version: 66.11
glider: 129
mission: 4
dive: 208
start: 12 24 112 16 0 47
data:
$ID,129
$MISSION,4
$DIVE,208
$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,-2913.3965
$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,2
$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,75
$R_STBD_OVSHOOT,95
$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
$GPS1,241212,155230,1752.493,12420.800,38,1.6,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-54.9
$GPS2,241212,160019,1752.478,12420.877,13,1.2,13,-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,275.3,230257,-14.2,-8.462,-17.62
$D_GRID,4396
$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,-175.2,0.0,0.0,0,86,0.00,0.00,-65.82,0.000,2,0.000,0.000,46,1881,1861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-4.2,11,134,7.85,2.15,-30.17,0.000,4,0.242,0.047,1967,3282,3125,0,0,0,0,0,0,25.34,26.07,26.48
$GC,267,-0.47,-175.2,48.9,-30.8,37,273,0.15,1.95,0.00,0.000,6,0.164,0.023,2006,1909,3125,0,0,0,0,0,0,25.84,26.27,28.83
$GC,581,-0.40,-175.2,140.5,-27.2,53,587,0.00,1.95,0.00,0.000,4,0.000,0.029,2006,534,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,773,-0.36,-175.2,184.9,-20.4,62,780,0.15,1.95,0.00,0.000,6,0.151,0.022,2041,1915,3126,0,0,0,0,0,0,26.03,26.40,28.83
$GC,1087,-0.34,-175.2,233.4,-12.8,78,1093,0.00,2.00,0.00,0.000,4,0.000,0.029,2041,534,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1131,-0.33,-175.2,238.9,-12.6,80,1136,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1940,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1454,-0.31,-175.2,281.2,-12.9,96,1459,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,544,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1497,-0.30,-175.2,286.4,-12.4,98,1502,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1931,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1820,-0.30,-175.2,321.0,-10.1,114,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1931,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2121,-0.30,-175.2,347.7,-8.0,129,2127,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3309,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2145,-0.30,-175.2,349.6,-7.9,130,2151,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1927,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2468,-0.30,-175.2,378.7,-8.9,146,2474,0.00,2.00,0.00,0.000,4,0.000,0.031,2033,541,3124,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2612,-0.30,-175.2,392.6,-9.8,153,2618,0.10,1.98,0.00,0.000,6,0.155,0.022,2062,1928,3124,0,0,0,0,0,0,26.20,26.45,28.83
$GC,2936,-0.33,-175.2,411.2,-5.0,169,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1928,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-0.35,-175.2,427.8,-5.9,184,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1928,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,-0.38,-175.2,447.9,-7.1,199,3543,0.00,2.05,0.00,0.000,4,0.000,0.031,2061,532,3117,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3575,-0.41,-175.2,449.9,-7.2,200,3582,0.00,1.98,0.00,0.000,6,0.000,0.022,2057,1927,3117,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3881,-0.43,-175.2,473.3,-7.2,216,3887,0.12,2.03,0.00,0.000,4,0.094,0.034,1982,3299,3115,0,0,0,0,0,0,26.49,26.31,28.83
$GC,3925,-0.45,-175.2,477.6,-8.4,218,3932,0.12,1.95,-0.10,0.000,6,0.135,0.022,2019,1913,3139,0,0,0,0,0,0,26.17,26.46,25.69
$GC,4250,-0.45,-175.2,507.4,-9.2,234,4255,0.00,1.98,0.00,0.000,4,0.000,0.032,2019,552,3139,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4362,-0.45,-175.2,517.7,-10.1,239,4369,0.00,1.95,0.00,0.000,6,0.000,0.023,2013,1927,3138,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4677,-0.45,-175.2,545.3,-7.9,255,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1927,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.45,-175.2,569.3,-8.1,270,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,1927,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5278,-0.45,-175.2,593.1,-8.1,285,5283,0.00,2.05,0.00,0.000,4,0.000,0.032,2015,541,3133,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5311,-0.45,-175.2,595.3,-8.4,286,5316,0.00,2.00,0.00,0.000,6,0.000,0.023,2001,1922,3132,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5635,-0.45,-175.2,623.1,-8.1,298,5641,0.00,2.03,0.00,0.000,4,0.000,0.037,1993,3302,3130,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5653,-0.45,-175.2,623.1,-8.1,298,5658,0.00,1.95,0.00,0.000,6,0.000,0.023,1994,1939,3130,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5971,-0.45,-175.2,652.0,-8.8,309,5976,0.00,2.05,0.00,0.000,4,0.000,0.033,1994,527,3128,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6158,-0.45,-175.2,669.9,-9.8,315,6164,0.00,2.00,0.00,0.000,6,0.000,0.023,1985,1935,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6488,-0.45,-175.2,701.6,-9.4,326,6493,0.10,2.05,0.00,0.000,4,0.160,0.035,2003,3314,3126,0,0,0,0,0,0,26.38,26.24,28.83
