version: 66.11
glider: 129
mission: 4
dive: 128
start: 12 4 112 12 50 7
data:
$ID,129
$MISSION,4
$DIVE,128
$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,-2807.875
$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,81
$R_STBD_OVSHOOT,67
$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
$GPS1,041212,124135,1946.997,12332.266,39,1.1,44,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-56.2
$GPS2,041212,124942,1946.927,12332.215,9,1.7,9,-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,37.7,97963,-14.6,-8.684,-17.90
$D_GRID,5187
$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,-175.2,0.0,0.0,0,81,0.00,0.00,-60.15,0.000,2,0.000,0.000,59,1900,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-175.2,3.0,-4.7,10,133,7.78,2.15,-30.95,0.000,4,0.247,0.047,1962,3312,3125,0,0,0,0,0,0,25.51,25.99,26.32
$GC,157,-0.51,-175.2,15.1,-22.3,22,164,0.12,1.98,0.00,0.000,6,0.160,0.022,1994,1921,3126,0,0,0,0,0,0,25.82,26.10,28.83
$GC,467,-0.46,-175.2,98.8,-22.3,47,472,0.00,2.00,0.00,0.000,4,0.000,0.031,1994,542,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,585,-0.43,-175.2,116.2,-16.0,52,593,0.08,2.00,0.00,0.000,6,0.142,0.022,2027,1926,3127,0,0,0,0,0,0,26.04,26.34,28.83
$GC,889,-0.43,-175.2,155.4,-11.7,68,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1926,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1190,-0.43,-175.2,187.5,-9.3,83,1196,0.00,2.00,0.00,0.000,4,0.000,0.031,2027,545,3128,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1237,-0.44,-175.2,191.7,-9.2,85,1243,0.00,1.98,0.00,0.000,6,0.000,0.022,2019,1944,3128,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1555,-0.45,-175.2,217.4,-7.7,101,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1945,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-0.46,-175.2,241.8,-7.8,116,1862,0.00,2.03,0.00,0.000,4,0.000,0.031,2019,548,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1911,-0.47,-175.2,245.5,-8.0,118,1917,0.00,1.95,0.00,0.000,6,0.000,0.022,2011,1931,3127,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2225,-0.48,-175.2,272.4,-8.1,134,2230,0.00,2.00,0.00,0.000,4,0.000,0.031,2011,539,3125,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2302,-0.49,-175.2,277.9,-8.7,137,2310,0.00,1.98,0.00,0.000,6,0.000,0.022,2003,1937,3125,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2608,-0.49,-175.2,305.8,-8.6,153,2614,0.00,2.00,0.00,0.000,4,0.000,0.036,1992,3303,3124,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2656,-0.51,-175.2,309.6,-8.5,155,2662,0.00,1.95,0.00,0.000,6,0.000,0.023,1993,1922,3124,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2975,-0.51,-175.2,336.8,-8.5,171,2980,0.00,2.03,0.00,0.000,4,0.000,0.032,1993,534,3123,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3039,-0.52,-175.2,342.8,-9.2,174,3044,0.00,1.98,0.00,0.000,6,0.000,0.022,1988,1923,3123,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3363,-0.52,-175.2,369.1,-7.8,190,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1923,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3663,-0.53,-175.2,391.2,-7.0,205,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1923,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3962,-0.54,-175.2,413.4,-7.9,220,3968,0.00,2.03,0.00,0.000,4,0.000,0.032,1988,528,3119,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4000,-0.55,-175.2,415.4,-8.1,221,4006,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1930,3119,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4306,-0.56,-175.2,439.2,-7.0,237,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4606,-0.58,-175.2,458.7,-6.4,252,4612,0.00,2.05,-0.08,0.000,4,0.000,0.046,1988,536,3143,0,0,0,0,0,0,28.83,26.46,25.76
$GC,4639,-0.59,-175.2,460.4,-6.5,253,4645,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1927,3146,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4954,-0.60,-175.2,480.2,-6.3,269,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1927,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5253,-0.62,-175.2,501.9,-7.5,284,5259,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,535,3142,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5297,-0.63,-175.2,505.5,-8.0,286,5303,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1931,3142,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5622,-0.64,-175.2,529.6,-7.3,302,5623,0.12,0.00,0.00,0.000,6,0.103,0.000,1933,1931,3140,0,0,0,0,0,0,26.53,28.83,28.83
$GC,5921,-0.63,-175.2,561.2,-10.5,317,5926,0.00,2.05,0.00,0.000,4,0.000,0.034,1933,544,3139,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5943,-0.62,-175.2,563.6,-10.6,318,5950,0.08,2.00,0.00,0.000,6,0.135,0.024,1963,1915,3138,0,0,0,0,0,0,26.18,26.52,28.83
$GC,6267,-0.62,-175.2,588.4,-7.1,334,6272,0.00,2.08,0.00,0.000,4,0.000,0.037,1954,3318,3134,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6291,-0.63,-175.2,590.1,-7.1,335,6296,0.00,2.00,0.00,0.000,6,0.000,0.025,1954,1927,3136,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6614,-0.63,-175.2,615.1,-7.7,348,6619,0.00,2.03,0.00,0.000,4,0.000,0.035,1954,541,3134,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6760,-0.63,-175.2,626.4,-9.2,352,6768,0.00,1.98,0.00,0.000,6,0.000,0.025,1945,1933,3134,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7068,-0.63,-175.2,656.4,-9.4,363,7074,0.00,2.05,0.00,0.000,4,0.000,0.038,1934,3320,3132,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7095,-0.63,-175.2,656.4,-9.4,363,7101,0.00,2.00,0.00,0.000,6,0.000,0.026,1934,1921,3131,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7404,-0.62,-175.2,691.0,-10.6,374,7409,0.00,2.03,0.00,0.000,4,0.000,0.036,1934,544,3130,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7513,-0.61,-175.2,702.0,-11.5,377,7519,0.15,2.00,0.00,0.000,6,0.148,0.025,1967,1933,3130,0,0,0,0,0,0,26.15,26.48,28.83
