version: 66.11
glider: 129
mission: 4
dive: 68
start: 11 19 112 18 59 21
data:
$ID,129
$MISSION,4
$DIVE,68
$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,400
$T_MISSION,420
$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,1
$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,-2731.5896
$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,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$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,67
$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
$GPS1,191112,185129,1757.630,12331.520,41,1.0,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.8
$GPS2,191112,185855,1757.662,12331.554,14,1.2,14,-2.0
$SPEED_LIMITS,0.143,0.264
$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,287.5,174031,-13.9,-8.250,-17.36
$D_GRID,5189
$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,18,-0.53,-175.2,0.0,0.0,0,63,0.00,0.00,-42.62,0.000,2,0.000,0.000,63,1897,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.53,-175.2,3.2,-5.4,7,109,7.53,2.17,-29.77,0.000,4,0.247,0.048,1939,3320,3125,0,0,0,0,0,0,25.72,26.08,26.37
$GC,235,-0.44,-175.2,47.2,-30.3,31,242,0.17,2.03,0.00,0.000,6,0.158,0.025,1986,1908,3125,0,0,0,0,0,0,26.03,26.25,28.83
$GC,552,-0.36,-175.2,138.4,-20.9,48,557,0.00,1.98,0.00,0.000,4,0.000,0.032,1986,534,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,675,-0.31,-175.2,163.5,-20.0,54,681,0.17,2.00,0.00,0.000,6,0.142,0.025,2028,1927,3126,0,0,0,0,0,0,26.27,26.44,28.83
$GC,997,-0.31,-175.2,199.5,-9.2,70,1003,0.00,2.03,0.00,0.000,4,0.000,0.031,2029,533,3128,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1029,-0.31,-175.2,201.9,-9.5,71,1035,0.00,1.98,0.00,0.000,6,0.000,0.023,2020,1934,3128,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1342,-0.31,-175.2,233.3,-9.5,87,1347,0.00,2.00,0.00,0.000,4,0.000,0.037,2009,3306,3128,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1364,-0.31,-175.2,235.4,-9.4,88,1370,0.00,1.95,0.00,0.000,6,0.000,0.023,2009,1917,3128,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1686,-0.31,-175.2,264.2,-8.4,104,1692,0.00,1.98,0.00,0.000,4,0.000,0.032,2010,538,3127,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1819,-0.31,-175.2,275.7,-9.4,110,1824,0.00,1.95,0.00,0.000,6,0.000,0.024,2001,1925,3127,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2130,-0.31,-175.2,305.6,-9.3,126,2136,0.00,2.03,0.00,0.000,4,0.000,0.032,2001,531,3125,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2173,-0.31,-175.2,309.8,-9.5,128,2179,0.12,1.98,0.00,0.000,6,0.143,0.024,2030,1923,3126,0,0,0,0,0,0,26.47,26.62,28.83
$GC,2496,-0.34,-175.2,330.2,-5.5,144,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,1923,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2798,-0.37,-175.2,345.9,-5.2,159,2803,0.00,2.03,0.00,0.000,4,0.000,0.038,2022,3304,3125,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2835,-0.40,-175.2,347.2,-5.3,160,2842,0.00,1.95,0.00,0.000,6,0.000,0.024,2022,1918,3125,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3140,-0.43,-175.2,366.5,-6.3,176,3146,0.00,2.00,0.00,0.000,4,0.000,0.034,2022,530,3124,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3188,-0.46,-175.2,369.5,-6.6,178,3194,0.10,1.98,0.00,0.000,6,0.109,0.024,1964,1931,3123,0,0,0,0,0,0,26.57,26.65,28.83
$GC,3507,-0.45,-175.2,401.1,-9.7,194,3512,0.00,2.00,0.00,0.000,4,0.000,0.038,1954,3314,3121,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3572,-0.45,-175.2,406.8,-9.1,197,3579,0.10,1.98,0.00,0.000,6,0.144,0.025,1982,1916,3121,0,0,0,0,0,0,26.51,26.65,28.83
