version: 66.11
glider: 129
mission: 4
dive: 124
start: 12 3 112 12 0 33
data:
$ID,129
$MISSION,4
$DIVE,124
$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,-2802.8416
$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,69
$R_STBD_OVSHOOT,76
$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
$GPS1,031212,114706,1940.883,12320.062,34,0.9,34,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-62.2
$GPS2,031212,120006,1940.593,12319.907,11,1.0,11,-2.4
$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,75.4,122322,-14.6,-8.684,-17.90
$D_GRID,5000
$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,-175.2,0.0,0.0,0,91,0.00,0.00,-70.65,0.000,2,0.000,0.000,57,1905,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.56,-175.2,3.4,-5.2,12,138,7.62,2.05,-27.17,0.000,4,0.242,0.046,1971,534,3126,0,0,0,0,0,0,25.52,26.06,26.35
$GC,186,-0.49,-175.2,23.3,-29.5,28,193,0.15,2.03,0.00,0.000,6,0.165,0.024,2001,1918,3126,0,0,0,0,0,0,25.85,26.13,28.83
$GC,501,-0.44,-175.2,103.5,-22.4,49,507,0.00,2.03,0.00,0.000,4,0.000,0.031,2001,521,3126,0,0,0,0,0,0,28.83,26.28,28.83
$GC,619,-0.41,-175.2,122.7,-18.0,54,627,0.12,2.03,0.00,0.000,6,0.148,0.023,2028,1935,3126,0,0,0,0,0,0,26.13,26.36,28.83
$GC,924,-0.41,-175.2,158.6,-10.4,70,929,0.00,2.03,0.00,0.000,4,0.000,0.036,2019,3316,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,949,-0.41,-175.2,160.9,-10.3,71,956,0.00,1.98,0.00,0.000,6,0.000,0.022,2019,1905,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1267,-0.41,-175.2,195.6,-11.3,87,1272,0.00,1.92,0.00,0.000,4,0.000,0.031,2019,545,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1339,-0.41,-175.2,203.0,-11.8,90,1345,0.00,1.98,0.00,0.000,6,0.000,0.022,2009,1945,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1652,-0.41,-175.2,240.1,-11.3,106,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1945,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.42,-175.2,265.1,-7.8,121,1960,0.00,2.03,0.00,0.000,4,0.000,0.031,2009,538,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2111,-0.43,-175.2,278.0,-9.1,128,2118,0.00,1.95,0.00,0.000,6,0.000,0.022,2002,1934,3124,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2418,-0.44,-175.2,307.3,-8.6,144,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1934,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,-0.45,-175.2,330.3,-7.4,159,2724,0.00,2.00,0.00,0.000,4,0.000,0.031,2002,549,3122,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2751,-0.46,-175.2,332.2,-7.5,160,2757,0.00,1.95,0.00,0.000,6,0.000,0.023,1993,1929,3122,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3065,-0.47,-175.2,357.0,-7.9,176,3071,0.00,2.03,0.00,0.000,4,0.000,0.036,1985,3309,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3110,-0.48,-175.2,360.5,-7.9,178,3115,0.00,1.95,0.00,0.000,6,0.000,0.023,1985,1925,3121,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3433,-0.49,-175.2,387.7,-7.8,194,3438,0.00,1.98,0.00,0.000,4,0.000,0.032,1985,535,3119,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3486,-0.50,-175.2,391.1,-7.7,196,3491,0.00,1.98,0.00,0.000,6,0.000,0.022,1976,1933,3119,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3798,-0.50,-175.2,415.8,-7.6,212,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1934,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-0.50,-175.2,439.9,-8.1,227,4105,0.00,2.05,-0.08,0.000,4,0.000,0.045,1973,541,3143,0,0,0,0,0,0,28.83,26.49,25.86
$GC,4183,-0.50,-175.2,447.3,-8.8,231,4189,0.12,1.98,0.00,0.000,6,0.141,0.024,2004,1930,3143,0,0,0,0,0,0,26.32,26.55,28.83
