version: 66.11
glider: 129
mission: 4
dive: 190
start: 12 20 112 10 29 46
data:
$ID,129
$MISSION,4
$DIVE,190
$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,-2886.8069
$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,77
$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
$GPS1,201212,102023,1758.959,12438.877,39,1.7,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-58.3
$GPS2,201212,102919,1758.946,12439.048,12,1.3,12,-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,208.0,18039,-13.9,-8.250,-17.36
$D_GRID,4415
$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,-65.28,0.000,2,0.000,0.000,50,1882,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.53,-175.2,3.4,-5.5,11,134,7.82,2.08,-30.45,0.000,4,0.241,0.045,1979,520,3126,0,0,0,0,0,0,25.36,26.07,26.44
$GC,361,-0.45,-175.2,80.6,-33.1,40,368,0.15,2.00,0.00,0.000,6,0.177,0.023,2008,1915,3125,0,0,0,0,0,0,25.82,26.28,28.83
$GC,667,-0.40,-175.2,165.4,-21.1,56,673,0.00,2.03,0.00,0.000,4,0.000,0.031,2012,519,3126,0,0,0,0,0,0,28.83,26.31,28.83
$GC,710,-0.35,-175.2,173.7,-19.6,58,716,0.17,2.03,0.00,0.000,6,0.148,0.021,2050,1945,3126,0,0,0,0,0,0,25.97,26.39,28.83
$GC,1035,-0.34,-175.2,214.5,-11.6,74,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1945,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1335,-0.33,-175.2,246.4,-11.0,89,1341,0.00,2.05,0.00,0.000,4,0.000,0.029,2050,519,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1368,-0.33,-175.2,249.2,-11.0,90,1373,0.00,2.00,0.00,0.000,6,0.000,0.021,2046,1935,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1680,-0.33,-175.2,281.3,-10.1,106,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1935,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1982,-0.33,-175.2,311.1,-9.9,121,1987,0.00,2.03,0.00,0.000,4,0.000,0.030,2046,531,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2045,-0.34,-175.2,317.7,-10.4,124,2051,0.00,1.98,0.00,0.000,6,0.000,0.021,2038,1934,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2368,-0.34,-175.2,345.7,-8.3,140,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2669,-0.34,-175.2,371.3,-8.5,155,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1935,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.35,-175.2,396.6,-8.4,170,2975,0.00,2.05,0.00,0.000,4,0.000,0.031,2038,526,3121,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3036,-0.36,-175.2,402.2,-8.5,173,3043,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1933,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3355,-0.37,-175.2,428.3,-8.5,189,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1933,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3657,-0.37,-175.2,453.8,-8.7,204,3662,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,526,3117,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3704,-0.38,-175.2,458.0,-9.1,206,3710,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1940,3116,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4023,-0.39,-175.2,484.2,-7.8,222,4029,0.00,2.08,-0.08,0.000,4,0.000,0.044,2033,530,3144,0,0,0,0,0,0,28.83,26.35,25.51
$GC,4057,-0.40,-175.2,486.3,-8.0,223,4062,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1934,3143,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4371,-0.41,-175.2,509.4,-6.9,239,4376,0.00,2.03,0.00,0.000,4,0.000,0.037,2033,3303,3142,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4423,-0.43,-175.2,512.2,-6.8,241,4429,0.00,1.95,0.00,0.000,6,0.000,0.023,2033,1910,3142,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4737,-0.44,-175.2,535.0,-7.2,257,4742,0.00,2.00,0.00,0.000,4,0.000,0.032,2033,535,3142,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4861,-0.45,-175.2,545.2,-8.3,263,4866,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1930,3141,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5184,-0.47,-175.2,569.5,-7.6,279,5190,0.00,2.03,0.00,0.000,4,0.000,0.037,2033,3304,3139,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5213,-0.48,-175.2,571.2,-7.7,280,5218,0.00,1.98,0.00,0.000,6,0.000,0.024,2033,1920,3138,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5531,-0.50,-175.2,597.0,-8.0,296,5537,0.10,2.00,0.00,0.000,4,0.117,0.031,1989,539,3137,0,0,0,0,0,0,26.51,26.32,28.83
$GC,5644,-0.50,-175.2,607.1,-10.8,300,5650,0.00,1.98,0.00,0.000,6,0.000,0.023,1984,1924,3136,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5959,-0.49,-175.2,643.4,-10.6,311,5964,0.00,2.05,0.00,0.000,4,0.000,0.033,1979,529,3133,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6046,-0.48,-175.2,650.6,-10.8,313,6053,0.12,2.03,0.00,0.000,6,0.157,0.024,2004,1935,3133,0,0,0,0,0,0,26.06,26.40,28.83
