version: 66.11
glider: 129
mission: 4
dive: 129
start: 12 4 112 19 5 51
data:
$ID,129
$MISSION,4
$DIVE,129
$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,-2809.1345
$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,74
$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
$GPS1,041212,185736,1948.909,12333.121,39,1.1,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-59.7
$GPS2,041212,190525,1948.875,12333.055,14,1.5,14,-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,55.2,94839,-14.6,-8.684,-17.90
$D_GRID,5208
$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,-70.90,0.000,2,0.000,0.000,52,1910,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.56,-175.2,3.2,-5.5,12,137,7.75,0.00,-28.02,0.000,6,0.244,0.000,1973,1908,3124,0,0,0,0,0,0,25.51,28.83,26.32
$GC,457,-0.50,-175.2,98.1,-22.3,47,462,0.00,2.03,0.00,0.000,4,0.000,0.031,1973,527,3124,0,0,0,0,0,0,28.83,26.23,28.83
$GC,483,-0.45,-175.2,103.2,-21.7,48,489,0.17,2.00,0.00,0.000,6,0.147,0.023,2015,1907,3125,0,0,0,0,0,0,26.00,26.29,28.83
$GC,802,-0.44,-175.2,143.9,-11.7,64,807,0.00,2.08,0.00,0.000,4,0.000,0.035,2006,3321,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,834,-0.43,-175.2,146.3,-11.4,65,839,0.00,1.98,0.00,0.000,6,0.000,0.023,2005,1899,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1147,-0.43,-175.2,181.5,-10.4,81,1153,0.00,1.95,0.00,0.000,4,0.000,0.031,2005,544,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1260,-0.43,-175.2,193.1,-11.1,86,1265,0.00,1.98,0.00,0.000,6,0.000,0.022,1997,1941,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1572,-0.43,-175.2,228.4,-10.7,102,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1942,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.43,-175.2,263.7,-11.8,117,1878,0.00,2.03,0.00,0.000,4,0.000,0.031,1997,550,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1920,-0.43,-175.2,269.0,-12.0,119,1925,0.12,1.95,0.00,0.000,6,0.143,0.022,2025,1932,3123,0,0,0,0,0,0,26.27,26.51,28.83
$GC,2239,-0.45,-175.2,295.3,-7.2,135,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1933,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2540,-0.47,-175.2,315.9,-6.8,150,2546,0.00,2.00,0.00,0.000,4,0.000,0.031,2025,543,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2664,-0.49,-175.2,326.2,-8.3,156,2670,0.00,1.98,0.00,0.000,6,0.000,0.022,2018,1935,3121,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2988,-0.51,-175.2,350.7,-7.1,172,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1936,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.53,-175.2,371.8,-7.1,187,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1936,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-0.55,-175.2,393.2,-6.9,202,3595,0.12,2.00,0.00,0.000,4,0.095,0.035,1944,3310,3119,0,0,0,0,0,0,26.54,26.45,28.83
$GC,3608,-0.58,-175.2,393.2,-6.9,202,3616,0.00,1.98,0.00,0.000,6,0.000,0.024,1944,1932,3119,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3913,-0.57,-175.2,428.9,-11.7,218,3920,0.12,2.03,0.00,0.000,4,0.148,0.031,1985,538,3117,0,0,0,0,0,0,26.34,26.47,28.83
$GC,4066,-0.57,-175.2,442.4,-9.1,225,4071,0.00,1.98,0.00,0.000,6,0.000,0.023,1976,1931,3117,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4379,-0.58,-175.2,472.2,-9.5,241,4381,0.00,0.00,-0.08,0.000,6,0.000,0.000,1978,1931,3138,0,0,0,0,0,0,28.83,28.83,25.60
