version: 66.11
glider: 129
mission: 4
dive: 226
start: 12 29 112 3 52 41
data:
$ID,129
$MISSION,4
$DIVE,226
$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,-6
$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,-2937.6484
$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,107
$R_STBD_OVSHOOT,87
$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
$GPS1,291212,034435,1804.810,12332.614,37,1.4,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-59.3
$GPS2,291212,035213,1804.971,12332.612,11,1.2,11,-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,272.4,142593,-14.2,-8.462,-17.62
$D_GRID,5102
$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,-60.30,0.000,2,0.000,0.000,59,1882,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.54,-175.2,3.2,-5.2,10,127,8.07,2.00,-29.62,0.000,4,0.251,0.045,1977,555,3125,0,0,0,0,0,0,25.27,26.11,26.49
$GC,357,-0.46,-175.2,81.0,-32.6,40,363,0.15,1.95,0.00,0.000,6,0.174,0.024,2006,1917,3127,0,0,0,0,0,0,25.85,26.30,28.83
$GC,675,-0.41,-175.2,165.7,-19.7,56,681,0.00,2.00,0.00,0.000,4,0.000,0.030,2006,560,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,819,-0.38,-175.2,190.8,-16.1,63,825,0.12,1.95,0.00,0.000,6,0.151,0.022,2032,1941,3127,0,0,0,0,0,0,26.08,26.41,28.83
$GC,1143,-0.36,-175.2,235.6,-14.7,79,1148,0.00,2.00,0.00,0.000,4,0.000,0.029,2033,560,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1190,-0.35,-175.2,241.6,-14.3,81,1195,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1927,3127,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1509,-0.35,-175.2,280.3,-10.8,97,1514,0.00,1.98,0.00,0.000,4,0.000,0.029,2033,564,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1621,-0.35,-175.2,291.7,-10.9,102,1627,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1927,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1934,-0.35,-175.2,323.8,-9.3,118,1940,0.00,1.98,0.00,0.000,4,0.000,0.029,2033,564,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1991,-0.35,-175.2,328.1,-9.8,120,1998,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1924,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2297,-0.35,-175.2,356.1,-8.7,136,2302,0.00,1.98,0.00,0.000,4,0.000,0.030,2032,566,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2340,-0.35,-175.2,360.2,-9.1,138,2345,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1935,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2662,-0.35,-175.2,390.3,-9.4,154,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1937,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,-0.35,-175.2,414.4,-7.1,169,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1937,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3266,-0.36,-175.2,435.5,-7.3,184,3272,0.00,2.03,0.00,0.000,4,0.000,0.031,2032,557,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3344,-0.36,-175.2,441.2,-8.1,187,3350,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1930,3120,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3650,-0.37,-175.2,466.4,-7.8,203,3656,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,549,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3718,-0.38,-175.2,471.9,-8.4,206,3724,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1938,3117,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4037,-0.40,-175.2,497.7,-8.3,222,4043,0.00,2.05,-0.08,0.000,4,0.000,0.048,2033,3313,3145,0,0,0,0,0,0,28.83,26.27,25.46
$GC,4055,-0.41,-175.2,497.7,-8.3,222,4062,0.00,1.92,0.00,0.000,6,0.000,0.022,2032,1949,3145,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4361,-0.42,-175.2,522.7,-7.6,238,4366,0.00,2.05,0.00,0.000,4,0.000,0.032,2033,541,3144,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4445,-0.44,-175.2,529.9,-8.5,242,4450,0.00,2.00,0.00,0.000,6,0.000,0.022,2032,1941,3144,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4768,-0.46,-175.2,553.1,-6.9,258,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1941,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5071,-0.47,-175.2,571.9,-5.8,273,5076,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,546,3143,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5138,-0.49,-175.2,576.2,-6.2,276,5144,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1932,3142,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5458,-0.50,-175.2,595.2,-5.9,292,5463,0.10,2.03,0.00,0.000,4,0.116,0.034,1978,3303,3139,0,0,0,0,0,0,26.51,26.25,28.83
$GC,5496,-0.52,-175.2,597.0,-6.3,293,5503,0.00,1.98,0.00,0.000,6,0.000,0.023,1978,1931,3139,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5822,-0.52,-175.2,628.4,-9.4,305,5827,0.00,2.03,0.00,0.000,4,0.000,0.033,1978,531,3137,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5959,-0.51,-175.2,640.9,-10.0,309,5965,0.00,1.98,0.00,0.000,6,0.000,0.023,1968,1924,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6280,-0.50,-175.2,676.0,-10.7,320,6285,0.12,2.05,0.00,0.000,4,0.153,0.031,2009,540,3134,0,0,0,0,0,0,26.22,26.26,28.83
