version: 66.11
glider: 129
mission: 4
dive: 35
start: 11 10 112 20 13 51
data:
$ID,129
$MISSION,4
$DIVE,35
$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,420
$T_MISSION,440
$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,180
$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,9
$N_NOCOMM,1
$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,-2690.0657
$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,2170
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,71
$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,22
$MINV_10V,9.5
$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,10
$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
$GPS1,101112,200630,1747.866,12416.876,37,1.4,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.8
$GPS2,101112,201324,1747.820,12416.911,11,1.2,16,-2.0
$SPEED_LIMITS,0.136,0.259
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$TGT_RADIUS,5000.000
$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,272.6,253098,-13.2,-7.857,-16.86
$D_GRID,4288
$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,17,-0.36,-175.2,0.0,0.0,0,67,0.00,0.00,-47.35,0.000,2,0.000,0.000,61,1876,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.36,-175.2,3.1,-5.6,8,108,7.90,2.15,-25.35,0.000,4,0.249,0.054,2033,3265,3126,0,0,0,0,0,0,25.79,26.06,26.34
$GC,281,-0.36,-175.2,39.4,-16.6,40,286,0.00,2.03,0.00,0.000,6,0.000,0.028,2033,1863,3126,0,0,0,0,0,0,28.83,26.26,28.83
$GC,602,-0.36,-175.2,101.5,-17.6,59,608,0.00,2.00,0.00,0.000,4,0.000,0.036,2033,474,3127,0,0,0,0,0,0,28.83,26.40,28.83
$GC,694,-0.36,-175.2,114.0,-15.3,63,700,0.00,2.00,0.00,0.000,6,0.000,0.027,2023,1868,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1006,-0.36,-175.2,152.2,-11.5,79,1011,0.00,2.05,0.00,0.000,4,0.000,0.035,2023,470,3127,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1077,-0.36,-175.2,159.3,-11.4,82,1084,0.12,2.03,0.00,0.000,6,0.148,0.027,2050,1886,3128,0,0,0,0,0,0,26.44,26.54,28.83
$GC,1392,-0.36,-175.2,184.5,-7.0,98,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1886,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-0.36,-175.2,203.1,-6.4,113,1698,0.00,2.03,0.00,0.000,4,0.000,0.040,2041,3269,3128,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1769,-0.36,-175.2,207.3,-6.5,116,1776,0.00,2.00,0.00,0.000,6,0.000,0.027,2041,1860,3129,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2075,-0.36,-175.2,230.6,-7.6,132,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1860,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,-0.36,-175.2,249.8,-6.1,147,2381,0.00,2.00,0.00,0.000,4,0.000,0.037,2041,477,3128,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2413,-0.36,-175.2,251.3,-6.1,148,2420,0.00,2.00,0.00,0.000,6,0.000,0.027,2033,1889,3129,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2719,-0.36,-175.2,274.6,-7.8,164,2724,0.00,2.00,0.00,0.000,4,0.000,0.041,2024,3257,3128,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2790,-0.36,-175.2,279.5,-7.7,167,2795,0.00,1.98,0.00,0.000,6,0.000,0.027,2024,1865,3128,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3102,-0.36,-175.2,303.8,-7.2,183,3109,0.10,2.00,0.00,0.000,4,0.151,0.035,2054,486,3127,0,0,0,0,0,0,26.63,26.67,28.83
$GC,3160,-0.36,-175.2,306.6,-6.9,185,3167,0.00,2.00,0.00,0.000,6,0.000,0.028,2046,1878,3126,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3466,-0.36,-175.2,324.6,-5.5,201,3471,0.00,2.03,0.00,0.000,4,0.000,0.041,2036,3262,3125,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3503,-0.36,-175.2,325.8,-5.5,202,3510,0.00,1.98,0.00,0.000,6,0.000,0.028,2036,1871,3125,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3808,-0.36,-175.2,347.2,-6.4,218,3814,0.00,2.03,0.00,0.000,4,0.000,0.037,2036,475,3124,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3920,-0.36,-175.