version: 66.11
glider: 129
mission: 4
dive: 181
start: 12 18 112 1 38 40
data:
$ID,129
$MISSION,4
$DIVE,181
$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,400
$T_MISSION,430
$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,-2875.4807
$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,74
$R_STBD_OVSHOOT,94
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,181212,012954,1822.103,12438.670,44,1.4,44,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-62.1
$GPS2,181212,013813,1822.100,12438.919,12,1.5,12,-2.1
$SPEED_LIMITS,0.143,0.264
$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,205.8,59850,-13.9,-8.250,-17.36
$D_GRID,5619
$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,-0.53,-175.2,0.0,0.0,0,80,0.00,0.00,-59.42,0.000,2,0.000,0.000,55,1913,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.53,-175.2,3.3,-4.8,10,126,7.82,2.03,-27.65,0.000,4,0.242,0.043,1983,531,3124,0,0,0,0,0,0,25.32,26.03,26.41
$GC,326,-0.49,-175.2,54.6,-21.8,43,331,0.00,2.00,0.00,0.000,6,0.000,0.024,1972,1908,3125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,649,-0.45,-175.2,120.4,-18.0,59,655,0.12,2.00,0.00,0.000,4,0.158,0.028,2014,527,3125,0,0,0,0,0,0,26.13,26.28,28.83
$GC,688,-0.41,-175.2,124.1,-18.3,60,694,0.00,2.00,0.00,0.000,6,0.000,0.022,2006,1937,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,993,-0.40,-175.2,158.8,-9.9,76,998,0.00,2.00,0.00,0.000,4,0.000,0.034,1995,3304,3127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1065,-0.40,-175.2,164.8,-9.7,79,1071,0.05,1.98,0.00,0.000,6,0.091,0.021,2032,1913,3125,0,0,0,0,0,0,26.14,26.45,28.83
$GC,1380,-0.42,-175.2,190.5,-7.2,95,1386,0.00,1.98,0.00,0.000,4,0.000,0.031,2032,540,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1448,-0.43,-175.2,195.5,-7.6,98,1453,0.00,1.95,0.00,0.000,6,0.000,0.021,2024,1931,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1766,-0.44,-175.2,222.6,-7.8,114,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1931,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,-0.46,-175.2,244.6,-7.1,129,2073,0.00,2.03,0.00,0.000,4,0.000,0.030,2024,544,3124,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2126,-0.47,-175.2,248.2,-7.5,131,2132,0.00,1.95,0.00,0.000,6,0.000,0.021,2016,1927,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2431,-0.48,-175.2,274.1,-8.7,147,2436,0.00,2.03,0.00,0.000,4,0.000,0.034,2005,3309,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2455,-0.50,-175.2,276.1,-8.6,148,2460,0.00,1.95,0.00,0.000,6,0.000,0.021,2005,1931,3123,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2778,-0.51,-175.2,302.2,-7.8,164,2784,0.00,2.03,0.00,0.000,4,0.000,0.031,2005,523,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2842,-0.51,-175.2,307.7,-8.3,167,2848,0.00,2.00,0.00,0.000,6,0.000,0.021,1997,1928,3123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3165,-0.51,-175.2,336.7,-9.0,183,3171,0.00,2.03,0.00,0.000,4,0.000,0.031,1997,535,3123,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3290,-0.51,-175.2,347.9,-8.8,189,3295,0.00,1.98,0.00,0.000,6,0.000,0.022,1989,1925,3122,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3613,-0.52,-175.2,374.3,-8.1,205,3619,0.00,2.03,0.00,0.000,4,0.000,0.036,1988,3305,3121,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3656,-0.53,-175.2,377.7,-8.0,207,3661,0.00,1.98,0.00,0.000,6,0.000,0.022,1988,1917,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3980,-0.54,-175.2,404.3,-8.1,223,3985,0.00,1.98,0.00,0.000,4,0.000,0.031,1988,539,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4063,-0.54,-175.2,411.5,-8.6,227,4068,0.00,1.98,0.00,0.000,6,0.000,0.022,1989,1924,3117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4386,-0.55,-175.2,437.0,-7.5,243,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4687,-0.56,-175.2,458.2,-6.9,258,4693,0.00,2.05,-0.08,0.000,4,0.000,0.044,1988,532,3144,0,0,0,0,0,0,28.83,26.34,25.47
