version: 66.11
glider: 129
mission: 4
dive: 189
start: 12 20 112 4 19 4
data:
$ID,129
$MISSION,4
$DIVE,189
$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,400
$T_MISSION,430
$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,-2885.5483
$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,72
$R_STBD_OVSHOOT,101
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,201212,041006,1801.012,12439.617,34,1.1,34,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-59.8
$GPS2,201212,041837,1800.971,12439.787,14,1.3,14,-2.0
$SPEED_LIMITS,0.143,0.264
$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,216.3,22002,-13.9,-8.250,-17.36
$D_GRID,4529
$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,-0.53,-175.2,0.0,0.0,0,86,0.00,0.00,-65.62,0.000,2,0.000,0.000,2,1924,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.53,-175.2,3.3,-5.2,11,134,8.07,2.10,-30.25,0.000,4,0.242,0.047,1973,3291,3125,0,0,0,0,0,0,25.22,26.06,26.45
$GC,289,-0.47,-175.2,50.7,-27.5,39,295,0.12,1.95,0.00,0.000,6,0.167,0.023,2004,1915,3126,0,0,0,0,0,0,25.90,26.27,28.83
$GC,612,-0.41,-175.2,138.3,-25.1,55,617,0.00,2.00,0.00,0.000,4,0.000,0.031,2004,531,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,764,-0.36,-175.2,170.3,-20.1,62,771,0.15,1.95,0.00,0.000,6,0.155,0.021,2037,1911,3126,0,0,0,0,0,0,26.02,26.40,28.83
$GC,1079,-0.35,-175.2,214.4,-11.6,78,1085,0.00,2.05,0.00,0.000,4,0.000,0.034,2028,3313,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1123,-0.34,-175.2,219.3,-11.5,80,1129,0.00,1.92,0.00,0.000,6,0.000,0.022,2028,1916,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1446,-0.32,-175.2,258.6,-12.5,96,1452,0.00,1.98,0.00,0.000,4,0.000,0.031,2025,542,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1555,-0.31,-175.2,270.2,-10.8,101,1561,0.15,1.95,0.00,0.000,6,0.138,0.021,2064,1929,3125,0,0,0,0,0,0,26.13,26.46,28.83
$GC,1874,-0.33,-175.2,294.2,-7.0,117,1879,0.00,2.00,0.00,0.000,4,0.000,0.029,2064,549,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1927,-0.34,-175.2,297.5,-7.2,119,1932,0.00,1.95,0.00,0.000,6,0.000,0.021,2057,1935,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2240,-0.35,-175.2,321.6,-7.3,135,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,-0.37,-175.2,342.4,-7.1,150,2548,0.00,2.03,0.00,0.000,4,0.000,0.031,2057,540,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2620,-0.38,-175.2,347.5,-7.7,153,2627,0.00,1.95,0.00,0.000,6,0.000,0.021,2049,1927,3122,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2926,-0.40,-175.2,371.1,-7.2,169,2932,0.00,2.00,0.00,0.000,4,0.000,0.035,2046,3301,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2955,-0.41,-175.2,372.6,-6.8,170,2960,0.00,1.92,0.00,0.000,6,0.000,0.021,2046,1931,3121,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3273,-0.42,-175.2,394.3,-6.5,186,3278,0.00,2.00,0.00,0.000,4,0.000,0.031,2046,545,3119,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3417,-0.44,-175.2,404.5,-6.8,193,3422,0.00,1.98,0.00,0.000,6,0.000,0.022,2046,1932,3118,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3740,-0.45,-175.2,423.8,-6.0,209,3746,0.00,2.05,-0.08,0.000,4,0.000,0.043,2045,533,3143,0,0,0,0,0,0,28.83,26.36,25.52
$GC,3784,-0.46,-175.2,426.8,-6.6,211,3790,0.12,2.00,0.00,0.000,6,0.098,0.022,1988,1938,3143,0,0,0,0,0,0,26.31,26.45,28.83
$GC,4108,-0.45,-175.2,458.7,-10.0,227,4113,0.00,2.05,0.00,0.000,4,0.000,0.032,1988,544,3142,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4216,-0.44,-175.2,469.6,-10.6,232,4222,0.12,1.98,0.00,0.000,6,0.154,0.023,2013,1930,3142,0,0,0,0,0,0,26.12,26.44,28.83
