version: 66.11
glider: 129
mission: 4
dive: 158
start: 12 12 112 3 33 6
data:
$ID,129
$MISSION,4
$DIVE,158
$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,3
$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,-2846.4465
$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,70
$R_STBD_OVSHOOT,77
$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
$GPS1,121212,032353,1949.425,12424.269,40,1.1,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-59.1
$GPS2,121212,033240,1949.462,12424.274,17,1.1,17,-2.4
$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,168.0,222050,-14.6,-8.684,-17.90
$D_GRID,5593
$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,-71.20,0.000,2,0.000,0.000,62,1910,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.56,-175.2,3.3,-4.9,12,139,7.70,2.12,-30.55,0.000,4,0.242,0.046,1972,524,3126,0,0,0,0,0,0,25.38,25.99,26.34
$GC,281,-0.50,-175.2,38.5,-23.6,41,289,0.12,2.00,0.00,0.000,6,0.161,0.024,1996,1912,3127,0,0,0,0,0,0,25.86,26.17,28.83
$GC,597,-0.48,-175.2,100.9,-13.0,60,599,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1912,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,898,-0.47,-175.2,137.9,-12.9,75,899,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1912,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1198,-0.46,-175.2,177.3,-12.8,90,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1912,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-0.46,-175.2,210.8,-11.3,105,1504,0.00,2.03,0.00,0.000,4,0.000,0.031,1996,528,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1606,-0.46,-175.2,223.8,-12.3,110,1611,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1937,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1924,-0.45,-175.2,262.1,-10.7,126,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1937,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,-0.45,-175.2,292.3,-9.7,141,2231,0.00,2.08,0.00,0.000,4,0.000,0.032,1989,537,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2269,-0.45,-175.2,297.2,-10.4,143,2275,0.12,1.98,0.00,0.000,6,0.139,0.023,2017,1927,3125,0,0,0,0,0,0,26.20,26.46,28.83
$GC,2593,-0.47,-175.2,321.8,-7.2,159,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1927,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.49,-175.2,342.1,-6.4,174,2900,0.00,2.05,0.00,0.000,4,0.000,0.031,2018,530,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2947,-0.51,-175.2,345.5,-7.0,176,2953,0.00,1.98,0.00,0.000,6,0.000,0.022,2011,1940,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3262,-0.53,-175.2,370.8,-8.2,192,3267,0.00,2.00,0.00,0.000,4,0.000,0.036,2001,3300,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3320,-0.55,-175.2,374.4,-8.1,194,3327,0.00,1.95,0.00,0.000,6,0.000,0.023,2001,1903,3124,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3626,-0.56,-175.2,396.6,-5.7,210,3632,0.00,1.98,0.00,0.000,4,0.000,0.033,2001,539,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3705,-0.58,-175.2,400.7,-6.2,213,3712,0.00,1.95,0.00,0.000,6,0.000,0.023,1993,1931,3123,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4011,-0.59,-175.2,424.0,-8.2,229,4016,0.00,2.03,0.00,0.000,4,0.000,0.037,1987,3305,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4038,-0.60,-175.2,425.9,-8.3,230,4044,0.00,1.95,0.00,0.000,6,0.000,0.023,1986,1916,3122,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4357,-0.61,-175.2,452.8,-8.1,246,4362,0.00,2.00,0.00,0.000,4,0.000,0.033,1986,540,3118,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4415,-0.62,-175.2,456.4,-8.3,248,4421,0.00,1.95,0.00,0.000,6,0.000,0.023