$GC,4507,-0.52,-175.2,465.3,-5.2,247,4513,0.00,2.05,0.00,0.000,4,0.000,0.038,1995,3305,3142,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4534,-0.54,-175.2,466.5,-5.1,248,4540,0.00,1.95,0.00,0.000,6,0.000,0.024,1995,1927,3142,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4853,-0.56,-175.2,484.7,-5.9,264,4859,0.00,2.03,0.00,0.000,4,0.000,0.034,1995,536,3141,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4886,-0.58,-175.2,486.3,-6.1,265,4891,0.00,1.98,0.00,0.000,6,0.000,0.024,1989,1940,3141,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5199,-0.60,-175.2,508.9,-7.2,281,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1941,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,-0.61,-175.2,531.7,-7.6,296,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1940,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5800,-0.63,-175.2,554.1,-7.1,311,5805,0.00,2.08,0.00,0.000,4,0.000,0.034,1988,538,3134,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5852,-0.64,-175.2,557.3,-7.1,313,5858,0.10,1.98,0.00,0.000,6,0.116,0.024,1942,1924,3134,0,0,0,0,0,0,26.41,26.53,28.83
$GC,6166,-0.64,-175.2,585.3,-8.4,329,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1924,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6467,-0.63,-175.2,609.7,-7.9,342,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1924,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,-0.63,-175.2,636.0,-9.0,352,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1924,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7065,-0.63,-175.2,664.4,-9.7,362,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1924,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7365,-0.63,-175.2,693.1,-9.4,372,7370,0.00,2.05,0.00,0.000,4,0.000,0.039,1932,3306,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7391,-0.63,-175.2,693.1,-9.4,372,7399,0.00,2.00,0.00,0.000,6,0.000,0.027,1932,1933,3126,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7700,-0.62,-175.2,725.7,-9.8,383,7705,0.00,2.05,0.00,0.000,4,0.000,0.037,1932,523,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7838,-0.61,-175.2,738.5,-10.2,387,7844,0.15,2.00,0.00,0.000,6,0.149,0.026,1964,1926,3124,0,0,0,0,0,0,26.17,26.51,28.83
$GC,8157,-0.62,-175.2,760.8,-6.1,398,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1926,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8457,-0.63,-175.2,777.9,-5.5,408,8462,0.00,2.05,0.00,0.000,4,0.000,0.040,1955,3318,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8490,-0.64,-175.2,779.7,-5.5,409,8495,0.00,2.00,0.00,0.000,6,0.000,0.028,1955,1925,3121,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8826,-0.64,-175.2,800.4,-6.2,420,8831,0.00,2.05,0.00,0.000,4,0.000,0.037,1955,534,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8872,-0.64,-175.2,803.1,-6.5,421,8878,0.00,2.00,0.00,0.000,6,0.000,0.026,1947,1935,3120,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9191,-0.64,-175.2,828.7,-8.0,432,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1935,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9490,-0.64,-175.2,855.8,-9.5,442,9495,0.00,2.03,0.00,0.000,4,0.000,0.041,1937,3309,3118,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9517,-0.64,-175.2,855.8,-9.5,442,9524,0.00,1.98,0.00,0.000,6,0.000,0.028,1937,1925,3118,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9822,-0.64,-175.2,890.2,-10.3,453,9828,0.00,2.08,0.00,0.000,4,0.000,0.037,1937,520,3117,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9885,-0.64,-175.2,897.1,-10.6,455,9890,0.00,2.05,0.00,0.000,6,0.000,0.027,1928,1925,3117,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10217,-0.64,-175.2,929.8,-9.4,466,10219,0.10,0.00,0.00,0.000,6,0.164,0.000,1954,1926,3115,0,0,0,0,0,0,26.41,28.83,28.83
