version: 66.11
glider: 129
mission: 4
dive: 364
start: 1 30 113 11 46 26
data:
$ID,129
$MISSION,4
$DIVE,364
$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,-3
$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,-3205.1921
$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,79
$R_STBD_OVSHOOT,103
$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
$GPS1,300113,113306,1751.385,12426.696,41,1.0,41,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-58.5
$GPS2,300113,114600,1751.360,12426.733,11,1.0,11,-2.0
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,275.9,240676,-15.3,-9.429,-18.41
$D_GRID,4178
$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,-64.60,0.000,2,0.000,0.000,43,1881,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.4,-4.7,11,141,7.97,2.15,-36.05,0.000,4,0.239,0.044,1955,3292,3165,0,0,0,0,0,0,24.96,26.11,26.58
$GC,276,-0.53,-184.9,38.0,-22.7,39,284,0.12,1.95,0.00,0.000,6,0.160,0.021,1987,1896,3165,0,0,0,0,0,0,25.93,26.32,28.83
$GC,583,-0.47,-184.9,125.1,-27.6,57,588,0.00,1.92,0.00,0.000,4,0.000,0.027,1988,549,3165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,755,-0.42,-184.9,164.5,-21.1,65,762,0.15,1.90,0.00,0.000,6,0.156,0.020,2021,1899,3165,0,0,0,0,0,0,25.90,26.34,28.83
$GC,1071,-0.41,-184.9,215.3,-13.5,81,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1899,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1373,-0.41,-184.9,251.6,-10.5,96,1379,0.00,2.05,0.00,0.000,4,0.000,0.031,2011,3303,3165,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1397,-0.41,-184.9,254.2,-10.1,97,1403,0.00,1.92,0.00,0.000,6,0.000,0.020,2011,1909,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1720,-0.41,-184.9,287.8,-10.5,113,1726,0.00,1.92,0.00,0.000,4,0.000,0.028,2011,549,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1869,-0.41,-184.9,303.2,-10.5,120,1875,0.00,1.95,0.00,0.000,6,0.000,0.019,2001,1940,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2188,-0.41,-184.9,339.8,-11.8,136,2193,0.00,2.00,0.00,0.000,4,0.000,0.032,1991,3290,3163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2211,-0.41,-184.9,342.5,-11.5,137,2217,0.12,1.90,0.00,0.000,6,0.129,0.020,2029,1923,3163,0,0,0,0,0,0,26.10,26.38,28.83
$GC,2538,-0.42,-184.9,369.8,-7.9,153,2543,0.00,1.98,0.00,0.000,4,0.000,0.028,2029,551,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2622,-0.44,-184.9,376.9,-8.4,157,2627,0.00,1.95,0.00,0.000,6,0.000,0.020,2022,1928,3162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2946,-0.45,-184.9,404.8,-8.2,173,2952,0.00,2.00,0.00,0.000,4,0.000,0.028,2022,557,3161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3010,-0.47,-184.9,410.6,-8.8,176,3016,0.00,1.95,0.00,0.000,6,0.000,0.020,2013,1933,3161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3335,-0.48,-184.9,436.6,-7.8,192,3340,0.00,2.03,0.00,0.000,4,0.000,0.028,2014,550,3160,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3383,-0.49,-184.9,440.3,-8.1,194,3389,0.00,1.95,0.00,0.000,6,0.000,0.020,2006,1929,3159,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3702,-0.49,-184.9,465.0,-8.1,210,3707,0.00,2.03,0.00,0.000,4,0.000,0.033,1995,3303,3157,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3735,-0.50,-184.9,466.9,-8.1,211,3742,0.00,1.95,0.00,0.000,6,0.000,0.020,1995,1933,3157,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4050,-0.50,-184.9,499.4,-10.3,227,4055,0.00,2.03,0.00,0.000,4,0.000,0.028,1995,537,3155,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4113,-0.50,-184.9,506.2,-10.7,230,4119,0.00,1.98,0.00,0.000,6,0.000,0.020,1986,1922,3154,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4437,-0.50,-184.9,537.4,-9.1,246,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1922,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.50,-184.9,564.6,-9.0,261,4745,0.00,2.03,0.00,0.000,4,0.000,0.029,1987,548,3150,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4803,-0.50,-184.9,570.9,-9.4,264,4808,0.00,1.95,0.00,0.000,6,0.000,0.021,1978,1925,3150,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5127,-0.50,-184.9,598.0,-8.3,280,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1926,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5437,-0.50,-184.9,628.1,-10.2,291,5442,0.00,2.03,0.00,0.000,4,0.000,0.029,1978,548,3145,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5514,-0.50,-184.9,634.9,-10.5,293,5520,0.00,1.98,0.00,0.000,6,0.000,0.021,1969,1929,3145,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5834,-0.50,-184.9,668.7,-10.0,304,5839,0.00,2.05,0.00,0.000,4,0.000,0.029,1969,543,3142,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5881,-0.50,-184.9,672.2,-10.0,305,5887,0.12,1.98,0.00,0.000,6,0.148,0.021,1995,1925,3142,0,0,0,0,0,0,25.97,26.31,28.83
