version: 66.11
glider: 129
mission: 4
dive: 233
start: 12 30 112 22 5 59
data:
$ID,129
$MISSION,4
$DIVE,233
$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,-2946.9385
$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,67
$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
$GPS1,301212,215723,1810.097,12309.414,27,1.4,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-54.8
$GPS2,301212,220531,1810.112,12309.338,11,1.9,11,-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,288.6,101065,-14.2,-8.462,-17.62
$D_GRID,3914
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,81,0.00,0.00,-59.42,0.000,2,0.000,0.000,104,1889,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.54,-175.2,3.1,-4.8,10,133,8.48,2.17,-30.85,0.000,4,0.246,0.048,2024,3315,3125,2,0,0,0,0,0,25.02,26.10,26.50
$GC,212,-0.50,-175.2,26.9,-21.0,32,219,0.00,2.00,0.00,0.000,6,0.000,0.022,2026,1908,3125,0,0,0,0,0,0,28.83,26.25,28.83
$GC,528,-0.43,-175.2,109.1,-28.1,53,533,0.00,1.98,0.00,0.000,4,0.000,0.031,2026,540,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,753,-0.39,-175.2,158.7,-18.4,64,758,0.00,1.98,0.00,0.000,6,0.000,0.021,2016,1933,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1076,-0.37,-175.2,215.2,-15.9,80,1082,0.00,2.03,0.00,0.000,4,0.000,0.030,2016,538,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1154,-0.34,-175.2,224.8,-15.3,83,1162,0.08,1.98,0.00,0.000,6,0.104,0.022,2050,1917,3126,0,0,0,0,0,0,26.03,26.42,28.83
$GC,1460,-0.34,-175.2,255.8,-8.7,99,1465,0.00,2.00,0.00,0.000,4,0.000,0.030,2050,540,3125,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1487,-0.34,-175.2,257.8,-8.8,100,1493,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1942,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1805,-0.34,-175.2,288.8,-9.7,116,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1942,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2108,-0.35,-175.2,314.5,-8.4,131,2113,0.00,2.05,0.00,0.000,4,0.000,0.030,2046,535,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2205,-0.35,-175.2,322.4,-9.2,135,2212,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1933,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2512,-0.36,-175.2,347.0,-7.5,151,2518,0.00,2.03,0.00,0.000,4,0.000,0.030,2046,539,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2576,-0.38,-175.2,352.1,-7.9,154,2583,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1930,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2901,-0.39,-175.2,376.0,-7.3,170,2906,0.00,2.03,0.00,0.000,4,0.000,0.030,2046,535,3122,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2938,-0.40,-175.2,377.9,-7.5,171,2945,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1929,3122,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3245,-0.42,-175.2,402.7,-7.7,187,3250,0.00,2.05,0.00,0.000,4,0.000,0.030,2046,529,3120,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3289,-0.44,-175.2,406.3,-8.0,189,3295,0.00,2.00,0.00,0.000,6,0.000,0.021,2046,1931,3119,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3613,-0.46,-175.2,429.7,-6.6,205,3615,0.10,0.00,0.00,0.000,6,0.112,0.000,1998,1933,3117,0,0,0,0,0,0,26.51,28.83,28.83
$GC,3914,-0.46,-175.2,458.8,-10.0,220,3921,0.00,2.05,-0.08,0.000,4,0.000,0.043,1997,541,3144,0,0,0,0,0,0,28.83,26.32,25.46
$GC,3942,-0.46,-175.2,461.6,-10.2,221,3947,0.00,1.98,0.00,0.000,6,0.000,0.022,1990,1926,3144,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4260,-0.46,-175.2,496.6,-11.2,237,4265,0.00,2.05,0.00,0.000,4,0.000,0.031,1991,529,3143,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4326,-0.46,-175.2,503.8,-11.3,240,4332,0.00,2.00,0.00,0.000,6,0.000,0.022,1981,1935,3143,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4645,-0.46,-175.2,540.4,-11.7,256,4651,0.10,2.05,0.00,0.000,4,0.159,0.030,2008,543,3142,0,0,0,0,0,0,26.37,26.32,28.83
$GC,4712,-0.46,-175.2,547.2,-11.0,259,4717,0.00,1.98,0.00,0.000,6,0.000,0.023,2002,1926,3142,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5030,-0.46,-175.2,575.9,-8.7,275,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1926,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-0.46,-175.2,602.9,-8.7,290,5347,0.00,2.05,0.00,0.000,4,0.000,0.031,2002,537,3138,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5394,-0.46,-175.2,606.1,-8.9,291,5399,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1933,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5706,-0.46,-175.2,635.7,-9.0,302,5711,0.00,2.05,0.00,0.000,4,0.000,0.032,1994,544,3134,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5748,-0.46,-175.2,638.9,-9.1,303,5753,0.00,1.98,0.00,0.000,6,0.000,0.024,1987,1926,3134,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6071,-0.46,-175.2,672.0,-9.9,314,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1927,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-0.46,-175.2,699.8,-8.9,324,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1927,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6671,-0.46,-175.2,723.9,-7.7,334,6677,0.00,2.05,0.00,0.000,4,0.000,0.034,1987,546,3128,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6700,-0.46,-175.2,723.9,-7.7,334,6707,0.12,2.00,0.00,0.000,6,0.151,0.024,2015,1933,3128,0,0,0,0,0,0,26.03,26.36,28.83
