version: 66.11
glider: 129
mission: 4
dive: 204
start: 12 23 112 16 5 40
data:
$ID,129
$MISSION,4
$DIVE,204
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,2
$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,-2907.9844
$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,2
$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,79
$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,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
$GPS1,231212,155754,1752.723,12429.454,40,1.3,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-59.7
$GPS2,231212,160513,1752.664,12429.583,15,1.3,15,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,244.1,244722,-14.2,-8.462,-17.62
$D_GRID,4121
$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,-0.54,-175.2,0.0,0.0,0,81,0.00,0.00,-60.60,0.000,2,0.000,0.000,60,1877,1718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.54,-175.2,3.0,-4.5,10,140,7.93,2.12,-38.03,0.000,4,0.246,0.049,1969,3273,3125,0,0,0,0,0,0,25.30,26.08,26.48
$GC,268,-0.47,-175.2,48.8,-31.7,37,274,0.15,1.92,0.00,0.000,6,0.166,0.023,2008,1919,3126,0,0,0,0,0,0,25.84,26.27,28.83
$GC,582,-0.39,-175.2,143.1,-28.6,53,588,0.00,1.98,0.00,0.000,4,0.000,0.030,2009,544,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,726,-0.34,-175.2,177.0,-22.3,60,733,0.17,1.95,0.00,0.000,6,0.151,0.022,2050,1908,3126,0,0,0,0,0,0,25.98,26.40,28.83
$GC,1051,-0.33,-175.2,222.1,-12.2,76,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1909,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.33,-175.2,253.7,-10.1,91,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1908,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1652,-0.33,-175.2,282.9,-10.3,106,1657,0.00,2.00,0.00,0.000,4,0.000,0.030,2050,534,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1704,-0.33,-175.2,287.3,-10.0,108,1709,0.00,1.98,0.00,0.000,6,0.000,0.022,2045,1931,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2017,-0.33,-175.2,320.3,-9.6,124,2023,0.00,2.03,0.00,0.000,4,0.000,0.034,2035,3314,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2074,-0.33,-175.2,324.3,-9.3,126,2081,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1922,3125,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2380,-0.33,-175.2,350.9,-8.2,142,2385,0.00,2.00,0.00,0.000,4,0.000,0.030,2035,532,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2527,-0.33,-175.2,363.8,-9.2,149,2533,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1927,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2845,-0.33,-175.2,391.0,-8.6,165,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1929,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-0.33,-175.2,414.7,-7.2,180,3153,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,545,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3174,-0.33,-175.2,416.7,-7.4,181,3180,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1916,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3492,-0.33,-175.2,442.7,-8.5,197,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1916,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3794,-0.34,-175.2,467.6,-8.0,212,3799,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,536,3117,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3847,-0.34,-175.2,471.3,-8.0,214,3852,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1928,3116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4160,-0.35,-175.2,494.9,-7.3,230,4167,0.00,2.05,-0.08,0.000,4,0.000,0.048,2033,3311,3143,0,0,0,0,0,0,28.83,26.32,25.53
$GC,4184,-0.37,-175.2,496.6,-7.2,231,4190,0.00,1.95,0.00,0.000,6,0.000,0.022,2034,1931,3144,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4509,-0.38,-175.2,519.2,-7.0,247,4514,0.00,2.03,0.00,0.000,4,0.000,0.031,2032,536,3143,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4614,-0.38,-175.2,527.3,-7.8,252,4619,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1936,3143,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4937,-0.40,-175.2,549.2,-6.5,268,4943,0.00,2.03,0.00,0.000,4,0.000,0.035,2033,3312,3141,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4961,-0.41,-175.2,550.6,-6.3,269,4967,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1926,3141,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5286,-0.43,-175.2,570.8,-6.1,285,5291,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,533,3139,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5352,-0.44,-175.2,575.4,-7.1,288,5358,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1937,3139,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5672,-0.46,-175.2,597.6,-7.2,304,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1938,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5982,-0.48,-175.2,620.4,-7.2,315,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1937,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6282,-0.50,-175.2,641.4,-6.6,325,6287,0.00,2.03,0.00,0.000,4,0.000,0.037,2033,3302,3133,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6315,-0.52,-175.2,643.4,-6.5,326,6321,0.12,1.98,0.00,0.000,6,0.103,0.024,1980,1924,3132,0,0,0,0,0,0,26.28,26.45,28.83
$GC,6650,-0.52,-175.2,673.8,-9.3,337,6655,0.00,2.00,0.00,0.000,4,0.000,0.033,1980,541,3130,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6792,-0.52,-175.2,687.2,-10.8,341,6797,0.00,1.95,0.00,0.000,6,0.000,0.023,1970,1921,3130,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7106,-0.52,-175.2,722.5,-10.3,352,7111,0.00,2.05,0.00,0.000,4,0.000,0.037,1962,3307,3129,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7142,-0.52,-175.2,725.8,-10.3,353,7149,0.12,1.98,0.00,0.000,6,0.145,0.024,1997,1916,3129,0,0,0,0,0,0,26.09,26.41,28.83
