version: 66.11
glider: 129
mission: 4
dive: 138
start: 12 7 112 1 56 2
data:
$ID,129
$MISSION,4
$DIVE,138
$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,-2821.2
$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,95
$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
$GPS1,071212,014654,1959.872,12350.300,43,1.3,43,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-53.7
$GPS2,071212,015537,1959.690,12350.333,16,1.7,16,-2.5
$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,37.1,58831,-14.6,-8.684,-17.90
$D_GRID,5580
$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,17,begin dive
$GC,19,-0.56,-175.2,0.0,0.0,0,92,0.00,0.00,-70.95,0.000,2,0.000,0.000,56,1913,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.56,-175.2,3.2,-4.9,12,139,7.78,2.05,-28.05,0.000,4,0.246,0.045,1965,3288,3124,1,0,0,0,0,0,25.29,25.97,26.32
$GC,146,-0.52,-175.2,11.1,-17.4,20,153,0.00,2.00,0.00,0.000,6,0.000,0.023,1965,1905,3124,0,0,0,0,0,0,28.83,26.06,28.83
$GC,460,-0.47,-175.2,94.5,-23.3,47,466,0.12,1.98,0.00,0.000,4,0.164,0.030,2004,535,3124,0,0,0,0,0,0,26.02,26.21,28.83
$GC,627,-0.45,-175.2,121.9,-14.6,55,632,0.00,1.92,0.00,0.000,6,0.000,0.024,1995,1899,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,945,-0.44,-175.2,162.9,-11.8,71,950,0.00,2.00,0.00,0.000,4,0.000,0.031,1995,531,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1022,-0.43,-175.2,170.5,-11.7,74,1030,0.12,1.98,0.00,0.000,6,0.151,0.023,2022,1930,3126,0,0,0,0,0,0,26.15,26.40,28.83
$GC,1328,-0.44,-175.2,198.9,-9.0,90,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1930,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1629,-0.45,-175.2,224.9,-8.5,105,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1930,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1929,-0.46,-175.2,251.0,-8.9,120,1935,0.00,2.05,0.00,0.000,4,0.000,0.036,2013,3341,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1993,-0.48,-175.2,256.3,-8.6,123,1998,0.00,2.00,0.00,0.000,6,0.000,0.022,2013,1922,3124,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2316,-0.49,-175.2,282.9,-8.0,139,2321,0.00,1.98,0.00,0.000,4,0.000,0.031,2013,535,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2368,-0.50,-175.2,286.6,-8.3,141,2373,0.00,1.98,0.00,0.000,6,0.000,0.022,2004,1933,3123,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2681,-0.51,-175.2,314.2,-8.7,157,2687,0.00,2.00,0.00,0.000,4,0.000,0.035,1994,3302,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2699,-0.52,-175.2,314.2,-8.7,157,2705,0.00,1.95,0.00,0.000,6,0.000,0.022,1994,1919,3122,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3004,-0.52,-175.2,345.9,-10.2,173,3010,0.00,2.00,0.00,0.000,4,0.000,0.031,1992,546,3122,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3061,-0.52,-175.2,350.6,-10.6,175,3068,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1919,3122,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3367,-0.52,-175.2,383.1,-9.6,191,3372,0.00,2.03,0.00,0.000,4,0.000,0.037,1988,3310,3120,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3404,-0.52,-175.2,385.3,-9.6,192,3411,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1928,3120,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3711,-0.53,-175.2,412.6,-8.0,208,3716,0.00,2.03,0.00,0.000,4,0.000,0.032,1988,527,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3743,-0.53,-175.2,414.5,-7.9,209,3748,0.00,2.00,0.00,0.000,6,0.000,0.022,1978,1940,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4056,-0.53,-175.2,438.4,-7.4,225,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1941,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4356,-0.54,-175.2,463.8,-8.8,240,4361,0.00,2.05,0.00,0.000,4,0.000,0.032,1978,540,3116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4378,-0.54,-175.2,465.9,-9.0,241,4383,0.00,1.98,0.00,0.000,6,0.000,0.023,1968,1924,3116,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4700,-0.54,-175.2,496.1,-10.0,257,4702,0.00,0.00,-0.08,0.000,6,0.000,0.000,1969,1925,3139,0,0,0,0,0,0,28.83,28.83,25.51
