version: 66.11
glider: 129
mission: 4
dive: 191
start: 12 20 112 16 38 16
data:
$ID,129
$MISSION,4
$DIVE,191
$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,-2888.0657
$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,71
$R_STBD_OVSHOOT,84
$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
$GPS1,201212,162824,1756.999,12438.385,41,1.3,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-53.1
$GPS2,201212,163749,1756.938,12438.562,15,1.3,15,-2.0
$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,205.5,14301,-13.9,-8.250,-17.36
$D_GRID,4281
$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,-175.2,0.0,0.0,0,86,0.00,0.00,-65.53,0.000,2,0.000,0.000,46,1906,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.53,-175.2,3.4,-5.0,11,134,7.95,2.08,-29.67,0.000,4,0.246,0.044,1979,527,3126,1,0,0,0,0,0,25.10,26.10,26.46
$GC,338,-0.45,-175.2,77.9,-35.0,39,344,0.15,1.98,0.00,0.000,6,0.174,0.023,2009,1911,3127,0,0,0,0,0,0,25.83,26.29,28.83
$GC,652,-0.39,-175.2,160.6,-22.4,55,657,0.00,2.05,0.00,0.000,4,0.000,0.033,1997,3317,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,675,-0.34,-175.2,164.9,-21.3,56,681,0.17,1.95,0.00,0.000,6,0.137,0.022,2051,1910,3125,0,0,0,0,0,0,26.01,26.41,28.83
$GC,999,-0.33,-175.2,205.4,-11.2,72,1004,0.00,1.95,0.00,0.000,4,0.000,0.031,2051,537,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1076,-0.32,-175.2,213.0,-11.8,75,1084,0.00,1.98,0.00,0.000,6,0.000,0.022,2043,1937,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1382,-0.31,-175.2,252.0,-11.5,91,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1937,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1683,-0.30,-175.2,284.4,-11.6,106,1688,0.00,2.03,0.00,0.000,4,0.000,0.031,2043,537,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1826,-0.30,-175.2,300.5,-10.6,113,1832,0.00,1.98,0.00,0.000,6,0.000,0.021,2035,1928,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2149,-0.30,-175.2,331.8,-9.1,129,2154,0.00,2.03,0.00,0.000,4,0.000,0.034,2024,3311,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2177,-0.30,-175.2,333.8,-9.1,130,2183,0.12,1.92,0.00,0.000,6,0.130,0.021,2063,1924,3124,0,0,0,0,0,0,26.22,26.48,28.83
$GC,2496,-0.32,-175.2,355.5,-6.1,146,2501,0.00,1.98,0.00,0.000,4,0.000,0.031,2063,535,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2560,-0.34,-175.2,359.8,-6.7,149,2566,0.00,1.98,0.00,0.000,6,0.000,0.021,2056,1931,3122,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2884,-0.36,-175.2,381.3,-6.6,165,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1932,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,-0.38,-175.2,400.3,-6.3,180,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1931,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3485,-0.40,-175.2,417.4,-5.4,195,3490,0.00,2.03,0.00,0.000,4,0.000,0.035,2047,3303,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3523,-0.42,-175.2,418.6,-5.1,196,3530,0.00,1.95,0.00,0.000,6,0.000,0.022,2047,1924,3117,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3830,-0.43,-175.2,436.8,-6.2,212,3835,0.00,2.00,-0.08,0.000,4,0.000,0.044,2047,543,3143,0,0,0,0,0,0,28.83,26.36,25.51
$GC,3882,-0.45,-175.2,440.3,-6.8,214,3888,0.00,1.95,0.00,0.000,6,0.000,0.022,2046,1921,3143,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4196,-0.46,-175.2,463.4,-7.1,230,4203,0.10,2.05,0.00,0.000,4,0.112,0.034,1987,3313,3142,0,0,0,0,0,0,26.53,26.32,28.83