$GC,7833,-0.62,-175.2,730.0,-7.8,388,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1933,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8136,-0.63,-175.2,751.0,-6.8,398,8141,0.00,2.08,0.00,0.000,4,0.000,0.036,1967,541,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8164,-0.64,-175.2,751.0,-6.8,398,8170,0.00,1.98,0.00,0.000,6,0.000,0.025,1959,1928,3127,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8471,-0.65,-175.2,775.9,-7.6,409,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1928,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8770,-0.65,-175.2,798.5,-7.4,419,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1928,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9071,-0.66,-175.2,821.7,-8.1,429,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1928,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9370,-0.67,-175.2,846.8,-8.4,439,9375,0.00,2.08,0.00,0.000,4,0.000,0.037,1959,542,3122,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9404,-0.68,-175.2,849.8,-8.6,440,9409,0.00,2.00,0.00,0.000,6,0.000,0.026,1951,1932,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9737,-0.68,-175.2,879.6,-8.8,451,9742,0.00,2.05,0.00,0.000,4,0.000,0.037,1950,544,3120,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9773,-0.68,-175.2,882.8,-8.9,452,9779,0.00,1.98,0.00,0.000,6,0.000,0.026,1942,1928,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10101,-0.68,-175.2,915.0,-9.8,463,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1928,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10402,-0.68,-175.2,942.9,-9.2,473,10407,0.00,2.05,0.00,0.000,4,0.000,0.040,1931,3319,3119,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10424,-0.68,-175.2,942.9,-9.2,473,10429,0.00,2.03,0.00,0.000,6,0.000,0.028,1931,1939,3119,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10740,-0.68,-175.2,974.4,-9.2,484,10745,0.00,2.10,0.00,0.000,4,0.000,0.037,1931,521,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10902,-0.67,-175.2,989.6,-9.7,489,10907,0.00,2.05,0.00,0.000,6,0.000,0.027,1922,1931,3118,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10923,begin apogee
$GC,10928,-0.17,0.0,992.7,-9.7,490,11080,0.55,0.00,144.70,1.414,6,0.125,0.000,2104,1933,2409,0,0,0,0,0,0,25.84,28.83,23.51
$STATE,11082,end apogee,CONTROL_FINISHED_OK
$STATE,11082,begin climb
$GC,11083,0.56,175.2,997.7,0.0,495,11244,0.65,0.00,154.80,1.366,6,0.064,0.000,2342,1933,1694,0,0,0,0,0,0,24.63,28.83,22.66
$GC,11525,0.54,175.2,958.8,11.0,510,11527,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1933,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11825,0.53,175.2,926.7,10.7,520,11831,0.00,2.08,0.00,0.000,4,0.000,0.038,2342,3296,1683,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11898,0.51,175.2,919.5,11.0,522,11903,0.00,2.05,0.00,0.000,6,0.000,0.028,2351,1896,1683,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12222,0.49,175.2,883.9,10.6,533,12227,0.12,2.10,0.00,0.000,4,0.175,0.035,2314,3291,1681,0,0,0,0,0,0,25.94,26.13,28.83
$GC,12279,0.47,175.2,880.4,10.5,534,12286,0.00,2.03,0.00,0.000,6,0.000,0.029,2323,1900,1681,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12586,0.47,175.2,849.5,9.4,545,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1900,1680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12885,0.46,175.2,820.9,9.4,555,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1900,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13186,0.45,175.2,793.1,9.1,565,13191,0.00,2.08,0.00,0.000,4,0.000,0.039,2323,3287,1679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13257,0.44,175.2,786.9,9.2,567,13263,0.00,2.03,0.00,0.000,6,0.000,0.029,2331,1898,1678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13582,0.43,175.2,755.7,9.7,578,13588,0.12,2.05,0.00,0.000,4,0.174,0.037,2303,510,1678,0,0,0,0,0,0,26.13,26.30,28.83
$GC,13616,0.43,175.2,752.6,9.6,579,13621,0.00,2.05,0.00,0.000,6,0.000,0.024,2303,1927,1678,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,21886,end climb,SURFACE_DEPTH_REACHED
$STATE,21886,begin surface coast
$FINISH,0.9,1.022289
$STATE,21898,end surface coast,CONTROL_FINISHED_OK
$STATE,21898,begin surface
$SM_CCo,21973,0.00,0.000,0,0,210,539.41
$SM_GC,1.65,6.32,0.00,0.00,0.047,0.000,0.000,58,1907,210,-6.49,-0.51,539.41,0,0,0,0,0,0,26.00,28.83,28.83
$IRIDIUM_FIX,1938.95,12333.78,041212,060621
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.57
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3971136
$24V_AH,22.7,24.815
$10V_AH,10.2,18.674
$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,16.600,171.150,602.725,0.000,0.000,0.000,0.000,320.000,3.000,0.000,10.719,3248.204,15336.102,727.997,2801.035,335.356,0.000,2399.645,0.000,2357.301,0.000,26.374,0.000
$DEVICE_MAMPS,247.095,47.430,1414.485,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.739,0.000,0.000,0.000
$MEM,329008
$DATA_FILE_SIZE,36703,997
$CAP_FILE_SIZE,247089,0
$CFSIZE,260034560,239427584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,215.0,1
$GPS,041212,185736,1948.909,12333.121,39,1.1,39,-2.4