version: 66.11
glider: 129
mission: 4
dive: 425
start: 2 11 113 16 17 17
data:
$ID,129
$MISSION,4
$DIVE,425
$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,-3289.7505
$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,71
$R_STBD_OVSHOOT,99
$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
$GPS1,110213,160736,1846.807,12219.536,30,1.5,30,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-57.7
$GPS2,110213,161649,1847.093,12219.351,16,1.5,16,-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,99.3,265426,-15.3,-9.429,-18.41
$D_GRID,1057
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.12,0.000,2,0.000,0.000,59,1930,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-5.9,12,140,7.97,0.00,-28.58,0.000,6,0.236,0.000,1966,1924,3163,0,0,0,0,0,0,24.79,28.83,26.53
$GC,460,-0.51,-184.9,108.5,-32.3,46,465,0.00,2.05,0.00,0.000,4,0.000,0.029,1966,528,3163,0,0,0,0,0,0,28.83,26.10,28.83
$GC,594,-0.47,-184.9,135.9,-20.5,52,600,0.17,1.98,0.00,0.000,6,0.142,0.022,2008,1922,3165,0,0,0,0,0,0,25.75,26.21,28.83
$GC,908,-0.47,-184.9,179.3,-12.7,68,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1923,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1210,-0.47,-184.9,214.2,-10.6,83,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1922,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1511,-0.47,-184.9,242.1,-10.0,98,1516,0.00,2.05,0.00,0.000,4,0.000,0.033,1996,3309,3163,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1538,-0.47,-184.9,244.5,-9.8,99,1543,0.00,1.95,0.00,0.000,6,0.000,0.020,1998,1903,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1857,-0.47,-184.9,276.9,-10.4,115,1862,0.00,2.08,0.00,0.000,4,0.000,0.031,1988,3309,3165,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1914,-0.47,-184.9,281.4,-10.5,117,1922,0.00,1.98,0.00,0.000,6,0.000,0.020,1988,1933,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2220,-0.47,-184.9,315.4,-10.9,133,2226,0.00,2.00,0.00,0.000,4,0.000,0.029,1988,545,3161,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2367,-0.47,-184.9,331.1,-11.0,140,2373,0.12,1.98,0.00,0.000,6,0.145,0.020,2014,1935,3161,0,0,0,0,0,0,25.91,26.26,28.83
$GC,2687,-0.48,-184.9,359.0,-8.3,156,2692,0.00,2.05,0.00,0.000,4,0.000,0.028,2013,545,3159,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2734,-0.49,-184.9,362.7,-8.6,158,2741,0.00,1.98,0.00,0.000,6,0.000,0.020,2006,1934,3159,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3054,-0.49,-184.9,391.6,-9.1,174,3059,0.00,2.00,0.00,0.000,4,0.000,0.033,1996,3298,3157,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3107,-0.51,-184.9,395.6,-9.2,176,3113,0.00,1.95,0.00,0.000,6,0.000,0.021,1996,1926,3156,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3421,-0.51,-184.9,428.3,-10.2,192,3427,0.00,2.05,-0.08,0.000,4,0.000,0.042,1996,535,3182,0,0,0,0,0,0,28.83,26.06,25.22
$GC,3474,-0.51,-184.9,432.9,-10.4,194,3479,0.00,1.98,0.00,0.000,6,0.000,0.020,1987,1938,3182,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3788,-0.51,-184.9,466.8,-10.5,210,3794,0.00,2.03,0.00,0.000,4,0.000,0.034,1976,3296,3181,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3860,-0.51,-184.9,473.3,-10.1,213,3866,0.00,1.95,0.00,0.000,6,0.000,0.021,1976,1926,3181,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4174,-0.51,-184.9,506.7,-9.7,229,4179,0.00,2.00,0.00,0.000,4,0.000,0.030,1976,545,3180,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4318,-0.51,-184.9,521.9,-10.6,236,4324,0.00,2.00,0.00,0.000,6,0.000,0.021,1967,1920,3179,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4641,-0.51,-184.9,554.2,-9.7,252,4647,0.00,2.03,0.00,0.000,4,0.000,0.034,1957,3299,3177,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4669,-0.51,-184.9,556.3,-9.5,253,4675,0.15,1.95,0.00,0.000,6,0.130,0.021,2002,1912,3177,0,0,0,0,0,0,25.84,26.23,28.83
