version: 66.11
glider: 129
mission: 4
dive: 127
start: 12 4 112 6 37 20
data:
$ID,129
$MISSION,4
$DIVE,127
$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,-2806.6187
$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,85
$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
$GPS1,041212,062829,1945.888,12329.173,41,0.9,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-54.8
$GPS2,041212,063655,1945.798,12329.170,14,1.1,14,-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,58.1,103562,-14.6,-8.684,-17.90
$D_GRID,5171
$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,-175.2,0.0,0.0,0,79,0.00,0.00,-58.78,0.000,2,0.000,0.000,44,1890,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-175.2,3.1,-3.8,10,126,7.65,2.10,-27.83,0.000,4,0.239,0.046,1962,3295,3126,0,0,0,0,0,0,25.49,26.00,26.34
$GC,150,-0.50,-175.2,14.3,-22.0,21,157,0.12,1.98,0.00,0.000,6,0.167,0.024,1993,1914,3127,0,0,0,0,0,0,25.80,26.10,28.83
$GC,460,-0.44,-175.2,102.7,-26.6,46,465,0.00,2.00,0.00,0.000,4,0.000,0.033,1993,541,3127,0,0,0,0,0,0,28.83,26.25,28.83
$GC,632,-0.41,-175.2,133.1,-19.4,54,639,0.15,1.95,0.00,0.000,6,0.157,0.023,2028,1909,3127,0,0,0,0,0,0,26.07,26.36,28.83
$GC,946,-0.41,-175.2,168.4,-9.7,70,951,0.00,2.05,0.00,0.000,4,0.000,0.035,2019,3310,3128,0,0,0,0,0,0,28.83,26.36,28.83
$GC,993,-0.41,-175.2,172.7,-9.8,72,998,0.00,1.95,0.00,0.000,6,0.000,0.023,2019,1925,3128,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1311,-0.42,-175.2,207.4,-10.3,88,1317,0.00,2.00,0.00,0.000,4,0.000,0.031,2019,533,3128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1420,-0.43,-175.2,218.5,-10.6,93,1426,0.00,1.98,0.00,0.000,6,0.000,0.022,2010,1934,3128,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1738,-0.43,-175.2,250.7,-9.2,109,1743,0.00,2.03,0.00,0.000,4,0.000,0.031,2010,535,3128,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1784,-0.43,-175.2,254.8,-9.5,111,1790,0.00,1.98,0.00,0.000,6,0.000,0.022,2001,1930,3128,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2102,-0.43,-175.2,289.9,-11.2,127,2107,0.00,2.03,0.00,0.000,4,0.000,0.031,2001,543,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2133,-0.43,-175.2,292.6,-11.5,128,2140,0.00,1.95,0.00,0.000,6,0.000,0.022,1994,1936,3126,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2447,-0.43,-175.2,327.8,-9.7,144,2452,0.00,2.00,0.00,0.000,4,0.000,0.037,1985,3314,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2479,-0.43,-175.2,329.8,-9.4,145,2485,0.05,1.98,0.00,0.000,6,0.124,0.023,2021,1925,3126,0,0,0,0,0,0,26.31,26.55,28.83
$GC,2793,-0.45,-175.2,349.7,-6.1,161,2799,0.00,1.98,0.00,0.000,4,0.000,0.031,2021,543,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2826,-0.47,-175.2,351.3,-6.2,162,2831,0.00,1.95,0.00,0.000,6,0.000,0.022,2014,1927,3128,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3139,-0.49,-175.2,374.2,-7.4,178,3144,0.00,2.03,0.00,0.000,4,0.000,0.031,2014,541,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3222,-0.50,-175.2,380.7,-7.8,182,3228,0.00,1.98,0.00,0.000,6,0.000,0.023,2006,1935,3124,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3546,-0.52,-175.2,406.5,-7.5,198,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.53,-175.2,425.8,-6.0,213,3852,0.00,2.03,0.00,0.000,4,0.000,0.032,2006,538,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3924,-0.55,-175.2,430.4,-6.9,216,3932,0.00,1.98,0.00,0.000,6,0.000,0.023,2000,1934,3121,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4230,-0.56,-175.2,456.8,-8.9,232,4236,0.00,2.03,0.00,0.000,4,0.000,0.037,1990,3321,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