version: 66.11
glider: 129
mission: 4
dive: 221
start: 12 27 112 22 10 40
data:
$ID,129
$MISSION,4
$DIVE,221
$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,-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,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,-2930.8865
$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,68
$R_STBD_OVSHOOT,93
$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
$GPS1,271212,220205,1800.850,12348.389,38,1.0,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-60.8
$GPS2,271212,221013,1800.910,12348.367,15,1.2,15,-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,270.9,171176,-14.2,-8.462,-17.62
$D_GRID,4578
$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,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,87,0.00,0.00,-65.25,0.000,2,0.000,0.000,56,1926,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.4,-5.4,11,139,8.07,2.08,-31.77,0.000,4,0.249,0.047,1970,3293,3126,0,0,0,0,0,0,25.30,26.08,26.50
$GC,293,-0.48,-175.2,53.4,-29.6,39,300,0.12,1.98,0.00,0.000,6,0.168,0.024,2002,1916,3126,0,0,0,0,0,0,25.92,26.29,28.83
$GC,613,-0.41,-175.2,151.8,-26.9,55,618,0.00,2.00,0.00,0.000,4,0.000,0.031,2001,530,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,846,-0.36,-175.2,199.0,-20.0,66,853,0.17,1.95,0.00,0.000,6,0.148,0.022,2044,1904,3127,0,0,0,0,0,0,25.98,26.41,28.83
$GC,1161,-0.36,-175.2,237.6,-11.1,82,1166,0.00,1.98,0.00,0.000,4,0.000,0.029,2044,539,3127,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1258,-0.36,-175.2,247.1,-11.4,86,1266,0.00,1.98,0.00,0.000,6,0.000,0.021,2036,1941,3127,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1564,-0.36,-175.2,280.9,-9.7,102,1571,0.00,2.05,0.00,0.000,4,0.000,0.029,2036,513,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1618,-0.36,-175.2,285.3,-9.8,104,1623,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1927,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1930,-0.36,-175.2,316.0,-9.8,120,1935,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,534,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1962,-0.36,-175.2,318.1,-9.7,121,1967,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1927,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2275,-0.36,-175.2,347.3,-8.5,137,2280,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3306,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2332,-0.36,-175.2,350.8,-8.5,139,2339,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1919,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2638,-0.36,-175.2,381.2,-9.6,155,2643,0.00,1.98,0.00,0.000,4,0.000,0.031,2033,532,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2726,-0.36,-175.2,389.4,-9.8,159,2731,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1932,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3045,-0.36,-175.2,415.1,-7.6,175,3051,0.00,2.05,0.00,0.000,4,0.000,0.029,2033,528,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3163,-0.36,-175.2,424.1,-8.8,180,3170,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1935,3120,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3469,-0.37,-175.2,447.8,-6.6,196,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1935,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.38,-175.2,467.2,-6.8,211,3775,0.00,2.00,0.00,0.000,4,0.000,0.036,2033,3300,3116,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3808,-0.40,-175.2,468.8,-6.8,212,3816,0.00,1.95,-0.08,0.000,6,0.000,0.022,2033,1923,3139,0,0,0,0,0,0,28.83,26.47,25.18
