version: 66.11
glider: 129
mission: 4
dive: 120
start: 12 2 112 11 21 15
data:
$ID,129
$MISSION,4
$DIVE,120
$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,380
$T_MISSION,400
$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,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,-2797.8127
$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,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$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,63
$R_STBD_OVSHOOT,78
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,021212,111256,1933.877,12310.654,32,3.1,51,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-64.3
$GPS2,021212,112050,1933.795,12310.579,12,2.7,31,-2.3
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,76.2,142734,-14.6,-8.684,-17.90
$D_GRID,4838
$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,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-65.50,0.000,2,0.000,0.000,58,1906,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.1,-4.7,11,134,7.68,2.15,-31.27,0.000,4,0.243,0.050,1960,3305,3126,0,0,0,0,0,0,25.57,26.03,26.36
$GC,247,-0.50,-175.2,37.3,-25.7,36,253,0.12,2.00,0.00,0.000,6,0.155,0.024,1992,1910,3126,0,0,0,0,0,0,25.96,26.20,28.83
$GC,561,-0.47,-175.2,109.5,-17.7,54,566,0.00,2.03,0.00,0.000,4,0.000,0.032,1992,528,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,793,-0.45,-175.2,148.8,-14.1,65,799,0.00,1.98,0.00,0.000,6,0.000,0.023,1985,1930,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1107,-0.43,-175.2,190.2,-12.1,81,1113,0.12,2.05,0.00,0.000,4,0.151,0.030,2027,529,3127,0,0,0,0,0,0,26.29,26.43,28.83
$GC,1160,-0.43,-175.2,194.7,-11.0,83,1165,0.00,1.98,0.00,0.000,6,0.000,0.023,2018,1935,3127,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1473,-0.43,-175.2,222.5,-8.3,99,1479,0.00,2.05,0.00,0.000,4,0.000,0.031,2018,527,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1501,-0.44,-175.2,224.4,-8.0,100,1506,0.00,1.98,0.00,0.000,6,0.000,0.023,2009,1939,3127,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1819,-0.45,-175.2,251.3,-8.1,116,1824,0.00,1.98,0.00,0.000,4,0.000,0.036,1999,3310,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1842,-0.46,-175.2,253.0,-8.0,117,1847,0.00,1.98,0.00,0.000,6,0.000,0.023,1999,1914,3125,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2164,-0.46,-175.2,283.4,-10.2,133,2169,0.00,1.98,0.00,0.000,4,0.000,0.032,1999,542,3124,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2346,-0.46,-175.2,302.8,-10.8,142,2351,0.00,1.92,0.00,0.000,6,0.000,0.023,1991,1924,3124,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2669,-0.46,-175.2,334.7,-9.1,158,2674,0.00,2.05,0.00,0.000,4,0.000,0.037,1983,3305,3122,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2695,-0.47,-175.2,336.7,-8.9,159,2700,0.00,1.95,0.00,0.000,6,0.000,0.023,1983,1921,3123,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3013,-0.47,-175.2,365.4,-9.0,175,3019,0.00,1.98,0.00,0.000,4,0.000,0.032,1983,535,3122,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3155,-0.47,-175.2,379.4,-9.7,182,3163,0.05,2.00,0.00,0.000,6,0.089,0.023,2011,1921,3121,0,0,0,0,0,0,26.32,26.55,28.83
$GC,3480,-0.49,-175.2,402.3,-7.1,198,3486,0.00,2.03,0.00,0.000,4,0.000,0.032,2011,535,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3533,-0.51,-175.2,405.7,-7.6,200,3538,0.00,1.95,0.00,0.000,6,0.000,0.023,2004,1928,3119,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3847,-0.52,-175.2,431.6,-8.3,216,3852,0.00,2.03,0.00,0.000,4,0.000,0.037,1994,3306,3117,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3874,-0.54,-175.2,433.7,-8.5,217,3879,0.00,1.95,0.00,0.000,6,0.000,0.023,1994,1923,3117,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4193,-0.56,-175.2,460.4,-7.8,233,4199,0.00,2.00,-0.08,0.000,4,0.000,0.046,1994,545,3143,0,0,0,0,0,0,28.83,26.51,25.89