$GC,4250,-0.47,-175.2,467.5,-8.0,232,4255,0.00,1.95,0.00,0.000,6,0.000,0.023,1987,1919,3142,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4563,-0.46,-175.2,502.2,-10.7,248,4568,0.00,1.98,0.00,0.000,4,0.000,0.032,1987,546,3142,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4740,-0.45,-175.2,520.4,-10.9,256,4748,0.12,1.98,0.00,0.000,6,0.154,0.023,2012,1931,3141,0,0,0,0,0,0,26.10,26.44,28.83
$GC,5046,-0.45,-175.2,545.2,-7.4,272,5051,0.00,2.05,0.00,0.000,4,0.000,0.031,2012,541,3139,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5089,-0.45,-175.2,548.6,-7.6,274,5094,0.00,1.98,0.00,0.000,6,0.000,0.023,2005,1926,3139,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5412,-0.45,-175.2,572.7,-6.9,290,5417,0.00,2.05,0.00,0.000,4,0.000,0.036,1994,3313,3136,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5456,-0.45,-175.2,575.6,-6.9,292,5461,0.00,1.95,0.00,0.000,6,0.000,0.024,1994,1930,3135,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5779,-0.45,-175.2,599.7,-7.7,308,5785,0.00,2.03,0.00,0.000,4,0.000,0.034,1995,534,3134,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5911,-0.44,-175.2,610.3,-8.6,313,5916,0.00,2.00,0.00,0.000,6,0.000,0.024,1986,1933,3134,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6235,-0.44,-175.2,639.7,-9.2,324,6237,0.12,0.00,0.00,0.000,6,0.148,0.000,2022,1934,3132,0,0,0,0,0,0,26.31,28.83,28.83
$GC,6536,-0.45,-175.2,661.1,-6.9,334,6541,0.00,2.05,0.00,0.000,4,0.000,0.034,2021,537,3129,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6629,-0.46,-175.2,668.9,-7.9,337,6635,0.00,2.00,0.00,0.000,6,0.000,0.024,2014,1923,3129,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6966,-0.47,-175.2,696.2,-8.2,348,6971,0.00,2.05,0.00,0.000,4,0.000,0.037,2004,3306,3127,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7043,-0.48,-175.2,701.7,-8.2,350,7049,0.00,1.98,0.00,0.000,6,0.000,0.025,2004,1919,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7363,-0.48,-175.2,730.5,-8.6,361,7369,0.00,2.05,0.00,0.000,4,0.000,0.034,2005,528,3125,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7466,-0.48,-175.2,739.4,-9.2,364,7472,0.00,2.03,0.00,0.000,6,0.000,0.024,1995,1934,3124,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7791,-0.48,-175.2,766.7,-7.7,375,7796,0.00,2.08,0.00,0.000,4,0.000,0.034,1995,526,3124,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7823,-0.48,-175.2,769.5,-7.7,376,7829,0.00,2.03,0.00,0.000,6,0.000,0.024,1987,1925,3123,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8159,-0.48,-175.2,795.1,-7.4,387,8165,0.00,2.05,0.00,0.000,4,0.000,0.037,1977,3306,3122,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8222,-0.48,-175.2,799.9,-7.2,389,8228,0.00,2.00,0.00,0.000,6,0.000,0.025,1977,1923,3121,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8559,-0.48,-175.2,826.4,-8.2,400,8565,0.00,2.05,0.00,0.000,4,0.000,0.035,1977,534,3120,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8693,-0.47,-175.2,837.9,-9.1,404,8699,0.15,2.03,0.00,0.000,6,0.151,0.024,2009,1931,3119,0,0,0,0,0,0,25.94,26.34,28.83