,1978,1928,3120,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4721,-0.63,-175.2,483.2,-7.9,264,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1928,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5021,-0.64,-175.2,506.6,-7.5,279,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1928,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.64,-175.2,529.5,-7.5,294,5327,0.00,2.05,0.00,0.000,4,0.000,0.034,1977,542,3115,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5366,-0.65,-175.2,533.4,-8.0,296,5371,0.00,1.98,0.00,0.000,6,0.000,0.024,1969,1924,3115,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5689,-0.66,-175.2,560.4,-8.8,312,5694,0.00,2.03,0.00,0.000,4,0.000,0.038,1958,3304,3113,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5746,-0.66,-175.2,564.3,-8.9,314,5753,0.00,2.00,0.00,0.000,6,0.000,0.025,1958,1902,3113,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6051,-0.66,-175.2,593.5,-8.8,330,6056,0.00,2.00,0.00,0.000,4,0.000,0.034,1958,537,3111,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6146,-0.66,-175.2,602.3,-9.4,335,6152,0.00,1.98,0.00,0.000,6,0.000,0.024,1949,1922,3111,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6480,-0.66,-175.2,633.1,-9.6,346,6485,0.00,2.08,0.00,0.000,4,0.000,0.038,1938,3320,3108,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6526,-0.66,-175.2,636.3,-9.6,347,6532,0.00,1.98,0.00,0.000,6,0.000,0.026,1938,1929,3108,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6847,-0.66,-175.2,669.6,-9.9,358,6852,0.00,2.08,0.00,0.000,4,0.000,0.035,1938,509,3107,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6983,-0.65,-175.2,683.0,-10.8,362,6989,0.00,2.03,0.00,0.000,6,0.000,0.025,1928,1927,3107,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7303,-0.64,-175.2,717.0,-10.3,373,7308,0.00,2.05,0.00,0.000,4,0.000,0.039,1922,3316,3104,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7346,-0.63,-175.2,720.4,-10.2,374,7352,0.12,1.98,0.00,0.000,6,0.150,0.027,1952,1919,3104,0,0,0,0,0,0,26.09,26.41,28.83
$GC,7671,-0.63,-175.2,749.4,-8.5,385,7676,0.00,2.03,0.00,0.000,4,0.000,0.036,1952,544,3102,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7769,-0.63,-175.2,758.1,-8.9,388,7774,0.00,1.98,0.00,0.000,6,0.000,0.026,1946,1926,3102,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8098,-0.63,-175.2,786.3,-8.5,399,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1926,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8397,-0.63,-175.2,811.1,-8.3,409,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1926,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8697,-0.63,-175.2,835.5,-8.1,419,8702,0.00,2.08,0.00,0.000,4,0.000,0.036,1946,543,3098,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8740,-0.63,-175.2,838.4,-8.3,420,8745,0.00,2.00,0.00,0.000,6,0.000,0.026,1937,1934,3097,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9064,-0.63,-175.2,866.1,-8.1,431,9069,0.00,2.05,0.00,0.000,4,0.000,0.041,1927,3315,3096,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9097,-0.63,-175.2,868.9,-8.1,432,9102,0.00,2.00,0.00,0.000,6,0.000,0.027,1927,1925,3095,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9431,-0.63,-175.2,899.2,-9.3,443,9437,0.12,2.05,0.00,0.000,4,0.153,0.035,1968,531,3097,0,0,0,0,0,0,26.22,26.23,28.83
