version: 66.11
glider: 129
mission: 4
dive: 202
start: 12 23 112 5 3 59
data:
$ID,129
$MISSION,4
$DIVE,202
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,2
$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,-2905.468
$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
$PITCH_ADJ_DBAND,0
$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,69
$R_STBD_OVSHOOT,108
$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
$GPS1,231212,045605,1750.646,12431.992,26,1.1,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-55.3
$GPS2,231212,050331,1750.626,12432.100,12,1.4,12,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,290.7,250065,-14.2,-8.462,-17.62
$D_GRID,4042
$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,-0.54,-175.2,0.0,0.0,0,85,0.00,0.00,-64.80,0.000,2,0.000,0.000,59,1905,1845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.54,-175.2,3.3,-4.7,11,133,8.00,2.10,-30.70,0.000,4,0.249,0.049,1966,3274,3125,0,0,0,0,0,0,25.25,26.06,26.47
$GC,216,-0.54,-175.2,33.2,-29.0,32,221,0.00,1.95,0.00,0.000,6,0.000,0.023,1966,1908,3125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,528,-0.54,-175.2,144.1,-34.5,50,534,0.00,1.95,0.00,0.000,4,0.000,0.030,1966,534,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,736,-0.54,-175.2,197.0,-22.6,60,741,0.00,1.92,0.00,0.000,6,0.000,0.022,1956,1890,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1053,-0.54,-175.2,262.9,-18.1,76,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1890,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1356,-0.54,-175.2,315.6,-17.7,91,1361,0.00,1.98,0.00,0.000,4,0.000,0.030,1956,533,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1408,-0.54,-175.2,324.2,-18.4,93,1414,0.12,1.98,0.00,0.000,6,0.164,0.023,1979,1923,3126,0,0,0,0,0,0,26.08,26.43,28.83
$GC,1723,-0.54,-175.2,371.4,-13.1,109,1728,0.00,2.03,0.00,0.000,4,0.000,0.029,1979,534,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1766,-0.54,-175.2,377.5,-13.2,111,1771,0.00,2.00,0.00,0.000,6,0.000,0.021,1972,1932,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2088,-0.54,-175.2,419.2,-12.8,127,2095,0.00,2.05,0.00,0.000,4,0.000,0.030,1972,530,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2196,-0.54,-175.2,432.8,-13.0,132,2201,0.00,2.00,0.00,0.000,6,0.000,0.022,1963,1933,3124,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2513,-0.54,-175.2,476.3,-14.1,148,2518,0.00,2.05,0.00,0.000,4,0.000,0.029,1962,529,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2545,-0.54,-175.2,479.5,-14.2,149,2551,0.12,2.00,0.00,0.000,6,0.159,0.021,1987,1933,3123,0,0,0,0,0,0,26.11,26.45,28.83
$GC,2858,-0.54,-175.2,513.5,-9.1,165,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1934,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-0.54,-175.2,541.4,-9.7,180,3166,0.00,2.05,0.00,0.000,4,0.000,0.030,1987,535,3118,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3248,-0.54,-175.2,550.5,-10.8,184,3253,0.00,2.00,0.00,0.000,6,0.000,0.022,1979,1927,3117,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3565,-0.54,-175.2,582.4,-9.2,200,3571,0.00,2.05,0.00,0.000,4,0.000,0.030,1979,532,3113,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3638,-0.54,-175.2,589.1,-10.3,203,3643,0.00,2.00,0.00,0.000,6,0.000,0.023,1971,1934,3113,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3962,-0.54,-175.2,622.7,-10.0,216,3968,0.00,2.03,0.00,0.000,4,0.000,0.036,1961,3305,3110,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3995,-0.54,-175.2,626.1,-9.9,217,4000,0.00,1.98,0.00,0.000,6,0.000,0.023,1961,1915,3110,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4329,-0.54,-175.2,659.9,-9.7,228,4334,0.00,2.00,0.00,0.000,4,0.000,0.031,1961,541,3108,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4465,-0.54,-175.2,673.3,-10.8,232,4471,0.12,2.00,0.00,0.000,6,0.162,0.024,1986,1934,3106,0,0,0,0,0,0,26.06,26.41,28.83
