version: 66.11
glider: 129
mission: 4
dive: 70
start: 11 20 112 7 10 56
data:
$ID,129
$MISSION,4
$DIVE,70
$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,400
$T_MISSION,420
$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,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,-2734.1021
$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,2130
$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,0.0070000002
$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,62
$R_STBD_OVSHOOT,73
$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
$GPS1,201112,070236,1800.424,12325.887,30,0.9,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-62.6
$GPS2,201112,071013,1800.563,12325.911,14,1.0,14,-2.0
$SPEED_LIMITS,0.143,0.264
$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,275.3,162776,-13.9,-8.250,-17.36
$D_GRID,3986
$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,-0.53,-175.2,0.0,0.0,0,73,0.00,0.00,-52.83,0.000,2,0.000,0.000,51,1920,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.53,-175.2,3.3,-5.8,9,119,7.65,2.10,-27.45,0.000,4,0.249,0.049,1947,513,3124,0,0,0,0,0,0,25.72,26.09,26.37
$GC,345,-0.41,-175.2,89.2,-36.1,38,352,0.20,2.03,0.00,0.000,6,0.164,0.026,1993,1912,3124,0,0,0,0,0,0,26.09,26.30,28.83
$GC,664,-0.36,-175.2,160.2,-16.7,54,669,0.00,2.03,0.00,0.000,4,0.000,0.032,1993,523,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,815,-0.32,-175.2,182.4,-14.9,61,822,0.15,2.03,0.00,0.000,6,0.149,0.024,2030,1943,3125,0,0,0,0,0,0,26.31,26.48,28.83
$GC,1130,-0.33,-175.2,210.9,-8.3,77,1136,0.00,2.08,0.00,0.000,4,0.000,0.032,2030,516,3125,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1176,-0.35,-175.2,214.9,-8.9,79,1182,0.00,2.00,0.00,0.000,6,0.000,0.024,2022,1930,3125,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1494,-0.36,-175.2,243.5,-8.2,95,1500,0.00,2.05,0.00,0.000,4,0.000,0.032,2022,519,3123,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1577,-0.37,-175.2,250.9,-8.9,99,1583,0.00,2.00,0.00,0.000,6,0.000,0.024,2013,1924,3124,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1901,-0.38,-175.2,279.6,-9.5,115,1906,0.00,2.03,0.00,0.000,4,0.000,0.038,2003,3310,3124,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1937,-0.39,-175.2,281.8,-9.5,116,1944,0.00,1.98,0.00,0.000,6,0.000,0.024,2003,1908,3124,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2243,-0.39,-175.2,314.6,-10.6,132,2248,0.00,1.98,0.00,0.000,4,0.000,0.033,2003,534,3123,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2379,-0.39,-175.2,327.3,-10.2,138,2386,0.00,1.98,0.00,0.000,6,0.000,0.025,1994,1938,3123,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2685,-0.39,-175.2,356.0,-8.4,154,2690,0.00,2.00,0.00,0.000,4,0.000,0.038,1985,3305,3122,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2751,-0.40,-175.2,360.9,-7.9,157,2757,0.00,1.95,0.00,0.000,6,0.000,0.025,1985,1923,3122,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3069,-0.40,-175.2,387.7,-7.8,173,3075,0.00,1.98,0.00,0.000,4,0.000,0.034,1985,537,3120,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3196,-0.40,-175.2,398.9,-9.1,179,3201,0.00,1.98,0.00,0.000,6,0.000,0.025,1973,1924,3120,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3513,-0.40,-175.2,427.3,-8.2,195,3518,0.00,2.03,0.00,0.000,4,0.000,0.034,1976,535,3118,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3565,-0.40,-175.2,431.0,-8.4,197,3571,0.12,1.95,0.00,0.000,6,0.141,0.025,2004,1924,3118,0,0,0,0,0,0,26.49,26.64,28.83
$GC,3878,-0.42,-175.2,449.4,-5.2,213,3880,0.00,0.00,-0.08,0.000,6,0.000,0.000,2004,1925,3138,0,0,0,0,0,0,28.83,28.83,26.13
$GC,4180,-0.44,-175.2,467.2,-6.7,228,4185,0.00,2.05,0.00,0.000,4,0.000,0.041,1995,3321,3138,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4237,-0.47,-175.2,470.3,-7.1,230,4244,0.00,1.98,0.00,0.000,6,0.000,0.026,1995,1925,3138,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4543,-0.49,-175.2,495.7,-8.0,246,4549,0.00,2.03,0.00,0.000,4,0.000,0.036,1995,528,3136,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4635,-0.50,-175.2,503.1,-8.8,250,4640,0.00,2.00,0.00,0.000,6,0.000,0.026,1988,1930,3135,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4948,-0.52,-175.2,528.0,-7.5,266,4953,0.00,2.05,0.00,0.000,4,0.000,0.036,1990,533,3134,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5011,-0.53,-175.2,533.1,-7.9,269,5016,0.00,2.00,0.00,0.000,6,0.000,0.027,1988,1922,3133,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5334,-0.55,-175.2,554.7,-6.5,285,5340,0.10,2.03,0.00,0.000,4,0.114,0.039,1933,3310,3130,0,0,0,0,0,0,26.65,26.59,28.83
$GC,5361,-0.56,-175.2,556.7,-6.9,286,5367,0.00,2.00,0.00,0.000,6,0.000,0.028,1932,1926,3130,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5680,-0.53,-175.2,591.8,-11.3,302,5685,0.00,2.03,0.00,0.000,4,0.000,0.036,1933,533,3128,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5726,-0.51,-175.2,597.0,-11.6,304,5732,0.15,2.00,0.00,0.000,6,0.155,0.027,1966,1925,3129,0,0,0,0,0,0,26.44,26.64,28.83
