version: 66.11
glider: 129
mission: 4
dive: 165
start: 12 13 112 23 6 3
data:
$ID,129
$MISSION,4
$DIVE,165
$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,3
$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,-2855.2554
$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,98
$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
$GPS1,131212,225706,1919.177,12428.176,36,1.1,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-60.0
$GPS2,131212,230537,1919.141,12428.139,12,1.2,12,-2.3
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,155.8,165531,-14.6,-8.684,-17.90
$D_GRID,5355
$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,-175.2,0.0,0.0,0,74,0.00,0.00,-53.33,0.000,2,0.000,0.000,54,1920,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.56,-175.2,3.4,-5.0,9,126,7.75,2.10,-32.88,0.000,4,0.240,0.045,1967,534,3125,0,0,0,0,0,0,25.33,25.99,26.34
$GC,265,-0.51,-175.2,38.0,-20.8,38,271,0.12,1.98,0.00,0.000,6,0.163,0.023,1991,1898,3126,0,0,0,0,0,0,25.83,26.15,28.83
$GC,579,-0.50,-175.2,93.5,-13.4,56,584,0.00,2.10,0.00,0.000,4,0.000,0.035,1982,3318,3126,0,0,0,0,0,0,28.83,26.19,28.83
$GC,690,-0.50,-175.2,105.9,-11.9,61,696,0.00,2.00,0.00,0.000,6,0.000,0.022,1982,1901,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1005,-0.48,-175.2,147.3,-12.5,77,1010,0.00,1.95,0.00,0.000,4,0.000,0.031,1982,546,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1130,-0.48,-175.2,162.6,-12.1,83,1136,0.12,1.95,0.00,0.000,6,0.145,0.022,2008,1937,3127,0,0,0,0,0,0,26.12,26.40,28.83
$GC,1453,-0.48,-175.2,194.2,-9.9,99,1459,0.00,2.03,0.00,0.000,4,0.000,0.031,2008,549,3127,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1550,-0.48,-175.2,202.7,-10.3,103,1556,0.00,1.95,0.00,0.000,6,0.000,0.022,2001,1936,3127,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1856,-0.48,-175.2,233.7,-9.5,119,1861,0.00,2.05,0.00,0.000,4,0.000,0.031,2001,538,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1898,-0.48,-175.2,237.7,-9.4,121,1903,0.00,1.98,0.00,0.000,6,0.000,0.022,1993,1931,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2220,-0.48,-175.2,269.6,-9.9,137,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1932,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2522,-0.48,-175.2,296.9,-8.4,152,2528,0.00,2.05,0.00,0.000,4,0.000,0.031,1993,526,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2626,-0.48,-175.2,307.1,-9.9,157,2631,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1923,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2948,-0.48,-175.2,341.0,-10.4,173,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1923,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,-0.48,-175.2,367.0,-8.5,188,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1923,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3550,-0.49,-175.2,395.7,-9.8,203,3556,0.00,2.05,0.00,0.000,4,0.000,0.032,1987,549,3124,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3605,-0.50,-175.2,400.1,-9.9,205,3611,0.00,1.95,0.00,0.000,6,0.000,0.022,1978,1935,3123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3919,-0.50,-175.2,427.7,-7.6,221,3924,0.00,2.00,0.00,0.000,4,0.000,0.036,1968,3306,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3951,-0.50,-175.2,429.3,-7.4,222,3956,0.00,1.95,0.00,0.000,6,0.000,0.023,1968,1935,3122,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4264,-0.50,-175.2,456.0,-9.0,238,4270,0.00,2.03,0.00,0.000,4,0.000,0.032,1968,527,3120,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4408,-0.50,-175.2,470.5,-10.1,245,4415,0.08,2.03,0.00,0.000,6,0.094,0.023,2001,1922,3120,0,0,0,0,0,0,26.10,26.45,28.83
$GC,4733,-0.52,-175.2,495.1,-7.0,261,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1923,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.54,-175.2,515.5,-7.0,276,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1922,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,-0.57,-175.2,536.3,-6.8,291,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1923,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,-0.59,-175.2,555.8,-6.1,306,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1922,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5934,-0.61,-175.2,572.1,-5.2,321,5939,0.12,2.08,0.00,0.000,4,0.101,0.032,1942,539,3110,0,0,0,0,0,0,26.48,26.32,28.83
$GC,5968,-0.63,-175.2,573.7,-5.6,322,5973,0.00,1.98,0.00,0.000,6,0.000,0.024,1931,1923,3110,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6302,-0.62,-175.2,607.7,-10.5,338,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1923,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6601,-0.61,-175.2,639.4,-10.5,348,6603,0.10,0.00,0.00,0.000,6,0.166,0.000,1957,1923,3108,0,0,0,0,0,0,26.37,28.83,28.83
