version: 66.11
glider: 129
mission: 4
dive: 207
start: 12 24 112 10 8 58
data:
$ID,129
$MISSION,4
$DIVE,207
$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,-2912.0427
$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,70
$R_STBD_OVSHOOT,100
$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
$GPS1,241212,100036,1752.190,12423.318,28,1.6,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-53.7
$GPS2,241212,100831,1752.155,12423.342,10,2.0,10,-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,274.8,234557,-14.2,-8.462,-17.62
$D_GRID,4329
$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,-175.2,0.0,0.0,0,91,0.00,0.00,-70.25,0.000,2,0.000,0.000,42,1887,1924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.54,-175.2,3.2,-4.7,12,138,7.97,2.10,-28.50,0.000,4,0.245,0.047,1968,3286,3124,0,0,0,0,0,0,25.25,26.07,26.48
$GC,251,-0.48,-175.2,42.3,-27.6,35,259,0.12,1.95,0.00,0.000,6,0.164,0.023,2000,1913,3124,0,0,0,0,0,0,25.90,26.27,28.83
$GC,557,-0.41,-175.2,140.0,-26.9,52,562,0.00,1.95,0.00,0.000,4,0.000,0.029,2000,538,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,734,-0.36,-175.2,178.0,-19.7,60,742,0.17,1.92,0.00,0.000,6,0.146,0.023,2043,1893,3126,0,0,0,0,0,0,26.00,26.39,28.83
$GC,1040,-0.35,-175.2,219.4,-10.4,76,1046,0.00,1.98,0.00,0.000,4,0.000,0.029,2043,531,3127,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1088,-0.35,-175.2,223.9,-10.2,78,1094,0.00,2.00,0.00,0.000,6,0.000,0.021,2036,1944,3125,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1406,-0.35,-175.2,260.9,-11.1,94,1411,0.00,2.05,0.00,0.000,4,0.000,0.029,2036,531,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1489,-0.35,-175.2,270.9,-12.1,98,1494,0.00,2.00,0.00,0.000,6,0.000,0.022,2029,1950,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1811,-0.35,-175.2,305.6,-9.0,114,1817,0.00,1.98,0.00,0.000,4,0.000,0.034,2019,3318,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1834,-0.35,-175.2,307.6,-8.8,115,1840,0.00,2.00,0.00,0.000,6,0.000,0.021,2018,1877,3123,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2158,-0.35,-175.2,340.0,-10.3,131,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1877,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.35,-175.2,369.7,-9.8,146,2465,0.00,1.90,0.00,0.000,4,0.000,0.030,2018,556,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2537,-0.35,-175.2,376.1,-9.7,149,2545,0.12,1.95,0.00,0.000,6,0.142,0.021,2047,1938,3122,0,0,0,0,0,0,26.17,26.46,28.83
$GC,2843,-0.37,-175.2,400.2,-7.3,165,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1938,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,-0.38,-175.2,420.3,-6.2,180,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1938,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-0.40,-175.2,437.9,-5.6,195,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,1938,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3744,-0.42,-175.2,454.8,-5.6,210,3751,0.00,2.05,-0.08,0.000,4,0.000,0.043,2047,548,3143,0,0,0,0,0,0,28.83,26.35,25.50
$GC,3783,-0.44,-175.2,456.3,-5.6,211,3790,0.00,1.95,0.00,0.000,6,0.000,0.021,2042,1929,3143,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4089,-0.46,-175.2,475.9,-6.3,227,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1929,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4390,-0.47,-175.2,494.7,-6.4,242,4392,0.10,0.00,0.00,0.000,6,0.110,0.000,1995,1930,3142,0,0,0,0,0,0,26.52,28.83,28.83
$GC,4691,-0.47,-175.2,524.4,-9.9,257,4696,0.00,2.03,0.00,0.000,4,0.000,0.031,1998,553,3140,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4754,-0.47,-175.2,531.7,-11.1,260,4759,0.00,1.98,0.00,0.000,6,0.000,0.023,1986,1929,3137,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5076,-0.47,-175.2,567.0,-10.7,276,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1929,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5378,-0.47,-175.2,597.5,-9.9,291,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1928,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,-0.47,-175.2,625.4,-8.8,302,5693,0.00,2.03,0.00,0.000,4,0.000,0.032,1986,548,3133,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5754,-0.47,-175.2,631.3,-9.2,304,5759,0.00,1.98,0.00,0.000,6,0.000,0.023,1978,1927,3133,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6083,-0.47,-175.2,661.4,-9.3,315,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1927,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6381,-0.47,-175.2,688.7,-8.9,325,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1927,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6682,-0.47,-175.2,714.4,-8.4,335,6687,0.00,2.05,0.00,0.000,4,0.000,0.033,1978,553,3127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6715,-0.47,-175.2,717.5,-8.5,336,6721,0.12,2.00,0.00,0.000,6,0.152,0.024,2003,1933,3127,0,0,0,0,0,0,26.06,26.39,28.83
