version: 66.11
glider: 129
mission: 4
dive: 222
start: 12 28 112 4 8 10
data:
$ID,129
$MISSION,4
$DIVE,222
$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,-2932.2393
$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,70
$R_STBD_OVSHOOT,94
$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
$GPS1,281212,040006,1802.610,12344.989,27,1.2,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-59.8
$GPS2,281212,040743,1802.688,12344.997,10,1.4,10,-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,250.4,164507,-14.2,-8.462,-17.62
$D_GRID,4739
$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,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-64.95,0.000,2,0.000,0.000,52,1880,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.0,-2.1,11,139,7.95,2.03,-33.00,0.000,4,0.245,0.044,1978,521,3126,0,0,0,0,0,0,25.21,26.13,26.50
$GC,368,-0.46,-175.2,80.0,-31.6,43,374,0.15,1.98,0.00,0.000,6,0.171,0.024,2007,1903,3126,0,0,0,0,0,0,25.86,26.31,28.83
$GC,691,-0.40,-175.2,172.2,-25.6,59,697,0.00,1.98,0.00,0.000,4,0.000,0.030,2007,528,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,834,-0.36,-175.2,202.0,-20.3,66,840,0.15,2.00,0.00,0.000,6,0.149,0.023,2047,1931,3126,0,0,0,0,0,0,26.06,26.41,28.83
$GC,1158,-0.36,-175.2,242.9,-11.4,82,1164,0.00,2.05,0.00,0.000,4,0.000,0.030,2042,520,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1195,-0.36,-175.2,245.5,-11.2,83,1203,0.00,2.00,0.00,0.000,6,0.000,0.022,2034,1937,3127,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1501,-0.36,-175.2,282.1,-10.5,99,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1937,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1802,-0.36,-175.2,309.5,-9.4,114,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1937,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2103,-0.36,-175.2,339.3,-9.8,129,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1937,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2404,-0.36,-175.2,368.7,-10.1,144,2409,0.00,2.05,0.00,0.000,4,0.000,0.031,2034,532,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2522,-0.36,-175.2,380.0,-10.5,149,2530,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1921,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2827,-0.36,-175.2,408.3,-8.5,165,2833,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,521,3122,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2855,-0.36,-175.2,410.5,-8.7,166,2860,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1932,3122,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3172,-0.36,-175.2,434.9,-6.7,182,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1933,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3475,-0.37,-175.2,453.6,-6.7,197,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1933,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-0.38,-175.2,474.7,-7.1,212,3780,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,532,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3813,-0.39,-175.2,476.7,-7.2,213,3821,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1934,3116,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4118,-0.41,-175.2,501.3,-7.8,229,4125,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,533,3114,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4183,-0.42,-175.2,506.9,-8.7,232,4189,0.00,2.00,0.00,0.000,6,0.000,0.024,2033,1933,3113,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4507,-0.43,-175.2,530.5,-6.8,248,4512,0.00,2.03,0.00,0.000,4,0.000,0.037,2033,3309,3110,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4535,-0.45,-175.2,532.1,-6.6,249,4541,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1918,3110,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4854,-0.46,-175.2,553.3,-7.1,265,4859,0.00,2.00,0.00,0.000,4,0.000,0.033,2033,530,3109,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4948,-0.48,-175.2,560.0,-8.0,269,4954,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1933,3108,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5263,-0.49,-175.2,586.7,-8.4,285,5269,0.00,2.03,0.00,0.000,4,0.000,0.037,2033,3302,3106,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5316,-0.51,-175.2,590.1,-8.1,287,5321,0.12,1.98,0.00,0.000,6,0.099,0.024,1977,1916,3106,0,0,0,0,0,0,26.27,26.44,28.83
$GC,5651,-0.51,-175.2,625.1,-10.0,300,5657,0.00,2.03,0.00,0.000,4,0.000,0.034,1977,548,3103,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5815,-0.50,-175.2,641.6,-10.6,305,5820,0.00,1.98,0.00,0.000,6,0.000,0.024,1968,1924,3103,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6140,-0.49,-175.2,674.7,-10.0,316,6146,0.12,2.05,0.00,0.000,4,0.153,0.035,2000,3317,3100,0,0,0,0,0,0,26.22,26.22,28.83
