version: 66.11
glider: 129
mission: 4
dive: 136
start: 12 6 112 13 39 32
data:
$ID,129
$MISSION,4
$DIVE,136
$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,-2818.6838
$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,71
$R_STBD_OVSHOOT,74
$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
$GPS1,061212,133106,1957.434,12347.755,43,1.2,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-55.4
$GPS2,061212,133907,1957.397,12347.808,12,1.7,12,-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,17.2,64743,-14.6,-8.684,-17.90
$D_GRID,5297
$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,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-65.55,0.000,2,0.000,0.000,56,1894,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.2,-4.3,11,134,7.68,2.17,-29.73,0.000,4,0.243,0.048,1961,3313,3125,0,0,0,0,0,0,25.41,26.00,26.33
$GC,177,-0.50,-175.2,18.2,-21.3,26,184,0.12,2.00,0.00,0.000,6,0.158,0.024,1993,1911,3126,0,0,0,0,0,0,25.84,26.10,28.83
$GC,491,-0.47,-175.2,84.7,-18.1,51,497,0.00,2.08,0.00,0.000,4,0.000,0.034,1984,3316,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,714,-0.46,-175.2,118.8,-14.0,62,720,0.00,2.00,0.00,0.000,6,0.000,0.023,1984,1915,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1038,-0.44,-175.2,165.2,-12.9,78,1043,0.12,1.98,0.00,0.000,4,0.152,0.031,2025,534,3126,0,0,0,0,0,0,26.24,26.38,28.83
$GC,1104,-0.44,-175.2,171.6,-10.6,81,1109,0.00,1.98,0.00,0.000,6,0.000,0.022,2017,1928,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1421,-0.44,-175.2,201.5,-8.9,97,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1929,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1723,-0.45,-175.2,227.1,-8.2,112,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1929,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2024,-0.46,-175.2,251.6,-8.4,127,2029,0.00,2.03,0.00,0.000,4,0.000,0.031,2017,541,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2061,-0.47,-175.2,253.6,-8.5,128,2067,0.00,1.95,0.00,0.000,6,0.000,0.022,2008,1935,3123,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2367,-0.47,-175.2,279.0,-7.4,144,2372,0.00,2.00,0.00,0.000,4,0.000,0.036,1998,3316,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2393,-0.48,-175.2,280.7,-7.3,145,2399,0.00,1.95,0.00,0.000,6,0.000,0.023,1998,1914,3124,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2711,-0.49,-175.2,305.0,-7.6,161,2718,0.00,2.00,0.00,0.000,4,0.000,0.032,1997,545,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2780,-0.49,-175.2,310.6,-8.4,164,2785,0.00,1.92,0.00,0.000,6,0.000,0.022,1990,1929,3124,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3097,-0.49,-175.2,342.6,-10.1,180,3103,0.00,2.03,0.00,0.000,4,0.000,0.037,1988,3320,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3144,-0.50,-175.2,346.6,-9.8,182,3151,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1923,3123,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3464,-0.51,-175.2,373.5,-7.9,198,3469,0.00,1.98,0.00,0.000,4,0.000,0.032,1988,539,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3501,-0.52,-175.2,375.3,-8.0,199,3508,0.00,1.98,0.00,0.000,6,0.000,0.023,1987,1932,3122,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3808,-0.52,-175.2,401.4,-8.5,215,3813,0.00,2.05,0.00,0.000,4,0.000,0.032,1988,528,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3840,-0.53,-175.2,403.7,-8.8,216,3845,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1933,3121,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4153,-0.54,-175.2,429.3,-7.6,232,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1934,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4455,-0.55,-175.2,447.6,-5.5,247,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1934,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4753,-0.56,-175.2,464.7,-6.4,262,4755,0.00,0.00,-0.08,0.000,6,0.000,0.000,1988,1934,3139,0,0,0,0,0,0,28.83,28.83,25.54
$GC,5053,-0.57,-175.2,485.9,-7.3,277,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1934,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5353,-0.58,-175.2,508.7,-7.7,292,5359,0.00,2.03,0.00,0.000,4,0.000,0.038,1988,3305,3138,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5382,-0.60,-175.2,510.2,-7.4,293,5387,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1921,3137,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5700,-0.61,-175.2,530.9,-6.0,309,5705,0.00,2.03,0.00,0.000,4,0.000,0.034,1988,536,3136,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5798,-0.63,-175.2,536.4,-6.6,313,5804,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1936,3136,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6104,-0.64,-175.2,556.3,-6.4,329,6109,0.12,2.00,0.00,0.000,4,0.102,0.036,1916,3306,3134,0,0,0,0,0,0,26.52,26.39,28.83
$GC,6127,-0.65,-175.2,558.3,-6.8,330,6133,0.12,1.98,0.00,0.000,6,0.150,0.025,1950,1905,3134,0,0,0,0,0,0,26.20,26.50,28.83
