version: 66.11
glider: 129
mission: 4
dive: 210
start: 12 25 112 4 4 34
data:
$ID,129
$MISSION,4
$DIVE,210
$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,-2916.1018
$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,75
$R_STBD_OVSHOOT,103
$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
$GPS1,251212,035600,1753.162,12415.729,40,1.4,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-54.3
$GPS2,251212,040407,1753.239,12415.785,12,1.4,12,-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,279.4,221328,-14.2,-8.462,-17.62
$D_GRID,4732
$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,-175.2,0.0,0.0,0,85,0.00,0.00,-64.78,0.000,2,0.000,0.000,56,1880,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.54,-175.2,3.1,-3.5,11,138,7.80,2.10,-32.83,0.000,4,0.241,0.044,1965,3281,3126,0,0,0,0,0,0,25.27,26.11,26.49
$GC,280,-0.47,-175.2,47.1,-27.2,39,287,0.15,1.92,0.00,0.000,6,0.168,0.022,2004,1911,3126,0,0,0,0,0,0,25.86,26.30,28.83
$GC,586,-0.40,-175.2,140.0,-28.6,55,591,0.00,1.98,0.00,0.000,4,0.000,0.031,2004,534,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,749,-0.37,-175.2,171.4,-17.9,63,755,0.15,1.92,0.00,0.000,6,0.155,0.021,2037,1896,3127,0,0,0,0,0,0,26.01,26.41,28.83
$GC,1073,-0.35,-175.2,219.1,-13.5,79,1079,0.00,1.98,0.00,0.000,4,0.000,0.030,2037,534,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1187,-0.34,-175.2,232.2,-12.6,84,1192,0.00,1.98,0.00,0.000,6,0.000,0.021,2031,1934,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1500,-0.32,-175.2,270.6,-13.3,100,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1934,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1801,-0.32,-175.2,308.1,-11.1,115,1806,0.00,2.00,0.00,0.000,4,0.000,0.034,2021,3316,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1817,-0.32,-175.2,308.1,-11.1,115,1824,0.12,1.95,0.00,0.000,6,0.133,0.021,2058,1919,3125,0,0,0,0,0,0,26.20,26.48,28.83
$GC,2124,-0.34,-175.2,333.8,-7.6,131,2129,0.00,1.98,0.00,0.000,4,0.000,0.030,2058,545,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2202,-0.35,-175.2,339.3,-8.6,134,2209,0.00,1.95,0.00,0.000,6,0.000,0.021,2053,1930,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2508,-0.37,-175.2,364.5,-7.7,150,2513,0.00,2.03,0.00,0.000,4,0.000,0.029,2053,556,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2586,-0.38,-175.2,369.7,-8.1,153,2594,0.00,1.92,0.00,0.000,6,0.000,0.022,2050,1923,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2891,-0.40,-175.2,391.7,-6.6,169,2898,0.00,2.00,0.00,0.000,4,0.000,0.030,2050,552,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2960,-0.41,-175.2,396.5,-7.1,172,2965,0.00,1.95,0.00,0.000,6,0.000,0.021,2049,1928,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3278,-0.43,-175.2,417.2,-6.2,188,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1929,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-0.45,-175.2,434.4,-5.9,203,3582,0.10,0.00,0.00,0.000,6,0.111,0.000,2002,1930,3118,0,0,0,0,0,0,26.52,28.83,28.83
$GC,3880,-0.45,-175.2,460.3,-9.0,218,3885,0.00,2.03,0.00,0.000,4,0.000,0.031,2002,549,3116,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3926,-0.45,-175.2,464.7,-9.3,220,3931,0.00,1.95,0.00,0.000,6,0.000,0.022,1993,1923,3116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4244,-0.45,-175.2,496.7,-10.3,236,4250,0.00,2.05,-0.08,0.000,4,0.000,0.047,1984,3313,3144,0,0,0,0,0,0,28.83,26.32,25.49
$GC,4262,-0.45,-175.2,496.7,-10.3,236,4269,0.12,1.95,0.00,0.000,6,0.137,0.022,2019,1932,3144,0,0,0,0,0,0,26.16,26.47,28.83
