version: 66.11
glider: 129
mission: 4
dive: 320
start: 1 20 113 8 10 39
data:
$ID,129
$MISSION,4
$DIVE,320
$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,-3119.428
$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,83
$R_STBD_OVSHOOT,110
$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,9.5
$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
$GPS1,200113,080159,1953.969,12342.919,38,1.0,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-54.7
$GPS2,200113,081013,1953.756,12342.906,9,1.6,9,-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,16.0,75511,-15.3,-9.429,-18.41
$D_GRID,5146
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-184.9,0.0,0.0,0,86,0.00,0.00,-65.22,0.000,2,0.000,0.000,53,1937,1787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.1,-3.8,11,139,8.00,2.00,-33.45,0.000,4,0.244,0.043,1957,3284,3164,0,0,0,0,0,0,24.92,26.10,26.54
$GC,179,-0.52,-184.9,19.2,-24.7,26,187,0.12,1.92,0.00,0.000,6,0.162,0.021,1989,1914,3165,0,0,0,0,0,0,25.87,26.26,28.83
$GC,495,-0.46,-184.9,105.6,-25.1,49,501,0.00,1.98,0.00,0.000,4,0.000,0.028,1989,536,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,593,-0.42,-184.9,120.0,-16.7,53,600,0.15,1.92,0.00,0.000,6,0.155,0.020,2023,1899,3165,0,0,0,0,0,0,25.94,26.36,28.83
$GC,899,-0.41,-184.9,163.6,-12.0,69,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1900,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1200,-0.41,-184.9,200.6,-12.2,84,1206,0.00,2.00,0.00,0.000,4,0.000,0.028,2022,542,3166,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1244,-0.41,-184.9,205.5,-11.7,86,1249,0.00,1.98,0.00,0.000,6,0.000,0.020,2014,1947,3166,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1567,-0.41,-184.9,246.2,-13.7,102,1572,0.00,2.05,0.00,0.000,4,0.000,0.028,2014,537,3165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1681,-0.41,-184.9,259.3,-12.1,107,1686,0.00,1.95,0.00,0.000,6,0.000,0.021,2004,1928,3165,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1994,-0.41,-184.9,294.7,-11.8,123,2000,0.00,2.00,0.00,0.000,4,0.000,0.033,1994,3306,3164,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2018,-0.41,-184.9,297.4,-11.7,124,2025,0.12,1.92,0.00,0.000,6,0.129,0.020,2032,1912,3164,0,0,0,0,0,0,26.13,26.41,28.83
$GC,2344,-0.42,-184.9,327.5,-9.2,140,2349,0.00,1.95,0.00,0.000,4,0.000,0.028,2032,555,3163,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2443,-0.44,-184.9,335.0,-8.9,144,2450,0.00,1.95,0.00,0.000,6,0.000,0.020,2025,1936,3163,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2747,-0.45,-184.9,361.7,-8.2,160,2753,0.00,2.03,0.00,0.000,4,0.000,0.028,2025,550,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2847,-0.46,-184.9,369.2,-8.9,164,2854,0.00,1.95,0.00,0.000,6,0.000,0.021,2017,1926,3162,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3152,-0.48,-184.9,397.2,-8.7,180,3157,0.00,1.98,0.00,0.000,4,0.000,0.028,2017,562,3161,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3190,-0.49,-184.9,399.3,-8.6,181,3198,0.00,1.95,0.00,0.000,6,0.000,0.021,2009,1921,3161,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3495,-0.50,-184.9,427.5,-8.2,197,3501,0.00,2.05,0.00,0.000,4,0.000,0.034,1999,3311,3158,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3530,-0.51,-184.9,429.5,-8.2,198,3536,0.00,1.90,0.00,0.000,6,0.000,0.021,2000,1945,3159,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3844,-0.51,-184.9,457.0,-8.6,214,3849,0.00,2.03,0.00,0.000,4,0.000,0.029,1999,545,3157,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4028,-0.51,-184.9,474.7,-10.1,223,4034,0.00,1.95,0.00,0.000,6,0.000,0.021,1992,1931,3156,