$GC,5001,-0.54,-175.2,524.1,-9.0,272,5006,0.00,2.05,0.00,0.000,4,0.000,0.037,1958,3316,3139,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5047,-0.55,-175.2,527.8,-8.8,274,5053,0.00,1.98,0.00,0.000,6,0.000,0.024,1958,1930,3139,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5365,-0.55,-175.2,556.7,-8.7,290,5371,0.00,2.00,0.00,0.000,4,0.000,0.034,1958,537,3137,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5468,-0.55,-175.2,566.8,-9.7,295,5475,0.12,2.00,0.00,0.000,6,0.147,0.024,1985,1930,3138,0,0,0,0,0,0,26.21,26.49,28.83
$GC,5793,-0.56,-175.2,587.7,-6.2,311,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1930,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6104,-0.58,-175.2,606.3,-6.0,325,6109,0.00,2.05,0.00,0.000,4,0.000,0.037,1976,3317,3134,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6127,-0.59,-175.2,606.3,-6.0,325,6132,0.00,2.00,0.00,0.000,6,0.000,0.024,1976,1921,3134,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6441,-0.61,-175.2,628.5,-6.7,336,6446,0.00,2.00,0.00,0.000,4,0.000,0.034,1976,536,3132,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6494,-0.62,-175.2,631.2,-7.0,337,6499,0.00,1.98,0.00,0.000,6,0.000,0.024,1967,1932,3132,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6807,-0.62,-175.2,657.6,-8.0,348,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1934,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7108,-0.63,-175.2,679.3,-6.8,358,7113,0.00,2.05,0.00,0.000,4,0.000,0.034,1967,537,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7141,-0.64,-175.2,681.9,-7.0,359,7146,0.00,2.00,0.00,0.000,6,0.000,0.024,1958,1924,3128,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7474,-0.64,-175.2,708.5,-8.2,370,7479,0.00,2.05,0.00,0.000,4,0.000,0.034,1958,528,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7507,-0.64,-175.2,711.3,-8.3,371,7512,0.00,2.03,0.00,0.000,6,0.000,0.025,1948,1928,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7841,-0.64,-175.2,739.2,-8.2,382,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1929,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,-0.64,-175.2,762.1,-7.5,392,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1928,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8441,-0.64,-175.2,784.3,-7.3,402,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1929,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,-0.64,-175.2,808.8,-8.6,412,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1928,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9040,-0.64,-175.2,833.7,-8.3,422,9045,0.00,2.08,0.00,0.000,4,0.000,0.036,1948,539,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9087,-0.64,-175.2,836.7,-8.4,423,9092,0.00,2.00,0.00,0.000,6,0.000,0.026,1936,1924,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9405,-0.64,-175.2,865.5,-8.7,434,9410,0.00,2.05,0.00,0.000,4,0.000,0.036,1938,538,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9481,-0.64,-175.2,871.5,-9.1,436,9487,0.00,2.00,0.00,0.000,6,0.000,0.026,1929,1933,3118,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9801,-0.63,-175.2,901.7,-9.1,447,9806,0.00,2.10,0.00,0.000,4,0.000,0.035,1929,527,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9854,-0.63,-175.2,905.1,-9.3,448,9860,0.12,2.03,0.00,0.000,6,0.158,0.027,1954,1925,3117,0,0,0,0,0,0,26.09,26.42,28.83
