version: 66.11
glider: 129
mission: 4
dive: 6
start: 11 4 112 4 57 32
data:
$ID,129
$MISSION,4
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,135
$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,200
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-2653.0967
$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,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,102
$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,0.0012300001
$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,10
$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
$GPS1,041112,045106,1751.076,12438.505,40,1.6,47,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.1
$GPS2,041112,045707,1751.154,12438.580,14,1.0,31,-2.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$TGT_RADIUS,5000.000
$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,247.4,285839,-15.7,-10.000,-18.68
$D_GRID,4082
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.68,-194.6,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,2,0.000,0.000,54,1929,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.68,-194.6,3.1,-7.3,11,124,8.07,2.12,-20.25,0.000,4,0.256,0.052,2074,502,3204,0,0,0,0,0,0,26.14,26.41,26.69
$GC,305,-0.68,-194.6,37.4,-14.5,44,313,0.00,1.95,0.00,0.000,6,0.000,0.029,2067,1865,3205,0,0,0,0,0,0,28.83,26.57,28.83
$GC,612,-0.64,-194.6,86.3,-15.6,64,618,0.00,2.00,0.00,0.000,4,0.000,0.036,2066,491,3205,0,0,0,0,0,0,28.83,26.65,28.83
$GC,664,-0.62,-194.6,92.8,-15.1,66,670,0.15,2.03,0.00,0.000,6,0.147,0.030,2102,1907,3205,0,0,0,0,0,0,26.55,26.67,28.83
$GC,977,-0.80,-194.6,116.5,-5.8,82,979,0.17,0.00,0.00,0.000,6,0.078,0.000,2013,1908,3205,0,0,0,0,0,0,26.72,28.83,28.83
$GC,1277,-0.80,-194.6,155.0,-12.7,97,1282,0.00,2.03,0.00,0.000,4,0.000,0.035,2013,491,3206,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1374,-0.82,-194.6,165.2,-12.5,101,1381,0.12,2.00,0.00,0.000,6,0.158,0.028,2040,1904,3207,0,0,0,0,0,0,26.62,26.74,28.83
$GC,1680,-0.94,-194.6,188.8,-6.3,117,1686,0.12,2.03,0.00,0.000,4,0.092,0.039,1962,3299,3206,0,0,0,0,0,0,26.78,26.73,28.83
$GC,1728,-1.02,-194.6,192.6,-7.2,119,1733,0.00,2.00,0.00,0.000,6,0.000,0.028,1962,1873,3206,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2045,-1.00,-194.6,232.0,-13.1,135,2051,0.00,1.95,0.00,0.000,4,0.000,0.037,1967,512,3206,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2092,-1.00,-194.6,238.2,-14.1,137,2097,0.00,1.98,0.00,0.000,6,0.000,0.030,1953,1899,3206,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2409,-1.00,-194.6,286.1,-14.9,153,2414,0.00,2.00,0.00,0.000,4,0.000,0.036,1953,512,3205,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2461,-1.00,-194.6,292.2,-14.7,155,2467,0.15,1.98,0.00,0.000,6,0.154,0.030,1987,1905,3205,0,0,0,0,0,0,26.65,26.77,28.83
$GC,2774,-1.06,-194.6,323.9,-8.8,171,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,1905,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-1.12,-194.6,348.0,-7.7,186,3081,0.12,2.03,0.00,0.000,4,0.096,0.036,1924,515,3204,0,0,0,0,0,0,26.79,26.77,28.83
$GC,3108,-1.17,-194.6,350.3,-8.2,187,3113,0.00,1.98,0.00,0.000,6,0.000,0.032,1914,1896,3204,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,3178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3178,begin apogee