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4352,-0.51,-184.9,504.5,-9.0,239,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4654,-0.51,-184.9,531.2,-8.7,254,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1931,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4955,-0.51,-184.9,557.4,-8.8,269,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1931,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,-0.51,-184.9,585.3,-9.4,284,5259,0.00,2.03,0.00,0.000,4,0.000,0.031,1992,548,3148,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5326,-0.51,-184.9,591.8,-10.0,287,5332,0.00,1.95,0.00,0.000,6,0.000,0.022,1984,1925,3147,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5662,-0.51,-184.9,625.6,-10.2,300,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1926,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,-0.51,-184.9,654.6,-9.1,310,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1926,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.51,-184.9,678.5,-7.7,320,6266,0.00,2.08,0.00,0.000,4,0.000,0.031,1984,523,3141,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6315,-0.51,-184.9,681.4,-7.9,321,6321,0.00,2.00,0.00,0.000,6,0.000,0.023,1976,1922,3142,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6631,-0.51,-184.9,708.7,-8.4,332,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1923,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6929,-0.51,-184.9,736.4,-9.4,342,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1922,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7230,-0.51,-184.9,763.8,-9.0,352,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1922,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,-0.51,-184.9,790.8,-8.8,362,7535,0.00,2.05,0.00,0.000,4,0.000,0.031,1975,550,3135,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7552,-0.51,-184.9,790.8,-8.8,362,7557,0.00,1.98,0.00,0.000,6,0.000,0.023,1968,1928,3135,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7867,-0.51,-184.9,822.5,-9.3,373,7872,0.00,2.05,0.00,0.000,4,0.000,0.032,1968,538,3134,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7894,-0.51,-184.9,822.5,-9.3,373,7902,0.12,2.03,0.00,0.000,6,0.151,0.024,1994,1936,3134,0,0,0,0,0,0,25.94,26.29,28.83
$GC,8202,-0.53,-184.9,848.2,-7.3,384,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1936,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8502,-0.54,-184.9,868.9,-6.9,394,8507,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,545,3130,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8541,-0.56,-184.9,871.5,-7.1,395,8547,0.00,1.98,0.00,0.000,6,0.000,0.024,1989,1928,3131,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8873,-0.57,-184.9,897.5,-7.8,406,8878,0.00,2.03,0.00,0.000,4,0.000,0.036,1979,3306,3130,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8891,-0.59,-184.9,897.5,-7.8,406,8896,0.00,1.95,0.00,0.000,6,0.000,0.021,1979,1927,3130,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9211,-0.59,-184.9,924.0,-7.5,417,9216,0.00,2.05,0.00,0.000,4,0.000,0.032,1979,532,3128,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9339,-0.59,-184.9,934.5,-8.4,421,9345,0.00,2.00,0.00,0.000,6,0.000,0.023,1969,1933,3128,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9671,-0.59,-184.9,959.2,-7.2,432,9676,0.00,2.05,0.00,0.000,4,0.000,0.032,1970,540,3128,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9704,-0.59,-184.9,962.1,-7.5,433,9710,0.00,2.00,0.00,0.000,6,0.000,0.024,1965,1932,3127,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10040,-0.59,-184.9,987.5,-7.6,444,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1932,3126,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10096,begin apogee