$GC,4568,-0.45,-175.2,525.1,-8.5,252,4573,0.00,2.03,0.00,0.000,4,0.000,0.031,2019,539,3143,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4621,-0.45,-175.2,529.1,-8.9,254,4626,0.00,1.95,0.00,0.000,6,0.000,0.022,2012,1928,3143,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4933,-0.45,-175.2,558.5,-9.1,270,4938,0.00,2.03,0.00,0.000,4,0.000,0.035,2001,3307,3142,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4965,-0.45,-175.2,560.5,-9.1,271,4972,0.00,1.98,0.00,0.000,6,0.000,0.023,2001,1935,3142,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5279,-0.45,-175.2,590.0,-8.8,287,5284,0.00,2.05,0.00,0.000,4,0.000,0.032,2001,533,3139,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5393,-0.45,-175.2,599.8,-9.4,292,5398,0.00,1.98,0.00,0.000,6,0.000,0.022,1994,1922,3139,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5707,-0.45,-175.2,627.9,-8.4,303,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1922,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.45,-175.2,651.4,-7.8,313,6013,0.00,2.05,0.00,0.000,4,0.000,0.036,1983,3314,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6040,-0.45,-175.2,654.1,-7.8,314,6047,0.12,2.03,0.00,0.000,6,0.135,0.024,2020,1919,3134,0,0,0,0,0,0,26.15,26.44,28.83
$GC,6377,-0.46,-175.2,678.0,-7.5,325,6382,0.00,2.00,0.00,0.000,4,0.000,0.034,2020,538,3132,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6533,-0.46,-175.2,692.0,-9.2,330,6538,0.00,2.00,0.00,0.000,6,0.000,0.023,2013,1938,3132,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6863,-0.47,-175.2,721.2,-8.6,341,6868,0.00,2.08,0.00,0.000,4,0.000,0.033,2013,540,3130,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6910,-0.48,-175.2,724.4,-8.8,342,6915,0.00,2.00,0.00,0.000,6,0.000,0.023,2006,1938,3129,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7230,-0.48,-175.2,752.8,-8.3,353,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1938,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7528,-0.48,-175.2,776.5,-7.6,363,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1938,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,-0.48,-175.2,797.9,-7.0,373,7833,0.00,2.03,0.00,0.000,4,0.000,0.037,1996,3310,3125,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7852,-0.48,-175.2,797.9,-7.0,373,7857,0.00,2.00,0.00,0.000,6,0.000,0.025,1996,1931,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8166,-0.48,-175.2,822.0,-7.2,384,8171,0.00,2.08,0.00,0.000,4,0.000,0.035,1996,528,3123,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8281,-0.48,-175.2,829.8,-8.0,387,8286,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1922,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8596,-0.48,-175.2,855.8,-7.7,398,8601,0.00,2.08,0.00,0.000,4,0.000,0.037,1977,3313,3121,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8623,-0.48,-175.2,855.8,-7.7,398,8630,0.00,2.03,0.00,0.000,6,0.000,0.026,1977,1915,3121,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8929,-0.48,-175.2,882.8,-8.1,409,8934,0.00,2.05,0.00,0.000,4,0.000,0.035,1977,531,3120,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9054,-0.48,-175.2,894.2,-9.4,413,9060,0.12,2.03,0.00,0.000,6,0.157,0.024,2002,1926,3119,0,0,0,0,0,0,25.98,26.34,28.83
$GC,9389,-0.50,-175.2,918.8,-7.5,424,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1927,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9688,-0.51,-175.2,941.1,-7.3,434,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1927,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9989,-0.52,-175.2,962.7,-7.2,444,9994,0.00,2.10,0.00,0.000,4,0.000,0.035,2002,531,3116,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10023,-0.53,-175.2,965.5,-7.5,445,10028,0.00,2.03,0.00,0.000,6,0.000,0.026,1995,1918,3116,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,10355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10355,begin apogee
