version: 66.11
glider: 129
mission: 4
dive: 121
start: 12 2 112 17 25 38
data:
$ID,129
$MISSION,4
$DIVE,121
$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,-2799.0669
$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,64
$R_STBD_OVSHOOT,83
$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
$GPS1,021212,171706,1936.866,12311.643,30,1.0,30,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.2
$GPS2,021212,172513,1936.756,12311.599,15,1.0,15,-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,106.5,138354,-14.6,-8.684,-17.90
$D_GRID,4901
$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,-65.53,0.000,2,0.000,0.000,64,1927,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.1,-4.7,11,139,7.62,2.10,-32.75,0.000,4,0.243,0.046,1968,527,3129,0,0,0,0,0,0,25.54,26.03,26.34
$GC,368,-0.49,-175.2,72.8,-28.9,45,374,0.15,2.00,0.00,0.000,6,0.168,0.024,1999,1920,3125,0,0,0,0,0,0,25.97,26.26,28.83
$GC,692,-0.46,-175.2,133.2,-18.0,61,697,0.00,2.03,0.00,0.000,4,0.000,0.031,1997,520,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,874,-0.45,-175.2,159.2,-12.4,70,879,0.00,2.00,0.00,0.000,6,0.000,0.023,1990,1926,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1197,-0.43,-175.2,201.3,-12.0,86,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1927,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-0.42,-175.2,235.2,-11.1,101,1504,0.12,2.05,0.00,0.000,4,0.148,0.030,2032,521,3125,0,0,0,0,0,0,26.34,26.46,28.83
$GC,1602,-0.44,-175.2,245.1,-9.0,106,1609,0.00,2.00,0.00,0.000,6,0.000,0.023,2024,1931,3125,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1926,-0.46,-175.2,269.7,-7.3,122,1932,0.00,2.03,0.00,0.000,4,0.000,0.036,2014,3314,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2003,-0.47,-175.2,274.3,-7.4,125,2010,0.00,2.00,0.00,0.000,6,0.000,0.022,2013,1890,3123,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2310,-0.49,-175.2,298.7,-7.6,141,2315,0.00,1.95,0.00,0.000,4,0.000,0.032,2014,535,3122,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2423,-0.50,-175.2,307.8,-8.9,146,2429,0.00,1.98,0.00,0.000,6,0.000,0.022,2005,1932,3122,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2737,-0.51,-175.2,337.9,-9.9,162,2742,0.00,2.03,0.00,0.000,4,0.000,0.031,2005,541,3121,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2851,-0.52,-175.2,348.5,-10.5,167,2856,0.00,1.98,0.00,0.000,6,0.000,0.023,1996,1936,3121,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3164,-0.53,-175.2,376.3,-8.0,183,3170,0.00,2.00,0.00,0.000,4,0.000,0.037,1988,3301,3120,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3188,-0.54,-175.2,378.0,-7.7,184,3194,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1919,3120,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3512,-0.54,-175.2,401.5,-7.3,200,3517,0.00,2.03,0.00,0.000,4,0.000,0.032,1988,532,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3615,-0.54,-175.2,410.4,-8.7,205,3621,0.00,1.98,0.00,0.000,6,0.000,0.022,1978,1930,3118,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3938,-0.54,-175.2,435.9,-7.7,221,3943,0.00,2.03,0.00,0.000,4,0.000,0.037,1968,3311,3117,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3970,-0.55,-175.2,437.4,-7.4,222,3976,0.00,1.98,0.00,0.000,6,0.000,0.024,1968,1910,3116,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4285,-0.55,-175.2,462.5,-7.9,238,4291,0.00,1.98,-0.08,0.000,4,0.000,0.046,1968,537,3143,0,0,0,0,0,0,28.83,26.50,25.89
$GC,4402,-0.55,-175.2,472.3,-9.5,243,4409,0.00,1.98,0.00,0.000,6,0.000,0.023,1959,1926,3144,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4708,-0.55,-175.2,504.9,-10.4,259,4714,0.00,2.03,0.00,0.000,4,0.000,0.033,1959,531,3143,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4755,-0.55,-175.2,509.7,-10.9,261,4761,0.12,1.98,0.00,0.000,6,0.150,0.024,1984,1933,3143,0,0,0,0,0,0,26.30,26.55,28.83
$GC,5074,-0.56,-175.2,537.6,-8.1,277,5079,0.00,2.03,0.00,0.000,4,0.000,0.038,1975,3307,3142,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5147,-0.58,-175.2,542.4,-7.7,280,5152,0.00,1.98,0.00,0.000,6,0.000,0.025,1975,1921,3141,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5460,-0.59,-175.2,565.7,-6.8,296,5465,0.00,2.05,0.00,0.000,4,0.000,0.034,1976,505,3139,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5573,-0.59,-175.2,573.4,-7.5,301,5579,0.00,2.03,0.00,0.000,6,0.000,0.024,1966,1937,3138,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5887,-0.59,-175.2,594.6,-6.4,317,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1937,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6198,-0.59,-175.2,614.8,-6.6,329,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1938,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6497,-0.59,-175.2,635.2,-6.7,339,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1938,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6799,-0.60,-175.2,655.1,-6.6,349,6804,0.00,2.08,0.00,0.000,4,0.000,0.035,1965,532,3132,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6862,-0.60,-175.2,660.0,-7.1,351,6868,0.00,2.00,0.00,0.000,6,0.000,0.024,1957,1930,3131,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7197,-0.60,-175.2,682.3,-6.7,362,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1930,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7495,