version: 66.11
glider: 129
mission: 4
dive: 166
start: 12 14 112 5 10 14
data:
$ID,129
$MISSION,4
$DIVE,166
$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,-2856.5142
$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,70
$R_STBD_OVSHOOT,81
$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
$GPS1,141212,050124,1916.333,12429.567,41,1.2,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-59.7
$GPS2,141212,050949,1916.286,12429.560,10,1.8,10,-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,171.8,160090,-14.6,-8.684,-17.90
$D_GRID,5381
$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,19,-0.56,-175.2,0.0,0.0,0,81,0.00,0.00,-59.72,0.000,2,0.000,0.000,55,1921,1883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.56,-175.2,3.1,-3.8,10,133,7.78,2.05,-32.97,0.000,4,0.243,0.044,1970,528,3123,0,0,0,0,0,0,25.26,25.97,26.35
$GC,279,-0.51,-175.2,38.6,-22.4,40,285,0.12,2.00,0.00,0.000,6,0.163,0.024,1994,1912,3124,0,0,0,0,0,0,25.83,26.14,28.83
$GC,593,-0.49,-175.2,95.4,-13.1,58,599,0.00,2.08,0.00,0.000,4,0.000,0.035,1986,3314,3124,0,0,0,0,0,0,28.83,26.19,28.83
$GC,666,-0.49,-175.2,102.2,-11.1,61,671,0.00,1.98,0.00,0.000,6,0.000,0.022,1985,1904,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,979,-0.48,-175.2,143.3,-12.8,77,984,0.00,1.98,0.00,0.000,4,0.000,0.031,1986,538,3125,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1092,-0.46,-175.2,156.4,-12.4,82,1098,0.12,1.98,0.00,0.000,6,0.143,0.022,2011,1941,3124,0,0,0,0,0,0,26.11,26.39,28.83
$GC,1405,-0.46,-175.2,185.8,-8.8,98,1410,0.00,2.05,0.00,0.000,4,0.000,0.031,2016,541,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1488,-0.46,-175.2,193.8,-9.8,102,1493,0.00,2.00,0.00,0.000,6,0.000,0.022,2003,1926,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1811,-0.46,-175.2,227.5,-10.0,118,1816,0.00,2.03,0.00,0.000,4,0.000,0.031,2003,543,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1897,-0.46,-175.2,236.3,-10.7,122,1902,0.00,1.98,0.00,0.000,6,0.000,0.023,1997,1930,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2214,-0.46,-175.2,269.0,-10.5,138,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1931,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2515,-0.46,-175.2,298.4,-8.7,153,2521,0.00,2.03,0.00,0.000,4,0.000,0.031,1997,542,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2570,-0.46,-175.2,302.3,-8.6,155,2575,0.00,1.98,0.00,0.000,6,0.000,0.023,1989,1932,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2882,-0.46,-175.2,330.4,-9.2,171,2887,0.00,2.05,0.00,0.000,4,0.000,0.031,1989,536,3122,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2965,-0.46,-175.2,339.1,-10.6,175,2970,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1927,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3289,-0.47,-175.2,366.3,-7.4,191,3294,0.00,2.05,0.00,0.000,4,0.000,0.037,1988,3312,3121,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3354,-0.48,-175.2,370.8,-7.1,194,3359,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1920,3121,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3677,-0.49,-175.2,399.5,-9.2,210,3683,0.00,2.00,0.00,0.000,4,0.000,0.032,1988,542,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3787,-0.49,-175.2,410.0,-10.0,215,3792,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1930,3120,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4105,-0.50,-175.2,437.0,-8.3,231,4110,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,535,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4138,-0.51,-175.2,439.1,-8.4,232,4143,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1922,3121,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4451,-0.52,-175.2,463.5,-7.0,248,4456,0.00,2.05,0.00,0.000,4,0.000,0.036,1988,3317,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4483,-0.53,-175.2,465.0,-6.9,249,4490,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1919,3117,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4798,-0.54,-175.2,487.9,-7.8,265,4804,0.00,2.03,-0.08,0.000,4,0.000,0.045,1988,536,3146,0,0,0,0,0,0,28.83,26.34,25.48