$GC,6902,-0.61,-175.2,664.7,-8.1,358,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1923,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7202,-0.61,-175.2,688.5,-7.8,368,7207,0.00,2.08,0.00,0.000,4,0.000,0.035,1958,539,3104,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7259,-0.61,-175.2,691.4,-8.0,369,7265,0.00,1.98,0.00,0.000,6,0.000,0.024,1950,1925,3103,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7566,-0.61,-175.2,722.0,-9.7,380,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1926,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7867,-0.61,-175.2,750.3,-9.2,390,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1926,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8165,-0.61,-175.2,776.9,-8.7,400,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1926,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8466,-0.61,-175.2,801.0,-7.9,410,8472,0.00,2.08,0.00,0.000,4,0.000,0.035,1950,542,3098,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8539,-0.61,-175.2,806.7,-8.3,412,8545,0.00,2.03,0.00,0.000,6,0.000,0.026,1942,1940,3098,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8863,-0.61,-175.2,833.4,-8.0,423,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1940,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9163,-0.61,-175.2,858.3,-8.4,433,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1939,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9462,-0.61,-175.2,884.5,-8.7,443,9468,0.00,2.10,0.00,0.000,4,0.000,0.037,1942,543,3094,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9526,-0.61,-175.2,890.2,-8.7,445,9532,0.00,2.00,0.00,0.000,6,0.000,0.026,1933,1928,3094,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9859,-0.61,-175.2,917.4,-7.8,456,9866,0.00,2.08,0.00,0.000,4,0.000,0.040,1921,3314,3093,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9888,-0.61,-175.2,917.4,-7.8,456,9895,0.15,2.03,0.00,0.000,6,0.140,0.028,1966,1928,3093,0,0,0,0,0,0,25.95,26.34,28.83
$GC,10195,-0.63,-175.2,938.4,-6.0,467,10201,0.00,2.08,0.00,0.000,4,0.000,0.038,1966,533,3092,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10278,-0.64,-175.2,943.0,-6.6,469,10284,0.00,2.03,0.00,0.000,6,0.000,0.026,1958,1926,3091,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10594,-0.66,-175.2,965.4,-6.9,480,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1926,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10892,-0.67,-175.2,987.0,-7.2,490,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1926,3090,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10949,begin apogee
$GC,10954,-0.17,0.0,991.6,-7.4,492,11103,0.43,0.00,140.77,1.430,6,0.117,0.000,2101,1928,2409,0,0,0,0,0,0,25.66,28.83,23.14
$STATE,11104,end apogee,CONTROL_FINISHED_OK
$STATE,11104,begin climb
$GC,11106,0.56,175.2,998.4,0.0,497,11277,0.68,2.47,157.20,1.379,4,0.068,0.037,2353,513,1693,0,0,0,0,0,0,24.35,23.54,22.46
$GC,11285,0.55,247.4,991.4,6.3,503,11358,0.00,2.25,66.35,1.340,6,0.000,0.024,2352,1904,1401,0,0,0,0,0,0,28.83,23.98,22.47
$GC,11676,0.54,247.4,948.1,11.0,516,11682,0.00,2.12,0.00,0.000,4,0.000,0.038,2353,3297,1391,0,0,0,0,0,0,28.83,25.55,28.83
$GC,11839,0.53,247.4,929.7,12.1,521,11845,0.12,2.10,0.00,0.000,6,0.180,0.028,2332,1893,1389,0,0,0,0,0,0,25.56,25.89,28.83
$GC,12163,0.53,247.4,898.3,9.2,532,12168,0.00,2.15,0.00,0.000,4,0.000,0.037,2332,3293,1388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12215,0.53,247.4,895.0,9.2,533,12220,0.00,2.05,0.00,0.000,6,0.000,0.028,2340,1893,1388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12528,0.53,247.4,861.6,10.3,544,12533,0.00,2.12,0.00,0.000,4,0.000,0.037,2340,3289,1387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12585,0.53,247.4,857.9,10.6,545,12593,0.00,2.05,0.00,0.000,6,0.000,0.028,2347,1893,1387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12892,0.52,247.4,819.2,12.0,556,12897,0.00,2.12,0.00,0.000,4,0.000,0.037,2347,3296,1387,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12970,0.51,247.4,810.9,12.4,558,12975,0.00,2.03,0.00,0.000,6,0.000,0.028,2357,1903,1387,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13290,0.51,247.4,769.7,12.0,569,13296,0.12,2.12,0.00,0.000,4,0.170,0.035,2315,3299,1386,0,0,0,0,0,0,26.08,26.20,28.83
$GC,13343,0.50,247.4,765.8,11.8,570,13348,0.00,2.05,0.00,0.000,6,0.000,0.028,2327,1889,1385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13657,0.50,247.4,735.0,9.0,581,13662,0.00,2.12,0.00,0.000,4,0.000,0.036,2326,3294,1386,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13722,0.50,247.4,728.5,9.5,583,13728,0.00,2.03,0.00,0.000,6,0.000,0.029,2334,1898,1385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,14052,0.50,247.4,696.5,10.2,594,14057,0.00,2.12,0.00,0.000,4,0.000,0.037,2333,3300,1385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14094,0.50,247.4,692.7,10.4,595,14099,0.00,2.05,0.00,0.000,6,0.000,0.028,2342,1890,1385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,14418,0.50,247.4,657.8,10.2,606,14423,0.00,2.12,0.00,0.000,4,0.000,0.037,2342,3298,1385,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,21143,end climb,SURFACE_DEPTH_REACHED
$STATE,21143,begin surface coast
$FINISH,1.0,1.021416
$STATE,21167,end surface coast,CONTROL_FINISHED_OK
$STATE,21167,begin surface
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$IRIDIUM_FIX,1916.08,12426.39,131212,161609
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.79
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3956896
$24V_AH,22.5,32.027
$10V_AH,9.9,23.834
$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,16.325,152.175,544.400,0.000,0.000,0.000,0.000,328.575,3.000,0.000,12.942,3120.616,14928.944,671.782,2672.631,345.496,0.000,2256.235,0.000,2224.293,0.000,27.044,0.000
$DEVICE_MAMPS,240.210,45.135,1429.785,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.525,0.000,0.000,0.000
$MEM,328952
$DATA_FILE_SIZE,36716,989
$CAP_FILE_SIZE,232440,0
$CFSIZE,260034560,235417600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,261.1,1
$GPS,141212,050124,1916.333,12429.567,41,1.2,41,-2.3