version: 66.11
glider: 129
mission: 4
dive: 353
start: 1 27 113 23 43 40
data:
$ID,129
$MISSION,4
$DIVE,353
$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,-3190.5818
$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,87
$R_STBD_OVSHOOT,81
$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
$GPS1,270113,233235,1815.210,12430.419,30,1.2,30,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-57.0
$GPS2,270113,234313,1815.106,12430.447,13,1.2,13,-2.1
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,189.7,47184,-15.3,-9.429,-18.41
$D_GRID,5412
$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,-184.9,0.0,0.0,0,85,0.00,0.00,-63.45,0.000,2,0.000,0.000,54,1891,1738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.58,-184.9,3.1,-4.1,11,139,7.90,2.05,-36.40,0.000,4,0.238,0.045,1966,537,3164,0,0,0,0,0,0,25.00,26.11,26.57
$GC,310,-0.52,-184.9,60.6,-29.1,39,316,0.12,1.98,0.00,0.000,6,0.165,0.021,1989,1917,3165,0,0,0,0,0,0,25.91,26.29,28.83
$GC,634,-0.48,-184.9,145.4,-21.1,55,639,0.00,2.03,0.00,0.000,4,0.000,0.027,1989,539,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,667,-0.43,-184.9,150.5,-20.7,56,674,0.12,1.98,0.00,0.000,6,0.151,0.020,2014,1932,3165,0,0,0,0,0,0,25.99,26.34,28.83
$GC,984,-0.42,-184.9,198.1,-11.9,72,989,0.00,2.00,0.00,0.000,4,0.000,0.027,2015,536,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1042,-0.42,-184.9,203.0,-10.9,74,1049,0.00,1.98,0.00,0.000,6,0.000,0.020,2006,1938,3165,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1347,-0.42,-184.9,243.6,-12.0,90,1353,0.00,1.98,0.00,0.000,4,0.000,0.031,1996,3305,3165,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1365,-0.42,-184.9,243.6,-12.0,90,1371,0.00,1.92,0.00,0.000,6,0.000,0.019,1996,1906,3164,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1671,-0.41,-184.9,285.4,-12.4,106,1676,0.00,1.92,0.00,0.000,4,0.000,0.027,1996,557,3164,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1819,-0.41,-184.9,303.6,-12.4,113,1826,0.15,1.92,0.00,0.000,6,0.138,0.020,2031,1934,3163,0,0,0,0,0,0,25.99,26.36,28.83
$GC,2140,-0.43,-184.9,333.6,-8.5,129,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1933,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,-0.44,-184.9,357.9,-7.9,144,2448,0.00,1.98,0.00,0.000,4,0.000,0.028,2031,563,3162,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2487,-0.46,-184.9,361.5,-7.8,146,2492,0.00,1.92,0.00,0.000,6,0.000,0.020,2025,1933,3161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2811,-0.47,-184.9,385.2,-6.8,162,2817,0.00,2.03,0.00,0.000,4,0.000,0.032,2015,3313,3160,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2864,-0.49,-184.9,388.1,-6.6,164,2870,0.00,1.90,0.00,0.000,6,0.000,0.019,2015,1938,3160,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3178,-0.50,-184.9,411.2,-7.1,180,3184,0.00,2.03,0.00,0.000,4,0.000,0.028,2014,520,3159,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3333,-0.51,-184.9,424.1,-9.2,187,3339,0.00,2.03,0.00,0.000,6,0.000,0.020,2006,1932,3158,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3648,-0.52,-184.9,451.6,-8.0,203,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1932,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3950,-0.52,-184.9,473.6,-7.3,218,3956,0.00,2.05,-0.08,0.000,4,0.000,0.045,1996,3301,3183,0,0,0,0,0,0,28.83,26.17,25.37
