version: 66.11
glider: 129
mission: 4
dive: 135
start: 12 6 112 7 40 20
data:
$ID,129
$MISSION,4
$DIVE,135
$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,380
$T_MISSION,400
$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,1
$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,-2817.4253
$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,1
$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,71
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,061212,073129,1956.673,12344.929,86,1.2,86,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-52.2
$GPS2,061212,073955,1956.667,12344.848,16,1.4,16,-2.4
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,36.8,69881,-14.6,-8.684,-17.90
$D_GRID,5131
$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,-0.56,-175.2,0.0,0.0,0,80,0.00,0.00,-59.55,0.000,2,0.000,0.000,70,1879,1747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-175.2,3.0,-4.0,10,133,7.75,0.00,-38.38,0.000,6,0.245,0.000,1975,1882,3124,1,0,0,0,0,0,25.32,28.83,26.34
$GC,440,-0.50,-175.2,90.0,-24.8,49,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1874,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,741,-0.47,-175.2,139.5,-14.5,64,747,0.12,1.98,0.00,0.000,4,0.161,0.028,2009,516,3125,0,0,0,0,0,0,26.19,26.33,28.83
$GC,829,-0.46,-175.2,149.6,-11.9,68,835,0.00,2.00,0.00,0.000,6,0.000,0.021,2001,1928,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1148,-0.45,-175.2,188.1,-13.0,84,1153,0.00,2.03,0.00,0.000,4,0.000,0.031,2001,523,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1195,-0.45,-175.2,193.8,-13.1,86,1200,0.00,1.98,0.00,0.000,6,0.000,0.022,1988,1928,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1513,-0.44,-175.2,233.3,-11.8,102,1518,0.00,2.05,0.00,0.000,4,0.000,0.030,1991,519,3125,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1550,-0.43,-175.2,236.1,-11.9,103,1558,0.12,2.00,0.00,0.000,6,0.144,0.023,2020,1924,3125,0,0,0,0,0,0,26.23,26.47,28.83
$GC,1856,-0.44,-175.2,261.8,-6.7,119,1862,0.00,2.05,0.00,0.000,4,0.000,0.036,2011,3303,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1894,-0.46,-175.2,263.4,-6.7,120,1901,0.00,1.95,0.00,0.000,6,0.000,0.022,2011,1915,3123,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2201,-0.47,-175.2,287.0,-7.1,136,2206,0.00,1.98,0.00,0.000,4,0.000,0.031,2011,538,3123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2295,-0.48,-175.2,293.5,-7.8,140,2300,0.00,1.98,0.00,0.000,6,0.000,0.022,2003,1940,3123,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2608,-0.49,-175.2,321.6,-9.1,156,2613,0.00,2.05,0.00,0.000,4,0.000,0.031,2003,535,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2635,-0.50,-175.2,323.7,-9.1,157,2640,0.00,1.95,0.00,0.000,6,0.000,0.021,1994,1932,3122,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2954,-0.50,-175.2,353.3,-9.0,173,2959,0.00,2.03,0.00,0.000,4,0.000,0.035,1986,3311,3121,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2977,-0.51,-175.2,355.4,-8.9,174,2982,0.00,1.95,0.00,0.000,6,0.000,0.022,1985,1926,3121,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3300,-0.52,-175.2,385.3,-9.4,190,3306,0.00,2.00,0.00,0.000,4,0.000,0.031,1985,541,3120,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3415,-0.52,-175.2,395.2,-9.4,195,3420,0.00,1.98,0.00,0.000,6,0.000,0.022,1976,1938,3120,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3727,-0.52,-175.2,421.7,-8.6,211,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1938,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4028,-0.52,-175.2,445.8,-8.0,226,4033,0.00,2.03,0.00,0.000,4,0.000,0.033,1976,544,3117,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4071,-0.52,-175.2,449.5,-8.5,228,4076,0.00,1.95,0.00,0.000,6,0.000,0.023,1967,1922,3116,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4394,-0.52,-175.2,481.1,-10.2,244,4396,0.00,0.00,-0.08,0.000,6,0.000,0.000,1967,1921,3138,0,0,0,0,0,0,28.83,28.83,25.53