$GC,4114,-0.41,-175.2,491.1,-7.3,228,4119,0.00,2.00,0.00,0.000,4,0.000,0.031,2033,542,3140,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4201,-0.43,-175.2,497.9,-8.0,232,4207,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1937,3139,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4521,-0.44,-175.2,521.4,-7.1,248,4527,0.00,2.00,0.00,0.000,4,0.000,0.036,2033,3311,3137,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4545,-0.46,-175.2,523.0,-6.9,249,4551,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1927,3137,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4870,-0.48,-175.2,546.9,-7.8,265,4875,0.00,2.03,0.00,0.000,4,0.000,0.032,2033,538,3135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4942,-0.49,-175.2,552.5,-8.5,268,4948,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1927,3135,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5256,-0.51,-175.2,576.0,-7.0,284,5262,0.12,2.05,0.00,0.000,4,0.101,0.031,1967,527,3133,0,0,0,0,0,0,26.46,26.30,28.83
$GC,5284,-0.51,-175.2,578.2,-7.4,285,5290,0.12,2.03,0.00,0.000,6,0.156,0.023,1991,1927,3132,0,0,0,0,0,0,26.06,26.41,28.83
$GC,5613,-0.51,-175.2,609.8,-9.8,300,5619,0.00,2.05,0.00,0.000,4,0.000,0.031,1991,536,3130,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5692,-0.51,-175.2,616.3,-9.8,302,5697,0.00,1.98,0.00,0.000,6,0.000,0.023,1984,1934,3130,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6010,-0.51,-175.2,651.6,-10.9,313,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1935,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.51,-175.2,682.9,-9.9,323,6315,0.00,2.08,0.00,0.000,4,0.000,0.032,1984,535,3126,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6373,-0.51,-175.2,689.3,-9.9,325,6378,0.00,2.03,0.00,0.000,6,0.000,0.024,1975,1922,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6708,-0.51,-175.2,718.6,-8.6,336,6713,0.00,2.05,0.00,0.000,4,0.000,0.033,1975,542,3124,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6759,-0.51,-175.2,721.7,-8.7,337,6765,0.00,1.98,0.00,0.000,6,0.000,0.024,1966,1931,3123,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7074,-0.50,-175.2,751.4,-9.1,348,7080,0.12,2.08,0.00,0.000,4,0.154,0.030,2007,537,3122,0,0,0,0,0,0,26.22,26.26,28.83
$GC,7104,-0.49,-175.2,751.4,-9.1,348,7111,0.00,2.00,0.00,0.000,6,0.000,0.023,2000,1931,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7408,-0.49,-175.2,778.7,-8.7,359,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1931,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.49,-175.2,805.7,-9.0,369,7714,0.00,2.08,0.00,0.000,4,0.000,0.032,2000,536,3119,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7760,-0.49,-175.2,808.7,-8.9,370,7766,0.00,2.00,0.00,0.000,6,0.000,0.024,1992,1925,3118,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8074,-0.49,-175.2,837.4,-8.5,381,8080,0.00,2.08,0.00,0.000,4,0.000,0.034,1992,528,3117,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8102,-0.49,-175.2,837.4,-8.5,381,8109,0.00,2.03,0.00,0.000,6,0.000,0.024,1982,1936,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8408,-0.49,-175.2,865.3,-8.0,392,8414,0.00,2.08,0.00,0.000,4,0.000,0.034,1982,539,3115,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8437,-0.49,-175.2,865.3,-8.0,392,8444,0.00,2.00,0.00,0.000,6,0.000,0.024,1973,1923,3115,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8741,-0.49,-175.2,894.0,-8.7,403,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1920,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9042,-0.49,-175.2,918.7,-8.0,413,9048,0.00,2.05,0.00,0.000,4,0.000,0.037,1963,3309,3113,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9080,-0.49,-175.2,921.6,-8.2,414,9086,0.12,2.00,0.00,0.000,6,0.144,0.025,1999,1923,3112,0,0,0,0,0,0,26.01,26.34,28.83