$GC,6451,-0.65,-175.2,587.3,-8.6,346,6456,0.00,1.98,0.00,0.000,4,0.000,0.034,1951,550,3133,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6564,-0.65,-175.2,597.1,-9.5,351,6569,0.00,1.95,0.00,0.000,6,0.000,0.024,1943,1930,3132,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6897,-0.65,-175.2,627.3,-8.8,363,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1930,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7196,-0.65,-175.2,654.1,-8.8,373,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1930,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,-0.65,-175.2,681.5,-9.4,383,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1930,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7796,-0.65,-175.2,710.6,-9.8,393,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1930,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8097,-0.65,-175.2,739.7,-9.7,403,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1930,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8396,-0.65,-175.2,768.0,-9.3,413,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1930,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8696,-0.65,-175.2,795.0,-9.0,423,8702,0.00,2.05,0.00,0.000,4,0.000,0.036,1942,544,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8744,-0.65,-175.2,798.3,-9.2,424,8749,0.00,2.00,0.00,0.000,6,0.000,0.026,1933,1927,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9062,-0.65,-175.2,828.3,-8.9,435,9067,0.00,2.05,0.00,0.000,4,0.000,0.040,1923,3318,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9089,-0.65,-175.2,828.3,-8.9,435,9095,0.00,1.98,0.00,0.000,6,0.000,0.027,1923,1934,3119,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9395,-0.64,-175.2,859.3,-9.3,446,9401,0.00,2.08,0.00,0.000,4,0.000,0.037,1922,531,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9503,-0.64,-175.2,868.9,-10.1,449,9509,0.15,2.00,0.00,0.000,6,0.152,0.026,1955,1927,3119,0,0,0,0,0,0,26.07,26.44,28.83
$GC,9822,-0.64,-175.2,894.8,-7.5,460,9828,0.00,2.05,0.00,0.000,4,0.000,0.037,1955,538,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9845,-0.65,-175.2,894.8,-7.5,460,9851,0.00,2.00,0.00,0.000,6,0.000,0.026,1948,1935,3117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10160,-0.65,-175.2,921.3,-7.8,471,10166,0.00,2.08,0.00,0.000,4,0.000,0.037,1948,531,3116,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10202,-0.65,-175.2,924.4,-8.1,472,10208,0.00,2.03,0.00,0.000,6,0.000,0.026,1938,1930,3117,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10528,-0.65,-175.2,951.9,-8.3,483,10533,0.00,2.08,0.00,0.000,4,0.000,0.039,1928,3323,3115,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10550,-0.65,-175.2,951.9,-8.3,483,10555,0.00,2.00,0.00,0.000,6,0.000,0.027,1928,1924,3115,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10863,-0.65,-175.2,981.8,-9.0,494,10868,0.00,2.05,0.00,0.000,4,0.000,0.037,1928,534,3114,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10925,-0.65,-175.2,988.4,-9.7,496,10931,0.00,2.00,0.00,0.000,6,0.000,0.027,1920,1923,3114,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,10956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10957,begin apogee
$GC,10961,-0.17,0.0,991.6,-10.0,497,11111,0.55,0.00,143.98,1.415,6,0.125,0.000,2101,1924,2409,0,0,0,0,0,0,25.78,28.83,23.48
$STATE,11113,end apogee,CONTROL_FINISHED_OK
$STATE,11113,begin climb
$GC,11114,0.56,175.2,998.4,0.0,502,11274,0.70,0.00,156.35,1.368,6,0.065,0.000,2345,1924,1694,0,0,0,0,0,0,24.57,28.83,22.64
$GC,11558,0.54,175.2,963.6,10.4,517,11564,0.00,2.12,0.00,0.000,4,0.000,0.037,2349,3288,1686,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11676,0.52,175.2,952.4,11.7,520,11684,0.12,2.05,0.00,0.000,6,0.180,0.028,2328,1909,1684,0,0,0,0,0,0,25.48,25.79,28.83
$GC,11983,0.51,175.2,917.5,10.6,531,11988,0.00,2.12,0.00,0.000,4,0.000,0.038,2328,3293,1684,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12030,0.50,175.2,913.6,10.8,532,12036,0.00,2.05,0.00,0.000,6,0.000,0.028,2336,1897,1683,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12349,0.48,175.2,875.1,11.4,543,12356,0.00,2.10,0.00,0.000,4,0.000,0.040,2346,506,1681,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12392,0.47,175.2,871.0,11.4,544,12399,0.12,2.03,0.00,0.000,6,0.168,0.024,2315,1923,1680,0,0,0,0,0,0,25.93,26.25,28.83
$GC,12718,0.47,175.2,837.0,9.9,555,12723,0.00,2.03,0.00,0.000,4,0.000,0.037,2315,3278,1680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12815,0.46,175.2,827.1,10.4,558,12820,0.00,2.00,0.00,0.000,6,0.000,0.029,2323,1898,1680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13144,0.46,175.2,795.4,9.3,569,13150,0.00,2.08,0.00,0.000,4,0.000,0.036,2323,3274,1680,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13202,0.45,175.2,792.0,9.4,570,13209,0.00,2.03,0.00,0.000,6,0.000,0.029,2332,1888,1679,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13509,0.44,175.2,759.4,10.0,581,13515,0.12,2.08,0.00,0.000,4,0.174,0.037,2304,489,1679,0,0,0,0,0,0,26.11,26.28,28.83
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$STATE,21299,end climb,SURFACE_DEPTH_REACHED
$STATE,21299,begin surface coast
$FINISH,1.0,1.022067
$STATE,21305,end surface coast,CONTROL_FINISHED_OK
$STATE,21305,begin surface
$SM_CCo,21382,0.00,0.000,0,0,286,520.77
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$IRIDIUM_FIX,1950.41,12342.68,061212,070719
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.81
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3968064
$24V_AH,22.6,26.425
$10V_AH,10.0,19.805
$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,16.575,174.850,592.300,0.000,0.000,0.000,0.000,309.600,3.000,0.000,13.026,3206.223,14824.818,761.023,2727.129,332.309,0.000,2370.037,0.000,2300.640,0.000,26.817,0.000
$DEVICE_MAMPS,242.505,48.195,1415.250,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21323.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.179,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,36663,989
$CAP_FILE_SIZE,242809,0
$CFSIZE,260034560,238563328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,166.3,1
$GPS,061212,193706,1958.365,12348.864,35,1.1,35,-2.4