$GC,4907,-0.56,-175.2,496.9,-8.8,270,4912,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1940,3146,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5225,-0.57,-175.2,521.1,-7.2,286,5231,0.00,2.05,0.00,0.000,4,0.000,0.037,1988,3309,3145,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5274,-0.59,-175.2,524.0,-6.8,288,5279,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1928,3143,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5592,-0.61,-175.2,545.8,-6.7,304,5597,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,531,3143,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5717,-0.62,-175.2,555.8,-8.0,310,5722,0.00,2.03,0.00,0.000,6,0.000,0.024,1988,1920,3144,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6041,-0.63,-175.2,579.2,-7.3,326,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1920,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6345,-0.65,-175.2,600.6,-7.1,341,6350,0.12,2.05,0.00,0.000,4,0.103,0.036,1914,3311,3140,0,0,0,0,0,0,26.46,26.26,28.83
$GC,6389,-0.66,-175.2,604.2,-8.0,342,6395,0.12,2.00,0.00,0.000,6,0.148,0.025,1948,1914,3140,0,0,0,0,0,0,26.08,26.41,28.83
$GC,6714,-0.66,-175.2,636.6,-9.5,353,6719,0.00,2.03,0.00,0.000,4,0.000,0.034,1948,535,3138,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6877,-0.66,-175.2,652.3,-10.3,358,6882,0.00,1.98,0.00,0.000,6,0.000,0.024,1940,1924,3138,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7201,-0.66,-175.2,684.1,-9.4,369,7206,0.00,2.08,0.00,0.000,4,0.000,0.037,1929,3321,3136,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7258,-0.66,-175.2,687.3,-9.3,370,7266,0.00,2.03,0.00,0.000,6,0.000,0.026,1929,1931,3135,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7567,-0.66,-175.2,718.4,-9.1,381,7572,0.00,2.05,0.00,0.000,4,0.000,0.034,1929,535,3133,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7669,-0.65,-175.2,727.5,-9.4,384,7675,0.12,2.00,0.00,0.000,6,0.155,0.025,1954,1934,3133,0,0,0,0,0,0,26.03,26.37,28.83
$GC,7997,-0.65,-175.2,751.2,-6.7,395,8002,0.00,2.03,0.00,0.000,4,0.000,0.039,1945,3310,3131,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8034,-0.66,-175.2,753.7,-6.7,396,8040,0.00,1.98,0.00,0.000,6,0.000,0.025,1945,1922,3131,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8363,-0.66,-175.2,780.4,-8.6,407,8369,0.00,2.05,0.00,0.000,4,0.000,0.035,1945,533,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8500,-0.66,-175.2,792.2,-9.6,411,8505,0.00,2.00,0.00,0.000,6,0.000,0.025,1935,1930,3129,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8819,-0.66,-175.2,823.2,-9.5,422,8824,0.00,2.03,0.00,0.000,4,0.000,0.038,1925,3307,3128,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8853,-0.66,-175.2,826.6,-9.7,423,8858,0.00,1.98,0.00,0.000,6,0.000,0.025,1925,1926,3128,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9186,-0.65,-175.2,861.3,-10.3,434,9191,0.00,2.05,0.00,0.000,4,0.000,0.035,1925,535,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9283,-0.65,-175.2,871.2,-10.5,437,9290,0.12,2.00,0.00,0.000,6,0.158,0.026,1950,1928,3127,0,0,0,0,0,0,25.98,26.34,28.83