$GC,9592,-0.64,-175.2,913.0,-8.7,448,9598,0.00,2.03,0.00,0.000,6,0.000,0.026,1964,1939,3095,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9922,-0.65,-175.2,941.1,-8.5,459,9927,0.00,2.10,0.00,0.000,4,0.000,0.037,1959,540,3093,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9980,-0.66,-175.2,944.2,-8.6,460,9986,0.00,2.00,0.00,0.000,6,0.000,0.026,1950,1930,3093,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10287,-0.67,-175.2,972.0,-8.0,471,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1930,3093,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10553,begin apogee
$GC,10558,-0.17,0.0,991.4,-7.0,480,10707,0.45,0.00,140.30,1.427,6,0.117,0.000,2107,1931,2409,0,0,0,0,0,0,25.72,28.83,23.27
$STATE,10708,end apogee,CONTROL_FINISHED_OK
$STATE,10708,begin climb
$GC,10710,0.56,175.2,996.1,0.0,485,10876,0.65,2.28,156.80,1.376,4,0.065,0.034,2340,3280,1693,0,0,0,0,0,0,24.44,23.56,22.54
$GC,10919,0.53,175.2,983.2,9.1,492,10924,0.00,2.20,0.00,0.000,6,0.000,0.027,2348,1907,1688,0,0,0,0,0,0,28.83,24.35,28.83
$GC,11254,0.51,175.2,947.3,10.7,503,11260,0.00,2.15,0.00,0.000,4,0.000,0.037,2348,3297,1684,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11291,0.50,175.2,943.2,10.8,504,11298,0.15,2.10,0.00,0.000,6,0.174,0.028,2320,1891,1683,0,0,0,0,0,0,25.44,25.82,28.83
$GC,11622,0.49,176.6,913.8,8.6,515,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1892,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11920,0.50,191.2,888.6,8.2,525,11939,0.00,2.17,12.77,1.259,4,0.000,0.038,2320,3288,1627,0,0,0,0,0,0,28.83,25.86,24.71
$GC,11986,0.49,196.7,883.2,8.5,527,11998,0.00,2.05,6.38,1.079,6,0.000,0.028,2329,1901,1607,0,0,0,0,0,0,28.83,25.96,24.54
$GC,12315,0.49,199.3,854.4,8.6,538,12321,0.00,2.12,0.00,0.000,4,0.000,0.036,2329,3297,1604,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12363,0.48,199.3,851.1,8.9,539,12368,0.00,2.05,0.00,0.000,6,0.000,0.029,2337,1897,1603,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12682,0.47,199.3,818.9,9.8,550,12688,0.00,2.12,0.00,0.000,4,0.000,0.036,2337,3300,1603,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12765,0.46,199.3,811.9,10.5,552,12771,0.15,2.05,0.00,0.000,6,0.171,0.028,2307,1889,1603,0,0,0,0,0,0,25.86,26.27,28.83
$GC,13080,0.46,202.6,782.2,8.6,563,13094,0.00,2.15,6.03,1.050,4,0.000,0.036,2307,3285,1583,0,0,0,0,0,0,28.83,26.20,24.85
$GC,13126,0.46,206.0,779.3,8.6,564,13136,0.00,2.03,4.55,0.920,6,0.000,0.028,2315,1898,1570,0,0,0,0,0,0,28.83,26.21,24.75
$GC,13444,0.47,212.6,750.6,8.5,575,13459,0.00,2.15,7.53,1.105,4,0.000,0.037,2315,3282,1542,0,0,0,0,0,0,28.83,26.06,24.81
$GC,13477,0.47,215.3,747.6,8.6,576,13487,0.00,2.05,3.92,0.825,6,0.000,0.028,2323,1889,1533,0,0,0,0,0,0,28.83,26.10,24.69
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$STATE,21069,end climb,SURFACE_DEPTH_REACHED
$STATE,21069,begin surface coast
$FINISH,0.9,1.023155
$STATE,21086,end surface coast,CONTROL_FINISHED_OK
$STATE,21086,begin surface
$SM_CCo,21163,0.00,0.000,0,0,624,437.86
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$IRIDIUM_FIX,1948.12,12425.91,111212,212152
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.89
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3959584
$24V_AH,22.5,30.655
$10V_AH,10.1,22.853
$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,16.350,171.975,531.375,0.000,0.000,0.000,0.000,347.575,3.000,0.000,17.820,3140.917,14794.434,673.051,2721.042,349.133,0.000,2310.645,0.000,2249.618,0.000,26.895,0.000
$DEVICE_MAMPS,241.740,45.900,1427.490,0.000,0.000,0.000,0.000,130.050,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21100.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.094,0.000,0.000,0.000
$MEM,328972
$DATA_FILE_SIZE,36677,966
$CAP_FILE_SIZE,239004,0
$CFSIZE,260034560,236171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,184.9,1
$GPS,121212,092706,1945.053,12425.432,39,1.3,39,-2.4