version: 66.11
glider: 129
mission: 4
dive: 356
start: 1 28 113 16 16 59
data:
$ID,129
$MISSION,4
$DIVE,356
$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,-3194.5508
$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,76
$R_STBD_OVSHOOT,86
$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
$GPS1,280113,160830,1805.292,12432.837,43,1.1,43,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-55.7
$GPS2,280113,161631,1805.185,12432.837,12,1.2,12,-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,187.2,28380,-15.3,-9.429,-18.41
$D_GRID,4753
$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,20,-0.58,-184.9,0.0,0.0,0,87,0.00,0.00,-64.60,0.000,2,0.000,0.000,48,1872,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-3.6,11,140,8.00,1.95,-34.47,0.000,4,0.239,0.041,1967,532,3164,0,0,0,0,0,0,24.78,26.13,26.57
$GC,302,-0.51,-184.9,52.5,-29.7,40,308,0.12,1.98,0.00,0.000,6,0.168,0.023,1990,1902,3165,0,0,0,0,0,0,25.88,26.25,28.83
$GC,616,-0.46,-184.9,138.6,-25.1,56,621,0.00,1.98,0.00,0.000,4,0.000,0.029,1990,533,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,760,-0.43,-184.9,163.3,-16.1,63,766,0.12,2.00,0.00,0.000,6,0.148,0.021,2017,1936,3165,0,0,0,0,0,0,26.00,26.32,28.83
$GC,1084,-0.43,-184.9,207.1,-12.5,79,1089,0.00,2.03,0.00,0.000,4,0.000,0.032,2008,3317,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1128,-0.43,-184.9,212.0,-11.7,81,1134,0.00,1.95,0.00,0.000,6,0.000,0.020,2008,1904,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1452,-0.42,-184.9,252.7,-12.7,97,1458,0.00,1.95,0.00,0.000,4,0.000,0.028,2008,543,3167,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1567,-0.42,-184.9,266.3,-12.9,102,1572,0.00,1.98,0.00,0.000,6,0.000,0.020,1999,1929,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1880,-0.42,-184.9,305.5,-11.7,118,1885,0.00,2.03,0.00,0.000,4,0.000,0.032,1988,3309,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1924,-0.42,-184.9,310.0,-11.3,120,1930,0.12,1.92,0.00,0.000,6,0.132,0.019,2026,1908,3162,0,0,0,0,0,0,26.08,26.38,28.83
$GC,2248,-0.44,-184.9,337.0,-8.6,136,2254,0.00,1.95,0.00,0.000,4,0.000,0.028,2026,568,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2369,-0.45,-184.9,346.2,-8.8,141,2376,0.00,1.92,0.00,0.000,6,0.000,0.020,2018,1932,3162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2673,-0.46,-184.9,371.2,-7.4,157,2678,0.00,2.00,0.00,0.000,4,0.000,0.028,2018,563,3161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2760,-0.47,-184.9,378.3,-8.4,161,2765,0.00,1.92,0.00,0.000,6,0.000,0.020,2010,1936,3161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3078,-0.47,-184.9,405.3,-8.3,177,3084,0.00,2.05,0.00,0.000,4,0.000,0.034,2000,3333,3160,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3107,-0.48,-184.9,407.2,-8.2,178,3112,0.00,1.95,0.00,0.000,6,0.000,0.019,2000,1923,3160,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3426,-0.48,-184.9,436.6,-8.9,194,3431,0.00,1.98,0.00,0.000,4,0.000,0.028,1997,556,3158,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3553,-0.48,-184.9,448.5,-9.8,200,3559,0.00,1.95,0.00,0.000,6,0.000,0.021,1993,1926,3158,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3872,-0.48,-184.9,481.0,-10.2,216,3877,0.00,2.00,0.00,0.000,4,0.000,0.028,1993,552,3155,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3910,-0.48,-184.9,483.4,-10.4,217,3917,0.00,1.95,0.00,0.000,6,0.000,0.021,1985,1935,3155,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4216,-0.48,-184.9,515.9,-10.1,233,4221,0.00,2.03,0.00,0.000,4,0.000,0.028,1985,544,3153,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4268,-0.48,-184.9,520.5,-10.2,235,4273,0.00,1.95,0.00,0.000,6,0.000,0.021,1977,1925,3153,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4581,-0.48,-184.9,553.8,-10.4,251,4587,0.00,2.00,0.00,0.000,4,0.000,0.029,1978,557,3150,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4639,-0.48,-184.9,558.5,-10.8,253,4647,0.12,1.95,0.00,0.000,6,0.151,0.021,2003,1935,3150,0,0,0,0,0,0,25.98,26.32,28.83
