version: 66.11
glider: 129
mission: 4
dive: 209
start: 12 24 112 22 1 51
data:
$ID,129
$MISSION,4
$DIVE,209
$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,-2914.7483
$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,83
$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
$GPS1,241212,215330,1752.264,12418.481,38,1.8,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-56.1
$GPS2,241212,220124,1752.244,12418.498,9,1.8,9,-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,288.0,226432,-14.2,-8.462,-17.62
$D_GRID,4473
$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,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.07,0.000,2,0.000,0.000,56,1920,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.4,-5.3,11,134,7.82,2.10,-29.73,0.000,4,0.242,0.044,1966,3309,3126,0,0,0,0,0,0,25.28,26.12,26.48
$GC,267,-0.47,-175.2,44.6,-27.8,37,273,0.15,2.00,0.00,0.000,6,0.164,0.022,2003,1904,3125,0,0,0,0,0,0,25.86,26.29,28.83
$GC,591,-0.40,-175.2,138.5,-27.3,54,597,0.00,1.95,0.00,0.000,4,0.000,0.029,2005,537,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,804,-0.36,-175.2,183.6,-17.3,64,810,0.15,1.95,0.00,0.000,6,0.151,0.023,2040,1911,3127,0,0,0,0,0,0,26.06,26.41,28.83
$GC,1118,-0.34,-175.2,229.2,-11.9,80,1124,0.00,2.00,0.00,0.000,4,0.000,0.029,2040,532,3128,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1210,-0.34,-175.2,238.5,-11.0,84,1215,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1930,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1523,-0.33,-175.2,274.9,-11.2,100,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1930,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-0.33,-175.2,306.0,-10.2,115,1829,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,538,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1850,-0.33,-175.2,308.5,-10.3,116,1856,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1934,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2168,-0.33,-175.2,340.6,-9.2,132,2173,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3314,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2214,-0.33,-175.2,344.1,-8.7,134,2219,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1911,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2532,-0.33,-175.2,370.1,-8.4,150,2538,0.00,1.98,0.00,0.000,4,0.000,0.031,2033,541,3124,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2730,-0.33,-175.2,388.8,-9.8,159,2737,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1940,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3037,-0.33,-175.2,414.5,-7.3,175,3042,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,539,3122,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3134,-0.33,-175.2,420.9,-7.9,179,3141,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1935,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3440,-0.34,-175.2,443.0,-6.8,195,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1935,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-0.36,-175.2,463.5,-7.1,210,3747,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,532,3116,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3779,-0.37,-175.2,465.4,-7.1,211,3787,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1924,3116,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4085,-0.38,-175.2,487.8,-6.6,227,4092,0.00,2.05,-0.08,0.000,4,0.000,0.047,2033,3307,3144,0,0,0,0,0,0,28.83,26.30,25.49
$GC,4120,-0.39,-175.2,489.3,-6.5,228,4125,0.00,1.95,0.00,0.000,6,0.000,0.023,2033,1930,3142,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4433,-0.41,-175.2,509.1,-6.0,244,4438,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,532,3144,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4528,-0.42,-175.2,515.0,-7.1,248,4534,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1927,3142,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4842,-0.44,-175.2,536.8,-7.0,264,4847,0.00,2.05,0.00,0.000,4,0.000,0.037,2033,3311,3141,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4889,-0.45,-175.2,539.6,-6.7,266,4894,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1920,3141,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5208,-0.47,-175.2,561.6,-6.8,282,5213,0.00,2.03,0.00,0.000,4,0.000,0.033,2033,531,3139,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5275,-0.48,-175.2,566.4,-7.4,285,5280,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1935,3138,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5594,-0.50,-175.2,588.5,-6.8,301,5600,0.10,2.03,0.00,0.000,4,0.116,0.034,1978,3304,3136,0,0,0,0,0,0,26.51,26.27,28.83
$GC,5633,-0.51,-175.2,590.6,-7.3,302,5639,0.00,1.98,0.00,0.000,6,0.000,0.024,1978,1917,3136,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5959,-0.51,-175.2,625.9,-10.4,315,5965,0.00,2.00,0.00,0.000,4,0.000,0.033,1978,543,3134,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6122,-0.50,-175.2,642.7,-10.7,320,6128,0.00,1.98,0.00,0.000,6,0.000,0.024,1968,1920,3133,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6448,-0.49,-175.2,677.5,-10.4,331,6453,0.12,2.05,0.00,0.000,4,0.155,0.034,2001,3308,3131,0,0,0,0,0,0,26.23,26.25,28.83
