version: 66.11
glider: 129
mission: 4
dive: 231
start: 12 30 112 9 42 59
data:
$ID,129
$MISSION,4
$DIVE,231
$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,-2944.2295
$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,69
$R_STBD_OVSHOOT,80
$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
$GPS1,301212,093435,1808.820,12316.465,38,1.0,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-65.2
$GPS2,301212,094231,1808.903,12316.432,11,1.1,11,-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,276.7,113443,-14.2,-8.462,-17.62
$D_GRID,4241
$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,-175.2,0.0,0.0,0,87,0.00,0.00,-65.65,0.000,2,0.000,0.000,219,1911,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.2,-5.0,11,135,7.85,2.10,-30.38,0.000,4,0.242,0.044,1975,517,3126,2,0,0,0,0,0,25.01,26.11,26.51
$GC,239,-0.46,-175.2,40.4,-31.5,34,245,0.15,2.03,0.00,0.000,6,0.172,0.024,2005,1916,3127,0,0,0,0,0,0,25.79,26.24,28.83
$GC,553,-0.40,-175.2,132.9,-26.6,51,558,0.00,2.03,0.00,0.000,4,0.000,0.031,2005,530,3126,0,0,0,0,0,0,28.83,26.29,28.83
$GC,700,-0.34,-175.2,169.4,-22.4,58,707,0.17,2.00,0.00,0.000,6,0.143,0.022,2048,1937,3126,0,0,0,0,0,0,25.97,26.39,28.83
$GC,1019,-0.34,-175.2,206.4,-10.1,74,1025,0.00,2.05,0.00,0.000,4,0.000,0.030,2048,524,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1047,-0.34,-175.2,208.8,-10.3,75,1052,0.00,2.00,0.00,0.000,6,0.000,0.021,2042,1938,3127,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1365,-0.34,-175.2,242.0,-9.2,91,1370,0.00,2.05,0.00,0.000,4,0.000,0.029,2042,528,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1422,-0.34,-175.2,246.5,-10.1,93,1429,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1926,3127,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1728,-0.34,-175.2,276.7,-9.6,109,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1931,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-0.34,-175.2,305.8,-9.2,124,2035,0.00,2.05,0.00,0.000,4,0.000,0.030,2034,522,3125,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2086,-0.34,-175.2,310.3,-9.7,126,2093,0.00,2.03,0.00,0.000,6,0.000,0.022,2033,1929,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2393,-0.34,-175.2,338.2,-7.5,142,2398,0.00,2.05,0.00,0.000,4,0.000,0.029,2033,521,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2520,-0.34,-175.2,348.5,-8.2,148,2525,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1929,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2838,-0.34,-175.2,372.2,-7.1,164,2844,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,530,3122,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2876,-0.34,-175.2,374.0,-7.3,165,2883,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1935,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3181,-0.34,-175.2,399.2,-8.0,181,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1935,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3483,-0.36,-175.2,421.9,-7.1,196,3489,0.00,2.08,0.00,0.000,4,0.000,0.031,2033,519,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3547,-0.36,-175.2,426.9,-7.7,199,3552,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1924,3119,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3870,-0.37,-175.2,449.8,-7.0,215,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1924,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4172,-0.38,-175.2,471.5,-6.7,230,4174,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1924,3138,0,0,0,0,0,0,28.83,28.83,25.31
$GC,4471,-0.40,-175.2,492.4,-7.2,245,4477,0.00,2.08,0.00,0.000,4,0.000,0.033,2033,519,3138,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4549,-0.41,-175.2,497.5,-7.8,248,4556,0.00,2.03,0.00,0.000,6,0.000,0.024,2033,1931,3138,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4856,-0.43,-175.2,518.6,-5.9,264,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1931,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.44,-175.2,536.0,-5.8,279,5162,0.00,2.08,0.00,0.000,4,0.000,0.031,2033,523,3135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5190,-0.46,-175.2,537.6,-5.9,280,5196,0.00,2.03,0.00,0.000,6,0.000,0.022,2033,1940,3134,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5505,-0.48,-175.2,556.1,-5.5,296,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1939,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5806,-0.50,-175.2,573.7,-6.2,311,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1939,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6105,-0.52,-175.2,593.5,-6.4,326,6107,0.12,0.00,0.00,0.000,6,0.103,0.000,1978,1940,3129,0,0,0,0,0,0,26.46,28.83,28.83
$GC,6424,-0.52,-175.2,626.2,-10.4,338,6430,0.00,2.10,0.00,0.000,4,0.000,0.033,1978,529,3126,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6460,-0.52,-175.2,630.0,-10.6,339,6466,0.00,2.03,0.00,0.000,6,0.000,0.024,1965,1916,3127,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6791,-0.51,-175.2,665.0,-10.3,350,6797,0.00,2.05,0.00,0.000,4,0.000,0.034,1968,536,3125,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6843,-0.49,-175.2,668.8,-10.4,351,6849,0.15,2.00,0.00,0.000,6,0.148,0.024,2002,1926,3124,0,0,0,0,0,0,25.96,26.37,28.83