$GC,7049,-0.47,-175.2,739.9,-6.5,347,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1933,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7350,-0.47,-175.2,760.3,-6.8,357,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1934,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7649,-0.47,-175.2,782.6,-7.9,367,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1933,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7950,-0.47,-175.2,807.1,-8.4,377,7955,0.00,2.05,0.00,0.000,4,0.000,0.033,2003,557,3121,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8006,-0.47,-175.2,810.2,-8.6,378,8013,0.00,1.98,0.00,0.000,6,0.000,0.024,1997,1930,3121,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8313,-0.47,-175.2,838.9,-8.6,389,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1930,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8612,-0.47,-175.2,863.9,-7.8,399,8618,0.00,2.03,0.00,0.000,4,0.000,0.033,1997,553,3118,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8646,-0.47,-175.2,866.5,-7.6,400,8652,0.00,2.00,0.00,0.000,6,0.000,0.024,1992,1936,3118,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8983,-0.47,-175.2,891.3,-7.2,411,8988,0.00,2.05,0.00,0.000,4,0.000,0.034,1992,559,3117,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9005,-0.47,-175.2,891.3,-7.2,411,9011,0.00,1.98,0.00,0.000,6,0.000,0.024,1983,1931,3116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9319,-0.47,-175.2,919.0,-8.4,422,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1931,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9619,-0.47,-175.2,945.1,-8.7,432,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1931,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9918,-0.47,-175.2,971.1,-8.5,442,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1931,3114,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10156,begin apogee
$GC,10161,-0.17,0.0,990.4,-7.8,450,10314,0.35,0.00,146.00,1.414,6,0.120,0.000,2101,1931,2410,0,0,0,0,0,0,25.75,28.83,22.93
$STATE,10315,end apogee,CONTROL_FINISHED_OK
$STATE,10316,begin climb
$GC,10318,0.54,175.2,995.6,0.0,455,10491,0.70,2.30,159.30,1.359,4,0.089,0.035,2339,3278,1692,0,0,0,0,0,0,24.25,23.58,22.31
$GC,10513,0.57,240.7,987.6,6.3,461,10584,0.00,2.12,60.53,1.323,6,0.000,0.024,2340,1939,1426,0,0,0,0,0,0,28.83,24.25,22.30
$GC,10884,0.57,240.7,950.1,9.4,474,10889,0.00,2.20,0.00,0.000,4,0.000,0.037,2353,503,1418,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10910,0.57,240.7,950.1,9.4,474,10917,0.00,2.05,0.00,0.000,6,0.000,0.023,2354,1901,1418,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11217,0.57,240.7,918.8,9.3,485,11223,0.00,2.05,0.00,0.000,4,0.000,0.036,2353,3286,1416,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11310,0.57,240.7,909.1,10.1,488,11315,0.00,2.05,0.00,0.000,6,0.000,0.027,2362,1892,1415,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11646,0.57,240.7,876.9,9.3,499,11651,0.00,2.10,0.00,0.000,4,0.000,0.035,2362,3285,1415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11682,0.57,240.7,873.4,9.4,500,11687,0.00,2.03,0.00,0.000,6,0.000,0.025,2370,1884,1415,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12012,0.57,240.7,841.8,9.4,511,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1883,1414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12309,0.57,240.7,813.1,9.4,521,12315,0.00,2.12,0.00,0.000,4,0.000,0.035,2370,3288,1414,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12351,0.57,240.7,809.7,9.6,522,12357,0.12,2.03,0.00,0.000,6,0.174,0.026,2346,1892,1413,0,0,0,0,0,0,25.97,26.36,28.83
$GC,12677,0.59,268.2,783.5,7.6,533,12705,0.00,2.20,22.83,1.260,4,0.000,0.035,2346,3280,1316,0,0,0,0,0,0,28.83,25.75,24.32
$GC,12742,0.61,284.2,778.1,7.9,535,12767,0.00,2.05,15.75,1.208,6,0.000,0.025,2346,1896,1249,0,0,0,0,0,0,28.83,25.92,24.15
$GC,13070,0.63,297.1,751.4,8.0,546,13088,0.00,2.08,12.50,1.175,4,0.000,0.036,2346,514,1197,0,0,0,0,0,0,28.83,25.84,24.43
$GC,13102,0.66,308.2,748.6,8.1,547,13120,0.00,2.05,11.45,1.144,6,0.000,0.021,2346,1904,1151,0,0,0,0,0,0,28.83,25.95,24.25
$GC,13433,0.67,308.2,718.2,9.7,558,13438,0.00,2.05,0.00,0.000,4,0.000,0.035,2346,3290,1147,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13516,0.69,308.2,711.2,10.6,560,13522,0.12,2.05,0.00,0.000,6,0.109,0.027,2394,1889,1145,0,0,0,0,0,0,26.08,26.22,28.83
$GC,13830,0.69,308.2,669.8,12.4,571,13835,0.00,2.10,0.00,0.000,4,0.000,0.035,2394,3284,1145,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13856,0.69,308.2,669.8,12.4,571,13864,0.00,2.03,0.00,0.000,6,0.000,0.026,2400,1885,1145,0,0,0,0,0,0,28.83,26.32,28.83
$GC,14163,0.69,308.2,628.3,12.0,582,14168,0.00,2.10,0.00,0.000,4,0.000,0.035,2400,3283,1144,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,20435,end climb,SURFACE_DEPTH_REACHED
$STATE,20435,begin surface coast
$FINISH,1.1,1.009247
$STATE,20461,end surface coast,CONTROL_FINISHED_OK
$STATE,20461,begin surface
$SM_CCo,20536,0.00,0.000,0,0,211,539.41
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$IRIDIUM_FIX,1745.10,12424.10,241212,040441
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.48
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3940896
$24V_AH,22.3,40.744
$10V_AH,10.1,29.449
$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,16.575,146.725,620.225,0.000,0.000,0.000,0.000,294.825,0.000,0.000,11.194,2832.793,14668.169,722.532,2427.201,350.373,0.000,2215.150,0.000,2046.055,0.000,0.540,0.000
$DEVICE_MAMPS,244.800,46.665,1413.720,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20478.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.706,0.000,0.000,0.000
$MEM,329636
$DATA_FILE_SIZE,33382,932
$CAP_FILE_SIZE,214531,0
$CFSIZE,260034560,231006208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 52.3,1
$GPS,241212,155230,1752.493,12420.800,38,1.6,38,-2.0