$GC,4679,-0.59,-175.2,498.1,-8.0,256,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1931,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.60,-175.2,521.5,-7.8,271,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1931,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5280,-0.61,-175.2,543.7,-7.4,286,5286,0.00,2.05,0.00,0.000,4,0.000,0.034,1977,539,3135,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5338,-0.61,-175.2,547.3,-7.8,288,5345,0.00,2.00,0.00,0.000,6,0.000,0.024,1968,1923,3135,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5645,-0.62,-175.2,572.1,-7.8,304,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1923,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5945,-0.62,-175.2,595.7,-7.8,319,5950,0.00,2.05,0.00,0.000,4,0.000,0.037,1957,3310,3131,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5965,-0.63,-175.2,595.7,-7.8,319,5971,0.00,1.95,0.00,0.000,6,0.000,0.025,1958,1925,3131,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6280,-0.63,-175.2,624.2,-8.4,331,6285,0.00,2.00,0.00,0.000,4,0.000,0.034,1957,540,3129,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6326,-0.63,-175.2,627.3,-8.5,332,6331,0.00,1.98,0.00,0.000,6,0.000,0.024,1948,1925,3129,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6645,-0.63,-175.2,657.3,-9.3,343,6650,0.00,2.05,0.00,0.000,4,0.000,0.034,1948,541,3128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6686,-0.63,-175.2,660.8,-9.4,344,6691,0.00,2.00,0.00,0.000,6,0.000,0.024,1939,1935,3127,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7010,-0.62,-175.2,693.9,-9.7,355,7015,0.00,2.05,0.00,0.000,4,0.000,0.035,1938,539,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7095,-0.61,-175.2,700.7,-10.2,357,7101,0.12,2.00,0.00,0.000,6,0.153,0.025,1963,1929,3126,0,0,0,0,0,0,26.20,26.50,28.83
$GC,7410,-0.62,-175.2,727.9,-7.9,368,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1929,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7712,-0.63,-175.2,750.5,-7.3,378,7717,0.00,2.08,0.00,0.000,4,0.000,0.035,1960,537,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7755,-0.63,-175.2,753.4,-7.3,379,7761,0.00,2.00,0.00,0.000,6,0.000,0.025,1955,1930,3122,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8080,-0.63,-175.2,776.5,-6.7,390,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1930,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8379,-0.63,-175.2,796.5,-6.9,400,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1930,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8679,-0.63,-175.2,818.7,-7.7,410,8684,0.00,2.05,0.00,0.000,4,0.000,0.036,1955,539,3118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8756,-0.63,-175.2,824.3,-8.3,412,8762,0.00,2.00,0.00,0.000,6,0.000,0.026,1946,1924,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9075,-0.63,-175.2,854.7,-9.4,423,9080,0.00,2.05,0.00,0.000,4,0.000,0.037,1946,542,3117,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9111,-0.63,-175.2,858.0,-9.6,424,9117,0.00,2.00,0.00,0.000,6,0.000,0.026,1937,1930,3117,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9440,-0.63,-175.2,889.9,-9.9,435,9445,0.00,2.08,0.00,0.000,4,0.000,0.036,1937,535,3116,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9492,-0.63,-175.2,893.3,-9.9,436,9497,0.00,2.00,0.00,0.000,6,0.000,0.026,1928,1924,3115,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9806,-0.63,-175.2,925.7,-9.5,447,9812,0.10,2.05,0.00,0.000,4,0.165,0.034,1954,534,3115,0,0,0,0,0,0,26.41,26.37,28.83
$GC,9834,-0.62,-175.2,925.7,-9.5,447,9840,0.00,2.00,0.00,0.000,6,0.000,0.026,1947,1921,3115,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10141,-0.62,-175.2,953.2,-7.9,458,10146,0.00,2.05,0.00,0.000,4,0.000,0.036,1947,542,3114,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10168,-0.62,-175.2,953.2,-7.9,458,10175,0.00,2.00,0.00,0.000,6,0.000,0.025,1938,1935,3114,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10476,-0.62,-175.2,979.0,-7.4,469,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1935,3113,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10622,begin apogee