$GC,4785,-0.54,-175.2,702.1,-8.5,243,4790,0.00,2.05,0.00,0.000,4,0.000,0.031,1986,544,3104,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4842,-0.54,-175.2,705.2,-8.7,244,4849,0.00,2.00,0.00,0.000,6,0.000,0.024,1978,1938,3104,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5149,-0.54,-175.2,733.1,-8.0,255,5155,0.00,2.03,0.00,0.000,4,0.000,0.036,1969,3308,3101,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5201,-0.54,-175.2,735.9,-8.0,256,5207,0.00,1.98,0.00,0.000,6,0.000,0.024,1968,1927,3101,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5514,-0.54,-175.2,764.8,-8.8,267,5519,0.00,2.00,0.00,0.000,4,0.000,0.032,1968,542,3099,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5697,-0.54,-175.2,781.6,-9.1,273,5702,0.00,2.00,0.00,0.000,6,0.000,0.024,1960,1931,3098,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6031,-0.54,-175.2,812.7,-9.4,284,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1931,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6329,-0.54,-175.2,839.5,-8.8,294,6335,0.00,2.05,0.00,0.000,4,0.000,0.037,1949,3307,3094,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6347,-0.54,-175.2,839.5,-8.8,294,6352,0.12,1.98,0.00,0.000,6,0.152,0.023,1983,1924,3094,0,0,0,0,0,0,26.06,26.44,28.83
$GC,6667,-0.54,-175.2,864.3,-7.3,305,6673,0.00,2.03,0.00,0.000,4,0.000,0.033,1983,541,3092,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6809,-0.54,-175.2,874.8,-8.3,309,6816,0.00,2.03,0.00,0.000,6,0.000,0.024,1975,1951,3091,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7125,-0.54,-175.2,901.8,-8.1,320,7131,0.00,2.10,0.00,0.000,4,0.000,0.033,1975,535,3089,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7183,-0.54,-175.2,904.9,-8.3,321,7190,0.00,2.00,0.00,0.000,6,0.000,0.024,1967,1926,3089,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7488,-0.54,-175.2,933.7,-8.7,332,7493,0.00,2.08,0.00,0.000,4,0.000,0.032,1967,536,3088,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7514,-0.54,-175.2,933.7,-8.7,332,7521,0.00,2.03,0.00,0.000,6,0.000,0.024,1957,1935,3088,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7822,-0.54,-175.2,962.5,-8.6,343,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1935,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8121,-0.54,-175.2,987.6,-8.2,353,8127,0.00,2.08,0.00,0.000,4,0.000,0.033,1957,540,3085,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,8152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8152,begin apogee
$GC,8160,-0.17,0.0,990.7,-8.2,354,8306,0.47,0.00,139.18,1.401,6,0.128,0.000,2102,1907,2409,0,0,0,0,0,0,25.58,28.83,23.10
$STATE,8308,end apogee,CONTROL_FINISHED_OK
$STATE,8308,begin climb
$GC,8310,0.54,175.2,994.8,0.0,359,8474,0.68,0.00,158.30,1.349,6,0.090,0.000,2330,1908,1694,0,0,0,0,0,0,24.36,28.83,22.37
$GC,8754,0.56,216.0,966.8,7.1,374,8799,0.00,2.25,35.17,1.318,4,0.000,0.037,2330,529,1527,0,0,0,0,0,0,28.83,25.03,23.75
$GC,8826,0.58,259.4,962.4,7.1,376,8871,0.00,2.08,39.10,1.310,6,0.000,0.023,2330,1899,1351,0,0,0,0,0,0,28.83,25.44,23.51
$GC,9178,0.59,293.6,935.6,7.4,388,9214,0.00,2.22,30.17,1.312,4,0.000,0.037,2330,3289,1211,0,0,0,0,0,0,28.83,25.29,24.03
$GC,9282,0.60,314.0,928.2,7.8,391,9306,0.00,2.05,18.88,1.266,6,0.000,0.025,2334,1912,1129,0,0,0,0,0,0,28.83,25.79,24.03
$GC,9634,0.61,334.5,900.5,7.8,403,9655,0.00,0.00,18.90,1.270,6,0.000,0.000,2334,1912,1046,0,0,0,0,0,0,28.83,28.83,24.33