2,353.2,-5.8,223,3926,0.00,2.00,0.00,0.000,6,0.000,0.028,2036,1879,3123,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4234,-0.36,-175.2,372.0,-6.4,239,4239,0.00,2.05,0.00,0.000,4,0.000,0.037,2036,481,3122,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4256,-0.36,-175.2,373.4,-6.4,240,4262,0.00,2.00,0.00,0.000,6,0.000,0.028,2036,1892,3122,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4579,-0.36,-175.2,396.1,-7.0,256,4584,0.00,1.98,0.00,0.000,4,0.000,0.042,2036,3254,3120,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4811,-0.36,-175.2,412.8,-7.6,267,4816,0.00,1.98,0.00,0.000,6,0.000,0.029,2036,1868,3119,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5123,-0.36,-175.2,436.0,-7.5,283,5129,0.00,2.05,0.00,0.000,4,0.000,0.040,2036,3256,3117,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5355,-0.36,-175.2,454.5,-8.8,294,5361,0.00,1.95,0.00,0.000,6,0.000,0.030,2036,1872,3116,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5667,-0.36,-175.2,481.5,-8.0,310,5673,0.00,2.05,-0.08,0.000,4,0.000,0.054,2036,3255,3145,0,0,0,0,0,0,28.83,26.69,26.59
$GC,5686,-0.36,-175.2,481.5,-8.0,310,5692,0.00,1.95,0.00,0.000,6,0.000,0.030,2036,1871,3145,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5990,-0.36,-175.2,507.6,-7.8,326,5995,0.00,2.03,0.00,0.000,4,0.000,0.040,2042,483,3145,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6222,-0.36,-175.2,524.4,-7.3,337,6227,0.00,1.98,0.00,0.000,6,0.000,0.029,2042,1877,3144,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6534,-0.36,-175.2,547.9,-7.6,353,6540,0.00,2.05,0.00,0.000,4,0.000,0.042,2042,3271,3143,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6572,-0.36,-175.2,549.7,-7.7,354,6578,0.00,2.00,0.00,0.000,6,0.000,0.030,2042,1876,3143,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6877,-0.36,-175.2,575.3,-7.8,370,6882,0.00,2.08,0.00,0.000,4,0.000,0.042,2042,3271,3140,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6953,-0.36,-175.2,580.4,-8.0,373,6960,0.00,2.00,0.00,0.000,6,0.000,0.031,2042,1875,3140,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7280,-0.36,-175.2,605.8,-7.4,389,7285,0.00,2.05,0.00,0.000,4,0.000,0.042,2042,3263,3138,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7511,-0.36,-175.2,622.7,-8.2,396,7516,0.00,2.00,0.00,0.000,6,0.000,0.031,2042,1874,3137,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7823,-0.36,-175.2,650.5,-8.6,407,7828,0.00,2.08,0.00,0.000,4,0.000,0.044,2043,3263,3136,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7929,-0.36,-175.2,658.6,-8.8,410,7935,0.00,2.00,0.00,0.000,6,0.000,0.032,2042,1872,3135,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8246,-0.36,-175.2,687.0,-8.6,421,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1872,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8547,-0.36,-175.2,712.6,-8.6,431,8552,0.00,2.08,0.00,0.000,4,0.000,0.044,2042,3262,3132,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8738,-0.36,-175.2,729.2,-9.3,437,8743,0.00,2.00,0.00,0.000,6,0.000,0.033,2043,1879,3132,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9061,-0.36,-175.2,756.9,-8.2,448,9066,0.00,2.08,0.00,0.000,4,0.000,0.044,2042,3264,3130,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9222,-0.36,-175.2,769.8,-8.3,453,9228,0.00,2.03,0.00,0.000,6,0.000,0.033,2042,1864,3130,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9546,-0.36,-175.2,796.4,-7.9,464,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1863,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9845,-0.36,-175.2,820.4,-8.1,474,9850,0.00,2.10,0.00,0.000,4,0.000,0.045,2042,3260,3127,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9972,-0.36,-175.2,830.9,-8.6,478,9978,0.00,2.03,0.00,0.000,6,0.000,0.033,2042,1885,3127,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10301,-0