$GC,4741,-0.56,-175.2,461.8,-7.5,260,4746,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1920,3145,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5054,-0.57,-175.2,484.5,-7.1,276,5059,0.00,2.05,0.00,0.000,4,0.000,0.037,1988,3307,3144,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5088,-0.59,-175.2,486.0,-6.8,277,5095,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1922,3144,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5403,-0.60,-175.2,506.6,-6.3,293,5408,0.00,2.03,0.00,0.000,4,0.000,0.032,1987,531,3143,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5522,-0.61,-175.2,514.5,-7.7,298,5530,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1937,3143,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5827,-0.62,-175.2,536.3,-6.5,314,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1937,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,-0.64,-175.2,554.8,-5.9,329,6129,0.10,0.00,0.00,0.000,6,0.113,0.000,1941,1938,3139,0,0,0,0,0,0,26.52,28.83,28.83
$GC,6428,-0.63,-175.2,581.1,-9.1,344,6433,0.00,2.08,0.00,0.000,4,0.000,0.034,1941,530,3138,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6479,-0.62,-175.2,585.4,-9.5,346,6485,0.00,2.03,0.00,0.000,6,0.000,0.024,1930,1935,3137,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6816,-0.61,-175.2,621.0,-10.9,360,6822,0.12,2.05,0.00,0.000,4,0.154,0.031,1972,541,3136,0,0,0,0,0,0,26.24,26.29,28.83
$GC,6864,-0.60,-175.2,624.7,-10.7,361,6870,0.00,2.00,0.00,0.000,6,0.000,0.024,1964,1936,3136,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7185,-0.60,-175.2,652.1,-8.1,372,7190,0.00,2.05,0.00,0.000,4,0.000,0.034,1964,539,3134,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7228,-0.60,-175.2,655.3,-8.2,373,7233,0.00,2.00,0.00,0.000,6,0.000,0.024,1955,1933,3133,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7553,-0.60,-175.2,682.5,-7.9,384,7558,0.00,2.05,0.00,0.000,4,0.000,0.037,1944,3314,3132,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7595,-0.60,-175.2,685.0,-7.7,385,7600,0.00,1.98,0.00,0.000,6,0.000,0.024,1944,1919,3131,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7920,-0.60,-175.2,710.8,-7.8,396,7925,0.00,2.00,0.00,0.000,4,0.000,0.034,1944,541,3130,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8056,-0.59,-175.2,721.8,-8.9,400,8063,0.12,2.00,0.00,0.000,6,0.153,0.024,1969,1930,3130,0,0,0,0,0,0,26.03,26.37,28.83
$GC,8378,-0.60,-175.2,744.0,-6.4,411,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1930,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-0.61,-175.2,762.9,-6.3,421,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1930,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8977,-0.62,-175.2,783.5,-7.0,431,8982,0.00,2.08,0.00,0.000,4,0.000,0.034,1970,531,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9024,-0.63,-175.2,786.1,-7.1,432,9030,0.00,2.03,0.00,0.000,6,0.000,0.024,1962,1920,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9344,-0.64,-175.2,809.0,-6.5,443,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1920,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9644,-0.65,-175.2,826.9,-5.7,453,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1920,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9943,-0.66,-175.2,845.3,-6.3,463,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1920,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