version: 66.11
glider: 129
mission: 4
dive: 49
start: 11 14 112 15 2 34
data:
$ID,129
$MISSION,4
$DIVE,49
$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,420
$T_MISSION,440
$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,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,-2707.6809
$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,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$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,65
$R_STBD_OVSHOOT,62
$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,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
$GPS1,141112,145300,1747.054,12409.444,43,1.1,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.7
$GPS2,141112,150207,1747.043,12409.469,15,1.3,15,-2.0
$SPEED_LIMITS,0.136,0.259
$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,272.6,241940,-13.2,-7.857,-16.86
$D_GRID,4749
$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,-0.34,-175.2,0.0,0.0,0,64,0.00,0.00,-43.78,0.000,2,0.000,0.000,44,1881,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.34,-175.2,3.1,-5.0,7,109,7.85,2.05,-29.42,0.000,4,0.246,0.050,2021,531,3125,0,0,0,0,0,0,25.76,26.06,26.34
$GC,296,-0.13,-175.2,55.1,-28.7,38,304,0.28,2.03,0.00,0.000,6,0.166,0.028,2090,1924,3126,0,0,0,0,0,0,26.08,26.27,28.83
$GC,602,-0.09,-175.2,116.3,-15.4,54,607,0.00,2.05,0.00,0.000,4,0.000,0.034,2090,530,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,688,-0.12,-175.2,125.2,-10.5,58,694,0.00,2.03,0.00,0.000,6,0.000,0.026,2085,1945,3127,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1007,-0.19,-175.2,148.1,-5.9,74,1013,0.00,2.00,0.00,0.000,4,0.000,0.039,2074,3310,3127,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1035,-0.27,-175.2,149.4,-5.8,75,1040,0.00,1.98,0.00,0.000,6,0.000,0.025,2074,1907,3127,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1353,-0.35,-175.2,167.8,-5.8,91,1359,0.12,1.95,0.00,0.000,4,0.092,0.032,1998,540,3128,0,0,0,0,0,0,26.58,26.56,28.83
$GC,1391,-0.41,-175.2,169.7,-6.2,92,1397,0.00,1.95,0.00,0.000,6,0.000,0.026,1989,1926,3128,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1696,-0.35,-175.2,208.0,-11.9,108,1698,0.12,0.00,0.00,0.000,6,0.154,0.000,2023,1930,3128,0,0,0,0,0,0,26.50,28.83,28.83
$GC,1997,-0.38,-175.2,233.3,-8.0,123,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1930,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2297,-0.41,-175.2,257.7,-8.1,138,2303,0.00,2.03,0.00,0.000,4,0.000,0.035,2023,543,3127,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2360,-0.44,-175.2,263.4,-8.7,141,2366,0.00,1.98,0.00,0.000,6,0.000,0.027,2016,1934,3127,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2683,-0.46,-175.2,289.9,-8.3,157,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1934,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2984,-0.49,-175.2,312.3,-6.8,172,2989,0.00,2.03,0.00,0.000,4,0.000,0.035,2016,545,3126,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3056,-0.52,-175.2,317.1,-7.6,175,3063,0.10,2.00,0.00,0.000,6,0.108,0.028,1957,1931,3125,0,0,0,0,0,0,26.63,26.67,28.83
$GC,3371,-0.47,-175.2,351.5,-10.5,191,3377,0.12,2.03,0.00,0.000,4,0.145,0.034,1999,545,3124,0,0,0,0,0,0,26.57,26.65,28.83