$GC,7008,-0.47,-175.2,745.8,-6.4,345,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1933,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,-0.49,-175.2,765.2,-6.5,355,7310,0.00,2.08,0.00,0.000,4,0.000,0.034,2015,539,3125,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7333,-0.51,-175.2,765.2,-6.5,355,7340,0.00,2.00,0.00,0.000,6,0.000,0.024,2009,1928,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7641,-0.52,-175.2,787.7,-6.6,366,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1928,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7939,-0.53,-175.2,808.1,-6.8,376,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1928,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8240,-0.55,-175.2,829.4,-6.9,386,8245,0.00,2.08,0.00,0.000,4,0.000,0.035,2009,542,3120,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8287,-0.56,-175.2,832.0,-7.1,387,8292,0.00,2.00,0.00,0.000,6,0.000,0.025,2009,1922,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8607,-0.57,-175.2,854.8,-6.7,398,8609,0.10,0.00,0.00,0.000,6,0.115,0.000,1962,1921,3122,0,0,0,0,0,0,26.48,28.83,28.83
$GC,8905,-0.57,-175.2,883.3,-9.5,408,8910,0.00,2.08,0.00,0.000,4,0.000,0.035,1962,541,3117,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8932,-0.57,-175.2,883.3,-9.5,408,8938,0.00,2.03,0.00,0.000,6,0.000,0.025,1951,1934,3117,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9239,-0.56,-175.2,916.3,-9.7,419,9244,0.00,2.08,0.00,0.000,4,0.000,0.037,1941,3321,3116,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9262,-0.55,-175.2,916.3,-9.7,419,9268,0.15,2.03,0.00,0.000,6,0.142,0.026,1984,1919,3115,0,0,0,0,0,0,25.90,26.32,28.83
$GC,9579,-0.55,-175.2,941.4,-7.0,430,9584,0.00,2.05,0.00,0.000,4,0.000,0.037,1984,541,3113,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9686,-0.55,-175.2,949.0,-7.6,433,9691,0.00,2.03,0.00,0.000,6,0.000,0.025,1976,1934,3115,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10006,-0.55,-175.2,974.8,-7.8,444,10012,0.00,2.10,0.00,0.000,4,0.000,0.035,1976,536,3114,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10049,-0.55,-175.2,978.0,-8.0,445,10055,0.00,2.03,0.00,0.000,6,0.000,0.025,1968,1926,3114,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10191,begin apogee
$GC,10196,-0.17,0.0,991.2,-8.6,450,10353,0.40,0.00,147.90,1.415,6,0.121,0.000,2101,1925,2409,0,0,0,0,0,0,25.61,28.83,22.68
$STATE,10354,end apogee,CONTROL_FINISHED_OK
$STATE,10354,begin climb
$GC,10356,0.54,175.2,997.4,0.0,455,10527,0.70,2.22,160.18,1.366,4,0.088,0.037,2333,3282,1694,0,0,0,0,0,0,24.15,23.56,22.17
$GC,10539,0.59,297.0,992.5,4.5,461,10661,0.00,2.20,112.80,1.342,6,0.000,0.026,2340,1917,1196,0,0,0,0,0,0,28.83,24.05,22.18
$GC,10984,0.61,297.0,956.6,8.6,476,10989,0.00,2.15,0.00,0.000,4,0.000,0.039,2350,503,1189,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11037,0.63,297.0,953.5,8.8,477,11042,0.00,2.08,0.00,0.000,6,0.000,0.024,2350,1908,1188,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11351,0.64,297.0,919.6,10.6,488,11356,0.00,2.08,0.00,0.000,4,0.000,0.038,2350,3294,1187,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11393,0.65,297.0,915.8,10.7,489,11398,0.00,2.05,0.00,0.000,6,0.000,0.026,2359,1887,1186,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11718,0.67,297.0,880.5,10.3,500,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1888,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12016,0.67,297.0,851.9,9.4,510,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1888,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12317,0.68,297.0,824.3,8.9,520,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1887,1184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12616,0.69,297.0,799.0,8.7,530,12621,0.00,2.12,0.00,0.000,4,0.000,0.036,2359,3293,1184,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12650,0.70,297.0,795.9,8.9,531,12656,0.00,2.05,0.00,0.000,6,0.000,0.028,2360,1894,1184,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12985,0.71,297.0,763.1,10.3,542,12990,0.00,2.08,0.00,0.000,4,0.000,0.038,2370,511,1184,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13027,0.72,297.0,759.4,10.4,543,13033,0.00,2.03,0.00,0.000,6,0.000,0.024,2370,1907,1184,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13352,0.72,297.0,723.7,10.6,554,13357,0.00,2.05,0.00,0.000,4,0.000,0.036,2370,3289,1183,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,20765,end climb,SURFACE_DEPTH_REACHED
$STATE,20765,begin surface coast
$FINISH,1.1,1.022084
$STATE,20782,end surface coast,CONTROL_FINISHED_OK
$STATE,20782,begin surface
$SM_CCo,20857,0.00,0.000,0,0,210,539.41
$SM_GC,1.71,6.35,0.00,0.00,0.044,0.000,0.000,64,1895,210,-6.45,-0.88,539.41,0,0,0,0,0,0,26.22,28.83,28.83
$IRIDIUM_FIX,1803.24,12317.50,301212,151538
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.28
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3930912
$24V_AH,22.2,46.397
$10V_AH,10.0,32.943
$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,16.900,175.875,625.200,0.000,0.000,0.000,0.000,301.450,0.000,0.000,12.324,3014.474,14585.107,743.806,2600.239,391.197,0.000,2332.417,0.000,2199.965,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,48.195,1415.250,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20804.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.032,0.000,0.000,0.000
$MEM,328908
$DATA_FILE_SIZE,33347,939
$CAP_FILE_SIZE,228843,0
$CFSIZE,260034560,228225024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0
$CURRENT,0.107,  7.5,1
$GPS,311212,035459,1811.814,12306.205,45,1.4,45,-2.0