version: 66.11
glider: 129
mission: 4
dive: 205
start: 12 23 112 22 0 53
data:
$ID,129
$MISSION,4
$DIVE,205
$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,-2909.3374
$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,71
$R_STBD_OVSHOOT,90
$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
$GPS1,231212,215230,1751.607,12428.186,42,1.1,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.7
$GPS2,231212,220025,1751.531,12428.249,14,1.3,14,-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,270.6,243112,-14.2,-8.462,-17.62
$D_GRID,4189
$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,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-64.72,0.000,2,0.000,0.000,58,1923,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.4,-5.2,11,139,7.82,2.08,-32.58,0.000,4,0.243,0.046,1967,3300,3126,0,0,0,0,0,0,25.34,26.12,26.48
$GC,250,-0.47,-175.2,38.7,-26.7,35,258,0.15,1.98,0.00,0.000,6,0.165,0.022,2006,1905,3126,0,0,0,0,0,0,25.83,26.27,28.83
$GC,557,-0.41,-175.2,129.6,-23.7,53,562,0.00,1.98,0.00,0.000,4,0.000,0.031,2006,535,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,719,-0.36,-175.2,166.7,-22.2,61,725,0.15,1.95,0.00,0.000,6,0.151,0.022,2040,1912,3127,0,0,0,0,0,0,26.03,26.40,28.83
$GC,1043,-0.35,-175.2,213.3,-12.3,77,1049,0.00,2.05,0.00,0.000,4,0.000,0.034,2032,3313,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1067,-0.33,-175.2,215.9,-12.1,78,1073,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1919,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1391,-0.32,-175.2,255.5,-12.1,94,1397,0.00,1.98,0.00,0.000,4,0.000,0.030,2033,542,3127,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1483,-0.32,-175.2,265.8,-12.5,98,1489,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1938,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1796,-0.32,-175.2,302.6,-11.1,114,1801,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,543,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1833,-0.32,-175.2,305.2,-11.0,115,1840,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1924,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2138,-0.32,-175.2,335.3,-8.9,131,2143,0.00,2.00,0.00,0.000,4,0.000,0.029,2033,549,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2196,-0.32,-175.2,339.5,-9.3,133,2202,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1927,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2501,-0.32,-175.2,370.3,-9.3,149,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1927,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2803,-0.32,-175.2,394.8,-7.7,164,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1927,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3103,-0.32,-175.2,418.0,-8.0,179,3108,0.00,2.03,0.00,0.000,4,0.000,0.036,2032,3310,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3120,-0.32,-175.2,418.0,-8.0,179,3127,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1929,3122,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3426,-0.33,-175.2,441.9,-6.8,195,3432,0.00,2.03,0.00,0.000,4,0.000,0.031,2032,545,3120,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3540,-0.33,-175.2,449.7,-7.6,200,3546,0.00,1.98,0.00,0.000,6,0.000,0.022,2032,1937,3119,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3854,-0.34,-175.2,471.2,-6.1,216,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1937,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4156,-0.35,-175.2,489.1,-5.8,231,4162,0.00,2.05,-0.08,0.000,4,0.000,0.044,2033,543,3144,0,0,0,0,0,0,28.83,26.35,25.49
$GC,4209,-0.37,-175.2,492.2,-6.3,233,4215,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1931,3145,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4523,-0.38,-175.2,513.0,-7.0,249,4528,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,537,3144,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4555,-0.39,-175.2,514.8,-7.1,250,4561,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1925,3143,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4869,-0.41,-175.2,537.0,-6.9,266,4874,0.00,2.05,0.00,0.000,4,0.000,0.037,2033,3311,3143,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4896,-0.43,-175.2,538.5,-6.7,267,4901,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1924,3142,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5214,-0.44,-175.2,558.3,-5.6,283,5219,0.00,2.03,0.00,0.000,4,0.000,0.033,2033,532,3140,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5279,-0.46,-175.2,562.2,-6.1,286,5284,0.00,2.00,0.00,0.000,6,0.000,0.024,2033,1934,3140,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5602,-0.47,-175.2,580.6,-5.6,302,5608,0.00,2.00,0.00,0.000,4,0.000,0.037,2033,3303,3138,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5636,-0.49,-175.2,581.8,-5.6,303,5641,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1917,3138,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5949,-0.51,-175.2,599.8,-5.5,319,5955,0.12,2.03,0.00,0.000,4,0.103,0.031,1968,532,3135,0,0,0,0,0,0,26.46,26.31,28.83
$GC,6022,-0.51,-175.2,605.9,-8.7,322,6028,0.12,2.00,0.00,0.000,6,0.156,0.024,1993,1925,3133,0,0,0,0,0,0,26.06,26.40,28.83
