version: 66.11
glider: 129
mission: 4
dive: 159
start: 12 12 112 9 36 14
data:
$ID,129
$MISSION,4
$DIVE,159
$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,-2847.7058
$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,82
$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
$GPS1,121212,092706,1945.053,12425.432,39,1.3,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-57.5
$GPS2,121212,093548,1944.958,12425.574,15,1.4,32,-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,173.7,213549,-14.6,-8.684,-17.90
$D_GRID,5657
$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,-175.2,0.0,0.0,0,73,0.00,0.00,-52.53,0.000,2,0.000,0.000,55,1896,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.56,-175.2,3.0,-3.2,9,132,7.85,2.05,-38.20,0.000,4,0.246,0.046,1969,542,3124,0,0,0,0,0,0,25.35,26.01,26.36
$GC,284,-0.51,-175.2,38.1,-22.0,42,292,0.12,2.00,0.00,0.000,6,0.163,0.023,1993,1930,3125,0,0,0,0,0,0,25.86,26.17,28.83
$GC,600,-0.48,-175.2,101.0,-15.2,61,605,0.00,2.05,0.00,0.000,4,0.000,0.035,1984,3315,3125,0,0,0,0,0,0,28.83,26.20,28.83
$GC,672,-0.47,-175.2,108.6,-12.3,64,678,0.00,1.95,0.00,0.000,6,0.000,0.023,1984,1918,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,987,-0.45,-175.2,150.8,-13.1,80,992,0.00,1.98,0.00,0.000,4,0.000,0.031,1984,549,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1059,-0.44,-175.2,159.0,-12.7,83,1065,0.15,1.95,0.00,0.000,6,0.142,0.022,2018,1935,3126,0,0,0,0,0,0,26.08,26.39,28.83
$GC,1373,-0.45,-175.2,186.5,-7.9,99,1379,0.00,2.05,0.00,0.000,4,0.000,0.031,2018,537,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1438,-0.46,-175.2,192.0,-8.5,102,1444,0.00,1.95,0.00,0.000,6,0.000,0.021,2010,1931,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1761,-0.46,-175.2,223.0,-10.0,118,1766,0.00,2.03,0.00,0.000,4,0.000,0.031,2010,548,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1813,-0.46,-175.2,227.2,-10.0,120,1819,0.00,1.92,0.00,0.000,6,0.000,0.022,2001,1926,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2126,-0.46,-175.2,255.5,-8.7,136,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1926,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.47,-175.2,283.0,-8.7,151,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1926,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.48,-175.2,306.1,-7.3,166,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1926,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.49,-175.2,330.3,-8.5,181,3032,0.00,2.00,0.00,0.000,4,0.000,0.031,2001,549,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3070,-0.50,-175.2,334.4,-9.1,183,3076,0.00,1.95,0.00,0.000,6,0.000,0.023,1999,1927,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3394,-0.51,-175.2,360.2,-7.5,199,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1928,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3696,-0.52,-175.2,383.7,-8.2,214,3701,0.00,2.05,0.00,0.000,4,0.000,0.036,1988,3317,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3740,-0.53,-175.2,387.4,-8.2,216,3745,0.00,1.98,0.00,0.000,6,0.000,0.023,1989,1932,3123,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4063,-0.54,-175.2,413.5,-7.4,232,4069,0.00,2.00,0.00,0.000,4,0.000,0.032,1989,541,3124,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4183,-0.55,-175.2,422.0,-8.3,237,4189,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1927,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4487,-0.56,-175.2,446.8,-7.7,253,4492,0.00,2.05,0.00,0.000,4,0.000,0.032,1988,532,3121,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4555,-0.57,-175.2,452.1,-8.2,256,4561,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1933,3119,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4875,-0.58,-175.2,475.9,-7.0,272,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1933,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5176,-0.59,-175.2,496.7,-7.0,287,5178,0.00,0.00,-0.08,0.000,6,0.000,0.000,1988,1930,3141,0,0,0,0,0,0,28.83,28.83,25.38