$GC,3891,-0.45,-175.2,430.0,-6.9,213,3896,0.00,2.00,0.00,0.000,4,0.000,0.034,1982,532,3121,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4034,-0.45,-175.2,441.0,-7.7,220,4039,0.00,1.98,0.00,0.000,6,0.000,0.025,1974,1920,3118,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4357,-0.45,-175.2,468.5,-9.4,236,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1920,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4657,-0.45,-175.2,498.1,-9.9,251,4664,0.00,2.03,-0.08,0.000,4,0.000,0.048,1975,542,3143,0,0,0,0,0,0,28.83,26.62,26.32
$GC,4700,-0.45,-175.2,502.7,-10.1,253,4706,0.00,1.98,0.00,0.000,6,0.000,0.025,1965,1931,3143,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5023,-0.45,-175.2,533.4,-9.3,269,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1931,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5324,-0.45,-175.2,558.3,-8.2,284,5329,0.00,2.05,0.00,0.000,4,0.000,0.036,1965,539,3142,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5375,-0.45,-175.2,562.1,-8.5,286,5381,0.00,1.98,0.00,0.000,6,0.000,0.026,1956,1924,3141,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5689,-0.44,-175.2,589.9,-8.8,302,5695,0.12,2.05,0.00,0.000,4,0.147,0.034,1998,532,3140,0,0,0,0,0,0,26.51,26.62,28.83
$GC,5735,-0.44,-175.2,593.2,-8.5,304,5741,0.00,2.00,0.00,0.000,6,0.000,0.026,1992,1926,3139,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6064,-0.46,-175.2,614.8,-6.7,317,6069,0.00,2.03,0.00,0.000,4,0.000,0.036,1991,544,3138,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6116,-0.48,-175.2,617.4,-7.0,318,6121,0.00,1.98,0.00,0.000,6,0.000,0.027,1988,1924,3138,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6430,-0.50,-175.2,641.5,-7.3,329,6435,0.00,2.05,0.00,0.000,4,0.000,0.042,1988,3309,3135,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6451,-0.52,-175.2,641.5,-7.3,329,6457,0.00,1.98,0.00,0.000,6,0.000,0.027,1988,1928,3135,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6765,-0.54,-175.2,664.6,-6.8,340,6771,0.00,2.03,0.00,0.000,4,0.000,0.037,1988,527,3134,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6823,-0.56,-175.2,667.3,-7.0,341,6830,0.12,2.00,0.00,0.000,6,0.103,0.027,1934,1928,3133,0,0,0,0,0,0,26.57,26.65,28.83
$GC,7130,-0.54,-175.2,701.1,-10.7,352,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,1928,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7428,-0.53,-175.2,732.2,-10.2,362,7433,0.00,2.08,0.00,0.000,4,0.000,0.037,1934,527,3130,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7524,-0.51,-175.2,742.3,-10.7,365,7530,0.15,2.03,0.00,0.000,6,0.151,0.028,1967,1930,3129,0,0,0,0,0,0,26.44,26.64,28.83
$GC,7854,-0.52,-175.2,768.1,-7.1,376,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1930,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8153,-0.53,-175.2,788.2,-6.5,386,8158,0.00,2.08,0.00,0.000,4,0.000,0.037,1966,531,3127,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8219,-0.53,-175.2,792.8,-6.9,388,8225,0.00,2.03,0.00,0.000,6,0.000,0.028,1958,1937,3127,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8548,-0.53,-175.2,816.1,-7.4,399,8554,0.00,2.05,0.00,0.000,4,0.000,0.043,1948,3317,3125,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8570,-0.53,-175.2,816.1,-7.4,399,8575,0.00,2.00,0.00,0.000,6,0.000,0.029,1948,1930,3125,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8884,-0.53,-175.2,843.6,-8.2,410,8889,0.00,2.05,0.00,0.000,4,0.000,0.039,1948,531,3123,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9020,-0.53,-175.2,854.9,-9.3,414,9025,0.00,2.00,0.00,0.000,6,0.000,0.028,1938,1930,3123,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9338,-0.52,-175.2,883.0,-8.3,425,9343,0.00,2.08,0.00,0.000,4,0.000,0.039,1939,532,3122,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9395,-0.51,-175.2,886.0,-8.4,426,9402,0.12,2.00,0.00,0.000,6,0.156,0.028,1963,1929,3121,0,0,0,0,0,0,26.43,26.63,28.83