$GC,10360,-0.17,0.0,991.8,-7.9,456,10513,0.32,0.00,146.30,1.417,6,0.119,0.000,2104,1918,2409,0,0,0,0,0,0,25.78,28.83,22.92
$STATE,10514,end apogee,CONTROL_FINISHED_OK
$STATE,10514,begin climb
$GC,10516,0.54,175.2,998.7,0.0,461,10688,0.68,2.42,158.50,1.362,4,0.090,0.039,2330,528,1692,0,0,0,0,0,0,24.22,23.59,22.30
$GC,10746,0.58,264.4,991.3,5.6,468,10835,0.00,2.15,81.85,1.336,6,0.000,0.023,2330,1903,1327,0,0,0,0,0,0,28.83,24.62,22.21
$GC,11144,0.60,280.0,959.8,8.0,482,11163,0.00,2.20,13.70,1.245,4,0.000,0.037,2330,3294,1270,0,0,0,0,0,0,28.83,25.49,24.05
$GC,11214,0.62,280.0,953.9,8.7,484,11220,0.00,2.05,0.00,0.000,6,0.000,0.028,2332,1909,1264,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11542,0.64,280.0,923.1,9.2,495,11544,0.10,0.00,0.00,0.000,6,0.120,0.000,2370,1908,1262,0,0,0,0,0,0,26.22,28.83,28.83
$GC,11837,0.64,280.0,890.6,10.7,505,11843,0.00,2.10,0.00,0.000,4,0.000,0.035,2370,3300,1260,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11884,0.64,280.0,887.0,10.8,506,11890,0.00,2.05,0.00,0.000,6,0.000,0.028,2378,1894,1260,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12205,0.64,280.0,851.1,10.6,517,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1894,1260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12503,0.64,280.0,821.9,9.4,527,12508,0.00,2.10,0.00,0.000,4,0.000,0.035,2378,3292,1259,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12545,0.64,280.0,818.5,9.7,528,12550,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1891,1259,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12869,0.64,280.0,784.2,10.4,539,12874,0.00,2.08,0.00,0.000,4,0.000,0.040,2386,500,1259,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12886,0.64,280.0,784.2,10.4,539,12892,0.00,2.05,0.00,0.000,6,0.000,0.023,2386,1923,1258,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13206,0.64,280.0,747.2,10.8,550,13211,0.00,2.00,0.00,0.000,4,0.000,0.036,2386,3279,1259,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13343,0.64,280.0,732.4,11.9,554,13349,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1898,1258,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13662,0.64,280.0,695.8,11.0,565,13667,0.00,2.08,0.00,0.000,4,0.000,0.039,2385,502,1258,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,21068,end climb,SURFACE_DEPTH_REACHED
$STATE,21068,begin surface coast
$FINISH,1.1,1.022071
$STATE,21084,end surface coast,CONTROL_FINISHED_OK
$STATE,21084,begin surface
$SM_CCo,21162,0.00,0.000,0,0,211,539.17
$SM_GC,1.79,6.32,1.98,0.00,0.042,0.022,0.000,59,1924,211,-6.47,2.23,539.17,0,0,0,0,0,0,26.25,26.40,28.83
$IRIDIUM_FIX,1742.84,12419.08,241212,212134
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.18
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3939744
$24V_AH,22.2,41.388
$10V_AH,10.2,29.854
$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,16.400,166.725,623.825,0.000,0.000,0.000,0.000,304.600,0.000,0.000,13.332,3138.679,14665.485,747.015,2701.403,387.108,0.000,2365.215,0.000,2295.227,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,47.430,1416.780,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21103.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.865,0.000,0.000,0.000
$MEM,329636
$DATA_FILE_SIZE,36723,958
$CAP_FILE_SIZE,231331,0
$CFSIZE,260034560,230674432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,  3.5,1
$GPS,251212,095836,1754.189,12412.809,42,1.1,42,-2.0