version: 66.11
glider: 129
mission: 4
dive: 185
start: 12 19 112 2 54 58
data:
$ID,129
$MISSION,4
$DIVE,185
$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,-2880.5142
$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,78
$R_STBD_OVSHOOT,82
$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
$GPS1,191212,024430,1811.777,12440.235,40,0.9,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-62.7
$GPS2,191212,025431,1811.631,12440.556,15,1.2,15,-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,218.7,41240,-13.9,-8.250,-17.36
$D_GRID,5028
$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,-0.53,-175.2,0.0,0.0,0,73,0.00,0.00,-52.22,0.000,2,0.000,0.000,204,1915,1979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.53,-175.2,3.4,-5.6,9,119,8.23,2.10,-26.50,0.000,4,0.246,0.048,1972,3295,3126,3,0,0,0,0,0,25.03,26.01,26.39
$GC,253,-0.47,-175.2,43.1,-25.5,35,259,0.12,1.98,0.00,0.000,6,0.164,0.023,2003,1915,3127,0,0,0,0,0,0,25.85,26.21,28.83
$GC,566,-0.40,-175.2,127.1,-26.7,52,572,0.00,2.00,0.00,0.000,4,0.000,0.031,2004,531,3127,0,0,0,0,0,0,28.83,26.27,28.83
$GC,694,-0.36,-175.2,154.8,-22.1,58,700,0.17,1.98,0.00,0.000,6,0.144,0.023,2046,1915,3127,0,0,0,0,0,0,25.96,26.36,28.83
$GC,1013,-0.35,-175.2,194.2,-10.3,74,1018,0.00,2.03,0.00,0.000,4,0.000,0.034,2037,3312,3128,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1064,-0.35,-175.2,198.2,-9.6,76,1070,0.00,1.95,0.00,0.000,6,0.000,0.021,2037,1920,3128,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1378,-0.34,-175.2,232.9,-11.6,92,1384,0.00,2.00,0.00,0.000,4,0.000,0.030,2037,520,3128,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1442,-0.33,-175.2,240.1,-11.3,95,1447,0.00,2.03,0.00,0.000,6,0.000,0.021,2032,1941,3128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1765,-0.32,-175.2,276.2,-11.0,111,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1941,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2066,-0.32,-175.2,303.5,-8.4,126,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1941,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.32,-175.2,329.3,-8.9,141,2371,0.00,2.03,0.00,0.000,4,0.000,0.030,2032,542,3127,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2463,-0.32,-175.2,337.3,-9.5,145,2470,0.00,1.98,0.00,0.000,6,0.000,0.022,2032,1932,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2770,-0.32,-175.2,362.6,-7.7,161,2775,0.00,2.03,0.00,0.000,4,0.000,0.035,2032,3313,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2808,-0.33,-175.2,364.5,-7.9,162,2815,0.00,1.95,0.00,0.000,6,0.000,0.021,2032,1926,3125,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3113,-0.34,-175.2,390.4,-7.6,178,3120,0.00,2.03,0.00,0.000,4,0.000,0.031,2032,543,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3312,-0.34,-175.2,404.8,-7.5,187,3319,0.00,2.00,0.00,0.000,6,0.000,0.023,2032,1931,3123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3619,-0.35,-175.2,425.4,-6.4,203,3624,0.00,2.03,0.00,0.000,4,0.000,0.035,2032,3303,3121,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3666,-0.36,-175.2,428.1,-6.4,205,3672,0.00,1.95,0.00,0.000,6,0.000,0.022,2032,1926,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3985,-0.37,-175.2,448.8,-6.3,221,3990,0.00,2.00,0.00,0.000,4,0.000,0.031,2032,532,3119,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4089,-0.38,-175.2,456.4,-7.6,226,4094,0.00,2.00,0.00,0.000,6,0.000,0.023,2032,1930,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4413,-0.39,-175.2,478.8,-7.4,242,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1930,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4714,