$GC,9702,-0.52,-175.2,910.2,-7.2,437,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1929,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10001,-0.54,-175.2,932.1,-7.5,447,10006,0.00,2.10,0.00,0.000,4,0.000,0.039,1964,521,3120,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10048,-0.55,-175.2,934.8,-7.7,448,10054,0.00,2.05,0.00,0.000,6,0.000,0.028,1955,1938,3119,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10368,-0.56,-175.2,962.7,-8.2,459,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1938,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10667,-0.57,-175.2,985.6,-7.5,469,10673,0.00,2.10,0.00,0.000,4,0.000,0.041,1956,523,3117,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,10728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10728,begin apogee
$GC,10734,-0.17,0.0,990.7,-7.8,471,10883,0.38,0.00,143.20,1.413,6,0.123,0.000,2074,1908,2409,0,0,0,0,0,0,26.39,28.83,23.81
$STATE,10884,end apogee,CONTROL_FINISHED_OK
$STATE,10884,begin climb
$GC,10886,0.53,175.2,996.0,0.0,476,11046,0.65,2.30,150.82,1.366,4,0.089,0.040,2307,512,1692,0,0,0,0,0,0,24.77,24.21,23.34
$GC,11094,0.52,194.8,984.4,7.6,483,11117,0.00,2.15,17.75,1.259,6,0.000,0.026,2307,1903,1614,0,0,0,0,0,0,28.83,24.89,23.66
$GC,11424,0.52,194.8,952.2,9.7,494,11429,0.00,2.12,0.00,0.000,4,0.000,0.041,2307,3289,1607,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11527,0.51,194.8,942.7,10.2,497,11532,0.00,2.08,0.00,0.000,6,0.000,0.030,2317,1902,1606,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11851,0.50,194.8,910.1,9.3,508,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1903,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12149,0.49,194.8,883.4,8.9,518,12154,0.00,2.12,0.00,0.000,4,0.000,0.041,2317,3293,1604,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12221,0.47,194.8,877.3,9.3,520,12227,0.17,2.05,0.00,0.000,6,0.164,0.030,2279,1898,1603,0,0,0,0,0,0,26.10,26.32,28.83
$GC,12546,0.50,232.6,853.2,7.1,531,12584,0.00,2.20,31.70,1.310,4,0.000,0.043,2288,510,1460,0,0,0,0,0,0,28.83,25.43,24.51
$GC,12622,0.52,263.0,848.7,7.3,533,12657,0.00,2.10,27.80,1.284,6,0.000,0.026,2288,1906,1336,0,0,0,0,0,0,28.83,25.68,24.13
$GC,12969,0.54,263.0,818.8,8.6,545,12975,0.00,2.10,0.00,0.000,4,0.000,0.041,2288,3289,1328,0,0,0,0,0,0,28.83,26.00,28.83
$GC,13072,0.55,263.0,809.4,9.7,548,13077,0.00,2.08,0.00,0.000,6,0.000,0.031,2297,1893,1328,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13395,0.57,263.0,777.0,9.7,559,13400,0.00,2.15,0.00,0.000,4,0.000,0.042,2297,3299,1327,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,21704,end climb,SURFACE_DEPTH_REACHED
$STATE,21704,begin surface coast
$FINISH,0.8,1.009634
$STATE,21720,end surface coast,CONTROL_FINISHED_OK
$STATE,21720,begin surface
$SM_CCo,21794,0.00,0.000,0,0,365,501.39
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$IRIDIUM_FIX,1754.17,12334.49,191112,121244
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.72
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3994176
$24V_AH,23.3,12.806
$10V_AH,10.2,10.351
$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,16.775,180.425,576.225,0.000,0.000,0.000,0.000,282.900,0.000,0.000,14.798,3285.496,15205.346,698.629,2781.851,257.804,0.000,2327.753,0.000,2373.144,0.000,0.541,0.000
$DEVICE_MAMPS,247.095,48.195,1412.955,0.000,0.000,0.000,0.000,136.935,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21736.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.696,0.000,0.000,0.000
$MEM,327444
$DATA_FILE_SIZE,36745,979
$CAP_FILE_SIZE,244509,0
$CFSIZE,260034560,245854208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 37.0,1
$GPS,201112,010353,1758.537,12328.957,25,0.9,42,-2.0