$GC,4693,-0.52,-175.2,510.9,-9.7,259,4699,0.00,2.05,0.00,0.000,4,0.000,0.037,1956,3311,3138,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4730,-0.52,-175.2,513.0,-9.6,260,4739,0.12,1.98,0.00,0.000,6,0.132,0.024,1994,1923,3138,0,0,0,0,0,0,26.28,26.53,28.83
$GC,5038,-0.54,-175.2,535.4,-6.6,276,5043,0.00,2.00,0.00,0.000,4,0.000,0.034,1994,534,3137,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5105,-0.56,-175.2,540.1,-7.3,279,5111,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1924,3136,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5423,-0.58,-175.2,565.0,-7.9,295,5428,0.00,2.05,0.00,0.000,4,0.000,0.038,1988,3306,3134,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5475,-0.60,-175.2,568.2,-7.6,297,5481,0.00,1.98,0.00,0.000,6,0.000,0.025,1988,1922,3134,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5790,-0.62,-175.2,592.1,-7.2,313,5795,0.00,2.03,0.00,0.000,4,0.000,0.034,1988,534,3132,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5854,-0.63,-175.2,597.1,-7.8,316,5859,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1927,3133,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6168,-0.65,-175.2,618.3,-6.6,327,6174,0.12,2.03,0.00,0.000,4,0.099,0.032,1925,541,3129,0,0,0,0,0,0,26.52,26.42,28.83
$GC,6211,-0.66,-175.2,621.5,-7.3,328,6217,0.12,1.98,0.00,0.000,6,0.155,0.024,1949,1922,3130,0,0,0,0,0,0,26.18,26.48,28.83
$GC,6538,-0.66,-175.2,650.1,-8.5,339,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1923,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6836,-0.66,-175.2,677.7,-9.6,349,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1923,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7135,-0.66,-175.2,705.5,-9.1,359,7141,0.00,2.08,0.00,0.000,4,0.000,0.038,1941,3311,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7158,-0.66,-175.2,705.5,-9.1,359,7163,0.00,2.00,0.00,0.000,6,0.000,0.026,1941,1927,3125,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7471,-0.66,-175.2,736.6,-9.4,370,7476,0.00,2.03,0.00,0.000,4,0.000,0.035,1941,536,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7557,-0.66,-175.2,743.3,-10.0,372,7564,0.00,2.00,0.00,0.000,6,0.000,0.025,1931,1924,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7866,-0.65,-175.2,776.6,-10.2,383,7871,0.00,2.05,0.00,0.000,4,0.000,0.034,1931,530,3122,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7892,-0.65,-175.2,776.6,-10.2,383,7899,0.00,2.03,0.00,0.000,6,0.000,0.025,1922,1917,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8200,-0.64,-175.2,811.6,-10.3,394,8206,0.12,2.05,0.00,0.000,4,0.158,0.034,1962,539,3120,0,0,0,0,0,0,26.27,26.37,28.83
$GC,8223,-0.63,-175.2,811.6,-10.3,394,8229,0.00,2.00,0.00,0.000,6,0.000,0.024,1954,1927,3120,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8538,-0.63,-175.2,837.2,-7.1,405,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1927,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8838,-0.64,-175.2,857.5,-6.8,415,8843,0.00,2.08,0.00,0.000,4,0.000,0.040,1943,3314,3118,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8860,-0.65,-175.2,857.5,-6.8,415,8865,0.00,2.00,0.00,0.000,6,0.000,0.027,1944,1928,3117,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9174,-0.65,-175.2,882.7,-7.7,426,9179,0.00,2.05,0.00,0.000,4,0.000,0.037,1943,525,3116,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9307,-0.65,-175.2,893