$GC,10521,-0.64,-175.2,951.2,-6.7,476,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1926,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10818,-0.65,-175.2,970.0,-6.2,486,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1926,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11119,-0.66,-175.2,989.9,-6.8,496,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1926,3114,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11146,begin apogee
$GC,11150,-0.17,0.0,992.0,-6.9,497,11299,0.43,0.00,143.80,1.417,6,0.118,0.000,2100,1927,2409,0,0,0,0,0,0,26.00,28.83,23.56
$STATE,11301,end apogee,CONTROL_FINISHED_OK
$STATE,11301,begin climb
$GC,11303,0.56,175.2,997.6,0.0,502,11468,0.65,2.40,154.45,1.366,4,0.065,0.039,2348,520,1694,0,0,0,0,0,0,24.63,23.63,22.70
$GC,11495,0.55,234.6,989.8,6.7,508,11554,0.00,2.20,54.20,1.327,6,0.000,0.024,2349,1900,1452,0,0,0,0,0,0,28.83,24.27,22.68
$GC,11872,0.54,234.6,946.1,11.0,521,11878,0.00,2.12,0.00,0.000,4,0.000,0.039,2348,3290,1443,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12015,0.52,234.6,931.6,11.9,525,12020,0.00,2.05,0.00,0.000,6,0.000,0.028,2358,1908,1441,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12329,0.51,234.6,893.8,11.3,536,12331,0.12,0.00,0.00,0.000,6,0.175,0.000,2326,1907,1440,0,0,0,0,0,0,25.91,28.83,28.83
$GC,12628,0.51,234.6,865.7,9.3,546,12633,0.00,2.10,0.00,0.000,4,0.000,0.039,2326,3298,1439,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12699,0.51,234.6,859.0,9.9,548,12705,0.00,2.08,0.00,0.000,6,0.000,0.028,2333,1890,1439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13023,0.51,234.6,826.7,9.8,559,13028,0.00,2.12,0.00,0.000,4,0.000,0.039,2333,3291,1439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13116,0.50,234.6,816.4,10.7,562,13121,0.00,2.03,0.00,0.000,6,0.000,0.029,2342,1901,1438,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13450,0.49,234.6,781.3,10.7,573,13456,0.00,2.10,0.00,0.000,4,0.000,0.036,2342,3297,1438,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13507,0.48,234.6,777.3,10.8,574,13516,0.12,2.08,0.00,0.000,6,0.177,0.030,2320,1901,1437,0,0,0,0,0,0,26.03,26.37,28.83
$GC,13814,0.48,234.6,745.0,9.4,585,13819,0.00,2.10,0.00,0.000,4,0.000,0.038,2319,3292,1437,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13840,0.48,234.6,745.0,9.4,585,13848,0.00,2.03,0.00,0.000,6,0.000,0.028,2328,1891,1437,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,21533,end climb,SURFACE_DEPTH_REACHED
$STATE,21533,begin surface coast
$FINISH,0.8,1.012093
$STATE,21559,end surface coast,CONTROL_FINISHED_OK
$STATE,21559,begin surface
$SM_CCo,21633,0.00,0.000,0,0,563,452.82
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$IRIDIUM_FIX,1934.38,12428.39,031212,111129
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3972672
$24V_AH,22.7,24.034
$10V_AH,10.2,18.100
$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,16.150,167.500,536.150,0.000,0.000,0.000,0.000,552.350,3.000,0.000,12.726,3213.087,15211.750,683.764,2976.599,318.363,0.000,2548.944,0.000,2307.803,0.000,26.759,0.000
$DEVICE_MAMPS,241.740,45.900,1416.780,0.000,0.000,0.000,0.000,123.165,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21574.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.063,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,36674,1009
$CAP_FILE_SIZE,245038,0
$CFSIZE,260034560,239874048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,319.3,1
$GPS,031212,180223,1943.058,12321.805,40,1.4,40,-2.4