$GC,4946,-0.49,-184.9,583.9,-7.2,269,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1935,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5248,-0.51,-184.9,604.6,-6.9,283,5253,0.00,2.03,0.00,0.000,4,0.000,0.035,1995,3302,3146,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5292,-0.53,-184.9,607.0,-6.8,284,5297,0.00,1.92,0.00,0.000,6,0.000,0.021,1995,1927,3145,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5618,-0.54,-184.9,633.1,-8.2,295,5623,0.00,2.03,0.00,0.000,4,0.000,0.031,1995,528,3143,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5761,-0.54,-184.9,644.4,-9.0,299,5767,0.00,2.03,0.00,0.000,6,0.000,0.022,1994,1933,3143,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6077,-0.55,-184.9,669.5,-7.4,310,6082,0.00,2.05,0.00,0.000,4,0.000,0.036,1990,3312,3141,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6155,-0.56,-184.9,674.0,-7.2,312,6161,0.00,1.95,0.00,0.000,6,0.000,0.021,1990,1930,3140,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6476,-0.57,-184.9,698.0,-7.2,323,6481,0.00,2.03,0.00,0.000,4,0.000,0.030,1991,541,3139,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6571,-0.57,-184.9,705.4,-7.5,326,6576,0.00,1.98,0.00,0.000,6,0.000,0.022,1982,1928,3139,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6906,-0.57,-184.9,730.8,-7.7,337,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1929,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7205,-0.57,-184.9,754.0,-7.7,347,7210,0.00,2.05,0.00,0.000,4,0.000,0.031,1982,532,3135,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7258,-0.57,-184.9,757.0,-7.9,348,7264,0.00,2.00,0.00,0.000,6,0.000,0.022,1974,1925,3135,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7573,-0.57,-184.9,783.9,-8.1,359,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1925,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7872,-0.57,-184.9,810.3,-9.1,369,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1925,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8173,-0.57,-184.9,838.8,-9.3,379,8178,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,532,3131,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8225,-0.57,-184.9,842.2,-9.3,380,8231,0.00,2.03,0.00,0.000,6,0.000,0.023,1967,1931,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8540,-0.57,-184.9,873.6,-9.4,391,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1931,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8840,-0.57,-184.9,901.7,-9.5,401,8845,0.00,2.05,0.00,0.000,4,0.000,0.031,1966,543,3128,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8897,-0.57,-184.9,905.3,-9.8,402,8904,0.00,2.00,0.00,0.000,6,0.000,0.023,1959,1936,3128,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9204,-0.57,-184.9,938.4,-10.0,413,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1937,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9504,-0.57,-184.9,967.3,-9.6,423,9509,0.00,2.08,0.00,0.000,4,0.000,0.031,1959,538,3126,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9571,-0.57,-184.9,973.9,-10.0,425,9576,0.00,2.00,0.00,0.000,6,0.000,0.023,1954,1931,3126,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,9747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9747,begin apogee
$GC,9753,-0.17,0.0,991.9,-9.8,431,9915,0.45,0.00,154.12,1.411,6,0.125,0.000,2098,1931,2409,0,0,0,0,0,0,25.44,28.83,22.31