$GC,7473,-0.52,-175.2,751.7,-7.3,364,7478,0.00,2.00,0.00,0.000,4,0.000,0.034,1997,548,3127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7580,-0.52,-175.2,759.1,-7.5,367,7586,0.00,1.98,0.00,0.000,6,0.000,0.024,1992,1924,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7901,-0.52,-175.2,783.1,-7.1,378,7906,0.00,2.05,0.00,0.000,4,0.000,0.037,1981,3306,3125,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7927,-0.52,-175.2,783.1,-7.1,378,7934,0.00,1.98,0.00,0.000,6,0.000,0.024,1981,1931,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8234,-0.52,-175.2,807.8,-7.3,389,8240,0.00,2.05,0.00,0.000,4,0.000,0.033,1981,527,3123,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8348,-0.52,-175.2,815.3,-7.9,392,8353,0.00,2.03,0.00,0.000,6,0.000,0.024,1973,1933,3123,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8662,-0.52,-175.2,841.3,-8.0,403,8667,0.00,2.08,0.00,0.000,4,0.000,0.032,1972,532,3122,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8696,-0.52,-175.2,844.3,-8.2,404,8701,0.00,2.03,0.00,0.000,6,0.000,0.024,1964,1928,3121,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9030,-0.52,-175.2,873.6,-8.8,415,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1928,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9329,-0.52,-175.2,901.9,-9.6,425,9334,0.10,2.08,0.00,0.000,4,0.172,0.031,1990,534,3120,0,0,0,0,0,0,26.34,26.25,28.83
$GC,9365,-0.52,-175.2,905.2,-9.7,426,9370,0.00,2.03,0.00,0.000,6,0.000,0.024,1982,1935,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9695,-0.52,-175.2,934.6,-8.8,437,9700,0.00,2.10,0.00,0.000,4,0.000,0.033,1982,530,3118,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9727,-0.52,-175.2,937.8,-8.9,438,9732,0.00,2.05,0.00,0.000,6,0.000,0.024,1972,1938,3117,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10061,-0.52,-175.2,966.6,-8.5,449,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1938,3116,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10358,begin apogee
$GC,10363,-0.17,0.0,992.6,-8.8,459,10516,0.38,0.00,146.77,1.406,6,0.122,0.000,2097,1938,2409,0,0,0,0,0,0,25.73,28.83,22.99
$STATE,10517,end apogee,CONTROL_FINISHED_OK
$STATE,10517,begin climb
$GC,10520,0.54,175.2,999.2,0.0,464,10692,0.70,2.45,158.62,1.357,4,0.093,0.037,2330,526,1692,0,0,0,0,0,0,24.24,23.59,22.34
$GC,10766,0.57,248.0,989.5,6.1,472,10839,0.00,2.12,65.93,1.328,6,0.000,0.022,2330,1893,1397,0,0,0,0,0,0,28.83,24.77,22.32
$GC,11148,0.61,287.2,961.2,7.2,485,11191,0.00,2.25,34.53,1.323,4,0.000,0.036,2336,3292,1237,0,0,0,0,0,0,28.83,25.08,23.82
$GC,11255,0.63,307.8,953.9,7.8,488,11283,0.00,2.10,19.40,1.270,6,0.000,0.025,2330,1892,1153,0,0,0,0,0,0,28.83,25.66,23.88
$GC,11602,0.66,319.0,925.1,8.1,500,11615,0.12,0.00,10.50,1.194,6,0.107,0.000,2378,1892,1108,0,0,0,0,0,0,26.11,28.83,24.39
$GC,11902,0.66,319.0,890.8,11.7,510,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1891,1105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12202,0.66,319.0,855.0,12.1,520,12207,0.00,2.12,0.00,0.000,4,0.000,0.034,2378,3294,1104,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12234,0.66,319.0,850.8,12.2,521,12240,0.00,2.05,0.00,0.000,6,0.000,0.026,2386,1894,1103,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12570,0.66,319.0,811.0,11.6,532,12575,0.00,2.08,0.00,0.000,4,0.000,0.037,2386,503,1103,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12597,0.66,319.0,811.0,11.6,532,12604,0.00,2.05,0.00,0.000,6,0.000,0.023,2386,1931,1103,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12902,0.66,319.0,773.8,10.8,543,12907,0.00,2.00,0.00,0.000,4,0.000,0.035,2385,3284,1102,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12959,0.66,319.0,770.1,11.0,544,12966,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1891,1102,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13265,0.66,319.0,732.9,11.0,555,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1892,1102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13565,0.66,319.0,700.6,10.6,565,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1892,1102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13866,0.66,319.0,669.7,10.0,575,13871,0.00,2.10,0.00,0.000,4,0.000,0.034,2386,3285,1101,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,20644,end climb,SURFACE_DEPTH_REACHED
$STATE,20644,begin surface coast
$FINISH,1.0,1.020290
$STATE,20655,end surface coast,CONTROL_FINISHED_OK
$STATE,20655,begin surface
$SM_CCo,20730,0.00,0.000,0,0,207,540.15
$SM_GC,1.70,6.35,0.00,0.00,0.041,0.000,0.000,64,1919,207,-6.46,-0.14,540.15,0,0,0,0,0,0,26.21,28.83,28.83
$IRIDIUM_FIX,1745.10,12430.39,231212,101057
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.88
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3942048
$24V_AH,22.3,40.093
$10V_AH,10.2,29.055
$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,16.600,166.850,616.525,0.000,0.000,0.000,0.000,263.150,0.000,0.000,16.039,3004.002,14500.185,738.261,2564.826,353.567,0.000,2279.800,0.000,2204.849,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,48.960,1406.070,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20669.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.880,0.000,0.000,0.000
$MEM,329640
$DATA_FILE_SIZE,33347,936
$CAP_FILE_SIZE,225201,0
$CFSIZE,260034560,231317504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 63.3,1
$GPS,231212,215230,1751.607,12428.186,42,1.1,42,-2.0