version: 66.11
glider: 129
mission: 4
dive: 146
start: 12 9 112 3 27 8
data:
$ID,129
$MISSION,4
$DIVE,146
$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,-2831.2605
$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,71
$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
$GPS1,091212,031806,2010.764,12406.048,31,1.0,31,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-58.0
$GPS2,091212,032642,2010.717,12405.985,9,1.2,14,-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,67.3,25610,-14.6,-8.684,-17.90
$D_GRID,5482
$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,-175.2,0.0,0.0,0,73,0.00,0.00,-52.65,0.000,2,0.000,0.000,56,1885,2008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.56,-175.2,3.3,-5.6,9,119,7.65,0.00,-28.10,0.000,6,0.236,0.000,1971,1875,3127,0,0,0,0,0,0,25.27,28.83,26.33
$GC,423,-0.49,-175.2,91.4,-29.1,46,428,0.00,1.98,0.00,0.000,4,0.000,0.031,1971,533,3127,0,0,0,0,0,0,28.83,26.18,28.83
$GC,507,-0.45,-175.2,107.1,-18.4,50,513,0.17,1.98,0.00,0.000,6,0.141,0.023,2013,1927,3128,0,0,0,0,0,0,25.94,26.27,28.83
$GC,830,-0.45,-175.2,145.1,-10.3,66,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1927,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-0.45,-175.2,175.3,-9.5,81,1136,0.00,2.03,0.00,0.000,4,0.000,0.035,2004,3319,3129,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1154,-0.45,-175.2,177.5,-9.6,82,1159,0.00,1.98,0.00,0.000,6,0.000,0.022,2004,1910,3129,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1476,-0.45,-175.2,212.9,-11.0,98,1481,0.00,1.95,0.00,0.000,4,0.000,0.031,2004,545,3129,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1606,-0.45,-175.2,225.8,-10.2,104,1613,0.00,1.95,0.00,0.000,6,0.000,0.022,1995,1940,3129,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1920,-0.45,-175.2,258.6,-10.2,120,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1941,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,-0.45,-175.2,290.2,-10.8,135,2227,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,532,3128,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2289,-0.45,-175.2,297.3,-10.9,138,2294,0.00,1.95,0.00,0.000,6,0.000,0.022,1987,1926,3128,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2606,-0.45,-175.2,332.2,-10.9,154,2611,0.00,2.03,0.00,0.000,4,0.000,0.035,1976,3306,3127,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2688,-0.45,-175.2,339.8,-9.2,158,2694,0.12,1.95,0.00,0.000,6,0.132,0.023,2013,1925,3127,0,0,0,0,0,0,26.24,26.49,28.83
$GC,3012,-0.47,-175.2,363.5,-7.8,174,3017,0.00,1.98,0.00,0.000,4,0.000,0.032,2013,549,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3084,-0.49,-175.2,369.2,-8.8,177,3090,0.00,1.95,0.00,0.000,6,0.000,0.022,2007,1927,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3399,-0.50,-175.2,397.5,-8.7,193,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1927,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3698,-0.52,-175.2,421.1,-7.5,208,3704,0.00,2.03,0.00,0.000,4,0.000,0.032,2006,549,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3787,-0.53,-175.2,428.2,-8.6,212,3792,0.00,1.95,0.00,0.000,6,0.000,0.023,2000,1937,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4104,-0.55,-175.2,454.7,-8.2,228,4110,0.00,2.00,0.00,0.000,4,0.000,0.036,1989,3311,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4141,-0.56,-175.2,456.6,-8.2,229,4148,0.00,1.95,0.00,0.000,6,0.000,0.024,1989,1935,3124,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4447,-0.57,-175.2,483.0,-8.0,245,4452,0.00,2.03,0.00,0.000,4,0.000,0.033,1989,530,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