$GC,10626,-0.17,0.0,990.1,-7.3,474,10776,0.47,0.00,143.35,1.407,6,0.121,0.000,2098,1935,2409,0,0,0,0,0,0,25.91,28.83,23.55
$STATE,10777,end apogee,CONTROL_FINISHED_OK
$STATE,10777,begin climb
$GC,10779,0.56,175.2,993.6,0.0,479,10939,0.68,0.00,154.93,1.359,6,0.067,0.000,2343,1936,1695,0,0,0,0,0,0,24.63,28.83,22.68
$GC,11224,0.54,175.2,948.6,12.6,494,11230,0.00,2.05,0.00,0.000,4,0.000,0.037,2343,3284,1686,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11287,0.52,175.2,940.1,13.0,496,11292,0.00,2.08,0.00,0.000,6,0.000,0.028,2352,1907,1685,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11623,0.50,175.2,898.2,12.3,507,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1908,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11920,0.49,175.2,861.9,12.1,517,11922,0.12,0.00,0.00,0.000,6,0.174,0.000,2321,1907,1682,0,0,0,0,0,0,26.00,28.83,28.83
$GC,12220,0.48,175.2,831.1,9.8,527,12225,0.00,2.08,0.00,0.000,4,0.000,0.037,2321,3288,1682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12267,0.47,175.2,827.8,9.7,528,12273,0.00,2.05,0.00,0.000,6,0.000,0.028,2329,1892,1681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12587,0.46,175.2,795.9,9.2,539,12592,0.00,2.08,0.00,0.000,4,0.000,0.040,2339,499,1682,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12624,0.45,175.2,792.8,9.1,540,12631,0.12,2.05,0.00,0.000,6,0.162,0.024,2306,1920,1679,0,0,0,0,0,0,26.04,26.35,28.83
$GC,12953,0.47,211.5,767.0,7.5,551,12988,0.00,2.08,29.45,1.258,4,0.000,0.037,2306,3278,1546,0,0,0,0,0,0,28.83,25.55,24.59
$GC,13095,0.47,220.6,756.8,8.4,555,13111,0.00,2.05,9.05,1.107,6,0.000,0.028,2314,1894,1508,0,0,0,0,0,0,28.83,25.88,24.63
$GC,13440,0.47,220.6,722.9,9.8,567,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1894,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13738,0.47,220.6,692.1,10.3,577,13743,0.00,2.10,0.00,0.000,4,0.000,0.037,2314,3276,1504,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13771,0.47,220.6,688.5,10.4,578,13776,0.00,2.05,0.00,0.000,6,0.000,0.028,2324,1886,1504,0,0,0,0,0,0,28.83,26.26,28.83
$GC,14105,0.47,220.6,653.6,10.3,589,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1886,1504,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21410,end climb,SURFACE_DEPTH_REACHED
$STATE,21410,begin surface coast
$FINISH,0.9,1.022488
$STATE,21427,end surface coast,CONTROL_FINISHED_OK
$STATE,21428,begin surface
$SM_CCo,21502,0.00,0.000,0,0,207,540.15
$SM_GC,1.81,6.30,0.00,0.00,0.046,0.000,0.000,69,1897,207,-6.47,-0.85,540.15,0,0,0,0,0,0,26.04,28.83,28.83
$IRIDIUM_FIX,1941.24,12333.78,041212,121218
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.62
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3970752
$24V_AH,22.7,25.007
$10V_AH,10.3,18.817
$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,16.525,162.525,588.475,0.000,0.000,0.000,0.000,296.775,3.000,0.000,14.936,3148.040,15080.012,735.917,2670.958,324.898,0.000,2313.121,0.000,2246.397,0.000,25.453,0.000
$DEVICE_MAMPS,244.035,39.780,1406.835,0.000,0.000,0.000,0.000,136.935,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21443.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.263,0.000,0.000,0.000
$MEM,328984
$DATA_FILE_SIZE,36648,1000
$CAP_FILE_SIZE,239567,0
$CFSIZE,260034560,239325184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,129.5,1
$GPS,051212,010529,1950.299,12336.638,39,1.3,39,-2.4