-0.41,-175.2,501.5,-7.8,257,4720,0.00,2.03,0.00,0.000,4,0.000,0.031,2032,538,3114,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4762,-0.42,-175.2,505.3,-8.0,259,4768,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1927,3114,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5081,-0.44,-175.2,528.7,-7.1,275,5086,0.00,2.05,0.00,0.000,4,0.000,0.037,2032,3310,3112,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5108,-0.45,-175.2,530.2,-7.0,276,5115,0.00,2.00,0.00,0.000,6,0.000,0.023,2032,1922,3111,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5428,-0.47,-175.2,551.5,-6.3,292,5433,0.00,2.03,0.00,0.000,4,0.000,0.032,2032,539,3110,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5522,-0.48,-175.2,557.2,-6.8,296,5528,0.00,1.98,0.00,0.000,6,0.000,0.023,2031,1923,3109,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5836,-0.49,-175.2,575.6,-5.4,312,5841,0.00,2.05,0.00,0.000,4,0.000,0.032,2032,537,3108,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5873,-0.51,-175.2,577.0,-5.5,313,5881,0.12,2.00,0.00,0.000,6,0.102,0.023,1976,1937,3107,0,0,0,0,0,0,26.25,26.41,28.83
$GC,6199,-0.50,-175.2,606.5,-8.8,329,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1938,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6499,-0.48,-175.2,630.6,-7.8,339,6505,0.00,2.05,0.00,0.000,4,0.000,0.033,1976,542,3104,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6583,-0.47,-175.2,636.2,-8.2,341,6589,0.15,2.00,0.00,0.000,6,0.148,0.024,2008,1930,3103,0,0,0,0,0,0,25.98,26.39,28.83
$GC,6898,-0.47,-175.2,658.4,-6.6,352,6903,0.00,2.05,0.00,0.000,4,0.000,0.031,2009,531,3102,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6946,-0.48,-175.2,661.1,-6.9,353,6951,0.00,2.00,0.00,0.000,6,0.000,0.024,2001,1941,3102,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7265,-0.48,-175.2,685.9,-7.4,364,7271,0.00,2.08,0.00,0.000,4,0.000,0.032,2001,542,3101,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7314,-0.48,-175.2,688.7,-7.5,365,7320,0.00,2.00,0.00,0.000,6,0.000,0.024,1993,1934,3101,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7634,-0.48,-175.2,715.5,-8.0,376,7639,0.00,2.08,0.00,0.000,4,0.000,0.032,1992,534,3100,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7671,-0.48,-175.2,718.5,-8.1,377,7677,0.00,2.03,0.00,0.000,6,0.000,0.024,1984,1924,3099,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8001,-0.48,-175.2,746.8,-8.5,388,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1924,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8299,-0.48,-175.2,771.7,-8.1,398,8304,0.00,2.05,0.00,0.000,4,0.000,0.033,1984,531,3096,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8372,-0.47,-175.2,777.1,-8.4,400,8379,0.12,2.03,0.00,0.000,6,0.158,0.024,2009,1931,3096,0,0,0,0,0,0,26.00,26.36,28.83
$GC,8698,-0.48,-175.2,795.8,-4.8,411,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1931,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8997,-0.50,-175.2,810.9,-5.1,421,9003,0.00,2.08,0.00,0.000,4,0.000,0.033,2009,541,3094,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9055,-0.51,-175.2,812.9,-5.4,422,9062,0.00,2.03,0.00,0.000,6,0.000,0.024,2002,1927,3094,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9363,-0.51,-175.2,833.5,-6.5,433,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1927,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9661,-0.52,-175.2,853.4,-6.7,443,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1927,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9962,-0.53,-175.2,873.9,-6.8,453,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1927,