version: 66.11
glider: 129
mission: 4
dive: 396
start: 2 6 113 19 29 47
data:
$ID,129
$MISSION,4
$DIVE,396
$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,-3250.3489
$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,80
$R_STBD_OVSHOOT,88
$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
$GPS1,060213,192006,1807.140,12312.942,38,0.9,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-60.4
$GPS2,060213,192918,1807.248,12312.797,9,0.9,14,-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,278.4,108757,-15.3,-9.429,-18.41
$D_GRID,4344
$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,-64.30,0.000,2,0.000,0.000,66,1894,1748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-4.4,11,146,7.80,2.08,-39.65,0.000,4,0.233,0.044,1959,3295,3161,0,0,0,0,0,0,24.82,26.06,26.56
$GC,311,-0.53,-184.9,49.9,-26.8,43,317,0.12,1.95,0.00,0.000,6,0.162,0.021,1990,1905,3161,0,0,0,0,0,0,25.87,26.28,28.83
$GC,626,-0.47,-184.9,133.0,-25.4,59,632,0.00,1.98,0.00,0.000,4,0.000,0.028,1990,531,3161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,860,-0.44,-184.9,176.3,-16.7,70,866,0.12,1.98,0.00,0.000,6,0.148,0.019,2016,1932,3161,0,0,0,0,0,0,25.96,26.30,28.83
$GC,1175,-0.44,-184.9,222.2,-13.0,86,1181,0.00,2.03,0.00,0.000,4,0.000,0.027,2016,538,3162,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1248,-0.44,-184.9,229.5,-11.5,89,1253,0.00,1.95,0.00,0.000,6,0.000,0.020,2008,1925,3162,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1562,-0.44,-184.9,268.5,-11.7,105,1567,0.00,2.00,0.00,0.000,4,0.000,0.032,1998,3298,3161,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1599,-0.44,-184.9,271.3,-11.7,106,1606,0.00,1.95,0.00,0.000,6,0.000,0.019,1997,1914,3161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1905,-0.44,-184.9,309.1,-11.5,122,1910,0.00,1.95,0.00,0.000,4,0.000,0.028,1998,556,3160,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2002,-0.44,-184.9,318.1,-10.7,126,2010,0.00,1.95,0.00,0.000,6,0.000,0.020,1988,1936,3160,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2308,-0.44,-184.9,355.5,-11.6,142,2314,0.00,2.03,0.00,0.000,4,0.000,0.028,1988,550,3160,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2406,-0.44,-184.9,365.7,-12.3,146,2414,0.12,1.95,0.00,0.000,6,0.140,0.021,2014,1925,3159,0,0,0,0,0,0,25.99,26.31,28.83
$GC,2713,-0.46,-184.9,394.1,-8.0,162,2719,0.00,2.03,0.00,0.000,4,0.000,0.033,2005,3309,3158,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2741,-0.47,-184.9,396.0,-7.8,163,2747,0.00,1.95,0.00,0.000,6,0.000,0.020,2011,1922,3158,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3060,-0.47,-184.9,422.5,-8.3,179,3065,0.00,2.00,0.00,0.000,4,0.000,0.028,2006,539,3157,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3165,-0.47,-184.9,431.6,-8.8,184,3171,0.00,2.00,0.00,0.000,6,0.000,0.020,1997,1937,3156,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3489,-0.47,-184.9,461.7,-9.5,200,3495,0.00,2.08,-0.08,0.000,4,0.000,0.041,1996,550,3183,0,0,0,0,0,0,28.83,26.17,25.31
$GC,3542,-0.47,-184.9,466.2,-9.9,202,3548,0.00,1.98,0.00,0.000,6,0.000,0.021,1992,1934,3183,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3855,-0.47,-184.9,498.4,-9.9,218,3861,0.00,2.05,0.00,0.000,4,0.000,0.029,1987,556,3182,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3908,-0.47,-184.9,503.0,-10.1,220,3914,0.00,1.98,0.00,0.000,6,0.000,0.021,1977,1928,3182,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4221,-0.47,-184.9,535.6,-9.7,236,4226,0.00,2.05,0.00,0.000,4,0.000,0.029,1978,548,3181,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4294,-0.47,-184.9,542.0,-10.0,239,4300,0.15,2.00,0.00,0.000,6,0.139,0.021,2012,1935,3180,0,0,0,0,0,0,25.89,26.27,28.83