$GC,9934,0.62,356.3,877.6,7.8,413,9964,0.00,2.20,20.62,1.276,4,0.000,0.037,2334,513,956,0,0,0,0,0,0,28.83,25.60,24.31
$GC,9976,0.63,376.1,875.3,7.8,414,10002,0.00,2.08,18.73,1.248,6,0.000,0.022,2334,1913,874,0,0,0,0,0,0,28.83,25.77,24.08
$GC,10330,0.64,423.6,848.8,6.9,426,10379,0.10,2.12,42.20,1.297,4,0.118,0.034,2375,3279,682,0,0,0,0,0,0,26.18,25.20,24.01
$GC,10418,0.65,436.8,843.1,8.0,428,10438,0.00,2.08,13.00,1.183,6,0.000,0.025,2375,1897,628,0,0,0,0,0,0,28.83,25.64,24.04
$GC,10755,0.65,436.8,806.0,10.4,440,10761,0.00,2.08,0.00,0.000,4,0.000,0.038,2375,506,624,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10813,0.65,436.8,802.4,10.5,441,10819,0.00,2.03,0.00,0.000,6,0.000,0.022,2375,1901,623,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11119,0.65,436.8,765.8,11.3,452,11125,0.00,2.05,0.00,0.000,4,0.000,0.035,2375,3292,623,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11172,0.65,436.8,761.6,11.6,453,11177,0.00,2.05,0.00,0.000,6,0.000,0.027,2375,1887,622,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11485,0.65,436.8,724.2,11.0,464,11490,0.00,2.03,0.00,0.000,4,0.000,0.037,2375,510,622,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11542,0.65,436.8,720.7,10.9,465,11549,0.00,2.03,0.00,0.000,6,0.000,0.022,2375,1914,622,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11848,0.65,436.8,686.5,9.7,476,11854,0.00,2.05,0.00,0.000,4,0.000,0.035,2375,3292,622,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11890,0.65,436.8,682.8,9.9,477,11896,0.00,2.03,0.00,0.000,6,0.000,0.026,2375,1897,622,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12215,0.65,436.8,649.7,9.8,488,12220,0.00,2.08,0.00,0.000,4,0.000,0.037,2375,508,621,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12278,0.65,436.8,643.7,9.4,490,12283,0.00,2.05,0.00,0.000,6,0.000,0.022,2375,1935,621,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12612,0.66,459.8,616.0,7.7,501,12641,0.00,2.08,19.65,1.141,4,0.000,0.036,2375,3275,535,0,0,0,0,0,0,28.83,25.89,24.54
$GC,12659,0.67,485.7,613.8,7.6,502,12689,0.00,2.05,24.45,1.133,6,0.000,0.024,2375,1887,428,0,0,0,0,0,0,28.83,25.97,24.21
$GC,12997,0.68,515.9,587.8,7.5,516,13030,0.00,2.12,26.67,1.123,4,0.000,0.037,2375,505,305,0,0,0,0,0,0,28.83,25.52,24.32
$GC,13079,0.69,537.4,581.5,7.8,520,13105,0.00,2.05,19.05,1.085,6,0.000,0.022,2375,1915,219,0,0,0,0,0,0,28.83,25.84,24.18
$GC,13423,0.70,566.8,554.6,7.5,537,13433,0.00,2.17,3.15,0.605,4,0.000,0.036,2375,493,210,0,0,0,0,0,0,28.83,26.07,24.27
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$STATE,19698,end climb,SURFACE_DEPTH_REACHED
$STATE,19698,begin surface coast
$FINISH,1.1,1.021831
$STATE,19724,end surface coast,CONTROL_FINISHED_OK
$STATE,19724,begin surface
$SM_CCo,19799,0.00,0.000,0,0,211,539.17
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$IRIDIUM_FIX,1740.58,12435.41,221212,232316
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.78
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3942816
$24V_AH,22.4,39.648
$10V_AH,10.1,28.803
$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,16.425,187.025,635.250,0.000,0.000,0.000,0.000,273.525,0.000,0.000,13.616,3056.526,13405.026,780.389,2637.593,359.288,0.000,2366.101,0.000,2268.468,0.000,0.542,0.000
$DEVICE_MAMPS,248.625,48.960,1400.715,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19735.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.260,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,33381,916
$CAP_FILE_SIZE,224232,0
$CFSIZE,260034560,231518208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 45.3,1
$GPS,231212,103506,1752.411,12430.081,30,0.9,30,-2.0