$GC,6353,-0.48,-175.2,678.3,-8.0,324,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1935,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6652,-0.48,-175.2,700.3,-7.2,334,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1936,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6953,-0.49,-175.2,722.9,-7.7,344,6958,0.00,2.08,0.00,0.000,4,0.000,0.034,2004,541,3128,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6985,-0.49,-175.2,725.7,-7.8,345,6992,0.00,2.00,0.00,0.000,6,0.000,0.024,1997,1927,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7321,-0.49,-175.2,753.3,-8.2,356,7327,0.00,2.03,0.00,0.000,4,0.000,0.037,1987,3309,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7349,-0.49,-175.2,753.3,-8.2,356,7355,0.00,1.98,0.00,0.000,6,0.000,0.024,1987,1913,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7654,-0.49,-175.2,782.7,-8.7,367,7660,0.00,2.03,0.00,0.000,4,0.000,0.035,1987,536,3125,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7797,-0.48,-175.2,794.5,-9.6,371,7803,0.00,2.00,0.00,0.000,6,0.000,0.025,1979,1923,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8112,-0.47,-175.2,825.4,-9.5,382,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1923,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,-0.47,-175.2,852.3,-8.7,392,8416,0.00,2.05,0.00,0.000,4,0.000,0.034,1978,544,3122,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8443,-0.46,-175.2,855.3,-8.8,393,8450,0.15,2.00,0.00,0.000,6,0.151,0.024,2011,1924,3121,0,0,0,0,0,0,25.94,26.36,28.83
$GC,8779,-0.48,-175.2,876.9,-6.2,404,8785,0.00,2.08,0.00,0.000,4,0.000,0.038,2003,3314,3120,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8808,-0.49,-175.2,876.9,-6.2,404,8815,0.00,1.98,0.00,0.000,6,0.000,0.024,2002,1931,3120,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9115,-0.50,-175.2,897.5,-6.2,415,9121,0.00,2.05,0.00,0.000,4,0.000,0.034,2003,531,3119,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9258,-0.50,-175.2,906.7,-7.3,419,9264,0.00,2.03,0.00,0.000,6,0.000,0.025,1994,1928,3119,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9573,-0.50,-175.2,928.6,-6.6,430,9579,0.00,2.10,0.00,0.000,4,0.000,0.034,1993,524,3117,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9636,-0.50,-175.2,933.5,-7.1,432,9643,0.00,2.03,0.00,0.000,6,0.000,0.025,1985,1928,3117,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9972,-0.50,-175.2,957.8,-7.1,443,9978,0.00,2.10,0.00,0.000,4,0.000,0.035,1985,531,3116,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10015,-0.50,-175.2,960.4,-7.1,444,10021,0.00,2.03,0.00,0.000,6,0.000,0.025,1975,1925,3116,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10340,-0.50,-175.2,984.8,-7.3,455,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1924,3115,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10427,begin apogee
$GC,10431,-0.17,0.0,991.8,-7.6,458,10584,0.38,0.00,146.15,1.414,6,0.125,0.000,2097,1924,2409,0,0,0,0,0,0,25.65,28.83,23.02
$STATE,10586,end apogee,CONTROL_FINISHED_OK
$STATE,10586,begin climb
$GC,10587,0.53,175.2,997.2,0.0,463,10760,0.70,2.47,158.60,1.359,4,0.095,0.038,2337,511,1692,0,0,0,0,0,0,24.25,23.58,22.39
$GC,10778,0.57,275.4,991.2,5.1,469,10877,0.00,2.17,91.15,1.334,6,0.000,0.023,2337,1887,1288,0,0,0,0,0,0,28.83,24.18,22.37
$GC,11185,0.59,306.3,959.8,7.3,483,11220,0.00,2.25,27.73,1.312,4,0.000,0.038,2338,3292,1160,0,0,0,0,0,0,28.83,25.11,23.87
$GC,11322,0.60,306.3,949.5,8.3,487,11327,0.00,2.10,0.00,0.000,6,0.000,0.027,2347,1893,1155,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11641,0.62,314.7,923.1,8.0,498,11651,0.00,0.00,8.02,1.147,6,0.000,0.000,2347,1893,1126,0,0,0,0,0,0,28.83,28.83,24.49
$GC,11940,0.63,314.7,899.2,8.3,508,11945,0.00,2.12,0.00,0.000,4,0.000,0.036,2346,3294,1123,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11988,0.65,314.7,896.1,8.7,509,11993,0.00,2.05,0.00,0.000,6,0.000,0.027,2355,1897,1122,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12307,0.66,314.7,865.9,9.1,520,12312,0.00,2.12,0.00,0.000,4,0.000,0.035,2355,3304,1121,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12340,0.67,314.7,862.5,9.1,521,12345,0.00,2.08,0.00,0.000,6,0.000,0.028,2367,1893,1121,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12675,0.68,314.7,829.6,9.8,532,12680,0.00,2.10,0.00,0.000,4,0.000,0.035,2363,3301,1121,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12708,0.68,314.7,826.1,9.8,533,12713,0.00,2.08,0.00,0.000,6,0.000,0.027,2372,1887,1121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13042,0.68,314.7,793.0,9.9,544,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1889,1121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13341,0.69,314.7,761.8,10.6,554,13347,0.00,2.10,0.00,0.000,4,0.000,0.036,2372,3296,1121,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13378,0.69,314.7,757.8,11.0,555,13384,0.00,2.05,0.00,0.000,6,0.000,0.028,2373,1897,1120,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21347,end climb,SURFACE_DEPTH_REACHED
$STATE,21349,begin surface coast
$FINISH,1.0,1.022031
$STATE,21365,end surface coast,CONTROL_FINISHED_OK
$STATE,21365,begin surface
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$TT8_MAMPS,0.023968,0.023968
$HUMID,45.51
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$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3947424
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$10V_AH,10.0,27.301
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329016
$DATA_FILE_SIZE,36756,967
$CAP_FILE_SIZE,235596,0
$CFSIZE,260034560,232701952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 19.5,1
$GPS,201212,162824,1756.999,12438.385,41,1.3,41,-2.0