$GC,9614,-0.66,-175.2,896.6,-7.0,448,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1928,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9915,-0.66,-175.2,918.4,-7.4,458,9920,0.00,2.05,0.00,0.000,4,0.000,0.039,1939,3310,3124,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9958,-0.67,-175.2,921.0,-7.4,459,9963,0.00,1.98,0.00,0.000,6,0.000,0.026,1941,1929,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10282,-0.67,-175.2,946.7,-7.5,470,10287,0.00,2.08,0.00,0.000,4,0.000,0.035,1941,531,3123,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10392,-0.67,-175.2,955.0,-8.3,473,10398,0.00,2.05,0.00,0.000,6,0.000,0.027,1931,1938,3123,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10713,-0.67,-175.2,982.8,-8.5,484,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1938,3121,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10799,begin apogee
$GC,10803,-0.17,0.0,990.3,-8.3,487,10957,0.50,0.00,146.52,1.424,6,0.121,0.000,2097,1938,2411,0,0,0,0,0,0,25.56,28.83,23.12
$STATE,10958,end apogee,CONTROL_FINISHED_OK
$STATE,10958,begin climb
$GC,10960,0.56,175.2,996.4,0.0,492,11132,0.70,2.47,157.45,1.371,4,0.068,0.037,2355,520,1693,0,0,0,0,0,0,24.31,23.56,22.48
$GC,11145,0.55,247.3,989.8,6.3,498,11219,0.00,2.20,65.72,1.336,6,0.000,0.024,2355,1904,1400,0,0,0,0,0,0,28.83,24.07,22.48
$GC,11527,0.54,247.3,946.0,11.4,511,11532,0.00,2.15,0.00,0.000,4,0.000,0.038,2355,3289,1391,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11645,0.53,247.3,934.4,12.1,514,11654,0.12,2.08,0.00,0.000,6,0.182,0.027,2334,1894,1390,0,0,0,0,0,0,25.51,25.85,28.83
$GC,11951,0.53,247.3,900.4,10.2,525,11957,0.00,2.12,0.00,0.000,4,0.000,0.037,2334,3290,1389,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12008,0.53,247.3,896.7,10.3,526,12015,0.00,2.03,0.00,0.000,6,0.000,0.028,2342,1901,1389,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12315,0.53,247.3,858.3,11.7,537,12320,0.00,2.10,0.00,0.000,4,0.000,0.036,2342,3292,1388,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12357,0.52,247.3,853.9,12.0,538,12363,0.00,2.05,0.00,0.000,6,0.000,0.028,2350,1894,1388,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12681,0.52,247.3,812.3,12.6,549,12686,0.00,2.10,0.00,0.000,4,0.000,0.037,2350,3291,1388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12748,0.51,247.3,804.2,12.6,551,12755,0.12,2.05,0.00,0.000,6,0.181,0.028,2329,1896,1387,0,0,0,0,0,0,25.89,26.29,28.83
$GC,13078,0.51,247.3,771.3,9.2,562,13083,0.00,2.10,0.00,0.000,4,0.000,0.037,2329,3292,1387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13105,0.51,247.3,771.3,9.2,562,13113,0.00,2.03,0.00,0.000,6,0.000,0.028,2335,1899,1387,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,21285,end climb,SURFACE_DEPTH_REACHED
$STATE,21285,begin surface coast
$FINISH,0.9,1.023050
$STATE,21307,end surface coast,CONTROL_FINISHED_OK
$STATE,21307,begin surface
$SM_CCo,21382,0.00,0.000,0,0,753,405.97
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$TT8_MAMPS,0.024717,0.024717
$HUMID,48.74
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3956512
$24V_AH,22.5,32.215
$10V_AH,10.3,23.976
$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
$DEVICE_SECS,16.575,200.000,507.100,0.000,0.000,0.000,0.000,328.750,3.000,0.000,11.339,3358.964,14546.084,697.118,2898.017,375.342,0.000,2416.842,0.000,2453.317,0.000,26.465,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21327.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.437,0.000,0.000,0.000
$MEM,329060
$DATA_FILE_SIZE,36689,984
$CAP_FILE_SIZE,251622,0
$CFSIZE,260034560,235290624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,172.1,1
$GPS,141212,110754,1912.597,12430.841,41,1.5,41,-2.3