version: 66.11
glider: 129
mission: 4
dive: 354
start: 1 28 113 5 25 11
data:
$ID,129
$MISSION,4
$DIVE,354
$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,-3191.9368
$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,81
$R_STBD_OVSHOOT,83
$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
$GPS1,280113,051606,1811.695,12431.135,34,1.3,34,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-58.6
$GPS2,280113,052443,1811.633,12431.157,10,1.4,10,-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,185.2,40634,-15.3,-9.429,-18.41
$D_GRID,5164
$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,-64.53,0.000,2,0.000,0.000,47,1915,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.4,-4.4,11,139,7.72,2.03,-33.58,0.000,4,0.230,0.044,1966,526,3165,0,0,0,0,0,0,24.94,26.12,26.56
$GC,311,-0.52,-184.9,54.5,-27.5,42,317,0.12,2.00,0.00,0.000,6,0.167,0.023,1990,1906,3165,0,0,0,0,0,0,25.89,26.27,28.83
$GC,635,-0.46,-184.9,142.9,-24.4,58,641,0.00,2.00,0.00,0.000,4,0.000,0.026,1990,525,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,668,-0.41,-184.9,148.7,-23.8,59,676,0.15,2.03,0.00,0.000,6,0.143,0.021,2024,1943,3166,0,0,0,0,0,0,25.94,26.32,28.83
$GC,984,-0.41,-184.9,195.2,-11.8,75,989,0.00,2.05,0.00,0.000,4,0.000,0.028,2024,535,3166,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1028,-0.41,-184.9,200.2,-11.5,77,1033,0.00,1.98,0.00,0.000,6,0.000,0.020,2016,1946,3166,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1351,-0.41,-184.9,238.0,-11.0,93,1357,0.00,2.00,0.00,0.000,4,0.000,0.033,2006,3310,3166,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1384,-0.41,-184.9,240.6,-11.0,94,1389,0.00,1.92,0.00,0.000,6,0.000,0.020,2006,1908,3166,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1697,-0.41,-184.9,278.3,-11.9,110,1702,0.00,1.95,0.00,0.000,4,0.000,0.028,2006,548,3166,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1812,-0.41,-184.9,290.7,-11.9,115,1818,0.00,1.95,0.00,0.000,6,0.000,0.021,1996,1929,3166,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2125,-0.41,-184.9,328.1,-11.2,131,2127,0.12,0.00,0.00,0.000,6,0.143,0.000,2032,1931,3164,0,0,0,0,0,0,26.23,28.83,28.83
$GC,2429,-0.43,-184.9,351.9,-7.7,146,2434,0.00,2.00,0.00,0.000,4,0.000,0.028,2032,548,3163,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2496,-0.44,-184.9,357.7,-8.7,149,2502,0.00,1.95,0.00,0.000,6,0.000,0.021,2032,1933,3163,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2815,-0.46,-184.9,385.3,-8.8,165,2821,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,550,3162,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2854,-0.48,-184.9,387.5,-9.0,166,2860,0.00,1.95,0.00,0.000,6,0.000,0.021,2032,1928,3162,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3160,-0.51,-184.9,410.9,-6.6,182,3166,0.12,2.03,0.00,0.000,4,0.097,0.031,1953,3300,3161,0,0,0,0,0,0,26.38,26.19,28.83
$GC,3199,-0.52,-184.9,412.9,-7.1,183,3206,0.08,1.95,0.00,0.000,6,0.120,0.021,1995,1918,3161,0,0,0,0,0,0,26.01,26.38,28.83
$GC,3504,-0.52,-184.9,441.6,-9.1,199,3509,0.00,1.95,0.00,0.000,4,0.000,0.029,1995,557,3159,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3587,-0.52,-184.9,450.0,-10.1,203,3593,0.00,1.95,0.00,0.000,6,0.000,0.021,1988,1926,3158,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3911,-0.52,-184.9,483.8,-10.6,219,3916,0.00,2.03,0.00,0.000,4,0.000,0.034,1978,3299,3156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4003,-0.52,-184.9,492.4,-10.3,223,4008,0.00,1.90,0.00,0.000,6,0.000,0.021,1978,1933,3155,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4316,-0.52,-184.9,529.1,-11.8,239,4322,0.00,1.98,0.00,0.000,4,0.000,0.030,1978,555,3153,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4486,-0.52,-184.9,548.6,-11.6,247,4491,0.00,1.92,0.00,0.000,6,0.000,0.021,1969,1920,3152,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4805,-0.52,-184.9,582.1,-9.4,263,4810,0.00,2.05,0.00,0.000,4,0.000,0.034,1959,3303,3150,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4849,-0.52,-184.9,586.1,-9.2,265,4855,0.12,1.95,0.00,0.000,6,0.139,0.021,1995,1918,3149,0,0,0,0,0,0,26.03,26.36,28.83
$GC,5174,-0.53,-184.9,609.2,-6.9,279,5180,0.00,1.95,0.00,0.000,4,0.000,0.029,1995,560,3148,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5353,-0.53,-184.9,621.4,-7.8,284,5360,0.00,1.95,0.00,0.000,6,0.000,0.021,1988,1940,3146,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5659,-0.53,-184.9,646.4,-7.6,295,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1945,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,-0.53,-184.9,668.6,-7.4,305,5964,0.00,2.03,0.00,0.000,4,0.000,0.030,1988,559,3142,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6002,-0.53,-184.9,671.3,-7.6,306,6008,0.00,1.95,0.00,0.000,6,0.000,0.021,1980,1933,3142,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6328,-0.53,-184.9,700.9,-9.0,317,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1934,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,-0.53,-184.9,729.3,-9.3,327,6632,0.00,2.03,0.00,0.000,4,0.000,0.031,1981,552,3139,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6671,-0.53,-184.9,732.8,-9.4,328,6677,0.00,1.95,0.00,0.000,6,0.000,0.022,1972,1927,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6996,-0.53,-184.9,764.0,-9.2,339,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1928,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7296,-0.53,-184.9,791.2,-9.1,349,7302,0.00,2.03,0.00,0.000,4,0.000,0.031,1972,549,3138,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7346,-0.53,-184.9,794.7,-9.2,350,7351,0.00,1.98,0.00,0.000,6,0.000,0.023,1964,1931,3135,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7664,-0.53,-184.9,827.9,-10.0,361,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1931,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-0.53,-184.9,858.4,-10.1,371,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1931,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,-0.53,-184.9,886.7,-9.1,381,8269,0.00,2.03,0.00,0.000,4,0.000,0.031,1965,559,3131,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8337,-0.53,-184.9,892.6,-9.2,383,8344,0.05,2.00,0.00,0.000,6,0.106,0.024,1989,1925,3130,0,0,0,0,0,0,25.87,26.25,28.83