$GC,6347,-0.51,-175.2,633.9,-8.3,333,6352,0.00,2.05,0.00,0.000,4,0.000,0.037,1984,3309,3133,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6375,-0.51,-175.2,633.9,-8.3,333,6382,0.00,1.98,0.00,0.000,6,0.000,0.023,1984,1922,3132,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6679,-0.51,-175.2,666.8,-10.2,344,6685,0.00,2.05,0.00,0.000,4,0.000,0.034,1985,513,3131,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6792,-0.51,-175.2,676.8,-10.7,347,6798,0.00,2.05,0.00,0.000,6,0.000,0.024,1975,1935,3130,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7107,-0.51,-175.2,710.4,-9.8,358,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1935,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7405,-0.51,-175.2,738.2,-9.0,368,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1935,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7707,-0.51,-175.2,763.5,-7.9,378,7712,0.00,2.08,0.00,0.000,4,0.000,0.034,1975,541,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7764,-0.51,-175.2,766.5,-8.0,379,7771,0.00,2.00,0.00,0.000,6,0.000,0.024,1966,1926,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8070,-0.51,-175.2,793.3,-7.9,390,8075,0.00,2.05,0.00,0.000,4,0.000,0.033,1966,543,3125,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8098,-0.51,-175.2,793.3,-7.9,390,8106,0.12,1.98,0.00,0.000,6,0.159,0.024,1990,1929,3124,0,0,0,0,0,0,26.00,26.34,28.83
$GC,8406,-0.51,-175.2,815.0,-6.6,401,8411,0.00,2.08,0.00,0.000,4,0.000,0.033,1991,534,3123,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8440,-0.51,-175.2,817.6,-6.8,402,8446,0.00,2.05,0.00,0.000,6,0.000,0.024,1983,1929,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8775,-0.51,-175.2,842.7,-7.7,413,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1929,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9074,-0.51,-175.2,867.1,-8.4,423,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1928,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9374,-0.51,-175.2,890.9,-7.7,433,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1929,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9674,-0.51,-175.2,912.1,-6.8,443,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1929,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9974,-0.51,-175.2,932.9,-7.0,453,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10273,-0.51,-175.2,954.5,-7.2,463,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1928,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10574,-0.51,-175.2,976.3,-7.3,473,10579,0.00,2.08,0.00,0.000,4,0.000,0.034,1983,546,3116,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10641,-0.51,-175.2,981.6,-7.7,475,10646,0.00,2.00,0.00,0.000,6,0.000,0.025,1974,1924,3116,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,10756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10756,begin apogee
$GC,10761,-0.17,0.0,991.1,-7.9,479,10914,0.38,0.00,147.25,1.405,6,0.125,0.000,2098,1925,2409,0,0,0,0,0,0,25.65,28.83,22.89
$STATE,10916,end apogee,CONTROL_FINISHED_OK
$STATE,10916,begin climb
$GC,10918,0.54,175.2,996.5,0.0,484,11091,0.70,2.42,158.70,1.356,4,0.093,0.037,2330,529,1694,0,0,0,0,0,0,24.17,23.57,22.30
$GC,11118,0.58,265.1,989.9,5.5,490,11208,0.00,2.17,82.85,1.330,6,0.000,0.022,2331,1900,1328,0,0,0,0,0,0,28.83,24.30,22.27
$GC,11516,0.61,287.6,957.2,7.7,504,11546,0.00,2.22,19.92,1.283,4,0.000,0.037,2330,3295,1235,0,0,0,0,0,0,28.83,25.31,23.96
$GC,11595,0.63,298.7,951.8,8.1,506,11612,0.00,2.08,11.27,1.197,6,0.000,0.025,2330,1905,1191,0,0,0,0,0,0,28.83,25.70,23.99
$GC,11911,0.65,305.1,924.7,8.3,517,11920,0.12,0.00,6.65,1.084,6,0.107,0.000,2382,1904,1166,0,0,0,0,0,0,26.11,28.83,24.32
$GC,12211,0.65,305.1,889.4,12.1,527,12216,0.00,2.10,0.00,0.000,4,0.000,0.034,2378,3294,1163,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12267,0.65,305.1,885.0,12.2,528,12275,0.00,2.05,0.00,0.000,6,0.000,0.025,2386,1892,1163,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12574,0.65,305.1,844.6,12.0,539,12579,0.00,2.12,0.00,0.000,4,0.000,0.034,2385,3304,1162,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12610,0.65,305.1,840.6,12.0,540,12615,0.00,2.05,0.00,0.000,6,0.000,0.027,2386,1899,1161,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12939,0.65,305.1,800.8,12.2,551,12944,0.00,2.10,0.00,0.000,4,0.000,0.034,2386,3293,1161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12967,0.65,305.1,800.8,12.2,551,12973,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1891,1160,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13272,0.65,305.1,760.9,11.5,562,13278,0.00,2.12,0.00,0.000,4,0.000,0.034,2386,3300,1160,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,21294,end climb,SURFACE_DEPTH_REACHED
$STATE,21294,begin surface coast
$FINISH,0.9,1.021091
$STATE,21310,end surface coast,CONTROL_FINISHED_OK
$STATE,21310,begin surface
$SM_CCo,21385,0.00,0.000,0,0,211,539.17
$SM_GC,1.85,6.45,0.00,0.00,0.048,0.000,0.000,69,1906,211,-6.45,-0.54,539.17,0,0,0,0,0,0,26.22,28.83,28.83
$IRIDIUM_FIX,1745.10,12430.39,231212,161646
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3941664
$24V_AH,22.3,40.312
$10V_AH,10.1,29.188
$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,16.675,179.850,628.750,0.000,0.000,0.000,0.000,293.900,0.000,0.000,15.253,3057.685,15026.188,781.428,2609.883,377.852,0.000,2366.286,0.000,2214.213,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,45.900,1405.305,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21327.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,36656,963
$CAP_FILE_SIZE,233984,0
$CFSIZE,260034560,231198720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 43.2,1
$GPS,241212,035836,1751.944,12425.863,40,1.3,40,-2.0