$GC,4609,-0.49,-184.9,563.7,-6.8,255,4614,0.00,2.05,0.00,0.000,4,0.000,0.030,2012,553,3178,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4648,-0.51,-184.9,565.5,-7.0,256,4656,0.00,1.98,0.00,0.000,6,0.000,0.021,2005,1931,3178,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4953,-0.52,-184.9,590.4,-7.9,272,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1931,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5255,-0.54,-184.9,614.1,-7.7,284,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1930,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5554,-0.56,-184.9,636.7,-7.7,294,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1931,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5853,-0.57,-184.9,660.1,-7.8,304,5858,0.00,2.05,0.00,0.000,4,0.000,0.030,2005,556,3170,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5902,-0.59,-184.9,662.9,-7.8,305,5907,0.00,1.98,0.00,0.000,6,0.000,0.022,1996,1930,3170,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6223,-0.60,-184.9,688.6,-7.4,316,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1930,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6522,-0.62,-184.9,709.5,-6.9,326,6528,0.10,2.08,0.00,0.000,4,0.109,0.029,1949,549,3167,0,0,0,0,0,0,26.39,26.10,28.83
$GC,6556,-0.62,-184.9,712.6,-7.3,327,6561,0.00,1.98,0.00,0.000,6,0.000,0.022,1939,1920,3166,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6892,-0.60,-184.9,748.7,-11.2,338,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1921,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7190,-0.59,-184.9,780.3,-10.2,348,7196,0.12,2.05,0.00,0.000,4,0.158,0.029,1980,555,3163,0,0,0,0,0,0,26.07,26.08,28.83
$GC,7244,-0.59,-184.9,783.5,-10.0,349,7249,0.00,1.98,0.00,0.000,6,0.000,0.022,1971,1928,3163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7560,-0.59,-184.9,810.5,-8.2,360,7565,0.00,2.08,0.00,0.000,4,0.000,0.035,1961,3310,3162,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7588,-0.59,-184.9,810.5,-8.2,360,7595,0.00,1.98,0.00,0.000,6,0.000,0.021,1961,1928,3161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7895,-0.59,-184.9,842.6,-9.4,371,7900,0.00,2.05,0.00,0.000,4,0.000,0.031,1961,521,3160,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7991,-0.59,-184.9,852.1,-10.0,374,7997,0.00,2.03,0.00,0.000,6,0.000,0.022,1951,1927,3160,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8323,-0.59,-184.9,882.6,-8.7,385,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1927,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,-0.59,-184.9,908.4,-8.7,395,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1927,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,-0.59,-184.9,937.9,-9.9,405,8927,0.00,2.08,0.00,0.000,4,0.000,0.031,1951,549,3156,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8989,-0.59,-184.9,944.6,-10.1,407,8994,0.00,1.98,0.00,0.000,6,0.000,0.023,1941,1926,3159,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9321,-0.59,-184.9,976.4,-9.3,418,9326,0.00,2.08,0.00,0.000,4,0.000,0.031,1941,539,3155,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9403,-0.59,-184.9,982.7,-9.3,420,9409,0.12,2.00,0.00,0.000,6,0.158,0.023,1967,1934,3155,0,0,0,0,0,0,25.78,26.17,28.83
$STATE,9505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9505,begin apogee
$GC,9511,-0.17,0.0,991.5,-7.0,424,9679,0.40,0.00,160.07,1.409,6,0.117,0.000,2103,1933,2409,0,0,0,0,0,0,25.50,28.83,22.48