.36,-175.2,858.8,-8.3,489,10306,0.00,2.08,0.00,0.000,4,0.000,0.045,2042,3266,3125,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10432,-0.36,-175.2,869.1,-8.3,493,10437,0.00,2.03,0.00,0.000,6,0.000,0.034,2043,1873,3125,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10755,-0.36,-175.2,894.4,-7.3,504,10760,0.00,2.08,0.00,0.000,4,0.000,0.045,2042,474,3124,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10791,-0.36,-175.2,896.8,-7.3,505,10797,0.00,2.05,0.00,0.000,6,0.000,0.032,2042,1887,3124,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11120,-0.36,-175.2,918.3,-6.7,516,11125,0.00,2.05,0.00,0.000,4,0.000,0.047,2042,3261,3123,0,0,0,0,0,0,28.83,26.68,28.83
$GC,11286,-0.36,-175.2,929.5,-7.4,521,11292,0.00,2.03,0.00,0.000,6,0.000,0.035,2043,1870,3121,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11605,-0.36,-175.2,953.8,-7.5,532,11611,0.00,2.10,0.00,0.000,4,0.000,0.047,2042,3269,3121,0,0,0,0,0,0,28.83,26.68,28.83
$GC,11673,-0.36,-175.2,958.8,-7.6,534,11678,0.00,2.05,0.00,0.000,6,0.000,0.034,2042,1864,3121,0,0,0,0,0,0,28.83,26.71,28.83
$GC,12000,-0.36,-175.2,985.8,-8.1,545,12005,0.00,2.10,0.00,0.000,4,0.000,0.046,2043,3273,3120,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,12061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12061,begin apogee
$GC,12067,-0.11,0.0,991.0,-8.4,547,12218,0.22,0.00,144.52,1.422,6,0.091,0.000,2135,1892,2408,0,0,0,0,0,0,26.65,28.83,23.75
$STATE,12220,end apogee,CONTROL_FINISHED_OK
$STATE,12220,begin climb
$GC,12222,0.36,175.2,999.1,0.0,552,12383,0.40,2.35,150.90,1.377,4,0.070,0.045,2287,3283,1692,0,0,0,0,0,0,24.82,24.44,23.54
$GC,12518,0.36,175.2,980.2,9.6,562,12524,0.00,2.12,0.00,0.000,6,0.000,0.034,2297,1905,1686,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12847,0.36,175.2,949.6,9.4,573,12852,0.00,2.15,0.00,0.000,4,0.000,0.046,2297,3285,1683,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12883,0.36,175.2,946.3,9.6,574,12889,0.00,2.10,0.00,0.000,6,0.000,0.035,2306,1886,1683,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13211,0.36,175.2,914.3,9.4,585,13217,0.00,2.15,0.00,0.000,4,0.000,0.046,2307,3285,1682,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13252,0.36,175.2,911.2,9.5,586,13258,0.00,2.08,0.00,0.000,6,0.000,0.034,2316,1891,1683,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13576,0.36,175.2,881.6,8.5,597,13581,0.00,2.15,0.00,0.000,4,0.000,0.047,2316,3292,1681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13622,0.36,175.2,878.4,8.8,598,13627,0.15,2.08,0.00,0.000,6,0.176,0.035,2288,1896,1681,0,0,0,0,0,0,26.26,26.40,28.83
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$STATE,23398,end climb,SURFACE_DEPTH_REACHED
$STATE,23398,begin surface coast
$FINISH,0.6,1.009235
$STATE,23414,end surface coast,CONTROL_FINISHED_OK
$STATE,23414,begin surface
$SM_CCo,23487,0.00,0.000,0,0,254,528.62
$SM_GC,1.42,5.72,0.00,0.00,0.043,0.000,0.000,71,1932,254,-6.49,1.61,528.62,0,0,0,0,0,0,26.53,28.83,28.83
$IRIDIUM_FIX,1740.58,12415.94,101112,151536
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.10
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,4006848
$24V_AH,23.5,6.308
$10V_AH,10.0,5.324
$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,15.000,215.350,594.650,0.000,0.000,0.000,0.000,260.150,0.000,0.000,17.189,3765.918,15877.290,767.937,3230.931,259.512,0.000,2592.132,0.000,2823.442,0.000,0.541,0.000
$DEVICE_MAMPS,248.625,54.315,1422.135,0.000,0.000,0.000,0.000,140.760,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23435.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.711,0.000,0.000,0.000
$MEM,327420
$DATA_FILE_SIZE,40046,1073
$CAP_FILE_SIZE,261354,0
$CFSIZE,260034560,249696256
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.591,100.6,1
$GPS,111112,024636,1748.608,12416.815,42,1.1,42,-2.0