$GC,4534,-0.44,-175.2,495.3,-7.6,248,4541,0.00,2.05,0.00,0.000,4,0.000,0.036,2004,3306,3141,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4588,-0.44,-175.2,498.7,-7.6,250,4594,0.00,1.95,0.00,0.000,6,0.000,0.023,2005,1935,3140,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4901,-0.44,-175.2,526.4,-9.2,266,4906,0.00,2.05,0.00,0.000,4,0.000,0.033,2005,529,3138,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5114,-0.44,-175.2,547.3,-10.4,276,5119,0.00,2.00,0.00,0.000,6,0.000,0.023,1995,1931,3138,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5427,-0.43,-175.2,578.9,-9.9,292,5432,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,526,3135,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5499,-0.43,-175.2,585.6,-10.5,295,5505,0.12,2.00,0.00,0.000,6,0.150,0.023,2021,1923,3134,0,0,0,0,0,0,26.10,26.43,28.83
$GC,5823,-0.44,-175.2,611.6,-7.3,309,5829,0.00,2.03,0.00,0.000,4,0.000,0.037,2012,3307,3131,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5878,-0.45,-175.2,614.0,-7.2,310,5883,0.00,1.98,0.00,0.000,6,0.000,0.024,2012,1927,3131,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6193,-0.46,-175.2,637.8,-6.9,321,6199,0.00,2.03,0.00,0.000,4,0.000,0.033,2012,527,3130,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6286,-0.46,-175.2,645.1,-7.5,324,6291,0.00,2.03,0.00,0.000,6,0.000,0.024,2004,1934,3130,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6622,-0.46,-175.2,668.9,-7.2,335,6627,0.00,2.08,0.00,0.000,4,0.000,0.033,2004,531,3128,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6649,-0.46,-175.2,668.9,-7.2,335,6656,0.00,2.00,0.00,0.000,6,0.000,0.024,1995,1928,3128,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6955,-0.46,-175.2,693.6,-7.1,346,6960,0.00,2.05,0.00,0.000,4,0.000,0.032,1995,527,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7033,-0.46,-175.2,698.4,-7.3,348,7038,0.00,2.00,0.00,0.000,6,0.000,0.024,1986,1924,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7353,-0.46,-175.2,724.0,-7.8,359,7359,0.00,2.05,0.00,0.000,4,0.000,0.033,1986,527,3123,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7416,-0.45,-175.2,730.0,-8.7,361,7422,0.12,2.03,0.00,0.000,6,0.156,0.024,2011,1927,3123,0,0,0,0,0,0,26.03,26.38,28.83
$GC,7751,-0.46,-175.2,754.8,-7.7,372,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1927,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,-0.47,-175.2,779.2,-8.4,382,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,1927,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,-0.48,-175.2,804.9,-8.4,392,8356,0.00,2.05,0.00,0.000,4,0.000,0.034,2011,538,3119,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8405,-0.49,-175.2,807.8,-8.5,393,8410,0.00,2.03,0.00,0.000,6,0.000,0.024,2004,1942,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8719,-0.50,-175.2,835.1,-7.8,404,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1943,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9018,-0.51,-175.2,855.7,-6.4,414,9024,0.00,2.08,0.00,0.000,4,0.000,0.033,2004,534,3116,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9066,-0.51,-175.2,858.1,-6.5,415,9071,0.00,2.03,0.00,0.000,6,0.000,0.024,1995,1937,3116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9386,-0.51,-175.2,880.1,-6.3,426,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1937,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.51,-175.2,899.4,-6.6,436,9690,0.00,2.08,0.00,0.000,4,0.000,0.034,1995,533,3114,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9737,-0.51,-175.2,901.9,-6.8,437,9743,0.00,2.03,0.00,0.000,6,0.000,0.025,1986,1933,3114,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10052,-0.51,-175.2,926.7,-7.4,448,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1934,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10350,-0.51,-175.2,948.8,-7.2,458,10355,0.00,2.08,0.00,0.000,4,0.000,0.034,1987,536,3112,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10403,-0.51,-175.2,951.3,-7.3,459,10408,0.00,2.03,0.00,0.000,6,0.000,0.025,1977,1932,3112,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10717,-0.51,-175.2,976.8,-7.7,470,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1933,3111,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10894,begin apogee