4248,-0.58,-175.2,456.8,-8.9,232,4255,0.00,1.98,0.00,0.000,6,0.000,0.024,1990,1927,3119,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4554,-0.59,-175.2,480.8,-5.7,248,4559,0.00,2.03,0.00,0.000,4,0.000,0.033,1990,531,3117,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4652,-0.60,-175.2,485.6,-5.8,252,4659,0.00,1.98,0.00,0.000,6,0.000,0.024,1989,1919,3117,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4957,-0.62,-175.2,503.3,-6.3,268,4962,0.00,2.05,0.00,0.000,4,0.000,0.033,1989,527,3115,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5009,-0.63,-175.2,506.3,-6.9,270,5015,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1928,3115,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5323,-0.64,-175.2,528.0,-6.5,286,5325,0.10,0.00,0.00,0.000,6,0.114,0.000,1943,1930,3113,0,0,0,0,0,0,26.58,28.83,28.83
$GC,5623,-0.63,-175.2,555.0,-9.0,301,5629,0.00,2.05,0.00,0.000,4,0.000,0.034,1942,541,3111,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5675,-0.62,-175.2,559.4,-9.5,303,5680,0.00,2.00,0.00,0.000,6,0.000,0.024,1933,1937,3110,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5988,-0.61,-175.2,591.1,-10.1,319,5993,0.12,2.08,0.00,0.000,4,0.158,0.033,1973,538,3108,0,0,0,0,0,0,26.32,26.46,28.83
$GC,6035,-0.60,-175.2,595.1,-9.8,321,6041,0.00,2.00,0.00,0.000,6,0.000,0.024,1964,1938,3109,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6364,-0.60,-175.2,622.2,-8.0,333,6370,0.00,2.08,0.00,0.000,4,0.000,0.034,1965,537,3106,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6397,-0.60,-175.2,625.3,-8.3,334,6403,0.00,2.00,0.00,0.000,6,0.000,0.024,1955,1930,3106,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6730,-0.60,-175.2,655.2,-8.9,345,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1930,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7030,-0.60,-175.2,679.2,-7.7,355,7036,0.00,2.05,0.00,0.000,4,0.000,0.034,1955,531,3103,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7108,-0.60,-175.2,684.6,-8.2,357,7113,0.00,2.00,0.00,0.000,6,0.000,0.025,1946,1923,3103,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7426,-0.60,-175.2,713.3,-8.6,368,7431,0.00,2.05,0.00,0.000,4,0.000,0.034,1947,537,3101,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7453,-0.60,-175.2,713.3,-8.6,368,7460,0.00,2.00,0.00,0.000,6,0.000,0.024,1937,1932,3100,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7759,-0.59,-175.2,743.6,-9.5,379,7765,0.12,2.08,0.00,0.000,4,0.151,0.032,1978,531,3099,0,0,0,0,0,0,26.32,26.44,28.83
$GC,7823,-0.59,-175.2,748.7,-8.7,381,7828,0.00,2.00,0.00,0.000,6,0.000,0.024,1970,1924,3099,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8157,-0.61,-175.2,768.6,-5.7,392,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1924,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8456,-0.62,-175.2,786.2,-6.2,402,8462,0.00,2.05,0.00,0.000,4,0.000,0.036,1970,544,3096,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8485,-0.63,-175.2,786.2,-6.2,402,8492,0.00,2.00,0.00,0.000,6,0.000,0.025,1961,1933,3096,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8791,-0.63,-175.2,810.5,-7.4,413,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1933,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9090,-0.64,-175.2,832.0,-7.3,423,9095,0.00,2.08,0.00,0.000,4,0.000,0.036,1961,539,3094,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9132,-0.65,-175.2,834.6,-7.4,424,9137,0.00,2.00,0.00,0.000,6,0.000,0.026,1952,1927,3093,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9456,-0.65,-175.2,860.0,-7.7,435,9462,0.00,2.05,0.00,0.000,4,0.000,0.041