$GC,3183,-0.14,0.0,360.3,-12.2,191,3334,0.98,0.00,142.82,0.875,6,0.123,0.000,2249,1780,2411,0,0,0,0,0,0,26.65,28.83,24.65
$STATE,3336,end apogee,CONTROL_FINISHED_OK
$STATE,3336,begin climb
$GC,3337,0.68,194.6,364.3,0.0,198,3496,0.70,2.17,149.27,0.857,4,0.052,0.040,2522,3191,1613,0,0,0,0,0,0,25.47,25.28,24.61
$GC,3664,0.39,194.6,328.4,18.6,215,3670,0.38,2.03,0.00,0.000,6,0.203,0.034,2433,1820,1610,0,0,0,0,0,0,26.03,26.24,28.83
$GC,3988,0.27,194.6,288.3,12.5,231,3994,0.15,2.03,0.00,0.000,4,0.192,0.038,2388,3201,1607,0,0,0,0,0,0,26.38,26.51,28.83
$GC,4111,0.19,194.6,272.7,12.7,237,4118,0.12,2.05,0.00,0.000,6,0.190,0.033,2366,1798,1606,0,0,0,0,0,0,26.41,26.59,28.83
$GC,4435,0.27,259.2,242.2,7.8,253,4490,0.00,2.12,49.85,0.809,4,0.000,0.038,2365,3193,1352,0,0,0,0,0,0,28.83,25.79,25.15
$GC,4518,0.35,325.0,235.9,7.7,257,4580,0.12,2.10,53.15,0.790,6,0.093,0.033,2423,1777,1083,0,0,0,0,0,0,25.97,26.00,24.82
$GC,4878,0.35,325.0,192.3,13.2,275,4884,0.00,2.10,0.00,0.000,4,0.000,0.040,2423,3200,1077,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5070,0.35,325.0,167.0,13.1,284,5075,0.00,2.05,0.00,0.000,6,0.000,0.033,2432,1794,1076,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5382,0.35,325.0,128.0,12.1,300,5387,0.00,2.08,0.00,0.000,4,0.000,0.040,2432,3199,1076,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5454,0.35,325.0,120.4,12.2,303,5459,0.00,2.03,0.00,0.000,6,0.000,0.033,2439,1796,1077,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5767,0.40,336.4,84.8,9.6,319,5782,0.00,2.12,9.10,0.627,4,0.000,0.043,2449,392,1036,0,0,0,0,0,0,28.83,26.52,25.90
$GC,5818,0.47,364.0,80.9,9.0,321,5849,0.00,2.03,22.60,0.675,6,0.000,0.029,2450,1813,925,0,0,0,0,0,0,28.83,26.58,25.60
$GC,6150,0.59,424.2,51.2,7.9,338,6205,0.12,2.10,46.75,0.661,4,0.093,0.039,2515,3183,678,0,0,0,0,0,0,26.56,25.86,25.30
$GC,6347,0.56,424.2,25.1,14.5,356,6355,0.15,2.03,0.00,0.000,6,0.170,0.032,2486,1802,677,0,0,0,0,0,0,26.15,26.31,28.83
$STATE,6531,end climb,SURFACE_DEPTH_REACHED
$STATE,6531,begin surface coast
$FINISH,0.1,1.021775
$STATE,6547,end surface coast,CONTROL_FINISHED_OK
$STATE,6547,begin surface
$SM_CCo,6561,10.48,0.052,0,0,573,450.13
$SM_GC,2.01,6.18,0.10,10.48,0.048,0.086,0.052,61,1916,573,-6.89,-2.18,450.13,0,0,0,0,0,0,26.48,26.54,26.44
$IRIDIUM_FIX,1742.84,12438.56,041112,020236
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.63
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4017984
$24V_AH,24.6,0.695
$10V_AH,10.4,0.962
$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,17.825,57.275,473.550,10.475,0.000,0.000,0.000,220.825,0.000,0.000,32.091,1247.328,3828.789,505.882,1276.270,86.741,0.000,1318.657,0.000,963.898,0.000,0.542,0.000
$DEVICE_MAMPS,255.510,85.680,875.160,52.020,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6572.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.143,0.000,0.000,0.000
$MEM,327520
$DATA_FILE_SIZE,13443,395
$CAP_FILE_SIZE,95468,0
$CFSIZE,260034560,253181952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.345, 65.8,1
$GPS,041112,064755,1751.026,12438.948,8,1.3,14,-2.0