$GC,6505,-0.49,-175.2,680.5,-10.0,332,6512,0.00,2.00,0.00,0.000,6,0.000,0.024,2001,1933,3131,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6812,-0.49,-175.2,706.3,-7.9,343,6818,0.00,2.05,0.00,0.000,4,0.000,0.034,1998,532,3130,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6929,-0.49,-175.2,714.6,-8.6,346,6936,0.00,2.00,0.00,0.000,6,0.000,0.024,1992,1927,3129,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7236,-0.49,-175.2,742.7,-8.3,357,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1927,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7535,-0.49,-175.2,766.0,-7.7,367,7541,0.00,2.08,0.00,0.000,4,0.000,0.033,1992,534,3124,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7584,-0.49,-175.2,768.7,-7.7,368,7589,0.00,2.00,0.00,0.000,6,0.000,0.024,1983,1924,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7903,-0.49,-175.2,795.1,-8.0,379,7908,0.00,2.05,0.00,0.000,4,0.000,0.037,1973,3305,3124,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7925,-0.49,-175.2,795.1,-8.0,379,7931,0.00,2.00,0.00,0.000,6,0.000,0.024,1973,1917,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8238,-0.49,-175.2,825.6,-9.4,390,8244,0.00,2.03,0.00,0.000,4,0.000,0.034,1973,532,3122,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8351,-0.49,-175.2,835.4,-10.3,393,8357,0.12,2.03,0.00,0.000,6,0.159,0.025,1998,1934,3125,0,0,0,0,0,0,25.99,26.34,28.83
$GC,8668,-0.49,-175.2,861.9,-7.7,404,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1931,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.49,-175.2,885.4,-7.9,414,8970,0.00,2.05,0.00,0.000,4,0.000,0.038,1989,3307,3119,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8992,-0.49,-175.2,885.4,-7.9,414,8999,0.00,2.00,0.00,0.000,6,0.000,0.024,1989,1918,3119,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9299,-0.49,-175.2,911.9,-7.8,425,9304,0.00,2.03,0.00,0.000,4,0.000,0.034,1989,536,3118,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9416,-0.49,-175.2,920.2,-8.6,428,9423,0.00,2.03,0.00,0.000,6,0.000,0.024,1980,1935,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9723,-0.49,-175.2,946.9,-7.8,439,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1935,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10022,-0.49,-175.2,970.9,-8.0,449,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1936,3116,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10290,begin apogee
$GC,10295,-0.17,0.0,991.9,-7.7,458,10448,0.38,0.00,146.80,1.410,6,0.121,0.000,2104,1936,2409,0,0,0,0,0,0,25.70,28.83,22.93
$STATE,10450,end apogee,CONTROL_FINISHED_OK
$STATE,10450,begin climb
$GC,10452,0.54,175.2,997.7,0.0,463,10625,0.68,2.47,158.45,1.356,4,0.090,0.038,2330,521,1694,0,0,0,0,0,0,24.23,23.59,22.32
$GC,10672,0.58,252.5,989.3,5.9,470,10749,0.00,2.15,70.85,1.325,6,0.000,0.023,2330,1890,1381,0,0,0,0,0,0,28.83,24.53,22.23
$GC,11048,0.60,277.1,960.2,7.7,483,11079,0.00,2.22,21.98,1.292,4,0.000,0.038,2330,3301,1278,0,0,0,0,0,0,28.83,25.28,23.93
$GC,11163,0.62,280.3,952.2,8.4,486,11174,0.00,2.10,3.72,0.792,6,0.000,0.027,2330,1898,1267,0,0,0,0,0,0,28.83,25.82,23.97
$GC,11474,0.65,309.3,927.4,7.5,497,11504,0.12,0.00,27.25,1.317,6,0.110,0.000,2383,1897,1148,0,0,0,0,0,0,26.15,28.83,24.13
$GC,11802,0.65,309.3,891.0,11.5,508,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1897,1142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12102,0.65,309.3,857.0,11.3,518,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1901,1141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12402,0.65,309.3,822.8,11.4,528,12407,0.00,2.12,0.00,0.000,4,0.000,0.035,2382,3302,1140,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12438,0.65,309.3,818.8,11.5,529,12444,0.00,2.08,0.00,0.000,6,0.000,0.028,2386,1890,1139,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12768,0.65,309.3,780.1,11.3,540,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1890,1140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13067,0.65,309.3,747.5,10.7,550,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1889,1139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13367,0.65,309.3,716.8,10.1,560,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1890,1139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13668,0.65,309.3,687.5,9.7,570,13673,0.00,2.10,0.00,0.000,4,0.000,0.040,2386,502,1138,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13700,0.65,309.3,684.2,9.7,571,13705,0.00,2.05,0.00,0.000,6,0.000,0.022,2386,1923,1138,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14034,0.65,309.3,651.6,9.7,582,14039,0.00,2.00,0.00,0.000,4,0.000,0.036,2386,3274,1138,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,21069,end climb,SURFACE_DEPTH_REACHED
$STATE,21069,begin surface coast
$FINISH,1.0,1.010077
$STATE,21096,end surface coast,CONTROL_FINISHED_OK
$STATE,21096,begin surface
$SM_CCo,21171,0.00,0.000,0,0,209,539.41
$SM_GC,1.79,6.32,0.00,0.00,0.050,0.000,0.000,67,1877,209,-6.45,-1.33,539.41,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,1745.10,12419.08,241212,151536
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.22
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3940128
$24V_AH,22.2,41.173
$10V_AH,10.2,29.720
$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,16.225,171.025,621.425,0.000,0.000,0.000,0.000,294.000,0.000,0.000,10.734,3177.555,14597.082,768.001,2725.587,366.588,0.000,2392.304,0.000,2329.272,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,47.430,1409.895,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21113.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.067,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,36640,968
$CAP_FILE_SIZE,233197,0
$CFSIZE,260034560,230780928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 19.1,1
$GPS,251212,035600,1753.162,12415.729,40,1.4,40,-2.0