$GC,6353,-0.50,-175.2,681.9,-9.7,322,6359,0.00,2.00,0.00,0.000,6,0.000,0.024,2001,1937,3134,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6679,-0.50,-175.2,709.6,-8.7,333,6684,0.00,2.03,0.00,0.000,4,0.000,0.037,1991,3304,3132,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6705,-0.50,-175.2,709.6,-8.7,333,6712,0.00,1.98,0.00,0.000,6,0.000,0.024,1991,1919,3131,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7012,-0.50,-175.2,741.8,-9.4,344,7017,0.00,2.03,0.00,0.000,4,0.000,0.034,1991,540,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7109,-0.50,-175.2,750.9,-9.7,347,7115,0.00,2.00,0.00,0.000,6,0.000,0.023,1981,1933,3129,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7440,-0.50,-175.2,779.2,-8.4,358,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1934,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7740,-0.50,-175.2,805.9,-9.1,368,7745,0.00,2.08,0.00,0.000,4,0.000,0.034,1982,542,3127,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7766,-0.50,-175.2,805.9,-9.1,368,7773,0.00,2.00,0.00,0.000,6,0.000,0.024,1972,1929,3127,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8073,-0.50,-175.2,839.4,-10.1,379,8078,0.00,2.08,0.00,0.000,4,0.000,0.034,1972,533,3125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8125,-0.50,-175.2,842.9,-10.1,380,8131,0.12,2.03,0.00,0.000,6,0.159,0.025,1997,1934,3125,0,0,0,0,0,0,25.96,26.34,28.83
$GC,8440,-0.50,-175.2,868.3,-7.0,391,8445,0.00,2.08,0.00,0.000,4,0.000,0.034,1998,539,3123,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8477,-0.50,-175.2,870.9,-7.1,392,8482,0.00,2.00,0.00,0.000,6,0.000,0.024,1990,1927,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8806,-0.50,-175.2,895.3,-7.2,403,8811,0.00,2.08,0.00,0.000,4,0.000,0.034,1990,534,3123,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8834,-0.50,-175.2,895.3,-7.2,403,8841,0.00,2.03,0.00,0.000,6,0.000,0.024,1982,1932,3123,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9140,-0.50,-175.2,920.8,-7.6,414,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1932,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9440,-0.50,-175.2,945.2,-8.2,424,9445,0.00,2.08,0.00,0.000,4,0.000,0.034,1981,541,3120,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9482,-0.50,-175.2,948.2,-8.4,425,9487,0.00,2.00,0.00,0.000,6,0.000,0.025,1973,1936,3120,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9806,-0.50,-175.2,977.9,-9.2,436,9811,0.00,2.08,0.00,0.000,4,0.000,0.034,1972,546,3118,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9893,-0.50,-175.2,984.6,-9.8,438,9900,0.12,2.00,0.00,0.000,6,0.161,0.025,1997,1924,3119,0,0,0,0,0,0,25.91,26.28,28.83
$STATE,9926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9926,begin apogee
$GC,9931,-0.17,0.0,990.6,-10.2,440,10089,0.30,0.00,148.75,1.405,6,0.122,0.000,2100,1924,2408,0,0,0,0,0,0,25.78,28.83,22.75
$STATE,10091,end apogee,CONTROL_FINISHED_OK
$STATE,10091,begin climb
$GC,10093,0.54,175.2,997.9,0.0,445,10262,0.70,2.35,159.50,1.356,4,0.093,0.038,2330,531,1693,0,0,0,0,0,0,24.19,23.58,22.20
$GC,10335,0.58,267.4,990.0,5.5,453,10425,0.00,2.12,84.10,1.334,6,0.000,0.023,2330,1897,1319,0,0,0,0,0,0,28.83,24.76,22.17
$GC,10749,0.62,310.1,961.5,7.1,467,10796,0.00,2.25,38.12,1.332,4,0.000,0.037,2330,3300,1142,0,0,0,0,0,0,28.83,25.12,23.77
$GC,10834,0.65,344.2,956.9,7.4,469,10874,0.12,2.08,31.73,1.307,6,0.105,0.026,2376,1913,1005,0,0,0,0,0,0,25.48,25.59,23.61
$GC,11201,0.65,344.2,914.8,11.2,482,11207,0.00,2.10,0.00,0.000,4,0.000,0.039,2385,512,998,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11243,0.65,344.2,910.9,11.3,483,11248,0.00,2.05,0.00,0.000,6,0.000,0.024,2385,1924,998,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11568,0.65,344.2,868.7,12.8,494,11573,0.00,2.03,0.00,0.000,4,0.000,0.037,2385,3280,996,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11590,0.65,344.2,868.7,12.8,494,11595,0.00,2.00,0.00,0.000,6,0.000,0.027,2385,1892,996,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11904,0.65,344.2,826.0,12.1,505,11909,0.00,2.05,0.00,0.000,4,0.000,0.038,2386,507,996,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11946,0.65,344.2,822.0,12.1,506,11951,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1912,995,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12270,0.65,344.2,784.7,11.1,517,12275,0.00,2.05,0.00,0.000,4,0.000,0.036,2385,3288,995,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12327,0.65,344.2,780.7,11.2,518,12333,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1903,994,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12633,0.65,344.2,743.9,10.9,529,12638,0.00,2.10,0.00,0.000,4,0.000,0.039,2385,498,994,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12670,0.65,344.2,740.4,10.9,530,12676,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1902,994,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12999,0.65,344.2,705.1,10.6,541,13005,0.00,2.08,0.00,0.000,4,0.000,0.035,2386,3292,993,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,19985,end climb,SURFACE_DEPTH_REACHED
$STATE,19986,begin surface coast
$FINISH,1.1,0.998190
$STATE,20002,end surface coast,CONTROL_FINISHED_OK
$STATE,20002,begin surface
$SM_CCo,20078,0.00,0.000,0,0,210,539.66
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$IRIDIUM_FIX,1758.70,12337.63,281212,212112
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3933600
$24V_AH,22.2,44.864
$10V_AH,10.0,31.994
$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,16.825,186.975,626.800,0.000,0.000,0.000,0.000,273.200,0.000,0.000,12.654,3007.865,13763.823,762.137,2604.925,388.379,0.000,2343.024,0.000,2233.951,0.000,0.540,0.000
$DEVICE_MAMPS,250.920,48.195,1404.540,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20026.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.083,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,33395,901
$CAP_FILE_SIZE,228600,0
$CFSIZE,260034560,228970496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,353.4,1
$GPS,291212,092853,1805.671,12329.347,39,1.1,56,-2.0