$GC,6174,-0.49,-175.2,677.9,-9.8,317,6180,0.00,2.03,0.00,0.000,6,0.000,0.024,2000,1931,3100,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6510,-0.49,-175.2,705.5,-8.5,328,6515,0.00,2.05,0.00,0.000,4,0.000,0.034,2000,532,3098,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6592,-0.49,-175.2,711.8,-9.1,330,6597,0.00,2.00,0.00,0.000,6,0.000,0.024,1992,1926,3098,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6905,-0.49,-175.2,743.6,-9.5,341,6910,0.00,2.08,0.00,0.000,4,0.000,0.033,1992,528,3096,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6962,-0.49,-175.2,747.2,-9.8,342,6969,0.00,2.03,0.00,0.000,6,0.000,0.024,1983,1935,3096,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7267,-0.49,-175.2,778.8,-9.3,353,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1935,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,-0.49,-175.2,803.5,-7.6,363,7574,0.00,2.05,0.00,0.000,4,0.000,0.038,1973,3311,3093,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7592,-0.49,-175.2,803.5,-7.6,363,7597,0.00,2.00,0.00,0.000,6,0.000,0.024,1972,1916,3093,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7906,-0.49,-175.2,829.2,-7.5,374,7911,0.00,2.00,0.00,0.000,4,0.000,0.034,1972,541,3091,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8014,-0.49,-175.2,837.1,-8.3,377,8020,0.12,2.00,0.00,0.000,6,0.159,0.024,1997,1925,3091,0,0,0,0,0,0,25.98,26.34,28.83
$GC,8334,-0.49,-175.2,860.0,-7.0,388,8339,0.00,2.08,0.00,0.000,4,0.000,0.033,1997,534,3089,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8370,-0.49,-175.2,862.7,-7.3,389,8375,0.00,2.03,0.00,0.000,6,0.000,0.024,1989,1935,3089,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8700,-0.49,-175.2,889.4,-8.1,400,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1937,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8999,-0.49,-175.2,913.4,-7.7,410,9004,0.00,2.10,0.00,0.000,4,0.000,0.035,1989,535,3087,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9095,-0.49,-175.2,921.5,-8.5,413,9100,0.00,2.03,0.00,0.000,6,0.000,0.026,1981,1926,3087,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9426,-0.49,-175.2,948.7,-8.2,424,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1926,3085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9724,-0.49,-175.2,972.8,-7.8,434,9729,0.00,2.08,0.00,0.000,4,0.000,0.035,1981,543,3084,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9781,-0.49,-175.2,975.4,-7.8,435,9788,0.00,2.03,0.00,0.000,6,0.000,0.026,1971,1934,3084,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,9965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9965,begin apogee
$GC,9969,-0.17,0.0,992.2,-8.0,442,10118,0.40,0.00,140.62,1.405,6,0.122,0.000,2105,1931,2409,0,0,0,0,0,0,25.63,28.83,22.94
$STATE,10120,end apogee,CONTROL_FINISHED_OK
$STATE,10120,begin climb
$GC,10122,0.54,175.2,996.5,0.0,447,10287,0.65,0.00,159.12,1.353,6,0.089,0.000,2324,1931,1694,0,0,0,0,0,0,24.32,28.83,22.26
$GC,10568,0.59,230.2,969.9,6.7,462,10621,0.00,2.25,47.40,1.335,4,0.000,0.037,2324,520,1470,0,0,0,0,0,0,28.83,24.94,23.64
$GC,10709,0.64,282.6,961.5,6.8,466,10763,0.12,2.05,46.53,1.321,6,0.111,0.024,2368,1897,1258,0,0,0,0,0,0,25.56,25.71,23.54
$GC,11081,0.64,282.6,926.1,9.4,479,11086,0.00,2.10,0.00,0.000,4,0.000,0.037,2368,3294,1249,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11133,0.64,282.6,922.8,9.6,480,11138,0.00,2.05,0.00,0.000,6,0.000,0.027,2376,1898,1248,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11446,0.64,282.6,889.2,10.2,491,11451,0.00,2.10,0.00,0.000,4,0.000,0.040,2386,509,1247,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11487,0.64,282.6,885.8,10.2,492,11493,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1910,1246,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11812,0.64,282.6,849.8,10.9,503,11818,0.00,2.03,0.00,0.000,4,0.000,0.036,2386,3279,1245,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11854,0.64,282.6,845.9,10.9,504,11860,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1893,1245,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12179,0.64,282.6,810.9,10.4,515,12184,0.00,2.05,0.00,0.000,4,0.000,0.040,2386,509,1245,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12225,0.64,282.6,807.1,10.6,516,12231,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1913,1244,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12545,0.64,282.6,770.8,11.1,527,12550,0.00,2.03,0.00,0.000,4,0.000,0.037,2386,3278,1244,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12651,0.64,282.6,759.3,12.2,530,12656,0.00,2.03,0.00,0.000,6,0.000,0.028,2389,1888,1243,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12969,0.64,282.6,720.2,12.0,541,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1887,1244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13269,0.64,282.6,685.2,11.3,551,13274,0.00,2.05,0.00,0.000,4,0.000,0.039,2386,509,1243,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13296,0.64,282.6,685.2,11.3,551,13303,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1903,1243,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13603,0.64,282.6,649.0,10.8,562,13608,0.00,2.03,0.00,0.000,4,0.000,0.037,2386,3279,1243,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,20378,end climb,SURFACE_DEPTH_REACHED
$STATE,20378,begin surface coast
$FINISH,1.0,1.020593
$STATE,20407,end surface coast,CONTROL_FINISHED_OK
$STATE,20407,begin surface
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$TT8_MAMPS,0.024717,0.024717
$HUMID,46.88
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3935136
$24V_AH,22.3,44.001
$10V_AH,10.1,31.466
$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
$DEVICE_SECS,16.400,171.150,616.375,0.000,0.000,0.000,0.000,274.175,0.000,0.000,11.281,3106.462,14021.978,753.925,2657.132,388.895,0.000,2334.223,0.000,2291.014,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,329028
$DATA_FILE_SIZE,33396,939
$CAP_FILE_SIZE,227435,0
$CFSIZE,260034560,229392384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,352.3,1
$GPS,281212,095036,1803.188,12342.077,26,1.2,26,-2.0