$GC,3998,-0.54,-184.9,477.2,-7.3,220,4003,0.00,1.92,0.00,0.000,6,0.000,0.020,1996,1919,3183,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4317,-0.54,-184.9,503.9,-8.6,236,4323,0.00,2.03,0.00,0.000,4,0.000,0.029,1995,540,3182,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4511,-0.54,-184.9,522.5,-9.9,245,4517,0.00,1.98,0.00,0.000,6,0.000,0.021,1989,1924,3182,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4824,-0.54,-184.9,553.3,-9.6,261,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1925,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5127,-0.54,-184.9,581.1,-8.7,276,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1925,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5427,-0.54,-184.9,605.3,-7.8,290,5433,0.00,2.05,0.00,0.000,4,0.000,0.030,1989,545,3176,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5530,-0.54,-184.9,613.3,-8.1,293,5536,0.00,1.98,0.00,0.000,6,0.000,0.021,1980,1920,3176,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5857,-0.54,-184.9,640.1,-8.3,304,5862,0.00,2.05,0.00,0.000,4,0.000,0.035,1970,3312,3173,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5890,-0.54,-184.9,643.3,-8.4,305,5896,0.00,1.98,0.00,0.000,6,0.000,0.021,1970,1934,3173,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6226,-0.54,-184.9,674.6,-9.4,316,6232,0.00,2.05,0.00,0.000,4,0.000,0.030,1970,533,3171,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6339,-0.54,-184.9,684.0,-9.8,319,6345,0.00,2.03,0.00,0.000,6,0.000,0.022,1961,1953,3171,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6655,-0.54,-184.9,715.5,-9.2,330,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1954,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6954,-0.54,-184.9,743.5,-9.6,340,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1953,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7253,-0.54,-184.9,772.4,-9.6,350,7258,0.00,2.10,0.00,0.000,4,0.000,0.030,1961,542,3166,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7337,-0.54,-184.9,778.6,-9.8,352,7343,0.12,1.98,0.00,0.000,6,0.153,0.023,1987,1925,3166,0,0,0,0,0,0,25.92,26.27,28.83
$GC,7655,-0.55,-184.9,803.0,-6.7,363,7660,0.00,2.03,0.00,0.000,4,0.000,0.036,1978,3308,3164,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7689,-0.56,-184.9,805.5,-6.7,364,7696,0.00,2.03,0.00,0.000,6,0.000,0.022,1978,1919,3164,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8026,-0.56,-184.9,828.8,-6.8,375,8032,0.00,2.03,0.00,0.000,4,0.000,0.031,1978,538,3163,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8166,-0.56,-184.9,838.5,-7.7,379,8171,0.00,1.98,0.00,0.000,6,0.000,0.022,1970,1928,3162,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8486,-0.56,-184.9,863.5,-7.6,390,8492,0.00,2.08,0.00,0.000,4,0.000,0.037,1960,3313,3161,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8521,-0.56,-184.9,866.3,-7.7,391,8527,0.00,2.03,0.00,0.000,6,0.000,0.022,1960,1923,3161,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8857,-0.56,-184.9,894.3,-8.4,402,8863,0.00,2.05,0.00,0.000,4,0.000,0.031,1960,532,3159,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9015,-0.56,-184.9,908.6,-9.2,407,9021,0.00,2.00,0.00,0.000,6,0.000,0.023,1951,1927,3159,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9346,-0.56,-184.9,938.6,-9.0,418,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1926,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9645,-0.56,-184.9,966.5,-9.4,428,9650,0.00,2.08,0.00,0.000,4,0.000,0.031,1951,533,3157,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9688,-0.56,-184.9,970.0,-9.6,429,9694,0.12,2.00,0.00,0.000,6,0.152,0.023,1977,1922,3156,0,0,0,0,0,0,25.86,26.22,28.83
$STATE,9949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9951,begin apogee
$GC,9956,-0.17,0.0,992.1,-7.9,438,10127,0.38,0.00,160.93,1.414,6,0.114,0.000,2106,1923,2407,0,0,0,0,0,0,25.65,28.83,22.27
$STATE,10129,end apogee,CONTROL_FINISHED_OK