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10261,-0.54,-175.2,894.5,-7.0,463,10267,0.00,2.08,0.00,0.000,4,0.000,0.034,2002,540,3090,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10320,-0.55,-175.2,897.2,-7.2,464,10327,0.00,2.03,0.00,0.000,6,0.000,0.025,1993,1923,3090,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10626,-0.55,-175.2,921.8,-7.4,475,10631,0.00,2.08,0.00,0.000,4,0.000,0.039,1984,3307,3089,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10654,-0.56,-175.2,921.8,-7.4,475,10660,0.00,2.00,0.00,0.000,6,0.000,0.025,1984,1921,3089,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10961,-0.56,-175.2,948.4,-8.1,486,10966,0.00,2.05,0.00,0.000,4,0.000,0.035,1984,537,3088,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11123,-0.56,-175.2,962.0,-8.8,491,11128,0.00,2.03,0.00,0.000,6,0.000,0.025,1975,1931,3087,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11447,-0.56,-175.2,987.8,-7.5,502,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1931,3087,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11504,begin apogee
$GC,11508,-0.17,0.0,992.3,-7.5,504,11658,0.38,0.00,140.62,1.419,6,0.124,0.000,2098,1932,2409,0,0,0,0,0,0,25.63,28.83,23.03
$STATE,11659,end apogee,CONTROL_FINISHED_OK
$STATE,11659,begin climb
$GC,11661,0.53,175.2,995.8,0.0,509,11832,0.73,2.33,158.05,1.366,4,0.090,0.036,2334,3282,1693,0,0,0,0,0,0,24.29,23.54,22.35
$GC,11849,0.54,211.9,986.1,7.1,515,11889,0.00,2.20,34.35,1.307,6,0.000,0.024,2344,1906,1546,0,0,0,0,0,0,28.83,24.11,22.44
$GC,12201,0.54,211.9,950.5,9.7,527,12207,0.00,2.12,0.00,0.000,4,0.000,0.037,2344,3289,1537,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12248,0.54,211.9,947.1,9.7,528,12254,0.00,2.08,0.00,0.000,6,0.000,0.025,2353,1890,1536,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12568,0.54,211.9,913.2,10.2,539,12573,0.00,2.10,0.00,0.000,4,0.000,0.037,2353,3285,1534,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12610,0.54,211.9,909.4,10.4,540,12615,0.00,2.03,0.00,0.000,6,0.000,0.025,2363,1897,1534,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12934,0.53,211.9,873.3,10.6,551,12940,0.12,2.10,0.00,0.000,4,0.180,0.035,2326,3289,1533,0,0,0,0,0,0,25.96,26.15,28.83
$GC,13002,0.53,211.9,867.3,10.0,553,13008,0.00,2.03,0.00,0.000,6,0.000,0.026,2334,1903,1533,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13333,0.55,224.1,840.1,7.9,564,13347,0.00,2.17,10.05,1.195,4,0.000,0.035,2334,3286,1496,0,0,0,0,0,0,28.83,26.06,24.60
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$STATE,22625,end climb,SURFACE_DEPTH_REACHED
$STATE,22625,begin surface coast
$FINISH,0.9,1.014555
$STATE,22630,end surface coast,CONTROL_FINISHED_OK
$STATE,22630,begin surface
$SM_CCo,22706,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1807.77,12438.69,181212,202001
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.74
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3949344
$24V_AH,22.4,35.961
$10V_AH,10.3,26.605
$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,18.150,187.900,624.000,0.000,0.000,0.000,0.000,392.800,0.000,0.000,16.065,3329.667,15867.301,774.063,2907.538,401.725,0.000,2543.735,0.000,2412.309,0.000,0.542,0.000
$DEVICE_MAMPS,246.330,48.195,1419.075,0.000,0.000,0.000,0.000,140.760,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22648.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.521,0.000,0.000,0.000
$MEM,328948
$DATA_FILE_SIZE,36679,995
$CAP_FILE_SIZE,255217,0
$CFSIZE,260034560,233234432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,7,0,0,0,0
$CURRENT,0.042, 64.3,1
$GPS,191212,091436,1809.144,12439.573,35,1.3,35,-2.1