10244,-0.67,-175.2,864.9,-6.5,473,10249,0.00,2.05,0.00,0.000,4,0.000,0.035,1962,542,3122,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10277,-0.68,-175.2,867.3,-6.5,474,10282,0.00,2.03,0.00,0.000,6,0.000,0.024,1954,1936,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10611,-0.68,-175.2,891.5,-7.4,485,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1937,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10910,-0.68,-175.2,913.5,-7.4,495,10916,0.00,2.10,0.00,0.000,4,0.000,0.035,1954,537,3120,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10975,-0.68,-175.2,918.9,-7.9,497,10980,0.00,2.03,0.00,0.000,6,0.000,0.024,1945,1928,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11309,-0.68,-175.2,944.2,-7.4,508,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1928,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11608,-0.68,-175.2,965.8,-7.2,518,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11908,-0.68,-175.2,988.2,-7.4,528,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1928,3118,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11935,begin apogee
$GC,11940,-0.17,0.0,990.4,-7.4,529,12094,0.45,0.00,146.77,1.421,6,0.117,0.000,2097,1930,2409,0,0,0,0,0,0,25.59,28.83,23.01
$STATE,12095,end apogee,CONTROL_FINISHED_OK
$STATE,12096,begin climb
$GC,12097,0.53,175.2,995.6,0.0,534,12260,0.68,0.00,159.00,1.368,6,0.067,0.000,2335,1931,1694,0,0,0,0,0,0,24.26,28.83,22.39
$GC,12538,0.52,175.2,960.4,10.4,549,12543,0.00,2.10,0.00,0.000,4,0.000,0.036,2335,3289,1685,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12620,0.50,175.2,953.2,10.9,551,12625,0.00,2.05,0.00,0.000,6,0.000,0.027,2345,1912,1687,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12935,0.48,175.2,917.4,10.4,562,12940,0.00,2.10,0.00,0.000,4,0.000,0.035,2344,3292,1683,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12992,0.46,175.2,913.6,10.3,563,12999,0.17,2.05,0.00,0.000,6,0.170,0.027,2308,1898,1683,0,0,0,0,0,0,25.68,26.15,28.83
$GC,13299,0.46,190.2,886.5,7.8,574,13313,0.00,0.00,12.32,1.245,6,0.000,0.000,2308,1898,1633,0,0,0,0,0,0,28.83,28.83,24.58
$GC,13597,0.47,209.5,863.2,7.6,584,13622,0.00,2.17,17.73,1.277,4,0.000,0.036,2307,3290,1553,0,0,0,0,0,0,28.83,25.69,24.45
$GC,13691,0.47,210.6,855.5,8.2,587,13697,0.00,2.08,0.00,0.000,6,0.000,0.026,2316,1900,1553,0,0,0,0,0,0,28.83,25.91,28.83
$GC,14025,0.47,217.7,828.7,8.0,598,14040,0.00,2.15,8.35,1.147,4,0.000,0.037,2316,3287,1521,0,0,0,0,0,0,28.83,25.99,24.59
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$STATE,23261,end climb,SURFACE_DEPTH_REACHED
$STATE,23261,begin surface coast
$FINISH,0.9,1.008685
$STATE,23283,end surface coast,CONTROL_FINISHED_OK
$STATE,23283,begin surface
$SM_CCo,23358,0.00,0.000,0,0,601,443.50
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$IRIDIUM_FIX,1816.86,12441.28,171212,181850
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.28
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3950880
$24V_AH,22.4,35.151
$10V_AH,10.1,26.048
$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,16.200,178.800,541.700,0.000,0.000,0.000,0.000,312.050,0.000,0.000,13.339,3414.361,16504.730,732.368,2804.502,388.658,0.000,2378.116,0.000,2380.709,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,44.370,1420.605,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23307.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.390,0.000,0.000,0.000
$MEM,329044
$DATA_FILE_SIZE,39969,1063
$CAP_FILE_SIZE,255182,0
$CFSIZE,260034560,233664512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099, 33.1,1
$GPS,181212,080906,1820.086,12438.686,31,1.1,31,-2.1