$GC,9019,-0.48,-175.2,859.5,-6.5,415,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1932,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9317,-0.49,-175.2,879.2,-6.5,425,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1933,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9620,-0.51,-175.2,898.9,-6.6,435,9626,0.00,2.10,0.00,0.000,4,0.000,0.034,2009,526,3116,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9664,-0.52,-175.2,901.6,-6.8,436,9670,0.00,2.05,0.00,0.000,6,0.000,0.024,2002,1945,3116,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9990,-0.53,-175.2,924.3,-6.8,447,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1945,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10288,-0.54,-175.2,945.3,-7.1,457,10294,0.00,2.10,0.00,0.000,4,0.000,0.035,2002,531,3114,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10362,-0.55,-175.2,950.3,-7.3,459,10367,0.00,2.03,0.00,0.000,6,0.000,0.025,1993,1927,3113,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10686,-0.55,-175.2,972.3,-6.1,470,10692,0.00,2.10,0.00,0.000,4,0.000,0.034,1993,528,3113,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10739,-0.55,-175.2,974.7,-6.2,471,10744,0.00,2.03,0.00,0.000,6,0.000,0.025,1984,1926,3112,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,10960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10960,begin apogee
$GC,10965,-0.17,0.0,991.0,-6.7,479,11118,0.35,0.00,145.88,1.416,6,0.122,0.000,2100,1927,2407,0,0,0,0,0,0,25.70,28.83,23.04
$STATE,11120,end apogee,CONTROL_FINISHED_OK
$STATE,11120,begin climb
$GC,11122,0.53,175.2,994.6,0.0,484,11294,0.68,2.45,158.20,1.362,4,0.093,0.037,2331,520,1692,0,0,0,0,0,0,24.30,23.59,22.38
$GC,11317,0.55,226.9,985.9,6.6,490,11371,0.00,2.17,47.75,1.318,6,0.000,0.023,2332,1900,1483,0,0,0,0,0,0,28.83,24.25,22.42
$GC,11690,0.57,236.9,953.5,7.9,503,11704,0.00,2.12,8.80,1.160,4,0.000,0.036,2332,3295,1443,0,0,0,0,0,0,28.83,25.58,24.16
$GC,11763,0.58,240.2,948.1,8.1,505,11774,0.00,2.08,4.62,0.924,6,0.000,0.026,2341,1901,1429,0,0,0,0,0,0,28.83,25.84,24.13
$GC,12088,0.59,253.8,921.4,7.8,516,12107,0.00,2.15,12.73,1.247,4,0.000,0.034,2341,3304,1375,0,0,0,0,0,0,28.83,25.80,24.44
$GC,12130,0.60,266.1,918.7,7.9,517,12151,0.00,2.10,12.75,1.235,6,0.000,0.027,2350,1893,1323,0,0,0,0,0,0,28.83,25.91,24.24
$GC,12451,0.61,266.1,888.3,9.4,528,12457,0.00,2.15,0.00,0.000,4,0.000,0.035,2350,3304,1319,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12504,0.61,266.1,884.8,9.7,529,12509,0.00,2.08,0.00,0.000,6,0.000,0.027,2359,1893,1318,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12817,0.61,266.1,851.1,10.2,540,12822,0.00,2.10,0.00,0.000,4,0.000,0.035,2360,3299,1318,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12869,0.61,266.1,847.5,10.4,541,12874,0.00,2.05,0.00,0.000,6,0.000,0.028,2368,1900,1318,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13181,0.61,266.1,812.6,10.2,552,13186,0.00,2.10,0.00,0.000,4,0.000,0.035,2368,3296,1318,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13217,0.61,266.1,809.2,10.3,553,13222,0.00,2.05,0.00,0.000,6,0.000,0.028,2375,1894,1317,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21517,end climb,SURFACE_DEPTH_REACHED
$STATE,21517,begin surface coast
$FINISH,1.0,1.021955
$STATE,21539,end surface coast,CONTROL_FINISHED_OK
$STATE,21539,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.48
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$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,3947040
$24V_AH,22.4,37.245
$10V_AH,10.1,27.439
$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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$MEM,329016
$DATA_FILE_SIZE,36712,961
$CAP_FILE_SIZE,246460,0
$CFSIZE,260034560,232583168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.132, 25.9,1
$GPS,201212,223936,1755.275,12438.497,27,1.2,27,-2.0