$GC,10899,-0.17,0.0,991.3,-8.1,476,11051,0.35,0.00,145.35,1.414,6,0.125,0.000,2093,1932,2408,0,0,0,0,0,0,25.67,28.83,23.03
$STATE,11053,end apogee,CONTROL_FINISHED_OK
$STATE,11053,begin climb
$GC,11055,0.53,175.2,996.6,0.0,481,11218,0.70,0.00,159.07,1.362,6,0.096,0.000,2323,1934,1694,0,0,0,0,0,0,24.27,28.83,22.37
$GC,11496,0.57,212.2,970.9,7.1,496,11535,0.00,2.33,31.67,1.327,4,0.000,0.037,2330,517,1545,0,0,0,0,0,0,28.83,24.99,23.75
$GC,11603,0.60,236.7,963.9,7.5,499,11633,0.00,2.08,22.92,1.298,6,0.000,0.023,2330,1895,1444,0,0,0,0,0,0,28.83,25.58,23.77
$GC,11951,0.61,241.6,935.0,8.1,511,11961,0.00,2.12,4.55,0.929,4,0.000,0.036,2330,3299,1425,0,0,0,0,0,0,28.83,25.94,24.31
$GC,12024,0.62,241.6,929.4,8.5,513,12030,0.00,2.05,0.00,0.000,6,0.000,0.025,2339,1903,1424,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12349,0.63,241.6,901.0,8.4,524,12355,0.00,2.10,0.00,0.000,4,0.000,0.036,2339,3297,1422,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12376,0.64,241.6,901.0,8.4,524,12383,0.00,2.05,0.00,0.000,6,0.000,0.026,2348,1893,1422,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12682,0.64,241.6,869.1,9.6,535,12687,0.00,2.10,0.00,0.000,4,0.000,0.036,2349,3297,1422,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12709,0.64,241.6,869.1,9.6,535,12716,0.00,2.05,0.00,0.000,6,0.000,0.026,2358,1891,1421,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13014,0.64,241.6,834.6,10.4,546,13020,0.00,2.12,0.00,0.000,4,0.000,0.035,2358,3301,1421,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13061,0.64,241.6,831.0,10.5,547,13067,0.00,2.05,0.00,0.000,6,0.000,0.028,2366,1892,1421,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13381,0.64,241.6,795.9,10.3,558,13387,0.00,2.10,0.00,0.000,4,0.000,0.036,2366,3297,1420,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13423,0.64,241.6,791.8,10.5,559,13429,0.00,2.05,0.00,0.000,6,0.000,0.028,2374,1892,1420,0,0,0,0,0,0,28.83,26.35,28.83
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$STATE,21515,end climb,SURFACE_DEPTH_REACHED
$STATE,21515,begin surface coast
$FINISH,0.8,1.016912
$STATE,21527,end surface coast,CONTROL_FINISHED_OK
$STATE,21527,begin surface
$SM_CCo,21602,0.00,0.000,0,0,210,539.66
$SM_GC,1.78,6.38,0.00,0.00,0.041,0.000,0.000,55,1896,210,-6.48,-0.85,539.66,0,0,0,0,0,0,26.26,28.83,28.83
$IRIDIUM_FIX,1756.43,12437.98,191212,212123
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.49
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3947808
$24V_AH,22.4,36.809
$10V_AH,10.1,27.164
$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,17.225,187.750,616.325,0.000,0.000,0.000,0.000,324.525,0.000,0.000,14.866,3201.695,14988.206,791.885,2741.749,376.913,0.000,2443.643,0.000,2314.435,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,47.430,1413.720,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21549.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.826,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,36682,960
$CAP_FILE_SIZE,242682,0
$CFSIZE,260034560,232804352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 32.0,1
$GPS,201212,102023,1758.959,12438.877,39,1.7,39,-2.0