version: 66.11
glider: 129
mission: 4
dive: 220
start: 12 27 112 16 22 28
data:
$ID,129
$MISSION,4
$DIVE,220
$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,-2929.5332
$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,72
$R_STBD_OVSHOOT,94
$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
$GPS1,271212,161336,1801.181,12350.872,28,1.6,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.6
$GPS2,271212,162200,1801.197,12350.913,13,1.6,30,-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,253.7,175232,-14.2,-8.462,-17.62
$D_GRID,4525
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,0.0,0.0,0,92,0.00,0.00,-71.10,0.000,2,0.000,0.000,49,1876,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.54,-175.2,3.2,-4.4,12,138,7.82,2.12,-25.80,0.000,4,0.239,0.047,1967,3282,3126,0,0,0,0,0,0,25.17,26.10,26.51
$GC,288,-0.48,-175.2,51.7,-27.0,39,294,0.15,1.95,0.00,0.000,6,0.159,0.022,2007,1911,3126,0,0,0,0,0,0,25.86,26.29,28.83
$GC,612,-0.41,-175.2,149.0,-27.9,55,617,0.00,1.98,0.00,0.000,4,0.000,0.029,2007,531,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,769,-0.36,-175.2,181.6,-21.5,62,776,0.15,1.95,0.00,0.000,6,0.148,0.021,2042,1907,3126,0,0,0,0,0,0,26.03,26.40,28.83
$GC,1075,-0.34,-175.2,228.0,-12.8,78,1081,0.00,2.05,0.00,0.000,4,0.000,0.034,2032,3320,3127,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1093,-0.33,-175.2,228.0,-12.8,78,1100,0.00,1.98,0.00,0.000,6,0.000,0.021,2032,1898,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1398,-0.32,-175.2,268.2,-12.5,94,1405,0.00,1.95,0.00,0.000,4,0.000,0.030,2032,553,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1518,-0.32,-175.2,280.9,-12.1,99,1525,0.12,1.95,0.00,0.000,6,0.139,0.021,2061,1942,3127,0,0,0,0,0,0,26.16,26.45,28.83
$GC,1823,-0.33,-175.2,306.5,-7.4,115,1828,0.00,2.03,0.00,0.000,4,0.000,0.030,2060,549,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1887,-0.35,-175.2,311.8,-8.1,118,1892,0.00,1.95,0.00,0.000,6,0.000,0.021,2054,1942,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2210,-0.36,-175.2,338.0,-8.4,134,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,1943,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2512,-0.38,-175.2,362.4,-8.0,149,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,1944,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2812,-0.40,-175.2,379.5,-4.8,164,2819,0.00,2.00,0.00,0.000,4,0.000,0.034,2045,3289,3122,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2877,-0.42,-175.2,383.4,-5.7,167,2883,0.00,1.92,0.00,0.000,6,0.000,0.022,2045,1927,3122,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3201,-0.44,-175.2,408.1,-7.1,183,3207,0.00,2.03,0.00,0.000,4,0.000,0.031,2045,546,3121,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3356,-0.45,-175.2,419.3,-8.2,190,3361,0.00,1.95,0.00,0.000,6,0.000,0.021,2037,1928,3120,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3669,-0.46,-175.2,443.6,-7.3,206,3675,0.00,2.03,0.00,0.000,4,0.000,0.031,2037,546,3118,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3728,-0.48,-175.2,447.1,-7.6,208,3735,0.00,1.98,0.00,0.000,6,0.000,0.022,2036,1923,3117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4033,-0.49,-175.2,470.2,-7.3,224,4036,0.10,0.00,-0.10,0.000,6,0.112,0.000,1991,1924,3140,0,0,0,0,0,0,26.51,28.83,25.82
$GC,4332,-0.49,-175.2,501.3,-11.0,239,4338,0.00,2.03,0.00,0.000,4,0.000,0.034,1980,3302,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4355,-0.49,-175.2,504.0,-11.1,240,4362,0.00,1.98,0.00,0.000,6,0.000,0.023,1979,1920,3139,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4679,-0.48,-175.2,543.6,-12.0,256,4685,0.00,2.00,0.00,0.000,4,0.000,0.032,1980,534,3138,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4833,-0.46,-175.2,561.8,-12.5,263,4839,0.12,1.98,0.00,0.000,6,0.152,0.023,2005,1919,3137,0,0,0,0,0,0,26.08,26.41,28.83
