version: 66.11
glider: 129
mission: 4
dive: 365
start: 1 30 113 17 29 24
data:
$ID,129
$MISSION,4
$DIVE,365
$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,-3206.5464
$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,90
$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
$GPS1,300113,172036,1752.035,12424.150,28,1.1,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-56.4
$GPS2,300113,172855,1752.037,12424.134,15,1.6,15,-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,268.7,235947,-15.3,-9.429,-18.41
$D_GRID,4329
$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,-65.15,0.000,2,0.000,0.000,46,1907,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.0,-2.8,11,146,8.10,2.12,-36.83,0.000,4,0.243,0.047,1955,3295,3165,0,0,0,0,0,0,24.91,26.06,26.57
$GC,299,-0.53,-184.9,47.5,-24.9,41,306,0.10,1.95,0.00,0.000,6,0.171,0.021,1982,1911,3165,0,0,0,0,0,0,25.94,26.29,28.83
$GC,615,-0.47,-184.9,136.9,-27.1,57,620,0.00,1.98,0.00,0.000,4,0.000,0.028,1982,535,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,803,-0.43,-184.9,176.1,-19.8,66,809,0.17,1.95,0.00,0.000,6,0.140,0.020,2025,1916,3165,0,0,0,0,0,0,25.89,26.35,28.83
$GC,1122,-0.43,-184.9,216.3,-12.3,82,1129,0.00,2.03,0.00,0.000,4,0.000,0.032,2016,3315,3165,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1147,-0.43,-184.9,219.5,-12.3,83,1153,0.00,1.95,0.00,0.000,6,0.000,0.019,2015,1906,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1471,-0.43,-184.9,262.1,-13.6,99,1476,0.00,1.95,0.00,0.000,4,0.000,0.028,2015,544,3165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1518,-0.43,-184.9,268.4,-14.2,101,1524,0.00,1.92,0.00,0.000,6,0.000,0.020,2006,1931,3163,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1837,-0.43,-184.9,310.8,-11.4,117,1842,0.00,2.00,0.00,0.000,4,0.000,0.027,2006,555,3165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1885,-0.43,-184.9,315.5,-11.0,119,1890,0.00,1.92,0.00,0.000,6,0.000,0.019,1997,1928,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2203,-0.43,-184.9,349.1,-11.0,135,2208,0.00,2.00,0.00,0.000,4,0.000,0.032,1987,3303,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2292,-0.43,-184.9,358.5,-11.3,139,2298,0.12,1.92,0.00,0.000,6,0.127,0.020,2024,1912,3163,0,0,0,0,0,0,26.08,26.37,28.83
$GC,2612,-0.44,-184.9,384.6,-7.8,155,2618,0.00,1.95,0.00,0.000,4,0.000,0.028,2024,559,3162,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2807,-0.46,-184.9,400.2,-8.8,164,2812,0.00,1.92,0.00,0.000,6,0.000,0.020,2017,1925,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3120,-0.47,-184.9,429.4,-9.5,180,3126,0.00,2.03,0.00,0.000,4,0.000,0.032,2006,3295,3161,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3147,-0.49,-184.9,431.6,-9.5,181,3154,0.00,1.92,0.00,0.000,6,0.000,0.019,2006,1942,3160,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3467,-0.49,-184.9,463.1,-9.2,197,3472,0.00,2.03,0.00,0.000,4,0.000,0.028,2006,542,3159,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3601,-0.50,-184.9,474.5,-9.0,203,3607,0.00,1.98,0.00,0.000,6,0.000,0.020,1999,1933,3156,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3916,-0.50,-184.9,501.8,-8.2,219,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1934,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4218,-0.50,-184.9,527.5,-8.7,234,4224,0.00,2.05,0.00,0.000,4,0.000,0.028,1998,544,3153,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4262,-0.50,-184.9,531.9,-9.2,236,4268,0.00,1.98,0.00,0.000,6,0.000,0.021,1990,1922,3153,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4586,-0.50,-184.9,560.4,-8.5,252,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1923,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4888,-0.50,-184.9,584.7,-8.1,267,4893,0.00,2.05,0.00,0.000,4,0.000,0.029,1989,543,3151,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4972,-0.50,-184.9,592.1,-8.7,271,4977,0.00,2.00,0.00,0.000,6,0.000,0.021,1981,1929,3147,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5288,-0.50,-184.9,621.0,-9.4,283,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1929,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.50,-184.9,649.8,-9.6,293,5591,0.00,2.05,0.00,0.000,4,0.000,0.034,1971,3306,3144,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5613,-0.50,-184.9,649.8,-9.6,293,5621,0.00,1.98,0.00,0.000,6,0.000,0.021,1971,1930,3144,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5919,-0.50,-184.9,681.9,-9.6,304,5924,0.00,2.00,0.00,0.000,4,0.000,0.030,1970,543,3142,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6074,-0.50,-184.9,697.1,-9.9,309,6080,0.12,1.98,0.00,0.000,6,0.154,0.023,1998,1927,3141,0,0,0,0,0,0,25.94,26.29,28.83