$GC,6203,-0.51,-184.9,695.8,-6.7,316,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1925,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6501,-0.53,-184.9,716.2,-7.1,326,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1925,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6801,-0.54,-184.9,739.9,-8.1,336,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1925,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7102,-0.56,-184.9,762.9,-7.4,346,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1925,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7401,-0.57,-184.9,782.2,-6.1,356,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1925,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7701,-0.59,-184.9,801.0,-6.3,366,7706,0.00,2.05,0.00,0.000,4,0.000,0.031,1996,550,3132,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7759,-0.61,-184.9,803.4,-6.4,367,7767,0.00,2.00,0.00,0.000,6,0.000,0.022,1990,1920,3130,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8068,-0.62,-184.9,825.4,-6.5,378,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1920,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8366,-0.63,-184.9,844.3,-6.2,388,8371,0.00,2.05,0.00,0.000,4,0.000,0.031,1989,546,3129,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8404,-0.65,-184.9,846.7,-6.4,389,8410,0.00,2.00,0.00,0.000,6,0.000,0.022,1981,1935,3129,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8735,-0.66,-184.9,869.2,-6.9,400,8740,0.00,2.08,0.00,0.000,4,0.000,0.031,1981,540,3128,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8783,-0.66,-184.9,871.8,-7.0,401,8789,0.00,2.00,0.00,0.000,6,0.000,0.022,1972,1929,3127,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9105,-0.66,-184.9,898.9,-8.6,412,9110,0.00,2.05,0.00,0.000,4,0.000,0.036,1962,3301,3126,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9123,-0.66,-184.9,898.9,-8.6,412,9129,0.00,1.95,0.00,0.000,6,0.000,0.021,1962,1937,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9442,-0.66,-184.9,931.6,-9.9,423,9447,0.00,2.08,0.00,0.000,4,0.000,0.031,1962,532,3125,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9596,-0.66,-184.9,948.1,-10.7,428,9601,0.00,2.03,0.00,0.000,6,0.000,0.023,1952,1925,3125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9930,-0.66,-184.9,981.6,-9.8,439,9936,0.00,2.05,0.00,0.000,4,0.000,0.037,1942,3313,3127,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9952,-0.66,-184.9,981.6,-9.8,439,9958,0.00,2.00,0.00,0.000,6,0.000,0.022,1942,1907,3124,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,10023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10023,begin apogee
$GC,10030,-0.17,0.0,991.5,-10.1,442,10192,0.47,0.00,153.75,1.414,6,0.122,0.000,2099,1899,2411,0,0,0,0,0,0,25.42,28.83,22.43
$STATE,10193,end apogee,CONTROL_FINISHED_OK
$STATE,10193,begin climb
$GC,10197,0.58,184.9,998.4,0.0,447,10376,0.75,2.28,169.77,1.367,4,0.090,0.031,2360,532,1655,0,0,0,0,0,0,24.50,23.77,21.92
$GC,10408,0.63,290.2,991.7,5.8,454,10513,0.00,2.10,97.18,1.341,6,0.000,0.020,2359,1899,1225,0,0,0,0,0,0,28.83,24.74,22.08
$GC,10844,0.64,290.2,949.9,9.7,469,10849,0.00,2.08,0.00,0.000,4,0.000,0.036,2359,3281,1216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10964,0.66,290.2,939.8,10.6,472,10971,0.00,2.00,0.00,0.000,6,0.000,0.024,2367,1905,1215,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11270,0.68,290.2,905.0,10.4,483,11275,0.00,2.08,0.00,0.000,4,0.000,0.034,2376,507,1215,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11298,0.69,290.2,905.0,10.4,483,11305,0.00,2.00,0.00,0.000,6,0.000,0.021,2377,1908,1213,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11606,0.70,290.2,869.3,10.6,494,11611,0.00,2.05,0.00,0.000,4,0.000,0.035,2374,3283,1212,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11721,0.71,290.2,858.4,11.3,497,11726,0.00,2.00,0.00,0.000,6,0.000,0.024,2377,1893,1212,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12036,0.73,290.2,823.5,10.0,508,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1893,1212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12336,0.74,290.2,792.7,10.5,518,12341,0.00,2.10,0.00,0.000,4,0.000,0.034,2377,3276,1212,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12383,0.76,290.2,788.7,10.8,519,12389,0.00,2.00,0.00,0.000,6,0.000,0.024,2377,1898,1212,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12704,0.77,290.2,753.9,10.3,530,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1898,1212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13003,0.79,302.8,726.2,9.0,540,13022,0.12,2.15,9.75,1.135,4,0.107,0.034,2437,3275,1176,0,0,0,0,0,0,26.30,25.88,23.77
$GC,13069,0.79,302.8,718.4,10.6,542,13075,0.12,2.03,0.00,0.000,6,0.176,0.024,2412,1887,1175,0,0,0,0,0,0,25.72,26.13,28.83
$GC,13400,0.79,302.8,680.7,11.3,553,13405,0.00,2.12,0.00,0.000,4,0.000,0.035,2413,3295,1174,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13437,0.79,302.8,676.4,11.5,554,13443,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1897,1174,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13768,0.79,302.8,638.6,11.2,565,13774,0.00,2.08,0.00,0.000,4,0.000,0.034,2413,3278,1174,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,19891,end climb,SURFACE_DEPTH_REACHED
$STATE,19891,begin surface coast
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$STATE,19902,end surface coast,CONTROL_FINISHED_OK
$STATE,19902,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,49.60
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$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3880544
$24V_AH,21.9,74.310
$10V_AH,9.7,50.211
$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
$DEVICE_SECS,16.650,149.625,638.125,0.000,0.000,0.000,0.000,500.275,0.000,0.000,12.669,2867.867,13950.562,726.373,2693.516,504.900,0.000,2461.542,0.000,2120.997,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.849,0.000,0.000,0.000
$MEM,329620
$DATA_FILE_SIZE,33328,890
$CAP_FILE_SIZE,217886,0
$CFSIZE,260034560,214863872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 23.6,1
$GPS,300113,172036,1752.035,12424.150,28,1.1,28,-2.0