$GC,6535,-0.45,-175.2,704.5,-9.2,327,6540,0.00,2.00,0.00,0.000,6,0.000,0.024,2003,1917,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6852,-0.45,-175.2,733.0,-8.7,338,6858,0.00,2.03,0.00,0.000,4,0.000,0.033,2003,535,3124,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6955,-0.45,-175.2,741.6,-9.1,341,6961,0.00,2.00,0.00,0.000,6,0.000,0.024,1994,1929,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7280,-0.45,-175.2,769.3,-8.1,352,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1930,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,-0.45,-175.2,791.8,-7.5,362,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1927,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7878,-0.45,-175.2,814.0,-7.7,372,7883,0.00,2.08,0.00,0.000,4,0.000,0.033,1994,532,3119,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7926,-0.45,-175.2,816.7,-7.9,373,7931,0.00,2.03,0.00,0.000,6,0.000,0.024,1987,1935,3118,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8243,-0.45,-175.2,847.2,-9.4,384,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1935,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8544,-0.45,-175.2,876.4,-9.5,394,8549,0.00,2.08,0.00,0.000,4,0.000,0.034,1987,541,3116,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8595,-0.45,-175.2,879.6,-9.4,395,8602,0.12,2.00,0.00,0.000,6,0.154,0.024,2012,1926,3116,0,0,0,0,0,0,26.01,26.35,28.83
$GC,8911,-0.46,-175.2,904.3,-6.8,406,8917,0.00,2.08,0.00,0.000,4,0.000,0.034,2012,532,3115,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8950,-0.48,-175.2,907.0,-6.9,407,8955,0.00,2.03,0.00,0.000,6,0.000,0.024,2005,1935,3115,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9279,-0.49,-175.2,930.0,-7.0,418,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1936,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9578,-0.50,-175.2,951.0,-7.1,428,9585,0.00,2.08,0.00,0.000,4,0.000,0.034,2004,539,3113,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9637,-0.51,-175.2,953.6,-7.0,429,9644,0.00,2.00,0.00,0.000,6,0.000,0.024,1996,1924,3112,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9943,-0.51,-175.2,976.5,-6.6,440,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1924,3112,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10180,begin apogee
$GC,10185,-0.17,0.0,990.4,-5.6,448,10339,0.30,0.00,145.40,1.411,6,0.121,0.000,2097,1924,2409,0,0,0,0,0,0,25.83,28.83,22.95
$STATE,10340,end apogee,CONTROL_FINISHED_OK
$STATE,10340,begin climb
$GC,10342,0.54,175.2,993.4,0.0,453,10515,0.70,2.42,158.55,1.357,4,0.091,0.037,2330,529,1692,0,0,0,0,0,0,24.27,23.58,22.32
$GC,10537,0.56,210.1,983.4,7.3,459,10579,0.00,2.17,32.58,1.292,6,0.000,0.022,2330,1896,1551,0,0,0,0,0,0,28.83,24.27,22.44
$GC,10878,0.57,210.1,950.8,8.6,471,10883,0.00,2.12,0.00,0.000,4,0.000,0.036,2330,3298,1544,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10990,0.57,210.1,942.1,9.3,474,10995,0.00,2.05,0.00,0.000,6,0.000,0.026,2338,1903,1543,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11305,0.58,222.8,914.5,8.1,485,11318,0.00,0.00,11.05,1.216,6,0.000,0.000,2338,1903,1500,0,0,0,0,0,0,28.83,28.83,24.45
$GC,11603,0.58,244.2,890.7,7.8,495,11627,0.00,0.00,19.45,1.291,6,0.000,0.000,2338,1903,1413,0,0,0,0,0,0,28.83,28.83,24.32
$GC,11936,0.61,277.0,865.5,7.4,506,11973,0.00,2.22,29.60,1.308,4,0.000,0.035,2338,3299,1278,0,0,0,0,0,0,28.83,25.43,24.14
$GC,12000,0.63,303.0,860.7,7.6,508,12031,0.00,2.10,24.35,1.278,6,0.000,0.026,2346,1896,1173,0,0,0,0,0,0,28.83,25.70,23.92
$GC,12360,0.65,305.6,830.6,8.4,520,12361,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1896,1167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12659,0.67,305.6,804.8,8.7,530,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1896,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12960,0.69,305.6,778.2,8.9,540,12966,0.10,2.12,0.00,0.000,4,0.122,0.033,2386,3297,1164,0,0,0,0,0,0,26.38,26.25,28.83
$GC,12988,0.71,305.6,778.2,8.9,540,12995,0.00,2.05,0.00,0.000,6,0.000,0.027,2386,1888,1164,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13294,0.71,305.6,740.0,11.3,551,13299,0.00,2.12,0.00,0.000,4,0.000,0.034,2386,3300,1163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13327,0.71,305.6,736.1,11.4,552,13332,0.00,2.03,0.00,0.000,6,0.000,0.026,2386,1898,1163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13660,0.71,305.6,699.3,10.7,563,13666,0.00,2.10,0.00,0.000,4,0.000,0.035,2386,3297,1163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13717,0.71,305.6,695.5,10.8,564,13724,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1901,1162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,14023,0.71,305.6,658.9,11.3,575,14025,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1901,1163,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20999,end climb,SURFACE_DEPTH_REACHED
$STATE,20999,begin surface coast
$FINISH,1.1,0.998542
$STATE,21012,end surface coast,CONTROL_FINISHED_OK
$STATE,21012,begin surface
$SM_CCo,21087,0.00,0.000,0,0,208,539.91
$SM_GC,1.72,6.43,0.00,0.00,0.045,0.000,0.000,68,1927,208,-6.45,0.06,539.91,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,1745.10,12425.38,241212,101038
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.70
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3940512
$24V_AH,22.3,40.955
$10V_AH,10.0,29.584
$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,16.750,171.150,614.975,0.000,0.000,0.000,0.000,290.650,0.000,0.000,14.137,3094.415,14682.209,745.884,2660.017,367.063,0.000,2349.094,0.000,2260.271,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,47.430,1411.425,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21029.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.080,0.000,0.000,0.000
$MEM,329652
$DATA_FILE_SIZE,36681,953
$CAP_FILE_SIZE,231868,0
$CFSIZE,260034560,230887424
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 95.4,1
$GPS,241212,215330,1752.264,12418.481,38,1.8,38,-2.0