$STATE,10129,begin climb
$GC,10131,0.58,184.9,998.8,0.0,443,10312,0.70,2.38,169.85,1.366,4,0.084,0.034,2346,527,1654,0,0,0,0,0,0,24.32,23.67,21.82
$GC,10381,0.63,264.3,988.6,6.7,452,10459,0.00,2.10,71.38,1.341,6,0.000,0.021,2350,1911,1331,0,0,0,0,0,0,28.83,25.25,22.58
$GC,10767,0.65,283.6,955.9,8.8,465,10790,0.00,2.12,17.38,1.277,4,0.000,0.034,2346,3294,1252,0,0,0,0,0,0,28.83,25.68,23.72
$GC,10855,0.68,295.0,950.1,9.0,467,10875,0.00,2.03,11.75,1.213,6,0.000,0.024,2346,1902,1205,0,0,0,0,0,0,28.83,26.04,23.77
$GC,11195,0.71,313.0,916.8,8.8,479,11215,0.12,0.00,17.10,1.278,6,0.111,0.000,2394,1901,1134,0,0,0,0,0,0,26.25,28.83,23.80
$GC,11495,0.71,313.0,883.2,11.4,489,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1901,1129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11794,0.71,313.0,848.0,12.0,499,11799,0.00,2.10,0.00,0.000,4,0.000,0.034,2394,3289,1127,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11828,0.71,313.0,843.6,12.3,500,11833,0.00,2.03,0.00,0.000,6,0.000,0.024,2402,1892,1127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12163,0.71,313.0,801.0,12.8,511,12164,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1892,1127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12462,0.71,313.0,764.6,11.9,521,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1892,1126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12761,0.71,313.0,731.0,11.0,531,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1892,1126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13062,0.71,313.0,698.6,10.7,541,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1892,1126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13361,0.71,313.0,667.4,10.3,551,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1892,1125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13661,0.71,313.0,635.5,10.9,561,13667,0.00,2.12,0.00,0.000,4,0.000,0.034,2402,3296,1125,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13685,0.71,313.0,635.5,10.9,561,13690,0.00,2.03,0.00,0.000,6,0.000,0.024,2402,1891,1125,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13999,0.71,313.0,601.4,9.7,572,14004,0.00,2.08,0.00,0.000,4,0.000,0.035,2402,500,1125,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14032,0.71,313.0,598.1,9.7,573,14037,0.00,2.05,0.00,0.000,6,0.000,0.021,2402,1918,1124,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14345,0.71,313.0,565.5,10.5,589,14350,0.00,2.03,0.00,0.000,4,0.000,0.035,2402,3280,1124,0,0,0,0,0,0,28.83,26.06,28.83
$GC,14408,0.71,313.0,558.3,11.2,592,14415,0.00,2.05,0.00,0.000,6,0.000,0.024,2401,1863,1124,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,19782,end climb,SURFACE_DEPTH_REACHED
$STATE,19783,begin surface coast
$FINISH,1.4,1.022628
$STATE,19794,end surface coast,CONTROL_FINISHED_OK
$STATE,19795,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,50.11
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$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3884768
$24V_AH,21.8,71.905
$10V_AH,9.8,48.841
$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,16.400,141.775,636.750,0.000,0.000,0.000,0.000,367.675,0.000,0.000,14.577,2900.346,13784.106,726.870,2600.476,486.416,0.000,2339.138,0.000,2158.985,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,45.135,1413.720,0.000,0.000,0.000,0.000,136.935,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.689,0.000,0.000,0.000
$MEM,329040
$DATA_FILE_SIZE,33409,897
$CAP_FILE_SIZE,215154,0
$CFSIZE,260034560,215973888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,116.1,1
$GPS,280113,051606,1811.695,12431.135,34,1.3,34,-2.1