4585,-0.58,-175.2,494.0,-9.1,251,4592,0.00,1.98,0.00,0.000,6,0.000,0.023,1982,1937,3122,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4891,-0.59,-175.2,520.9,-8.3,267,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1933,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5192,-0.60,-175.2,543.3,-7.0,282,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1933,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5491,-0.61,-175.2,563.0,-6.6,297,5496,0.00,2.08,0.00,0.000,4,0.000,0.034,1983,532,3118,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5523,-0.62,-175.2,564.8,-6.8,298,5529,0.00,1.98,0.00,0.000,6,0.000,0.024,1974,1931,3118,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5837,-0.63,-175.2,589.4,-7.6,314,5842,0.00,2.08,0.00,0.000,4,0.000,0.033,1975,529,3116,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5874,-0.63,-175.2,591.3,-7.7,315,5881,0.00,1.98,0.00,0.000,6,0.000,0.024,1965,1923,3116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6189,-0.63,-175.2,616.7,-7.9,328,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1923,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-0.63,-175.2,640.7,-7.8,338,6496,0.00,2.05,0.00,0.000,4,0.000,0.034,1965,541,3113,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6542,-0.63,-175.2,643.4,-7.8,339,6547,0.00,1.98,0.00,0.000,6,0.000,0.024,1956,1935,3113,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6856,-0.63,-175.2,669.0,-7.6,350,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1935,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7155,-0.63,-175.2,693.6,-8.3,360,7161,0.00,2.08,0.00,0.000,4,0.000,0.035,1956,543,3109,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7189,-0.63,-175.2,696.8,-8.6,361,7194,0.00,1.98,0.00,0.000,6,0.000,0.024,1947,1928,3109,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7522,-0.63,-175.2,727.2,-8.9,372,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1928,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7822,-0.63,-175.2,753.8,-8.8,382,7827,0.00,2.08,0.00,0.000,4,0.000,0.035,1947,534,3106,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7855,-0.63,-175.2,756.9,-8.8,383,7860,0.00,2.00,0.00,0.000,6,0.000,0.025,1937,1930,3106,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8189,-0.63,-175.2,785.2,-8.6,394,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,1931,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.63,-175.2,810.9,-8.9,404,8494,0.00,2.08,0.00,0.000,4,0.000,0.035,1937,537,3104,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8586,-0.63,-175.2,820.1,-9.6,407,8591,0.00,2.00,0.00,0.000,6,0.000,0.026,1928,1926,3103,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8916,-0.62,-175.2,849.8,-8.5,418,8918,0.12,0.00,0.00,0.000,6,0.154,0.000,1963,1927,3102,0,0,0,0,0,0,26.29,28.83,28.83
$GC,9216,-0.63,-175.2,867.8,-5.9,428,9222,0.00,2.08,0.00,0.000,4,0.000,0.037,1963,541,3101,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9299,-0.64,-175.2,872.4,-6.4,430,9305,0.00,1.98,0.00,0.000,6,0.000,0.026,1956,1925,3100,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9614,-0.65,-175.2,894.5,-6.7,441,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1926,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9914,-0.66,-175.2,914.5,-6.7,451,9919,0.00,2.08,0.00,0.000,4,0.000,0.041,1945,3314,3100,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9947,-0.67,-175.2,916.9,-6.8,452,9953,0.00,2.03,0.00,0.000,6,0.000,0.028,1945,1924,3098,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10282,-0.67,-175.2,942.2,-7.8,463,10288,0.00,2.08,0.00,0.000,4,0.000,0.037,1945,528,3097,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10340,-0.67,-175.2,945.1,-7.9,464,10346,0.00,2.03,0.00,0.000,6,0.000,0.026,1936,1923,3097,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10647,-0.67,-175.2,973.2,-8.6,475,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,1924,3096,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10854,begin apogee