$STATE,9680,end apogee,CONTROL_FINISHED_OK
$STATE,9681,begin climb
$GC,9683,0.58,184.9,994.8,0.0,429,9862,0.70,2.38,168.05,1.359,4,0.086,0.032,2351,535,1654,0,0,0,0,0,0,24.58,23.87,21.95
$GC,9932,0.59,206.7,978.6,8.7,438,9961,0.00,2.05,20.12,1.270,6,0.000,0.021,2351,1901,1565,0,0,0,0,0,0,28.83,25.53,23.24
$GC,10261,0.61,212.7,947.7,9.2,449,10272,0.00,2.15,6.00,1.037,4,0.000,0.034,2347,3292,1541,0,0,0,0,0,0,28.83,25.98,23.89
$GC,10360,0.61,212.7,938.3,9.9,452,10365,0.00,1.98,0.00,0.000,6,0.000,0.023,2360,1910,1540,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10692,0.62,247.5,909.0,8.2,463,10725,0.00,0.00,31.77,1.323,6,0.000,0.000,2360,1910,1401,0,0,0,0,0,0,28.83,28.83,23.51
$GC,11021,0.64,268.6,881.2,8.7,474,11050,0.00,2.17,19.95,1.279,4,0.000,0.035,2360,3286,1313,0,0,0,0,0,0,28.83,25.67,23.68
$GC,11100,0.66,274.2,875.1,9.2,476,11111,0.00,2.03,6.30,1.043,6,0.000,0.024,2367,1896,1291,0,0,0,0,0,0,28.83,26.01,23.75
$GC,11422,0.67,274.2,841.6,10.3,487,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1896,1288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11720,0.69,274.2,811.3,9.7,497,11725,0.00,2.10,0.00,0.000,4,0.000,0.034,2367,3285,1287,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11762,0.70,274.2,808.0,9.7,498,11767,0.00,2.03,0.00,0.000,6,0.000,0.024,2375,1892,1286,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12088,0.72,286.1,776.9,9.0,509,12102,0.00,0.00,11.98,1.190,6,0.000,0.000,2374,1892,1242,0,0,0,0,0,0,28.83,28.83,23.81
$GC,12388,0.74,302.4,750.6,8.9,519,12410,0.00,2.17,15.88,1.208,4,0.000,0.035,2375,3288,1176,0,0,0,0,0,0,28.83,25.77,23.75
$GC,12466,0.75,308.7,744.7,9.2,521,12481,0.00,2.05,7.25,1.047,6,0.000,0.024,2382,1890,1150,0,0,0,0,0,0,28.83,26.05,23.82
$GC,12781,0.77,308.7,712.1,10.3,532,12786,0.00,2.05,0.00,0.000,4,0.000,0.034,2391,513,1146,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12815,0.78,308.7,708.3,10.5,533,12821,0.00,2.03,0.00,0.000,6,0.000,0.021,2391,1903,1147,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13151,0.79,308.7,673.0,10.5,544,13157,0.00,2.05,0.00,0.000,4,0.000,0.034,2391,3283,1146,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13255,0.79,308.7,662.1,11.1,547,13261,0.00,2.03,0.00,0.000,6,0.000,0.024,2399,1894,1145,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13580,0.79,308.7,626.3,10.8,558,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1893,1145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13880,0.79,308.7,593.8,10.4,569,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1894,1143,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19528,end climb,SURFACE_DEPTH_REACHED
$STATE,19529,begin surface coast
$FINISH,1.1,1.009274
$STATE,19546,end surface coast,CONTROL_FINISHED_OK
$STATE,19546,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,50.66
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3868256
$24V_AH,22.0,81.506
$10V_AH,9.6,54.246
$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,16.575,154.350,648.250,0.000,0.000,0.000,0.000,331.525,0.000,0.000,14.853,2892.656,13434.938,747.724,2567.691,521.076,0.000,2333.569,0.000,2167.021,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,43.605,1409.130,0.000,0.000,0.000,0.000,131.580,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.773,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,33345,883
$CAP_FILE_SIZE,216541,0
$CFSIZE,260034560,211574784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,  1.0,1
$GPS,070213,005806,1809.142,12309.969,36,0.9,36,-2.0