$GC,4989,-0.52,-184.9,580.0,-6.7,269,4994,0.00,2.00,0.00,0.000,4,0.000,0.030,2003,553,3175,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5148,-0.54,-184.9,591.3,-7.7,276,5155,0.00,1.98,0.00,0.000,6,0.000,0.021,1995,1932,3174,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5467,-0.55,-184.9,615.5,-7.4,289,5472,0.00,2.05,0.00,0.000,4,0.000,0.030,1995,551,3172,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5525,-0.56,-184.9,618.5,-7.6,290,5533,0.00,1.98,0.00,0.000,6,0.000,0.021,1986,1932,3172,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5830,-0.56,-184.9,647.9,-8.8,301,5835,0.00,2.05,0.00,0.000,4,0.000,0.030,1986,550,3170,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5865,-0.56,-184.9,651.1,-9.0,302,5870,0.00,1.98,0.00,0.000,6,0.000,0.021,1978,1924,3170,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6201,-0.56,-184.9,680.7,-8.3,313,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1925,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6499,-0.56,-184.9,705.9,-8.0,323,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1925,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6799,-0.56,-184.9,732.1,-8.9,333,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1925,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7098,-0.56,-184.9,758.7,-8.6,343,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1925,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7400,-0.56,-184.9,784.1,-8.4,353,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1926,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7698,-0.56,-184.9,807.9,-7.7,363,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1925,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8000,-0.57,-184.9,831.2,-7.7,373,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1924,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8299,-0.57,-184.9,852.6,-6.8,383,8304,0.00,2.05,0.00,0.000,4,0.000,0.031,1979,544,3160,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8373,-0.57,-184.9,857.5,-7.2,385,8378,0.00,2.00,0.00,0.000,6,0.000,0.022,1969,1920,3159,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8698,-0.57,-184.9,885.0,-8.8,396,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1921,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8997,-0.57,-184.9,912.5,-9.3,406,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1921,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9296,-0.57,-184.9,942.5,-10.1,416,9301,0.00,2.10,0.00,0.000,4,0.000,0.037,1961,3310,3156,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9330,-0.57,-184.9,945.9,-10.2,417,9336,0.00,2.03,0.00,0.000,6,0.000,0.023,1961,1909,3155,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9667,-0.57,-184.9,979.1,-9.7,428,9672,0.00,2.05,0.00,0.000,4,0.000,0.033,1960,535,3154,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9770,-0.57,-184.9,988.3,-9.1,431,9776,0.00,2.03,0.00,0.000,6,0.000,0.023,1952,1932,3155,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,9791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9792,begin apogee
$GC,9798,-0.17,0.0,991.8,-9.7,432,9969,0.45,0.00,161.20,1.416,6,0.122,0.000,2100,1932,2409,0,0,0,0,0,0,25.25,28.83,22.17
$STATE,9970,end apogee,CONTROL_FINISHED_OK
$STATE,9971,begin climb
$GC,9973,0.58,184.9,997.7,0.0,437,10153,0.73,0.00,173.68,1.361,6,0.086,0.000,2342,1935,1655,0,0,0,0,0,0,24.22,28.83,21.45