$GC,10169,-0.64,-175.2,931.2,-7.6,459,10174,0.00,2.08,0.00,0.000,4,0.000,0.037,1954,538,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10196,-0.65,-175.2,931.2,-7.6,459,10203,0.00,2.03,0.00,0.000,6,0.000,0.026,1947,1937,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10503,-0.65,-175.2,957.7,-7.8,470,10508,0.00,2.05,0.00,0.000,4,0.000,0.041,1937,3320,3115,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10526,-0.65,-175.2,957.7,-7.8,470,10532,0.00,2.03,0.00,0.000,6,0.000,0.028,1937,1924,3115,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10840,-0.65,-175.2,987.0,-8.8,481,10845,0.00,2.05,0.00,0.000,4,0.000,0.037,1937,530,3114,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10871,begin apogee
$GC,10877,-0.17,0.0,990.2,-9.0,482,11029,0.52,0.00,143.90,1.416,6,0.122,0.000,2102,1913,2409,0,0,0,0,0,0,25.76,28.83,23.44
$STATE,11031,end apogee,CONTROL_FINISHED_OK
$STATE,11031,begin climb
$GC,11032,0.56,175.2,996.6,0.0,487,11194,0.68,0.00,155.48,1.367,6,0.066,0.000,2345,1914,1694,0,0,0,0,0,0,24.57,28.83,22.63
$GC,11473,0.54,175.2,962.5,10.2,502,11479,0.00,2.12,0.00,0.000,4,0.000,0.037,2345,3287,1683,0,0,0,0,0,0,28.83,25.47,28.83
$GC,11601,0.52,175.2,948.3,11.5,506,11607,0.00,2.08,0.00,0.000,6,0.000,0.028,2355,1894,1684,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11931,0.50,175.2,909.6,11.9,517,11937,0.12,2.10,0.00,0.000,4,0.175,0.036,2318,3285,1682,0,0,0,0,0,0,25.83,26.02,28.83
$GC,11965,0.48,175.2,905.4,11.8,518,11971,0.00,2.05,0.00,0.000,6,0.000,0.028,2327,1890,1683,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12299,0.48,175.2,872.3,9.6,529,12304,0.00,2.08,0.00,0.000,4,0.000,0.040,2333,502,1681,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12346,0.47,175.2,869.1,9.5,530,12352,0.00,2.05,0.00,0.000,6,0.000,0.024,2337,1913,1680,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12667,0.46,175.2,837.5,9.4,541,12672,0.00,2.03,0.00,0.000,4,0.000,0.039,2336,3281,1680,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12733,0.44,175.2,830.6,9.9,543,12739,0.15,2.00,0.00,0.000,6,0.173,0.028,2307,1900,1680,0,0,0,0,0,0,25.91,26.31,28.83
$GC,13062,0.44,176.7,802.0,8.6,554,13068,0.00,2.08,0.00,0.000,4,0.000,0.037,2307,3283,1679,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13109,0.44,176.7,798.8,8.7,555,13115,0.00,2.00,0.00,0.000,6,0.000,0.028,2315,1897,1679,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21427,end climb,SURFACE_DEPTH_REACHED
$STATE,21427,begin surface coast
$FINISH,0.9,1.010329
$STATE,21443,end surface coast,CONTROL_FINISHED_OK
$STATE,21444,begin surface
$SM_CCo,21518,0.00,0.000,0,0,207,540.15
$SM_GC,1.54,6.30,0.00,0.00,0.047,0.000,0.000,34,1890,207,-6.51,-0.99,540.15,0,0,0,0,0,0,26.06,28.83,28.83
$IRIDIUM_FIX,1950.41,12347.76,061212,191954
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.59
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3967296
$24V_AH,22.6,26.832
$10V_AH,10.2,20.086
$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,16.400,186.950,576.775,0.000,0.000,0.000,0.000,350.175,3.000,0.000,17.121,3187.927,14979.878,732.032,2797.928,332.875,0.000,2420.666,0.000,2321.834,0.000,26.280,0.000
$DEVICE_MAMPS,245.565,45.135,1416.015,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21460.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.886,0.000,0.000,0.000
$MEM,328980
$DATA_FILE_SIZE,36644,979
$CAP_FILE_SIZE,243369,0
$CFSIZE,260034560,238346240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.098,148.6,1
$GPS,071212,075559,2001.465,12352.504,37,1.3,42,-2.5