version: 66.11
glider: 129
mission: 4
dive: 154
start: 12 11 112 3 0 21
data:
$ID,129
$MISSION,4
$DIVE,154
$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,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,-2841.4199
$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,72
$R_STBD_OVSHOOT,79
$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
$GPS1,111212,025129,2006.401,12420.949,40,1.1,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-58.5
$GPS2,111212,025955,2006.238,12420.955,17,1.2,17,-2.5
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,158.3,253525,-14.6,-8.684,-17.90
$D_GRID,5413
$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,-175.2,0.0,0.0,0,92,0.00,0.00,-71.45,0.000,2,0.000,0.000,45,1917,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.56,-175.2,3.4,-5.8,12,134,7.72,2.10,-24.95,0.000,4,0.240,0.045,1971,532,3125,0,0,0,0,0,0,25.39,25.99,26.33
$GC,308,-0.50,-175.2,48.2,-24.9,43,314,0.12,1.98,0.00,0.000,6,0.168,0.024,1995,1912,3126,0,0,0,0,0,0,25.85,26.16,28.83
$GC,621,-0.48,-175.2,109.6,-15.4,59,628,0.00,2.00,0.00,0.000,4,0.000,0.030,1995,533,3126,0,0,0,0,0,0,28.83,26.26,28.83
$GC,727,-0.47,-175.2,123.5,-12.8,64,733,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1931,3127,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1050,-0.46,-175.2,165.8,-12.8,80,1055,0.00,2.00,0.00,0.000,4,0.000,0.035,1979,3308,3126,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1073,-0.45,-175.2,168.6,-12.5,81,1079,0.12,1.98,0.00,0.000,6,0.135,0.022,2014,1898,3126,0,0,0,0,0,0,26.15,26.41,28.83
$GC,1397,-0.46,-175.2,200.1,-9.5,97,1402,0.00,1.98,0.00,0.000,4,0.000,0.031,2015,530,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1484,-0.46,-175.2,207.9,-9.5,101,1489,0.00,2.00,0.00,0.000,6,0.000,0.021,2007,1944,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1802,-0.46,-175.2,236.5,-8.9,117,1807,0.00,2.03,0.00,0.000,4,0.000,0.031,2007,555,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1838,-0.46,-175.2,238.6,-8.9,118,1846,0.00,1.95,0.00,0.000,6,0.000,0.023,1998,1916,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2144,-0.46,-175.2,269.6,-10.0,134,2150,0.00,2.03,0.00,0.000,4,0.000,0.035,1989,3309,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2176,-0.46,-175.2,272.0,-10.2,135,2182,0.00,1.95,0.00,0.000,6,0.000,0.023,1989,1935,3125,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2489,-0.46,-175.2,303.2,-9.5,151,2494,0.00,1.98,0.00,0.000,4,0.000,0.031,1988,549,3125,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2632,-0.46,-175.2,317.8,-10.1,158,2637,0.00,1.92,0.00,0.000,6,0.000,0.022,1980,1926,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2954,-0.46,-175.2,350.5,-10.2,174,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1926,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-0.46,-175.2,378.4,-9.0,189,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1926,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3555,-0.46,-175.2,406.5,-9.7,204,3561,0.00,2.03,0.00,0.000,4,0.000,0.037,1969,3311,3123,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3618,-0.47,-175.2,412.5,-9.5,207,3625,0.12,1.98,0.00,0.000,6,0.132,0.024,2007,1928,3123,0,0,0,0,0,0,26.22,26.49,28.83
