.71,380.4,949.3,9.0,495,11434,0.00,2.00,11.85,1.201,6,0.000,0.024,2364,1923,855,0,0,0,0,0,0,28.83,25.84,23.54
$GC,11743,0.73,382.0,918.9,9.4,506,11748,0.00,2.15,0.00,0.000,4,0.000,0.036,2374,502,854,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11772,0.76,383.6,918.9,9.4,506,11780,0.00,2.03,3.53,0.764,6,0.000,0.021,2374,1908,846,0,0,0,0,0,0,28.83,26.22,23.95
$GC,12078,0.79,383.6,886.5,9.5,517,12084,0.12,2.05,0.00,0.000,4,0.106,0.033,2432,3288,845,0,0,0,0,0,0,26.22,26.04,28.83
$GC,12147,0.80,383.6,877.9,11.2,519,12154,0.00,2.03,0.00,0.000,6,0.000,0.026,2443,1903,845,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12479,0.80,383.6,831.1,14.1,530,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1903,844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12777,0.80,383.6,787.5,14.9,540,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1903,844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13077,0.80,383.6,742.7,14.8,550,13083,0.00,2.08,0.00,0.000,4,0.000,0.034,2442,3286,843,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13120,0.80,383.6,737.8,14.7,551,13125,0.12,2.03,0.00,0.000,6,0.161,0.025,2415,1895,843,0,0,0,0,0,0,25.76,26.13,28.83
$GC,13447,0.80,383.6,697.4,12.1,562,13452,0.00,2.08,0.00,0.000,4,0.000,0.036,2425,505,843,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13499,0.81,383.6,693.2,12.0,563,13505,0.00,2.03,0.00,0.000,6,0.000,0.021,2425,1904,843,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13813,0.81,383.6,652.5,11.8,574,13819,0.00,2.05,0.00,0.000,4,0.000,0.034,2425,3279,843,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13850,0.81,383.6,648.3,11.9,575,13855,0.00,2.03,0.00,0.000,6,0.000,0.025,2426,1902,843,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,19544,end climb,SURFACE_DEPTH_REACHED
$STATE,19544,begin surface coast
$FINISH,1.3,1.022348
$STATE,19556,end surface coast,CONTROL_FINISHED_OK
$STATE,19556,begin surface
$SM_CCo,19633,0.00,0.000,0,0,208,539.66
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$IRIDIUM_FIX,1837.32,12212.39,110213,050534
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.33
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3857632
$24V_AH,21.5,86.869
$10V_AH,9.6,57.126
$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,17.175,146.850,647.750,0.000,0.000,0.000,0.000,294.350,0.000,0.000,16.055,2858.307,13503.916,724.024,2516.787,539.659,0.000,2264.454,0.000,2137.246,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,41.310,1415.250,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19590.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.063,0.000,0.000,0.000
$MEM,308648
$DATA_FILE_SIZE,33356,885
$CAP_FILE_SIZE,213415,0
$CFSIZE,260034560,209223680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.280,308.5,1
$GPS,110213,160736,1846.807,12219.536,30,1.5,30,-2.1