$STATE,9916,end apogee,CONTROL_FINISHED_OK
$STATE,9916,begin climb
$GC,9920,0.58,184.9,997.9,0.0,436,10100,0.73,2.38,170.88,1.362,4,0.088,0.031,2345,527,1654,0,0,0,0,0,0,24.37,23.68,21.85
$GC,10144,0.61,250.2,986.9,7.2,444,10211,0.00,2.10,59.12,1.331,6,0.000,0.020,2345,1901,1390,0,0,0,0,0,0,28.83,24.87,22.32
$GC,10536,0.63,262.4,951.7,9.0,457,10554,0.00,2.12,11.35,1.212,4,0.000,0.036,2345,3293,1339,0,0,0,0,0,0,28.83,25.84,23.72
$GC,10651,0.65,262.4,942.6,9.7,460,10659,0.00,2.00,0.00,0.000,6,0.000,0.024,2346,1907,1336,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10961,0.68,283.7,912.9,8.7,471,10987,0.00,0.00,20.52,1.299,6,0.000,0.000,2346,1907,1251,0,0,0,0,0,0,28.83,28.83,23.72
$GC,11290,0.72,319.9,885.3,8.2,482,11326,0.12,0.00,33.67,1.320,6,0.109,0.000,2395,1906,1105,0,0,0,0,0,0,26.25,28.83,23.58
$GC,11621,0.72,319.9,849.2,11.1,493,11626,0.00,2.08,0.00,0.000,4,0.000,0.034,2395,3288,1098,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11663,0.72,319.9,844.9,11.3,494,11668,0.00,2.00,0.00,0.000,6,0.000,0.024,2402,1900,1097,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11988,0.72,319.9,806.8,11.6,505,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1900,1096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12287,0.72,319.9,770.7,12.0,515,12293,0.00,2.10,0.00,0.000,4,0.000,0.035,2402,3289,1096,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12364,0.72,319.9,762.7,12.3,517,12371,0.00,2.00,0.00,0.000,6,0.000,0.024,2403,1897,1095,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12686,0.72,319.9,722.1,12.0,528,12692,0.00,2.05,0.00,0.000,4,0.000,0.034,2413,513,1095,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12704,0.72,319.9,722.1,12.0,528,12710,0.00,2.03,0.00,0.000,6,0.000,0.021,2413,1930,1095,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13025,0.72,319.9,679.9,12.5,539,13031,0.00,2.00,0.00,0.000,4,0.000,0.036,2413,3268,1095,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13122,0.72,319.9,667.6,12.7,542,13128,0.00,2.00,0.00,0.000,6,0.000,0.024,2415,1892,1094,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13453,0.72,319.9,629.1,11.5,553,13458,0.00,2.08,0.00,0.000,4,0.000,0.034,2415,3268,1094,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13516,0.72,319.9,621.1,11.9,555,13522,0.00,2.00,0.00,0.000,6,0.000,0.024,2415,1900,1093,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13841,0.72,319.9,582.3,11.9,568,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1900,1094,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16616,0.80,361.7,306.2,8.8,705,16636,0.00,0.00,18.15,0.894,6,0.000,0.000,2415,1894,934,0,0,0,0,0,0,28.83,28.83,23.95
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$STATE,19671,end climb,SURFACE_DEPTH_REACHED
$STATE,19671,begin surface coast
$FINISH,1.3,1.022823
$STATE,19692,end surface coast,CONTROL_FINISHED_OK
$STATE,19692,begin surface
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$IRIDIUM_FIX,1803.24,12434.25,280113,101021
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.17
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3883616
$24V_AH,21.8,72.581
$10V_AH,9.9,49.216
$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
$DEVICE_SECS,16.450,153.025,641.700,0.000,0.000,0.000,0.000,277.100,0.000,0.000,12.912,2937.229,13542.794,756.526,2522.130,481.662,0.000,2278.181,0.000,2171.841,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.018,0.000,0.000,0.000
$MEM,329020
$DATA_FILE_SIZE,33340,903
$CAP_FILE_SIZE,216590,0
$CFSIZE,260034560,215674880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,130.1,1
$GPS,280113,214736,1801.395,12433.786,29,1.2,29,-2.0