$GC,5147,-0.46,-175.2,594.8,-10.1,279,5152,0.00,2.03,0.00,0.000,4,0.000,0.031,2006,545,3135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5194,-0.46,-175.2,599.3,-10.1,281,5199,0.00,1.98,0.00,0.000,6,0.000,0.023,1999,1934,3134,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5511,-0.46,-175.2,629.8,-9.4,292,5517,0.00,2.05,0.00,0.000,4,0.000,0.032,1999,545,3132,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5589,-0.46,-175.2,636.2,-9.9,294,5595,0.00,2.00,0.00,0.000,6,0.000,0.023,1990,1929,3132,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5909,-0.46,-175.2,666.3,-8.2,305,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1929,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,-0.46,-175.2,687.6,-6.3,315,6212,0.00,2.05,0.00,0.000,4,0.000,0.032,1990,541,3128,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6250,-0.46,-175.2,689.9,-6.4,316,6255,0.00,2.00,0.00,0.000,6,0.000,0.024,1981,1935,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6574,-0.46,-175.2,715.7,-8.1,327,6580,0.00,2.08,0.00,0.000,4,0.000,0.032,1981,537,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6617,-0.46,-175.2,718.9,-8.3,328,6624,0.12,2.00,0.00,0.000,6,0.155,0.024,2007,1928,3125,0,0,0,0,0,0,26.03,26.38,28.83
$GC,6943,-0.46,-175.2,741.0,-6.6,339,6948,0.00,2.03,0.00,0.000,4,0.000,0.037,1999,3310,3123,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6981,-0.47,-175.2,743.3,-6.8,340,6987,0.00,1.98,0.00,0.000,6,0.000,0.023,1999,1931,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7311,-0.47,-175.2,769.1,-8.0,351,7317,0.00,2.05,0.00,0.000,4,0.000,0.033,1999,530,3121,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7394,-0.47,-175.2,775.0,-8.7,353,7400,0.00,2.03,0.00,0.000,6,0.000,0.024,1991,1940,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7709,-0.47,-175.2,802.4,-7.9,364,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1940,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8007,-0.47,-175.2,826.1,-8.0,374,8013,0.00,2.12,0.00,0.000,4,0.000,0.034,1992,535,3118,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8046,-0.47,-175.2,829.0,-8.2,375,8051,0.00,2.00,0.00,0.000,6,0.000,0.024,1983,1924,3118,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8375,-0.47,-175.2,854.9,-7.6,386,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1924,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8674,-0.47,-175.2,877.1,-7.2,396,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1924,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8974,-0.47,-175.2,898.2,-6.9,406,8980,0.00,2.10,0.00,0.000,4,0.000,0.035,1983,523,3114,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9027,-0.47,-175.2,900.8,-7.1,407,9033,0.12,2.03,0.00,0.000,6,0.156,0.024,2008,1922,3114,0,0,0,0,0,0,25.96,26.32,28.83
$GC,9345,-0.49,-175.2,919.5,-5.5,418,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1922,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9642,-0.50,-175.2,935.7,-5.3,428,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1922,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9942,-0.52,-175.2,950.6,-4.8,438,9947,0.00,2.05,0.00,0.000,4,0.000,0.038,2000,3310,3110,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9984,-0.53,-175.2,952.3,-4.8,439,9989,0.00,2.00,0.00,0.000,6,0.000,0.025,2000,1927,3111,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10309,-0.55,-175.2,970.5,-5.5,450,10315,0.00,2.05,0.00,0.000,4,0.000,0.035,2000,531,3109,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10440,-0.55,-175.2,978.9,-6.6,454,10446,0.00,2.03,0.00,0.000,6,0.000,0.025,1990,1931,3109,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,10616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10616,begin apogee