$GC,7159,-0.49,-175.2,695.3,-7.7,362,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1926,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7457,-0.49,-175.2,717.0,-7.1,372,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1926,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7757,-0.49,-175.2,736.5,-6.5,382,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1926,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8057,-0.49,-175.2,756.6,-7.0,392,8063,0.00,2.08,0.00,0.000,4,0.000,0.034,2000,527,3118,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8085,-0.49,-175.2,756.6,-7.0,392,8092,0.00,2.03,0.00,0.000,6,0.000,0.024,1996,1934,3118,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8392,-0.49,-175.2,783.4,-8.2,403,8397,0.00,2.10,0.00,0.000,4,0.000,0.034,1995,524,3117,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8439,-0.49,-175.2,786.6,-8.5,404,8444,0.00,2.03,0.00,0.000,6,0.000,0.024,1986,1928,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8758,-0.49,-175.2,815.7,-8.4,415,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1929,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9058,-0.49,-175.2,838.8,-7.5,425,9063,0.00,2.10,0.00,0.000,4,0.000,0.034,1986,527,3114,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9090,-0.49,-175.2,841.5,-7.6,426,9096,0.00,2.05,0.00,0.000,6,0.000,0.024,1978,1935,3115,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9426,-0.49,-175.2,867.5,-8.0,437,9432,0.00,2.10,0.00,0.000,4,0.000,0.034,1978,530,3113,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9470,-0.49,-175.2,870.7,-8.2,438,9476,0.12,2.00,0.00,0.000,6,0.155,0.025,2003,1924,3113,0,0,0,0,0,0,25.94,26.31,28.83
$GC,9796,-0.51,-175.2,894.0,-6.7,449,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1925,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10094,-0.52,-175.2,914.7,-7.0,459,10100,0.00,2.10,0.00,0.000,4,0.000,0.035,2003,539,3111,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10129,-0.53,-175.2,917.4,-7.1,460,10134,0.00,2.03,0.00,0.000,6,0.000,0.025,1996,1928,3111,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10466,-0.54,-175.2,942.0,-7.4,471,10471,0.00,2.10,0.00,0.000,4,0.000,0.034,1996,528,3109,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10514,-0.54,-175.2,945.0,-7.6,472,10519,0.00,2.05,0.00,0.000,6,0.000,0.025,1988,1934,3109,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10834,-0.54,-175.2,970.8,-7.4,483,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1935,3109,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11100,begin apogee
$GC,11105,-0.17,0.0,991.2,-7.5,492,11261,0.35,0.00,146.90,1.421,6,0.122,0.000,2104,1935,2409,0,0,0,0,0,0,25.67,28.83,22.63
$STATE,11263,end apogee,CONTROL_FINISHED_OK
$STATE,11263,begin climb
$GC,11265,0.54,175.2,997.1,0.0,497,11436,0.68,2.38,160.62,1.369,4,0.091,0.038,2330,524,1693,0,0,0,0,0,0,24.10,23.54,22.15
$GC,11458,0.59,285.0,991.6,4.9,503,11568,0.00,2.20,101.40,1.343,6,0.000,0.022,2330,1903,1247,0,0,0,0,0,0,28.83,24.19,22.15
$GC,11893,0.62,309.3,957.2,7.7,518,11923,0.00,2.15,21.92,1.298,4,0.000,0.035,2330,3299,1146,0,0,0,0,0,0,28.83,25.35,23.91
$GC,11965,0.64,323.2,952.0,8.0,520,11986,0.12,2.08,13.73,1.239,6,0.107,0.027,2377,1901,1091,0,0,0,0,0,0,25.60,25.72,23.90
$GC,12286,0.64,323.2,913.0,12.5,531,12291,0.00,2.10,0.00,0.000,4,0.000,0.039,2385,512,1087,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12333,0.64,323.2,908.7,12.8,532,12338,0.00,2.05,0.00,0.000,6,0.000,0.024,2385,1914,1087,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12651,0.64,323.2,864.7,13.0,543,12657,0.00,2.05,0.00,0.000,4,0.000,0.036,2386,3290,1085,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12693,0.64,323.2,860.1,13.2,544,12698,0.00,2.05,0.00,0.000,6,0.000,0.028,2386,1892,1084,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13018,0.64,323.2,819.3,11.8,555,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1892,1083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13316,0.64,323.2,787.2,10.2,565,13321,0.00,2.08,0.00,0.000,4,0.000,0.039,2386,507,1083,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13343,0.64,323.2,787.2,10.2,565,13351,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1910,1083,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13649,0.64,323.2,755.5,9.4,576,13654,0.00,2.05,0.00,0.000,4,0.000,0.036,2385,3290,1083,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13711,0.64,323.2,749.1,9.8,578,13716,0.00,2.05,0.00,0.000,6,0.000,0.028,2386,1896,1082,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,21550,end climb,SURFACE_DEPTH_REACHED
$STATE,21550,begin surface coast
$FINISH,1.0,1.009801
$STATE,21571,end surface coast,CONTROL_FINISHED_OK
$STATE,21571,begin surface
$SM_CCo,21656,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1758.70,12327.57,301212,030342
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.53
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3931680
$24V_AH,22.1,45.964
$10V_AH,10.0,32.671
$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
$DEVICE_SECS,24.250,176.625,626.775,0.000,0.000,0.000,0.000,291.725,0.000,0.000,12.357,3102.212,15230.184,788.271,2606.270,396.771,0.000,2359.700,0.000,2213.353,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.975,0.000,0.000,0.000
$MEM,329056
$DATA_FILE_SIZE,36711,985
$CAP_FILE_SIZE,234569,8
$CFSIZE,260034560,228429824
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,31,0,0,0,0
$CURRENT,0.090,352.0,1
$GPS,301212,154505,1809.953,12312.865,32,1.1,32,-2.0