-0.60,-175.2,702.2,-6.6,372,7500,0.00,2.08,0.00,0.000,4,0.000,0.035,1957,534,3131,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7558,-0.60,-175.2,706.9,-7.1,374,7563,0.00,2.00,0.00,0.000,6,0.000,0.025,1948,1930,3127,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7892,-0.60,-175.2,733.1,-8.4,385,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1931,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8191,-0.60,-175.2,760.3,-9.4,395,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1931,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8491,-0.60,-175.2,788.1,-9.1,405,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1931,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8791,-0.60,-175.2,812.8,-7.8,415,8796,0.00,2.05,0.00,0.000,4,0.000,0.035,1948,538,3122,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8828,-0.60,-175.2,815.6,-7.8,416,8834,0.00,1.98,0.00,0.000,6,0.000,0.025,1939,1926,3122,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9157,-0.60,-175.2,838.2,-6.4,427,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1926,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9457,-0.60,-175.2,857.6,-6.5,437,9462,0.00,2.08,0.00,0.000,4,0.000,0.036,1939,532,3120,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9504,-0.60,-175.2,859.9,-6.5,438,9510,0.12,2.03,0.00,0.000,6,0.154,0.026,1964,1931,3119,0,0,0,0,0,0,26.21,26.50,28.83
$GC,9824,-0.62,-175.2,877.6,-5.3,449,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1932,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10123,-0.63,-175.2,895.6,-6.4,459,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1933,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10424,-0.64,-175.2,917.1,-7.3,469,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1932,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10723,-0.66,-175.2,939.1,-7.3,479,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1932,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11024,-0.67,-175.2,960.6,-7.2,489,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1932,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11323,-0.68,-175.2,981.6,-6.9,499,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1932,3115,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11470,begin apogee
$GC,11475,-0.17,0.0,991.7,-6.7,504,11627,0.40,0.00,143.82,1.417,6,0.117,0.000,2103,1934,2406,0,0,0,0,0,0,26.05,28.83,23.57
$STATE,11629,end apogee,CONTROL_FINISHED_OK
$STATE,11629,begin climb
$GC,11630,0.56,175.2,997.4,0.0,509,11789,0.65,0.00,155.40,1.372,6,0.067,0.000,2338,1935,1694,0,0,0,0,0,0,24.68,28.83,22.68
$GC,12072,0.54,175.2,961.1,10.6,524,12077,0.00,2.12,0.00,0.000,4,0.000,0.037,2338,3299,1685,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12145,0.52,175.2,954.1,10.9,526,12151,0.00,2.08,0.00,0.000,6,0.000,0.028,2348,1905,1682,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12470,0.51,175.2,918.1,10.6,537,12476,0.00,2.10,0.00,0.000,4,0.000,0.037,2348,3294,1682,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12513,0.49,175.2,914.4,10.5,538,12518,0.15,2.08,0.00,0.000,6,0.178,0.028,2320,1893,1682,0,0,0,0,0,0,25.75,26.08,28.83
$GC,12838,0.48,183.2,885.0,8.4,549,12849,0.00,2.12,6.10,1.065,4,0.000,0.036,2320,3296,1663,0,0,0,0,0,0,28.83,26.08,24.98
$GC,12886,0.48,192.5,882.0,8.4,550,12902,0.00,2.08,9.73,1.188,6,0.000,0.029,2329,1894,1624,0,0,0,0,0,0,28.83,26.13,24.82
$GC,13203,0.47,198.4,853.7,8.5,561,13211,0.00,0.00,6.25,1.063,6,0.000,0.000,2329,1894,1601,0,0,0,0,0,0,28.83,28.83,24.89
$GC,13502,0.47,228.3,829.7,7.7,571,13536,0.00,2.22,27.12,1.291,4,0.000,0.038,2329,3296,1477,0,0,0,0,0,0,28.83,25.41,24.48
$GC,13599,0.47,239.9,821.9,8.3,574,13617,0.00,2.10,10.95,1.175,6,0.000,0.028,2338,1900,1432,0,0,0,0,0,0,28.83,25.75,24.51
$GC,13925,0.47,239.9,792.2,9.2,585,13930,0.00,2.10,0.00,0.000,4,0.000,0.037,2337,3294,1428,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13972,0.46,239.9,788.9,9.4,586,13978,0.15,2.08,0.00,0.000,6,0.168,0.029,2307,1894,1427,0,0,0,0,0,0,25.82,26.10,28.83
$GC,14292,0.48,269.5,762.0,7.7,597,14323,0.00,2.25,26.00,1.250,4,0.000,0.038,2307,3295,1311,0,0,0,0,0,0,28.83,25.49,24.58
$GC,14349,0.50,296.7,759.6,7.8,598,14385,0.00,2.08,25.42,1.227,6,0.000,0.028,2315,1900,1198,0,0,0,0,0,0,28.83,25.67,24.21
$GC,14686,0.52,307.7,729.0,8.3,610,14700,0.00,2.15,9.88,1.118,4,0.000,0.036,2315,3298,1154,0,0,0,0,0,0,28.83,25.72,24.71
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$STATE,21532,end climb,SURFACE_DEPTH_REACHED
$STATE,21533,begin surface coast
$FINISH,0.8,1.021664
$STATE,21550,end surface coast,CONTROL_FINISHED_OK
$STATE,21550,begin surface
$SM_CCo,21624,0.00,0.000,0,0,599,443.99
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$IRIDIUM_FIX,1927.51,12311.59,021212,111135
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.65
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$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3973824
$24V_AH,22.7,23.418
$10V_AH,10.2,17.670
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.553,0.000,0.000,0.000
$MEM,328948
$DATA_FILE_SIZE,36696,975
$CAP_FILE_SIZE,237266,0
$CFSIZE,260034560,240205824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,353.2,1
$GPS,021212,232706,1937.983,12314.735,27,1.2,27,-2.3