$GC,10858,-0.17,0.0,991.1,-8.6,482,11007,0.50,0.00,140.70,1.424,6,0.121,0.000,2102,1925,2409,0,0,0,0,0,0,25.70,28.83,23.35
$STATE,11009,end apogee,CONTROL_FINISHED_OK
$STATE,11009,begin climb
$GC,11011,0.56,175.2,997.1,0.0,487,11176,0.70,2.38,156.73,1.377,4,0.065,0.036,2359,515,1693,0,0,0,0,0,0,24.52,23.58,22.57
$GC,11199,0.54,230.9,989.1,6.8,493,11258,0.00,2.20,50.80,1.330,6,0.000,0.024,2359,1895,1467,0,0,0,0,0,0,28.83,24.17,22.58
$GC,11581,0.53,230.9,943.7,11.8,506,11586,0.00,2.17,0.00,0.000,4,0.000,0.038,2359,3297,1459,0,0,0,0,0,0,28.83,25.55,28.83
$GC,11813,0.51,230.9,914.5,14.0,513,11819,0.17,2.08,0.00,0.000,6,0.168,0.028,2322,1902,1457,0,0,0,0,0,0,25.56,25.96,28.83
$GC,12130,0.51,230.9,877.6,10.6,524,12135,0.00,2.12,0.00,0.000,4,0.000,0.036,2322,3300,1456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12162,0.51,230.9,873.5,10.8,525,12168,0.00,2.05,0.00,0.000,6,0.000,0.028,2329,1900,1456,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12497,0.51,230.9,835.5,11.6,536,12503,0.00,2.08,0.00,0.000,4,0.000,0.039,2339,503,1455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12519,0.51,230.9,835.5,11.6,536,12524,0.00,2.03,0.00,0.000,6,0.000,0.023,2339,1920,1455,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12832,0.50,230.9,797.7,10.8,547,12838,0.00,2.03,0.00,0.000,4,0.000,0.038,2339,3284,1455,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12940,0.49,230.9,787.0,11.3,550,12947,0.00,2.03,0.00,0.000,6,0.000,0.028,2348,1885,1454,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13260,0.49,230.9,751.4,10.6,561,13266,0.00,2.08,0.00,0.000,4,0.000,0.037,2349,3279,1454,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13324,0.48,230.9,744.2,10.7,563,13330,0.15,2.05,0.00,0.000,6,0.171,0.028,2319,1875,1453,0,0,0,0,0,0,25.90,26.34,28.83
$GC,13658,0.49,247.8,716.1,8.1,574,13677,0.00,2.12,13.07,1.185,4,0.000,0.034,2319,3286,1399,0,0,0,0,0,0,28.83,26.04,24.92
$GC,13740,0.49,252.4,710.3,8.5,576,13752,0.00,2.05,5.90,0.991,6,0.000,0.028,2330,1894,1378,0,0,0,0,0,0,28.83,26.09,24.75
$GC,14051,0.49,252.4,678.8,9.9,587,14056,0.00,2.08,0.00,0.000,4,0.000,0.036,2327,3279,1377,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,20622,end climb,SURFACE_DEPTH_REACHED
$STATE,20622,begin surface coast
$FINISH,2.0,1.023043
$STATE,20634,end surface coast,CONTROL_FINISHED_OK
$STATE,20634,begin surface
$SM_CCo,20711,0.00,0.000,0,0,524,462.39
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$IRIDIUM_FIX,2004.18,12401.78,081212,212120
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.01
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3964224
$24V_AH,22.6,28.388
$10V_AH,10.1,21.222
$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
$DEVICE_SECS,18.025,154.775,543.150,0.000,0.000,0.000,0.000,342.850,3.000,0.000,15.524,3026.112,14549.421,688.994,2634.254,318.461,0.000,2254.941,0.000,2172.765,0.000,25.442,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.403,0.000,0.000,0.000
$MEM,329012
$DATA_FILE_SIZE,33413,923
$CAP_FILE_SIZE,225961,0
$CFSIZE,260034560,237481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0
$CURRENT,0.068,150.6,1
$GPS,091212,091336,2011.849,12408.981,39,1.0,39,-2.5