$GC,4286,-0.57,-175.2,467.4,-8.3,237,4292,0.00,1.98,0.00,0.000,6,0.000,0.024,1989,1936,3144,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4599,-0.58,-175.2,491.2,-7.1,253,4605,0.00,2.05,0.00,0.000,4,0.000,0.033,1988,539,3143,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4663,-0.60,-175.2,496.3,-7.8,256,4669,0.00,1.98,0.00,0.000,6,0.000,0.024,1982,1938,3143,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4987,-0.61,-175.2,520.4,-7.5,272,4993,0.00,2.03,0.00,0.000,4,0.000,0.037,1971,3297,3142,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5025,-0.62,-175.2,522.1,-7.6,273,5031,0.00,1.92,0.00,0.000,6,0.000,0.024,1971,1929,3141,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5330,-0.63,-175.2,549.8,-8.8,289,5336,0.00,2.05,0.00,0.000,4,0.000,0.034,1971,505,3140,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5448,-0.63,-175.2,559.9,-9.9,294,5454,0.00,2.03,0.00,0.000,6,0.000,0.024,1962,1924,3139,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5754,-0.63,-175.2,588.1,-8.6,310,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1924,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6076,-0.63,-175.2,616.0,-8.9,323,6081,0.00,2.05,0.00,0.000,4,0.000,0.035,1962,538,3135,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6113,-0.63,-175.2,619.5,-9.1,324,6118,0.00,2.00,0.00,0.000,6,0.000,0.024,1952,1916,3135,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6443,-0.63,-175.2,652.6,-9.9,335,6449,0.00,2.08,0.00,0.000,4,0.000,0.039,1942,3320,3133,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6472,-0.63,-175.2,652.6,-9.9,335,6479,0.00,1.98,0.00,0.000,6,0.000,0.026,1942,1927,3133,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6776,-0.63,-175.2,685.2,-9.4,346,6782,0.00,2.08,0.00,0.000,4,0.000,0.036,1942,512,3131,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6905,-0.62,-175.2,698.2,-10.5,350,6910,0.00,2.03,0.00,0.000,6,0.000,0.025,1932,1934,3130,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7233,-0.61,-175.2,732.2,-10.2,361,7240,0.10,2.03,0.00,0.000,4,0.165,0.037,1950,3313,3128,0,0,0,0,0,0,26.44,26.43,28.83
$GC,7262,-0.60,-175.2,732.2,-10.2,361,7269,0.00,2.00,0.00,0.000,6,0.000,0.026,1950,1922,3128,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7568,-0.60,-175.2,760.9,-8.3,372,7574,0.00,2.03,0.00,0.000,4,0.000,0.036,1950,527,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7651,-0.60,-175.2,766.4,-8.5,374,7657,0.00,2.00,0.00,0.000,6,0.000,0.025,1941,1931,3126,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7964,-0.60,-175.2,792.6,-7.6,385,7971,0.00,2.08,0.00,0.000,4,0.000,0.036,1941,532,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8002,-0.60,-175.2,795.3,-7.7,386,8008,0.12,2.00,0.00,0.000,6,0.156,0.025,1966,1935,3124,0,0,0,0,0,0,26.22,26.51,28.83
$GC,8331,-0.62,-175.2,813.9,-5.5,397,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,-0.63,-175.2,830.2,-5.4,407,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1935,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,-0.64,-175.2,847.2,-5.8,417,8936,0.00,2.10,0.00,0.000,4,0.000,0.037,1966,533,3121,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9026,-0.65,-175.2,853.8,-6.8,420,9032,0.00,2.00,0.00,0.000,6,0.000,0.026,1958,1925,3120,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9360,-0.66,-175.2,877.5,-7.4,431,9366,0.00,2.05,0.00,0.000,4,0.000,0.041,1948,3313,3119,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9388,-0.67,-175.2,877.5,-7.4,431,9395,0.00,2.00,0.00,0.000,6,0.000,0.027,1948,1918,3119,