$GC,8666,-0.55,-184.9,915.5,-6.6,394,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1924,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8963,-0.57,-184.9,935.3,-6.7,404,8969,0.00,2.03,0.00,0.000,4,0.000,0.032,1989,564,3128,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9017,-0.58,-184.9,937.8,-6.7,405,9022,0.00,1.98,0.00,0.000,6,0.000,0.023,1983,1931,3128,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9333,-0.60,-184.9,961.7,-7.2,416,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1931,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9630,-0.61,-184.9,983.3,-7.2,426,9636,0.00,2.05,0.00,0.000,4,0.000,0.032,1983,565,3126,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9710,-0.62,-184.9,988.5,-7.6,428,9715,0.00,2.00,0.00,0.000,6,0.000,0.024,1976,1926,3126,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,9726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9726,begin apogee
$GC,9731,-0.17,0.0,991.3,-7.9,429,9894,0.38,0.00,153.50,1.415,6,0.117,0.000,2103,1926,2412,0,0,0,0,0,0,25.61,28.83,22.35
$STATE,9895,end apogee,CONTROL_FINISHED_OK
$STATE,9895,begin climb
$GC,9898,0.58,184.9,997.2,0.0,434,10078,0.73,2.35,171.07,1.366,4,0.086,0.032,2346,540,1655,0,0,0,0,0,0,24.37,23.67,21.85
$GC,10131,0.61,260.9,987.4,6.8,442,10210,0.00,2.08,68.93,1.337,6,0.000,0.021,2347,1904,1345,0,0,0,0,0,0,28.83,24.97,22.37
$GC,10512,0.64,278.6,954.0,8.8,455,10535,0.00,2.15,15.88,1.261,4,0.000,0.036,2347,3295,1273,0,0,0,0,0,0,28.83,25.72,23.72
$GC,10606,0.66,279.7,945.2,9.4,458,10611,0.00,2.00,0.00,0.000,6,0.000,0.024,2346,1924,1271,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10942,0.71,343.9,918.4,7.2,469,11005,0.12,0.00,60.55,1.343,6,0.109,0.000,2394,1923,1007,0,0,0,0,0,0,26.27,28.83,23.36
$GC,11301,0.72,344.7,884.5,9.4,481,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1922,999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11601,0.73,344.7,855.7,9.9,491,11606,0.00,2.05,0.00,0.000,4,0.000,0.034,2394,3290,998,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11639,0.74,344.7,852.2,9.9,492,11645,0.00,2.00,0.00,0.000,6,0.000,0.024,2401,1896,996,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11970,0.75,344.7,816.9,10.6,503,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1895,997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12270,0.76,344.7,785.4,10.5,513,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1895,996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12569,0.77,344.7,753.0,11.0,523,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1895,996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12870,0.79,344.7,719.4,11.2,533,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1895,996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13168,0.80,344.7,686.2,11.0,543,13174,0.00,2.12,0.00,0.000,4,0.000,0.034,2401,3293,996,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13212,0.81,344.7,682.1,11.3,544,13217,0.00,2.03,0.00,0.000,6,0.000,0.024,2401,1903,995,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13537,0.83,344.7,645.7,10.8,555,13543,0.00,2.05,0.00,0.000,4,0.000,0.035,2401,510,995,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13564,0.84,344.7,645.7,10.8,555,13571,0.00,2.00,0.00,0.000,6,0.000,0.021,2401,1913,995,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13874,0.85,344.7,607.5,11.6,566,13879,0.00,2.05,0.00,0.000,4,0.000,0.035,2401,3281,995,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13901,0.87,344.7,607.5,11.6,566,13909,0.12,2.00,0.00,0.000,6,0.105,0.024,2451,1885,994,0,0,0,0,0,0,26.06,26.25,28.83
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$STATE,19186,end climb,SURFACE_DEPTH_REACHED
$STATE,19186,begin surface coast
$FINISH,1.2,1.022662
$STATE,19202,end surface coast,CONTROL_FINISHED_OK
$STATE,19202,begin surface
$SM_CCo,19279,0.00,0.000,0,0,268,525.19
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$IRIDIUM_FIX,1807.77,12432.38,270113,232316
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.88
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3884384
$24V_AH,21.9,72.129
$10V_AH,9.5,48.965
$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,16.700,144.900,624.700,0.000,0.000,0.000,0.000,311.125,0.000,0.000,10.856,2709.335,13531.504,743.123,2340.126,462.518,0.000,2195.130,0.000,1962.950,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,43.605,1415.250,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19231.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.252,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,30088,861
$CAP_FILE_SIZE,207129,0
$CFSIZE,260034560,215879680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 55.7,1
$GPS,280113,104753,1808.678,12431.519,43,1.5,43,-2.1