$GC,3943,-0.49,-175.2,436.5,-7.1,223,3948,0.00,2.00,0.00,0.000,4,0.000,0.033,2007,537,3121,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4026,-0.51,-175.2,442.7,-7.5,227,4032,0.00,2.00,0.00,0.000,6,0.000,0.023,2003,1921,3121,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4349,-0.53,-175.2,462.9,-6.5,243,4355,0.00,2.05,0.00,0.000,4,0.000,0.037,1994,3313,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4422,-0.55,-175.2,467.2,-6.7,246,4428,0.00,1.98,0.00,0.000,6,0.000,0.024,1993,1922,3118,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4737,-0.57,-175.2,493.0,-8.5,262,4742,0.00,2.00,0.00,0.000,4,0.000,0.033,1994,543,3117,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4814,-0.58,-175.2,499.0,-9.3,265,4823,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1930,3116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5120,-0.59,-175.2,526.1,-8.0,281,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1931,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.61,-175.2,547.2,-6.6,296,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5720,-0.62,-175.2,566.5,-6.4,311,5725,0.00,2.08,0.00,0.000,4,0.000,0.034,1988,535,3111,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5772,-0.64,-175.2,569.7,-7.0,313,5778,0.00,1.98,0.00,0.000,6,0.000,0.024,1989,1923,3111,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6087,-0.65,-175.2,592.4,-7.0,329,6093,0.12,2.05,0.00,0.000,4,0.102,0.035,1912,3320,3110,0,0,0,0,0,0,26.48,26.31,28.83
$GC,6114,-0.66,-175.2,594.6,-7.4,330,6120,0.12,2.00,0.00,0.000,6,0.150,0.025,1950,1913,3109,0,0,0,0,0,0,26.12,26.45,28.83
$GC,6443,-0.66,-175.2,622.7,-7.7,342,6449,0.00,2.00,0.00,0.000,4,0.000,0.034,1950,546,3108,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6521,-0.66,-175.2,627.9,-7.9,344,6526,0.00,1.98,0.00,0.000,6,0.000,0.024,1942,1938,3108,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6840,-0.66,-175.2,653.8,-7.8,355,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1939,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7138,-0.66,-175.2,679.5,-8.8,365,7143,0.00,2.08,0.00,0.000,4,0.000,0.034,1942,543,3104,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7231,-0.66,-175.2,688.6,-9.6,368,7237,0.00,1.98,0.00,0.000,6,0.000,0.024,1933,1923,3103,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7565,-0.65,-175.2,721.2,-9.9,379,7571,0.00,2.05,0.00,0.000,4,0.000,0.039,1922,3316,3102,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7603,-0.64,-175.2,724.6,-10.1,380,7609,0.12,1.98,0.00,0.000,6,0.148,0.025,1957,1932,3102,0,0,0,0,0,0,26.10,26.44,28.83
$GC,7932,-0.65,-175.2,753.4,-8.6,391,7938,0.00,2.05,0.00,0.000,4,0.000,0.035,1957,539,3100,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8069,-0.65,-175.2,764.7,-9.2,395,8075,0.00,2.00,0.00,0.000,6,0.000,0.025,1949,1924,3100,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8388,-0.65,-175.2,792.0,-8.1,406,8393,0.00,2.05,0.00,0.000,4,0.000,0.038,1939,3315,3098,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8440,-0.65,-175.2,794.7,-8.1,407,8446,0.00,2.00,0.00,0.000,6,0.000,0.026,1939,1930,3098,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8754,-0.65,-175.2,823.9,-8.8,418,8760,0.00,2.05,0.00,0.000,4,0.000,0.035,1939,540,3097,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8916,-0.64,-175.2,838.8,-9.7,423,8923,0.00,2.00,0.00,0.000,6,0.000,0.026,1929,1932,3096,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9242,-0.63,-175.2,868.7,-8.9,434,9247,0.00,2.08,0.00,0.000,4,0.000,0.040,1919,3320,3095,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9284,-0.63,-175.2,872.0,-9.0,435,9290,0.12,2.03,0.00,0.000,6,0.150,0.028,1953,1917,3093,0,0,0,0,0,0,26.05,26.37,28.83