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9695,-0.67,-175.2,906.0,-8.9,442,9701,0.00,2.05,0.00,0.000,4,0.000,0.037,1948,531,3118,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9792,-0.67,-175.2,915.3,-9.6,445,9797,0.00,2.03,0.00,0.000,6,0.000,0.026,1939,1931,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10120,-0.67,-175.2,945.9,-9.2,456,10125,0.00,2.05,0.00,0.000,4,0.000,0.041,1929,3309,3117,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10152,-0.67,-175.2,949.1,-9.3,457,10158,0.00,2.00,0.00,0.000,6,0.000,0.028,1929,1917,3116,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10485,-0.67,-175.2,979.8,-9.2,468,10491,0.00,2.03,0.00,0.000,4,0.000,0.037,1929,531,3115,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10599,-0.67,-175.2,989.1,-9.8,471,10605,0.00,2.05,0.00,0.000,6,0.000,0.027,1919,1927,3115,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,10609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10609,begin apogee
$GC,10614,-0.17,0.0,992.1,-9.9,472,10764,0.55,0.00,143.98,1.417,6,0.123,0.000,2101,1929,2410,0,0,0,0,0,0,25.96,28.83,23.60
$STATE,10765,end apogee,CONTROL_FINISHED_OK
$STATE,10765,begin climb
$GC,10767,0.56,175.2,998.0,0.0,477,10927,0.65,0.00,154.05,1.369,6,0.064,0.000,2343,1930,1694,0,0,0,0,0,0,24.66,28.83,22.71
$GC,11246,0.54,175.2,956.2,11.0,493,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1930,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11546,0.52,175.2,923.7,10.8,503,11551,0.00,2.08,0.00,0.000,4,0.000,0.039,2343,3293,1684,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11648,0.50,175.2,912.6,11.8,506,11653,0.00,2.05,0.00,0.000,6,0.000,0.028,2352,1890,1683,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11972,0.48,175.2,875.2,11.1,517,11978,0.12,2.12,0.00,0.000,4,0.177,0.037,2315,3300,1682,0,0,0,0,0,0,25.99,26.17,28.83
$GC,12048,0.47,175.2,868.6,10.6,519,12054,0.00,2.05,0.00,0.000,6,0.000,0.028,2324,1888,1681,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12368,0.46,187.1,840.0,8.3,530,12382,0.00,2.08,9.10,1.175,4,0.000,0.038,2331,499,1646,0,0,0,0,0,0,28.83,26.09,25.05
$GC,12409,0.46,200.3,837.2,8.2,531,12431,0.00,2.05,13.02,1.225,6,0.000,0.024,2331,1917,1592,0,0,0,0,0,0,28.83,26.13,24.77
$GC,12732,0.46,221.3,809.7,8.0,542,12760,0.00,2.15,19.02,1.259,4,0.000,0.039,2331,3279,1506,0,0,0,0,0,0,28.83,25.58,24.63
$GC,12833,0.45,221.3,801.4,8.7,545,12839,0.12,2.08,0.00,0.000,6,0.173,0.028,2310,1893,1504,0,0,0,0,0,0,25.63,25.84,28.83
$GC,13157,0.47,272.3,777.8,7.0,556,13211,0.00,2.28,44.47,1.276,4,0.000,0.037,2310,3286,1296,0,0,0,0,0,0,28.83,25.08,24.18
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$STATE,21184,end climb,SURFACE_DEPTH_REACHED
$STATE,21184,begin surface coast
$FINISH,0.8,0.997468
$STATE,21210,end surface coast,CONTROL_FINISHED_OK
$STATE,21210,begin surface
$SM_CCo,21284,0.00,0.000,0,0,211,539.17
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$IRIDIUM_FIX,1925.22,12306.51,021212,050510
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.98
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3974208
$24V_AH,22.7,23.220
$10V_AH,10.2,17.532
$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,15.975,195.225,602.450,0.000,0.000,0.000,0.000,287.200,3.000,0.000,33.622,3359.350,14372.683,759.766,2929.167,326.450,0.000,2470.009,0.000,2489.795,0.000,26.296,0.000
$DEVICE_MAMPS,242.505,50.490,1416.780,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.203,0.000,0.000,0.000
$MEM,329008
$DATA_FILE_SIZE,36711,990
$CAP_FILE_SIZE,250472,0
$CFSIZE,260034560,240300032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,314.1,1
$GPS,021212,171706,1936.866,12311.643,30,1.0,30,-2.3