$GC,10457,0.60,187.6,964.3,9.3,454,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1935,1645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10756,0.62,210.7,937.3,8.6,464,10785,0.00,2.15,22.25,1.310,4,0.000,0.034,2342,3290,1549,0,0,0,0,0,0,28.83,25.56,23.49
$GC,10860,0.63,210.7,928.1,9.6,467,10865,0.00,2.05,0.00,0.000,6,0.000,0.026,2350,1913,1547,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11186,0.64,210.7,894.0,10.0,478,11191,0.00,2.05,0.00,0.000,4,0.000,0.034,2350,3281,1545,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11239,0.66,210.7,890.4,10.0,479,11244,0.00,2.03,0.00,0.000,6,0.000,0.025,2360,1887,1545,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11553,0.66,210.7,857.2,9.7,490,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1887,1544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11854,0.67,216.7,829.0,9.2,500,11867,0.00,2.17,5.85,1.042,4,0.000,0.034,2360,3281,1525,0,0,0,0,0,0,28.83,25.96,23.91
$GC,11896,0.67,220.2,825.7,9.3,501,11906,0.00,2.03,5.00,0.966,6,0.000,0.025,2367,1894,1511,0,0,0,0,0,0,28.83,26.11,23.84
$GC,12221,0.68,232.0,794.6,9.0,512,12240,0.00,2.15,12.30,1.213,4,0.000,0.037,2376,503,1462,0,0,0,0,0,0,28.83,25.80,23.81
$GC,12273,0.68,245.2,791.5,9.0,513,12294,0.00,2.03,13.30,1.205,6,0.000,0.021,2377,1902,1409,0,0,0,0,0,0,28.83,26.06,23.59
$GC,12617,0.69,262.8,758.3,8.8,525,12640,0.00,2.10,16.58,1.222,4,0.000,0.036,2377,3285,1337,0,0,0,0,0,0,28.83,25.70,23.68
$GC,12743,0.69,262.8,746.5,9.6,529,12749,0.00,2.05,0.00,0.000,6,0.000,0.026,2384,1890,1334,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13075,0.69,279.4,716.6,8.9,540,13097,0.00,2.15,16.02,1.199,4,0.000,0.033,2385,3283,1269,0,0,0,0,0,0,28.83,25.74,23.73
$GC,13136,0.70,295.4,710.9,8.9,542,13159,0.00,2.08,16.12,1.177,6,0.000,0.026,2390,1895,1203,0,0,0,0,0,0,28.83,25.95,23.60
$GC,13468,0.71,298.0,681.3,9.3,553,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1894,1199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13768,0.73,298.0,650.8,10.4,563,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1894,1197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14068,0.74,306.2,622.0,9.1,573,14083,0.00,2.12,9.98,1.083,4,0.000,0.034,2401,504,1160,0,0,0,0,0,0,28.83,25.87,23.94
$GC,14147,0.76,310.6,615.9,9.3,575,14163,0.00,2.05,5.55,0.923,6,0.000,0.021,2401,1911,1142,0,0,0,0,0,0,28.83,26.10,23.87
$GC,14472,0.77,310.6,583.7,9.8,589,14477,0.00,2.03,0.00,0.000,4,0.000,0.034,2401,3278,1140,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,19973,end climb,SURFACE_DEPTH_REACHED
$STATE,19973,begin surface coast
$FINISH,1.0,1.009850
$STATE,19990,end surface coast,CONTROL_FINISHED_OK
$STATE,19990,begin surface
$SM_CCo,20068,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1837.32,12219.37,110213,101044
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.82
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3857248
$24V_AH,21.5,87.098
$10V_AH,9.7,57.256
$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,16.475,150.875,654.600,0.000,0.000,0.000,0.000,326.700,0.000,0.000,17.614,2891.837,13883.728,728.639,2579.566,526.925,0.000,2325.556,0.000,2177.549,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,42.075,1416.015,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20029.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.790,0.000,0.000,0.000
$MEM,308660
$DATA_FILE_SIZE,33340,894
$CAP_FILE_SIZE,216259,0
$CFSIZE,260034560,209121280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,340.1,1
$GPS,110213,215305,1847.900,12222.329,39,0.9,39,-2.1