$GC,9609,-0.64,-175.2,897.7,-7.7,446,9615,0.00,2.05,0.00,0.000,4,0.000,0.037,1953,537,3093,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9694,-0.65,-175.2,903.2,-8.2,448,9700,0.00,2.00,0.00,0.000,6,0.000,0.026,1946,1928,3093,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10008,-0.65,-175.2,929.9,-7.9,459,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1928,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10308,-0.65,-175.2,953.8,-8.0,469,10314,0.00,2.08,0.00,0.000,4,0.000,0.037,1946,538,3091,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10350,-0.65,-175.2,956.7,-8.2,470,10356,0.00,2.00,0.00,0.000,6,0.000,0.026,1937,1928,3091,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10675,-0.65,-175.2,984.6,-8.3,481,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1928,3090,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10761,begin apogee
$GC,10765,-0.17,0.0,991.9,-8.1,484,10915,0.50,0.00,139.95,1.424,6,0.122,0.000,2103,1928,2408,0,0,0,0,0,0,25.63,28.83,23.29
$STATE,10917,end apogee,CONTROL_FINISHED_OK
$STATE,10917,begin climb
$GC,10919,0.56,175.2,996.7,0.0,489,11081,0.65,0.00,156.75,1.371,6,0.066,0.000,2339,1929,1695,0,0,0,0,0,0,24.49,28.83,22.54
$GC,11363,0.54,175.2,957.1,11.3,504,11370,0.00,2.12,0.00,0.000,4,0.000,0.038,2340,3295,1685,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11401,0.53,175.2,953.0,11.5,505,11407,0.00,2.08,0.00,0.000,6,0.000,0.028,2349,1899,1685,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11730,0.51,175.2,913.0,11.9,516,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1899,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12030,0.49,175.2,878.0,11.4,526,12036,0.00,2.12,0.00,0.000,4,0.000,0.037,2350,3293,1682,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12088,0.47,175.2,874.0,11.5,527,12095,0.17,2.05,0.00,0.000,6,0.172,0.028,2313,1889,1682,0,0,0,0,0,0,25.72,26.18,28.83
$GC,12394,0.48,178.2,843.6,8.6,538,12399,0.00,2.10,0.00,0.000,4,0.000,0.036,2313,3290,1681,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12440,0.48,182.3,840.6,8.5,539,12451,0.00,2.05,5.20,1.001,6,0.000,0.029,2321,1896,1665,0,0,0,0,0,0,28.83,26.25,24.79
$GC,12760,0.48,204.1,813.3,8.0,550,12789,0.00,2.17,20.05,1.278,4,0.000,0.041,2330,509,1576,0,0,0,0,0,0,28.83,25.70,24.62
$GC,12826,0.49,230.2,808.4,7.8,552,12856,0.00,2.08,24.05,1.267,6,0.000,0.024,2330,1913,1470,0,0,0,0,0,0,28.83,25.84,24.22
$GC,13184,0.49,230.2,776.8,8.8,564,13189,0.00,2.08,0.00,0.000,4,0.000,0.037,2330,3287,1463,0,0,0,0,0,0,28.83,25.97,28.83
$GC,13330,0.48,230.2,764.4,10.1,568,13337,0.00,2.03,0.00,0.000,6,0.000,0.028,2340,1900,1463,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13636,0.48,230.2,733.1,9.5,579,13641,0.00,2.10,0.00,0.000,4,0.000,0.037,2339,3286,1462,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,21095,end climb,SURFACE_DEPTH_REACHED
$STATE,21095,begin surface coast
$FINISH,1.0,1.022860
$STATE,21111,end surface coast,CONTROL_FINISHED_OK
$STATE,21112,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,47.91
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$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3961152
$24V_AH,22.5,29.874
$10V_AH,10.1,22.306
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.917,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,36700,959
$CAP_FILE_SIZE,239089,0
$CFSIZE,260034560,236609536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,178.2,1
$GPS,111212,085435,2002.421,12422.749,29,1.5,29,-2.5