$GC,5474,-0.61,-175.2,517.6,-7.5,302,5480,0.00,2.03,0.00,0.000,4,0.000,0.038,1988,3310,3141,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5509,-0.62,-175.2,519.2,-7.4,303,5514,0.00,1.95,0.00,0.000,6,0.000,0.024,1988,1927,3141,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5822,-0.64,-175.2,544.1,-7.9,319,5827,0.00,2.03,0.00,0.000,4,0.000,0.034,1988,536,3141,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5879,-0.65,-175.2,547.7,-8.2,321,5886,0.12,2.00,0.00,0.000,6,0.102,0.024,1932,1930,3141,0,0,0,0,0,0,26.30,26.44,28.83
$GC,6184,-0.64,-175.2,581.3,-10.3,337,6190,0.00,2.03,0.00,0.000,4,0.000,0.037,1921,3310,3140,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6216,-0.63,-175.2,583.7,-10.2,338,6223,0.12,2.00,0.00,0.000,6,0.147,0.025,1957,1923,3140,0,0,0,0,0,0,26.14,26.45,28.83
$GC,6531,-0.63,-175.2,611.2,-8.4,352,6536,0.00,2.03,0.00,0.000,4,0.000,0.034,1957,542,3138,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6632,-0.63,-175.2,620.0,-9.2,355,6638,0.00,2.00,0.00,0.000,6,0.000,0.024,1949,1932,3137,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6958,-0.63,-175.2,650.5,-9.0,366,6963,0.00,2.05,0.00,0.000,4,0.000,0.038,1939,3309,3135,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7004,-0.63,-175.2,653.6,-8.9,367,7009,0.00,1.98,0.00,0.000,6,0.000,0.026,1939,1919,3137,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7322,-0.63,-175.2,683.8,-9.1,378,7327,0.00,2.03,0.00,0.000,4,0.000,0.035,1939,542,3133,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7415,-0.63,-175.2,693.2,-9.8,381,7421,0.00,2.00,0.00,0.000,6,0.000,0.025,1929,1937,3133,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7749,-0.62,-175.2,724.1,-9.0,392,7755,0.12,2.03,0.00,0.000,4,0.154,0.037,1961,3309,3131,0,0,0,0,0,0,26.25,26.24,28.83
$GC,7793,-0.62,-175.2,726.6,-8.6,393,7798,0.00,2.00,0.00,0.000,6,0.000,0.026,1961,1920,3130,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8118,-0.63,-175.2,747.3,-6.3,404,8123,0.00,2.05,0.00,0.000,4,0.000,0.036,1962,531,3129,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8207,-0.63,-175.2,752.0,-6.7,406,8214,0.00,2.00,0.00,0.000,6,0.000,0.025,1952,1931,3129,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8511,-0.63,-175.2,776.4,-7.5,417,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1931,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8811,-0.63,-175.2,799.3,-7.5,427,8816,0.00,2.05,0.00,0.000,4,0.000,0.040,1942,3316,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8846,-0.64,-175.2,801.8,-7.5,428,8851,0.00,2.00,0.00,0.000,6,0.000,0.026,1942,1918,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9180,-0.64,-175.2,825.9,-7.1,439,9185,0.00,2.05,0.00,0.000,4,0.000,0.037,1942,533,3125,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9267,-0.64,-175.2,831.2,-7.7,441,9275,0.00,2.03,0.00,0.000,6,0.000,0.026,1933,1928,3123,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9574,-0.64,-175.2,858.3,-7.9,452,9579,0.00,2.05,0.00,0.000,4,0.000,0.041,1923,3310,3123,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9621,-0.64,-175.2,860.9,-7.9,453,9628,0.12,1.98,0.00,0.000,6,0.148,0.027,1957,1928,3123,0,0,0,0,0,0,26.05,26.39,28.83