$GC,9411,-0.50,-175.2,945.6,-7.2,425,9418,0.00,2.08,0.00,0.000,4,0.000,0.036,1999,517,3110,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9494,-0.50,-175.2,950.8,-7.5,427,9500,0.00,2.05,0.00,0.000,6,0.000,0.024,1990,1931,3111,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9808,-0.50,-175.2,975.8,-7.4,438,9814,0.00,2.10,0.00,0.000,4,0.000,0.034,1990,525,3110,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9886,-0.50,-175.2,981.0,-7.9,440,9891,0.00,2.03,0.00,0.000,6,0.000,0.025,1982,1924,3110,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,9992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9992,begin apogee
$GC,9997,-0.17,0.0,990.7,-8.0,444,10150,0.35,0.00,146.15,1.411,6,0.121,0.000,2100,1924,2409,0,0,0,0,0,0,25.70,28.83,22.84
$STATE,10151,end apogee,CONTROL_FINISHED_OK
$STATE,10151,begin climb
$GC,10153,0.54,175.2,996.3,0.0,449,10326,0.70,2.42,159.35,1.356,4,0.090,0.037,2335,526,1693,0,0,0,0,0,0,24.20,23.59,22.26
$GC,10359,0.57,234.2,986.8,6.5,456,10420,0.00,2.17,54.47,1.317,6,0.000,0.022,2335,1895,1454,0,0,0,0,0,0,28.83,24.39,22.23
$GC,10720,0.59,250.5,958.2,7.9,468,10743,0.00,2.20,14.40,1.245,4,0.000,0.037,2335,3292,1387,0,0,0,0,0,0,28.83,25.49,24.01
$GC,10785,0.60,258.9,953.0,8.2,470,10801,0.00,2.08,9.20,1.161,6,0.000,0.026,2344,1901,1352,0,0,0,0,0,0,28.83,25.79,24.01
$GC,11114,0.62,266.7,925.5,8.2,481,11128,0.00,2.15,7.80,1.131,4,0.000,0.035,2344,3297,1321,0,0,0,0,0,0,28.83,25.97,24.33
$GC,11149,0.62,269.1,922.6,8.4,482,11155,0.00,2.08,0.00,0.000,6,0.000,0.027,2346,1892,1319,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11480,0.63,269.1,892.0,9.7,493,11485,0.00,2.12,0.00,0.000,4,0.000,0.034,2346,3298,1318,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11513,0.63,269.1,888.5,9.9,494,11518,0.00,2.05,0.00,0.000,6,0.000,0.027,2347,1897,1318,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11848,0.64,269.1,856.4,9.6,505,11853,0.00,2.08,0.00,0.000,4,0.000,0.038,2346,507,1317,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11875,0.65,269.1,856.4,9.6,505,11882,0.00,2.05,0.00,0.000,6,0.000,0.024,2346,1921,1317,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12183,0.67,269.1,826.3,8.7,516,12188,0.00,2.03,0.00,0.000,4,0.000,0.036,2346,3291,1316,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12217,0.68,269.1,822.9,8.9,517,12222,0.00,2.03,0.00,0.000,6,0.000,0.028,2346,1893,1316,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12552,0.69,277.2,794.4,8.2,528,12571,0.12,2.12,10.30,1.175,4,0.112,0.037,2411,500,1278,0,0,0,0,0,0,26.35,26.11,24.42
$GC,12608,0.69,277.2,791.0,8.6,529,12615,0.00,2.05,0.00,0.000,6,0.000,0.024,2411,1908,1277,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,20809,end climb,SURFACE_DEPTH_REACHED
$STATE,20809,begin surface coast
$FINISH,1.0,1.021713
$STATE,20826,end surface coast,CONTROL_FINISHED_OK
$STATE,20826,begin surface
$SM_CCo,20901,0.00,0.000,0,0,209,539.41
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$IRIDIUM_FIX,1754.17,12353.98,271212,161637
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.24
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3935520
$24V_AH,22.2,43.785
$10V_AH,10.2,31.334
$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,16.900,199.975,621.675,0.000,0.000,0.000,0.000,303.600,0.000,0.000,16.405,3100.926,14408.480,786.308,2689.527,394.999,0.000,2430.302,0.000,2286.137,0.000,0.541,0.000
$DEVICE_MAMPS,249.390,47.430,1410.660,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20842.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.826,0.000,0.000,0.000
$MEM,329036
$DATA_FILE_SIZE,33358,937
$CAP_FILE_SIZE,236732,0
$CFSIZE,260034560,229490688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,352.9,1
$GPS,281212,040006,1802.610,12344.989,27,1.2,27,-2.0