$GC,10101,-0.17,0.0,992.1,-7.6,446,10263,0.40,0.00,153.82,1.405,6,0.122,0.000,2098,1932,2409,0,0,0,0,0,0,25.59,28.83,22.28
$STATE,10264,end apogee,CONTROL_FINISHED_OK
$STATE,10264,begin climb
$GC,10267,0.58,184.9,997.0,0.0,451,10447,0.75,2.38,171.18,1.356,4,0.089,0.031,2355,517,1654,0,0,0,0,0,0,24.18,23.63,21.88
$GC,10485,0.62,276.6,988.6,6.3,458,10580,0.00,2.15,84.55,1.330,6,0.000,0.020,2355,1901,1281,0,0,0,0,0,0,28.83,24.59,21.99
$GC,10881,0.65,311.0,953.0,8.3,472,10920,0.00,2.15,30.88,1.313,4,0.000,0.035,2355,3286,1140,0,0,0,0,0,0,28.83,25.38,23.62
$GC,10979,0.68,338.6,945.0,8.5,475,11012,0.00,2.03,25.75,1.292,6,0.000,0.024,2362,1896,1029,0,0,0,0,0,0,28.83,25.91,23.63
$GC,11336,0.71,366.5,914.7,8.5,487,11369,0.00,2.12,25.73,1.302,4,0.000,0.037,2362,511,914,0,0,0,0,0,0,28.83,25.55,23.79
$GC,11438,0.75,392.7,906.8,8.5,490,11471,0.12,2.03,24.92,1.285,6,0.104,0.021,2411,1913,807,0,0,0,0,0,0,25.86,26.02,23.70
$GC,11790,0.76,392.7,863.4,12.3,502,11795,0.00,2.03,0.00,0.000,4,0.000,0.034,2411,3288,802,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11842,0.77,392.7,858.9,12.5,503,11847,0.00,2.00,0.00,0.000,6,0.000,0.024,2414,1897,801,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12156,0.77,392.7,818.6,11.7,514,12161,0.00,2.05,0.00,0.000,4,0.000,0.036,2414,504,801,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12203,0.78,392.7,814.6,11.7,515,12209,0.00,2.00,0.00,0.000,6,0.000,0.021,2414,1913,801,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12525,0.79,392.7,776.9,11.2,526,12530,0.00,2.03,0.00,0.000,4,0.000,0.034,2414,3276,800,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12591,0.79,392.7,769.1,11.4,528,12597,0.00,1.98,0.00,0.000,6,0.000,0.024,2414,1901,800,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12923,0.80,392.7,731.7,11.5,539,12928,0.00,2.08,0.00,0.000,4,0.000,0.035,2414,507,800,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12975,0.81,392.7,727.5,11.5,540,12980,0.00,1.98,0.00,0.000,6,0.000,0.021,2414,1894,799,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13290,0.82,392.7,688.5,11.6,551,13296,0.00,2.08,0.00,0.000,4,0.000,0.034,2414,3283,799,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13354,0.84,392.7,680.3,12.0,553,13359,0.00,2.03,0.00,0.000,6,0.000,0.024,2414,1894,799,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13689,0.85,392.7,641.8,11.2,564,13694,0.00,2.08,0.00,0.000,4,0.000,0.036,2414,511,799,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,19028,end climb,SURFACE_DEPTH_REACHED
$STATE,19028,begin surface coast
$FINISH,1.1,1.009781
$STATE,19043,end surface coast,CONTROL_FINISHED_OK
$STATE,19043,begin surface
$SM_CCo,19122,0.00,0.000,0,0,207,540.15
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$IRIDIUM_FIX,1948.12,12344.58,200113,020248
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.09
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3897472
$24V_AH,21.9,64.609
$10V_AH,9.8,44.537
$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,16.875,161.200,603.200,0.000,0.000,0.000,0.000,297.525,0.000,0.000,11.846,2837.658,13079.932,721.564,2500.963,464.674,0.000,2260.209,0.000,2126.803,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,42.840,1405.305,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19069.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.909,0.000,0.000,0.000
$MEM,329048
$DATA_FILE_SIZE,33358,862
$CAP_FILE_SIZE,214667,0
$CFSIZE,260034560,219332608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.296,201.5,1
$GPS,200113,133036,1953.788,12342.010,36,1.2,36,-2.4