,1942,3310,3093,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9484,-0.65,-175.2,860.0,-7.7,435,9492,0.00,1.98,0.00,0.000,6,0.000,0.026,1942,1935,3092,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9790,-0.65,-175.2,886.6,-8.0,446,9796,0.00,2.05,0.00,0.000,4,0.000,0.036,1942,528,3094,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9892,-0.65,-175.2,895.0,-8.9,449,9898,0.00,2.03,0.00,0.000,6,0.000,0.026,1933,1927,3091,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10217,-0.65,-175.2,921.6,-7.8,460,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1927,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10515,-0.65,-175.2,943.5,-7.2,470,10521,0.00,2.08,0.00,0.000,4,0.000,0.037,1933,524,3090,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10564,-0.65,-175.2,946.2,-7.4,471,10569,0.00,2.03,0.00,0.000,6,0.000,0.026,1924,1924,3089,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10882,-0.64,-175.2,972.6,-8.2,482,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1924,3089,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11119,begin apogee
$GC,11124,-0.17,0.0,991.7,-7.8,490,11273,0.52,0.00,138.30,1.410,6,0.125,0.000,2098,1924,2408,0,0,0,0,0,0,25.87,28.83,23.58
$STATE,11274,end apogee,CONTROL_FINISHED_OK
$STATE,11274,begin climb
$GC,11276,0.56,175.2,994.3,0.0,495,11442,0.68,2.42,153.85,1.362,4,0.076,0.038,2349,518,1693,0,0,0,0,0,0,24.73,23.65,22.69
$GC,11469,0.53,181.1,982.3,8.5,501,11485,0.00,2.20,6.43,1.038,6,0.000,0.024,2348,1908,1670,0,0,0,0,0,0,28.83,24.31,23.22
$GC,11786,0.51,181.1,943.0,11.7,512,11791,0.00,2.10,0.00,0.000,4,0.000,0.038,2348,3291,1663,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11923,0.49,181.1,927.4,12.6,516,11930,0.15,2.08,0.00,0.000,6,0.174,0.028,2320,1898,1662,0,0,0,0,0,0,25.56,25.89,28.83
$GC,12244,0.49,181.1,894.4,9.5,527,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1899,1661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12542,0.49,181.1,865.6,9.8,537,12547,0.00,2.12,0.00,0.000,4,0.000,0.037,2320,3292,1660,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12599,0.48,181.1,862.3,10.0,538,12606,0.00,2.05,0.00,0.000,6,0.000,0.028,2328,1885,1660,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12906,0.47,181.1,828.4,10.2,549,12911,0.00,2.10,0.00,0.000,4,0.000,0.037,2328,3295,1659,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12943,0.46,181.1,824.7,10.3,550,12949,0.00,2.03,0.00,0.000,6,0.000,0.027,2337,1899,1659,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,21679,end climb,SURFACE_DEPTH_REACHED
$STATE,21679,begin surface coast
$FINISH,1.1,1.022213
$STATE,21697,end surface coast,CONTROL_FINISHED_OK
$STATE,21697,begin surface
$SM_CCo,21774,0.00,0.000,0,0,412,489.86
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$IRIDIUM_FIX,1938.95,12325.53,041212,000042
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.53
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3971520
$24V_AH,22.7,24.613
$10V_AH,10.2,18.530
$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,16.475,175.425,535.100,0.000,0.000,0.000,0.000,333.000,3.000,0.000,15.576,3196.224,15295.009,714.473,2749.311,313.777,0.000,2346.102,0.000,2295.125,0.000,29.595,0.000
$DEVICE_MAMPS,239.445,45.900,1409.895,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21712.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.841,0.000,0.000,0.000
$MEM,329032
$DATA_FILE_SIZE,36691,993
$CAP_FILE_SIZE,242193,0
$CFSIZE,260034560,239542272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,144.5,1
$GPS,041212,124135,1946.997,12332.266,39,1.1,44,-2.4