$GC,9942,-0.65,-175.2,882.2,-6.4,464,9947,0.00,2.08,0.00,0.000,4,0.000,0.037,1957,530,3122,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10030,-0.66,-175.2,887.0,-6.9,466,10036,0.00,2.03,0.00,0.000,6,0.000,0.026,1949,1936,3122,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10337,-0.67,-175.2,910.9,-7.1,477,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1936,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10636,-0.68,-175.2,930.6,-6.5,487,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1937,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10937,-0.68,-175.2,952.7,-7.8,497,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1937,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11236,-0.69,-175.2,975.6,-7.5,507,11241,0.00,2.12,0.00,0.000,4,0.000,0.037,1947,532,3119,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11288,-0.70,-175.2,978.3,-7.6,508,11293,0.00,2.03,0.00,0.000,6,0.000,0.027,1941,1934,3118,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,11449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11449,begin apogee
$GC,11454,-0.17,0.0,992.2,-7.4,514,11606,0.47,0.00,146.48,1.431,6,0.116,0.000,2100,1935,2409,0,0,0,0,0,0,25.67,28.83,23.14
$STATE,11608,end apogee,CONTROL_FINISHED_OK
$STATE,11608,begin climb
$GC,11610,0.56,175.2,996.7,0.0,519,11773,0.68,0.00,157.40,1.377,6,0.065,0.000,2344,1935,1695,0,0,0,0,0,0,24.30,28.83,22.50
$GC,12052,0.54,175.2,957.5,11.0,534,12057,0.00,2.08,0.00,0.000,4,0.000,0.038,2342,3286,1685,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12079,0.53,175.2,957.5,11.0,534,12086,0.00,2.05,0.00,0.000,6,0.000,0.027,2350,1911,1685,0,0,0,0,0,0,28.83,25.59,28.83
$GC,12386,0.51,175.2,922.1,10.3,545,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1911,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12685,0.49,175.2,891.5,10.3,555,12687,0.12,0.00,0.00,0.000,6,0.174,0.000,2319,1911,1682,0,0,0,0,0,0,25.95,28.83,28.83
$GC,12984,0.49,175.2,862.7,9.8,565,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1911,1681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13285,0.49,175.2,832.1,10.3,575,13290,0.00,2.10,0.00,0.000,4,0.000,0.038,2319,3288,1680,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13337,0.48,175.2,828.5,10.5,576,13342,0.00,2.03,0.00,0.000,6,0.000,0.029,2327,1897,1680,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13651,0.47,175.2,792.4,10.7,587,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1900,1680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13951,0.47,175.2,761.7,10.1,597,13956,0.00,2.10,0.00,0.000,4,0.000,0.041,2336,503,1679,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,21681,end climb,SURFACE_DEPTH_REACHED
$STATE,21681,begin surface coast
$FINISH,1.0,1.002779
$STATE,21698,end surface coast,CONTROL_FINISHED_OK
$STATE,21699,begin surface
$SM_CCo,21773,0.00,0.000,0,0,520,463.37
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$IRIDIUM_FIX,1943.54,12424.61,121212,030357
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.05
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3959200
$24V_AH,22.5,30.853
$10V_AH,10.1,22.991
$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,16.600,166.725,547.300,0.000,0.000,0.000,0.000,327.800,3.000,0.000,32.805,3126.543,15433.675,711.450,2668.109,344.184,0.000,2298.032,0.000,2201.239,0.000,28.114,0.000
$DEVICE_MAMPS,245.565,45.900,1431.315,0.000,0.000,0.000,0.000,131.580,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.239,0.000,0.000,0.000
$MEM,328992
$DATA_FILE_SIZE,36683,985
$CAP_FILE_SIZE,241232,0
$CFSIZE,260034560,236064768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,191.6,1
$GPS,121212,154024,1939.912,12425.873,40,1.0,40,-2.4