$GC,6410,-0.51,-184.9,722.1,-7.4,320,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1927,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6708,-0.53,-184.9,744.4,-7.4,330,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1926,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,-0.55,-184.9,764.7,-6.4,340,7015,0.00,2.08,0.00,0.000,4,0.000,0.031,1999,539,3136,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7077,-0.56,-184.9,769.4,-6.9,342,7082,0.00,2.00,0.00,0.000,6,0.000,0.022,1993,1928,3135,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7410,-0.58,-184.9,792.7,-6.9,353,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1928,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,-0.59,-184.9,813.4,-6.9,363,7711,0.00,2.08,0.00,0.000,4,0.000,0.031,1993,541,3132,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7741,-0.61,-184.9,815.9,-7.0,364,7746,0.00,2.00,0.00,0.000,6,0.000,0.022,1986,1925,3132,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8078,-0.62,-184.9,840.4,-7.2,375,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1925,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8375,-0.63,-184.9,864.0,-8.1,385,8380,0.00,2.05,0.00,0.000,4,0.000,0.031,1986,548,3130,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8418,-0.64,-184.9,867.1,-8.3,386,8424,0.00,2.00,0.00,0.000,6,0.000,0.022,1977,1935,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8744,-0.64,-184.9,895.0,-8.0,397,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1935,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9043,-0.64,-184.9,918.2,-7.7,407,9048,0.00,2.08,0.00,0.000,4,0.000,0.031,1977,542,3128,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9070,-0.64,-184.9,918.2,-7.7,407,9078,0.00,2.00,0.00,0.000,6,0.000,0.022,1969,1927,3127,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9377,-0.64,-184.9,945.5,-8.2,418,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1927,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9678,-0.64,-184.9,969.7,-8.1,428,9683,0.00,2.08,0.00,0.000,4,0.000,0.031,1969,533,3125,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9715,-0.64,-184.9,972.8,-8.3,429,9721,0.00,2.00,0.00,0.000,6,0.000,0.023,1960,1928,3125,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,9922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9922,begin apogee
$GC,9928,-0.17,0.0,991.1,-8.6,436,10090,0.43,0.00,154.25,1.412,6,0.117,0.000,2102,1928,2409,0,0,0,0,0,0,25.51,28.83,22.35
$STATE,10091,end apogee,CONTROL_FINISHED_OK
$STATE,10092,begin climb
$GC,10094,0.58,184.9,996.8,0.0,441,10274,0.73,2.35,170.73,1.365,4,0.084,0.032,2347,533,1654,0,0,0,0,0,0,24.41,23.70,21.82
$GC,10306,0.62,280.2,988.8,6.2,448,10401,0.00,2.12,87.85,1.336,6,0.000,0.020,2348,1906,1265,0,0,0,0,0,0,28.83,24.68,22.03
$GC,10710,0.66,320.3,954.6,8.1,462,10753,0.00,2.17,35.60,1.323,4,0.000,0.036,2348,3286,1103,0,0,0,0,0,0,28.83,25.35,23.49
$GC,10841,0.69,342.8,943.9,8.7,466,10872,0.10,2.03,21.77,1.284,6,0.116,0.024,2387,1902,1011,0,0,0,0,0,0,25.87,26.01,23.62
$GC,11196,0.70,342.8,906.3,10.7,478,11201,0.00,2.08,0.00,0.000,4,0.000,0.034,2387,3286,1006,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11230,0.71,342.8,902.6,10.8,479,11236,0.00,2.03,0.00,0.000,6,0.000,0.024,2387,1896,1005,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11568,0.73,342.8,867.0,10.5,490,11573,0.00,2.10,0.00,0.000,4,0.000,0.034,2388,3289,1004,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11612,0.74,342.8,862.9,10.5,491,11617,0.00,2.03,0.00,0.000,6,0.000,0.024,2387,1892,1003,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11937,0.76,342.8,827.7,10.6,502,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1892,1003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12236,0.78,342.8,797.3,9.9,512,12242,0.00,2.12,0.00,0.000,4,0.000,0.034,2387,3286,1003,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12304,0.79,342.8,790.3,10.4,514,12309,0.00,2.03,0.00,0.000,6,0.000,0.024,2388,1895,1002,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12635,0.81,342.8,755.7,10.6,525,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1895,1005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12932,0.83,342.8,722.9,10.9,535,12938,0.12,2.12,0.00,0.000,4,0.105,0.032,2446,3295,1002,0,0,0,0,0,0,26.31,26.09,28.83
$GC,13006,0.83,342.8,713.5,12.7,537,13012,0.00,2.03,0.00,0.000,6,0.000,0.023,2454,1899,1002,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13331,0.83,342.8,666.0,13.8,548,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1900,1002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13631,0.83,342.8,625.5,13.3,558,13636,0.00,2.10,0.00,0.000,4,0.000,0.034,2454,3285,1002,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13738,0.83,342.8,613.0,13.4,561,13744,0.15,2.03,0.00,0.000,6,0.162,0.024,2419,1892,1002,0,0,0,0,0,0,25.76,26.25,28.83
$GC,14046,0.83,342.8,577.4,11.4,575,14052,0.00,2.03,0.00,0.000,4,0.000,0.034,2426,515,1001,0,0,0,0,0,0,28.83,26.07,28.83
$GC,14070,0.83,342.8,574.8,11.5,576,14075,0.00,2.03,0.00,0.000,6,0.000,0.021,2426,1922,1001,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,19458,end climb,SURFACE_DEPTH_REACHED
$STATE,19458,begin surface coast
$FINISH,1.3,1.000583
$STATE,19474,end surface coast,CONTROL_FINISHED_OK
$STATE,19474,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,49.64
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3880160
$24V_AH,21.8,74.524
$10V_AH,9.7,50.339
$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
$DEVICE_SECS,16.875,158.150,592.575,0.000,0.000,0.000,0.000,286.900,0.000,0.000,15.829,2921.338,13374.866,712.407,2538.427,495.916,0.000,2251.603,0.000,2174.076,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.970,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,33333,886
$CAP_FILE_SIZE,217445,0
$CFSIZE,260034560,214761472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028, 29.2,1
$GPS,300113,225636,1751.631,12421.406,40,1.7,40,-2.0