$GC,3428,-0.44,-175.2,355.3,-9.4,193,3436,0.00,1.98,0.00,0.000,6,0.000,0.028,1992,1928,3123,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3734,-0.44,-175.2,378.9,-7.4,209,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1931,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4035,-0.44,-175.2,401.7,-7.6,224,4041,0.00,2.03,0.00,0.000,4,0.000,0.037,1992,546,3120,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4101,-0.44,-175.2,407.0,-8.2,227,4107,0.00,1.98,0.00,0.000,6,0.000,0.029,1990,1924,3119,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4419,-0.44,-175.2,432.3,-7.9,243,4424,0.00,2.05,0.00,0.000,4,0.000,0.044,1988,3311,3117,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4476,-0.46,-175.2,435.5,-7.8,245,4483,0.00,1.98,0.00,0.000,6,0.000,0.028,1988,1943,3116,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4782,-0.46,-175.2,459.2,-7.2,261,4787,0.00,2.05,-0.08,0.000,4,0.000,0.051,1988,524,3144,0,0,0,0,0,0,28.83,26.66,26.52
$GC,4905,-0.46,-175.2,469.6,-8.4,267,4910,0.00,2.03,0.00,0.000,6,0.000,0.029,1988,1930,3144,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5228,-0.48,-175.2,494.2,-7.8,283,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5528,-0.50,-175.2,515.7,-6.6,298,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,-0.52,-175.2,534.4,-6.1,313,5833,0.00,2.08,0.00,0.000,4,0.000,0.045,1988,3326,3139,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5851,-0.55,-175.2,535.6,-5.9,314,5857,0.00,2.03,0.00,0.000,6,0.000,0.029,1988,1917,3139,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6175,-0.58,-175.2,554.9,-5.9,330,6181,0.10,2.05,0.00,0.000,4,0.116,0.038,1941,519,3137,0,0,0,0,0,0,26.69,26.67,28.83
$GC,6283,-0.52,-175.2,564.9,-10.0,335,6288,0.15,2.05,0.00,0.000,6,0.154,0.031,1974,1934,3137,0,0,0,0,0,0,26.55,26.69,28.83
$GC,6600,-0.52,-175.2,589.9,-8.1,351,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1934,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6921,-0.52,-175.2,615.0,-7.9,364,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1934,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7221,-0.52,-175.2,638.2,-7.8,374,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1934,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,-0.52,-175.2,662.3,-8.3,384,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1934,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,-0.54,-175.2,687.2,-8.4,394,7826,0.00,2.08,0.00,0.000,4,0.000,0.047,1966,3327,3129,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7857,-0.56,-175.2,690.0,-8.3,395,7862,0.00,2.03,0.00,0.000,6,0.000,0.031,1966,1928,3129,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8185,-0.56,-175.2,719.2,-8.9,406,8190,0.00,2.08,0.00,0.000,4,0.000,0.041,1966,519,3127,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8271,-0.56,-175.2,725.3,-9.2,408,8278,0.00,2.05,0.00,0.000,6,0.000,0.033,1957,1927,3127,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8577,-0.56,-175.2,755.6,-9.0,419,8583,0.00,2.08,0.00,0.000,4,0.000,0.047,1946,3319,3125,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8619,-0.56,-175.2,758.5,-8.9,420,8625,0.00,2.03,0.00,0.000,6,0.000,0.031,1946,1924,3125,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8942,-0.54,-175.2,789.3,-9.2,431,8947,0.00,2.05,0.00,0.000,4,0.000,0.041,1946,516,3124,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9070,-0.51,-175.2,801.3,-9.7,435,9077,0.12,2.03,0.00,0.000,6,0.155,0.031,1972,1923,3124,0,0,0,0,0,0,26.55,26.68,28.83
$GC,9400,-0.54,-175.2,823.7,-6.2,446,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1923,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9700,-0.56,-175.2,841.3,-5.9,456,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1923,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9999,-0.59,-175.2,858.1,-5.4,466,10001,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1924,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10300,-0.62,-175.2,875.1,-5.8,476,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10599,-0.65,-175.2,894.3,-6.7,486,10606,0.12,2.10,0.00,0.000,4,0.103,0.046,1902,3327,3118,0,0,0,0,0,0,26.67,26.64,28.83