.7,-8.8,430,9312,0.00,2.03,0.00,0.000,6,0.000,0.027,1935,1920,3116,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9630,-0.65,-175.2,923.5,-9.1,441,9636,0.00,2.05,0.00,0.000,4,0.000,0.039,1925,3312,3115,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9663,-0.65,-175.2,926.5,-9.0,442,9668,0.00,2.03,0.00,0.000,6,0.000,0.028,1925,1919,3114,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9996,-0.64,-175.2,958.0,-9.7,453,10002,0.00,2.05,0.00,0.000,4,0.000,0.037,1924,534,3114,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10159,-0.63,-175.2,974.0,-10.4,458,10165,0.12,2.00,0.00,0.000,6,0.156,0.026,1951,1926,3113,0,0,0,0,0,0,26.08,26.41,28.83
$STATE,10361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10361,begin apogee
$GC,10365,-0.17,0.0,990.9,-7.5,465,10516,0.43,0.00,143.68,1.414,6,0.116,0.000,2097,1926,2409,0,0,0,0,0,0,25.90,28.83,23.51
$STATE,10517,end apogee,CONTROL_FINISHED_OK
$STATE,10517,begin climb
$GC,10519,0.56,175.2,995.8,0.0,470,10682,0.70,2.40,155.77,1.363,4,0.071,0.036,2350,518,1694,0,0,0,0,0,0,24.60,23.63,22.66
$GC,10709,0.53,200.7,986.0,7.8,476,10739,0.00,2.20,23.70,1.281,6,0.000,0.024,2350,1901,1590,0,0,0,0,0,0,28.83,24.26,22.92
$GC,11057,0.52,200.7,943.1,11.6,488,11062,0.00,2.12,0.00,0.000,4,0.000,0.037,2350,3290,1582,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11218,0.50,200.7,923.7,12.7,493,11224,0.15,2.08,0.00,0.000,6,0.174,0.028,2322,1898,1581,0,0,0,0,0,0,25.57,25.90,28.83
$GC,11543,0.50,200.7,892.3,9.1,504,11548,0.00,2.10,0.00,0.000,4,0.000,0.036,2322,3290,1580,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11620,0.49,200.7,885.9,9.7,506,11626,0.00,2.05,0.00,0.000,6,0.000,0.028,2330,1887,1579,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11940,0.49,200.7,852.5,10.4,517,11945,0.00,2.08,0.00,0.000,4,0.000,0.039,2340,496,1578,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11976,0.48,200.7,848.7,10.5,518,11983,0.00,2.05,0.00,0.000,6,0.000,0.024,2340,1911,1578,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12306,0.47,200.7,812.8,10.7,529,12311,0.00,2.08,0.00,0.000,4,0.000,0.037,2340,3291,1577,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12448,0.46,200.7,798.2,11.9,533,12453,0.15,2.03,0.00,0.000,6,0.171,0.028,2310,1893,1577,0,0,0,0,0,0,25.94,26.34,28.83
$GC,12762,0.46,200.7,766.9,9.1,544,12767,0.00,2.08,0.00,0.000,4,0.000,0.037,2310,3282,1577,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12795,0.46,200.7,763.5,9.5,545,12801,0.00,2.05,0.00,0.000,6,0.000,0.029,2316,1905,1577,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,20875,end climb,SURFACE_DEPTH_REACHED
$STATE,20875,begin surface coast
$FINISH,0.9,1.022349
$STATE,20892,end surface coast,CONTROL_FINISHED_OK
$STATE,20892,begin surface
$SM_CCo,20966,0.00,0.000,0,0,317,513.17
$SM_GC,1.66,6.22,0.00,0.00,0.044,0.000,0.000,66,1891,317,-6.47,-0.93,513.17,0,0,0,0,0,0,26.08,28.83,28.83
$IRIDIUM_FIX,1945.83,12341.40,061212,010153
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.69
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3968448
$24V_AH,22.7,26.218
$10V_AH,10.1,19.662
$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,16.775,175.325,589.825,0.000,0.000,0.000,0.000,329.875,3.000,0.000,17.275,3140.117,14517.118,748.154,2714.146,339.809,0.000,2365.361,0.000,2267.326,0.000,25.448,0.000
$DEVICE_MAMPS,244.800,39.780,1414.485,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.048,0.000,0.000,0.000
$MEM,329016
$DATA_FILE_SIZE,36725,955
$CAP_FILE_SIZE,238554,0
$CFSIZE,260034560,238678016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.218,143.0,1
$GPS,061212,133106,1957.434,12347.755,43,1.2,43,-2.4