$GC,10621,-0.17,0.0,990.5,-6.3,460,10775,0.32,0.00,146.68,1.409,6,0.121,0.000,2100,1931,2409,0,0,0,0,0,0,25.73,28.83,22.81
$STATE,10777,end apogee,CONTROL_FINISHED_OK
$STATE,10777,begin climb
$GC,10779,0.54,175.2,994.7,0.0,465,10951,0.70,2.45,159.80,1.357,4,0.090,0.037,2332,520,1692,0,0,0,0,0,0,24.19,23.58,22.23
$GC,10994,0.56,207.9,983.5,7.4,472,11033,0.00,2.15,30.67,1.297,6,0.000,0.022,2332,1888,1560,0,0,0,0,0,0,28.83,24.48,22.46
$GC,11347,0.57,207.9,952.6,8.7,484,11352,0.00,2.15,0.00,0.000,4,0.000,0.037,2332,3304,1553,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11410,0.57,207.9,946.6,9.1,486,11416,0.00,2.08,0.00,0.000,6,0.000,0.028,2333,1898,1551,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11746,0.59,238.7,919.9,7.5,497,11778,0.00,2.15,26.83,1.320,4,0.000,0.034,2333,3294,1433,0,0,0,0,0,0,28.83,25.51,24.11
$GC,11847,0.60,265.7,912.8,7.6,500,11880,0.00,2.08,24.33,1.302,6,0.000,0.027,2333,1897,1325,0,0,0,0,0,0,28.83,25.89,23.95
$GC,12199,0.65,334.0,888.9,6.2,512,12268,0.10,2.28,60.72,1.333,4,0.120,0.036,2370,3297,1047,0,0,0,0,0,0,26.20,25.02,23.77
$GC,12280,0.66,366.9,883.8,7.4,514,12321,0.00,2.12,30.50,1.276,6,0.000,0.026,2373,1901,913,0,0,0,0,0,0,28.83,25.32,23.62
$GC,12622,0.67,366.9,849.8,9.5,526,12627,0.00,2.10,0.00,0.000,4,0.000,0.038,2373,509,907,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12665,0.69,366.9,846.5,9.6,527,12670,0.00,2.05,0.00,0.000,6,0.000,0.023,2373,1909,907,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12989,0.70,366.9,812.7,10.5,538,12995,0.00,2.08,0.00,0.000,4,0.000,0.036,2373,3297,905,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13012,0.71,366.9,812.7,10.5,538,13017,0.00,2.05,0.00,0.000,6,0.000,0.027,2373,1898,904,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13326,0.73,366.9,773.1,11.5,549,13332,0.00,2.08,0.00,0.000,4,0.000,0.039,2373,509,904,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13380,0.74,366.9,769.2,11.4,550,13385,0.00,2.03,0.00,0.000,6,0.000,0.023,2373,1909,904,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,20209,end climb,SURFACE_DEPTH_REACHED
$STATE,20209,begin surface coast
$FINISH,0.9,1.008871
$STATE,20225,end surface coast,CONTROL_FINISHED_OK
$STATE,20225,begin surface
$SM_CCo,20300,0.00,0.000,0,0,209,539.66
$SM_GC,1.89,6.40,0.00,0.00,0.049,0.000,0.000,58,1928,209,-6.48,0.08,539.66,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,1754.17,12353.98,271212,101005
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.32
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3935904
$24V_AH,22.2,43.568
$10V_AH,9.9,31.200
$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,16.725,171.250,621.675,0.000,0.000,0.000,0.000,304.550,0.000,0.000,31.000,3002.407,14021.682,764.156,2618.200,389.177,0.000,2343.353,0.000,2198.163,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,47.430,1409.130,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20241.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.950,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,33398,906
$CAP_FILE_SIZE,225646,0
$CFSIZE,260034560,229605376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 11.6,1
$GPS,271212,220205,1800.850,12348.389,38,1.0,38,-2.0