$GC,10634,-0.65,-175.2,897.4,-7.3,487,10639,0.00,2.05,0.00,0.000,6,0.000,0.033,1902,1923,3118,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10969,-0.58,-175.2,934.6,-11.2,498,10975,0.15,2.05,0.00,0.000,4,0.161,0.041,1950,529,3117,0,0,0,0,0,0,26.53,26.65,28.83
$GC,11101,-0.55,-175.2,946.7,-9.6,502,11106,0.00,2.03,0.00,0.000,6,0.000,0.033,1941,1930,3116,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11424,-0.53,-175.2,976.6,-9.2,513,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1930,3116,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11572,begin apogee
$GC,11575,-0.10,0.0,990.4,-9.3,518,11725,0.47,0.00,143.30,1.409,6,0.122,0.000,2104,1930,2409,0,0,0,0,0,0,26.54,28.83,23.78
$STATE,11726,end apogee,CONTROL_FINISHED_OK
$STATE,11726,begin climb
$GC,11728,0.34,175.2,997.6,0.0,523,11889,0.43,2.28,150.45,1.366,4,0.069,0.044,2258,3289,1692,0,0,0,0,0,0,24.83,24.39,23.49
$GC,11937,0.37,256.8,991.0,5.4,530,12016,0.00,2.17,71.62,1.337,6,0.000,0.034,2265,1907,1360,0,0,0,0,0,0,28.83,25.08,23.41
$GC,12328,0.43,293.0,965.6,6.8,543,12362,0.00,0.00,31.75,1.316,6,0.000,0.000,2265,1907,1215,0,0,0,0,0,0,28.83,28.83,24.03
$GC,12659,0.51,318.1,942.4,7.1,554,12690,0.12,2.20,22.67,1.299,4,0.102,0.044,2320,3289,1111,0,0,0,0,0,0,25.90,25.22,24.34
$GC,12722,0.54,318.1,935.9,8.6,556,12727,0.00,2.15,0.00,0.000,6,0.000,0.034,2329,1901,1109,0,0,0,0,0,0,28.83,25.48,28.83
$GC,13055,0.54,318.1,899.1,11.3,567,13060,0.00,2.15,0.00,0.000,4,0.000,0.044,2329,3292,1106,0,0,0,0,0,0,28.83,26.04,28.83
$GC,13086,0.54,318.1,895.2,11.5,568,13093,0.00,2.10,0.00,0.000,6,0.000,0.034,2336,1898,1106,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13420,0.54,318.1,856.0,11.8,579,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1898,1105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13720,0.54,318.1,819.9,12.1,589,13725,0.00,2.15,0.00,0.000,4,0.000,0.045,2335,3293,1104,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13741,0.54,318.1,819.9,12.1,589,13746,0.00,2.08,0.00,0.000,6,0.000,0.034,2342,1897,1104,0,0,0,0,0,0,28.83,26.38,28.83
$GC,14054,0.53,318.1,777.4,12.6,600,14060,0.12,2.08,0.00,0.000,4,0.172,0.044,2314,503,1104,0,0,0,0,0,0,26.31,26.42,28.83
$GC,14081,0.51,318.1,777.4,12.6,600,14088,0.00,2.08,0.00,0.000,6,0.000,0.031,2313,1918,1104,0,0,0,0,0,0,28.83,26.44,28.83
$GC,14388,0.53,318.1,743.2,10.0,611,14393,0.00,2.08,0.00,0.000,4,0.000,0.047,2313,3296,1103,0,0,0,0,0,0,28.83,26.45,28.83
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$STATE,21905,end climb,SURFACE_DEPTH_REACHED
$STATE,21905,begin surface coast
$FINISH,0.7,1.021530
$STATE,21927,end surface coast,CONTROL_FINISHED_OK
$STATE,21927,begin surface
$SM_CCo,22001,0.00,0.000,0,0,660,429.03
$SM_GC,1.60,6.12,0.00,0.00,0.041,0.000,0.000,56,1924,660,-6.42,-0.03,429.03,0,0,0,0,0,0,26.39,28.83,28.83
$IRIDIUM_FIX,1738.31,12409.65,141112,080850
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.84
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,4001472
$24V_AH,23.4,9.122
$10V_AH,10.2,7.576
$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,17.175,168.525,508.175,0.000,0.000,0.000,0.000,387.375,0.000,0.000,16.718,3232.156,15621.640,659.822,2786.283,239.124,0.000,2326.142,0.000,2275.876,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,51.255,1409.130,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21942.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.732,0.000,0.000,0.000
$MEM,327432
$DATA_FILE_SIZE,36718,1009
$CAP_FILE_SIZE,238159,0
$CFSIZE,260034560,248016896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151, 85.4,1
$GPS,141112,211029,1746.760,12407.929,38,1.2,38,-2.0