$GC,6035,-0.51,-175.2,627.2,-9.6,315,6040,0.00,2.05,0.00,0.000,4,0.000,0.041,1957,3324,3127,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6061,-0.51,-175.2,627.2,-9.6,315,6068,0.00,2.00,0.00,0.000,6,0.000,0.027,1957,1928,3127,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6368,-0.51,-175.2,659.6,-9.5,326,6373,0.00,2.03,0.00,0.000,4,0.000,0.036,1957,532,3125,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6545,-0.50,-175.2,676.1,-11.0,331,6552,0.00,2.03,0.00,0.000,6,0.000,0.028,1949,1935,3124,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6851,-0.50,-175.2,708.9,-9.3,342,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1936,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7151,-0.50,-175.2,736.9,-9.3,352,7156,0.00,2.08,0.00,0.000,4,0.000,0.037,1949,534,3120,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7193,-0.50,-175.2,740.1,-9.4,353,7198,0.00,2.03,0.00,0.000,6,0.000,0.028,1939,1934,3120,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7517,-0.49,-175.2,770.1,-8.7,364,7523,0.12,2.05,0.00,0.000,4,0.151,0.042,1974,3325,3118,0,0,0,0,0,0,26.48,26.58,28.83
$GC,7545,-0.48,-175.2,770.1,-8.7,364,7551,0.00,2.03,0.00,0.000,6,0.000,0.029,1973,1922,3118,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7852,-0.49,-175.2,795.1,-7.5,375,7857,0.00,2.05,0.00,0.000,4,0.000,0.038,1972,527,3117,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7986,-0.50,-175.2,805.9,-8.8,379,7991,0.00,2.03,0.00,0.000,6,0.000,0.028,1964,1927,3116,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8310,-0.51,-175.2,835.2,-8.7,390,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1927,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8609,-0.52,-175.2,860.3,-8.0,400,8614,0.00,2.10,0.00,0.000,4,0.000,0.040,1964,521,3113,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8636,-0.53,-175.2,860.3,-8.0,400,8644,0.00,2.05,0.00,0.000,6,0.000,0.029,1956,1937,3113,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8943,-0.53,-175.2,884.7,-6.6,411,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1937,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9242,-0.53,-175.2,903.8,-6.1,421,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1937,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9542,-0.53,-175.2,922.1,-6.1,431,9547,0.00,2.10,0.00,0.000,4,0.000,0.040,1956,532,3109,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9575,-0.53,-175.2,924.4,-6.3,432,9581,0.00,2.05,0.00,0.000,6,0.000,0.030,1949,1933,3109,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9909,-0.53,-175.2,948.5,-7.2,443,9914,0.00,2.10,0.00,0.000,4,0.000,0.039,1949,527,3109,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9942,-0.53,-175.2,951.3,-7.5,444,9947,0.00,2.05,0.00,0.000,6,0.000,0.030,1939,1930,3108,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10275,-0.53,-175.2,977.1,-7.6,455,10280,0.00,2.10,0.00,0.000,4,0.000,0.040,1939,522,3108,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10357,-0.53,-175.2,982.5,-8.1,457,10362,0.00,2.05,0.00,0.000,6,0.000,0.030,1927,1930,3107,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,10458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10458,begin apogee
$GC,10462,-0.17,0.0,992.2,-7.9,461,10611,0.43,0.00,141.50,1.417,6,0.125,0.000,2072,1929,2408,0,0,0,0,0,0,26.35,28.83,23.79
$STATE,10613,end apogee,CONTROL_FINISHED_OK
$STATE,10613,begin climb
$GC,10615,0.53,175.2,996.6,0.0,466,10775,0.65,2.38,150.57,1.370,4,0.090,0.042,2306,506,1694,0,0,0,0,0,0,24.82,24.19,23.31
$GC,10838,0.52,187.5,984.5,7.9,473,10855,0.00,2.17,11.62,1.208,6,0.000,0.027,2306,1909,1645,0,0,0,0,0,0,28.83,24.95,23.82
$GC,11153,0.51,187.5,953.1,9.7,484,11159,0.00,2.12,0.00,0.000,4,0.000,0.043,2306,3287,1638,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11216,0.50,187.5,946.3,10.4,486,11221,0.00,2.10,0.00,0.000,6,0.000,0.030,2316,1890,1636,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11550,0.49,187.5,910.0,10.7,497,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1890,1635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11849,0.48,187.5,877.3,10.9,507,11855,0.12,2.15,0.00,0.000,4,0.178,0.039,2279,3300,1635,0,0,0,0,0,0,26.10,26.25,28.83
$GC,11942,0.48,187.5,867.8,10.2,510,11947,0.00,2.08,0.00,0.000,6,0.000,0.031,2286,1900,1634,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12275,0.48,189.4,839.6,8.2,521,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,1633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12575,0.51,236.0,818.2,6.8,531,12618,0.00,0.00,40.83,1.307,6,0.000,0.000,2286,1900,1447,0,0,0,0,0,0,28.83,28.83,24.37
$GC,12906,0.53,257.6,794.4,7.6,542,12927,0.00,0.00,19.50,1.246,6,0.000,0.000,2286,1900,1358,0,0,0,0,0,0,28.83,28.83,24.59
$GC,13205,0.55,259.0,770.2,8.2,552,13211,0.00,2.12,0.00,0.000,4,0.000,0.040,2286,3288,1353,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13257,0.57,259.0,767.2,8.4,553,13263,0.00,2.08,0.00,0.000,6,0.000,0.031,2294,1890,1352,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13571,0.59,259.0,737.7,8.8,564,13577,0.00,2.12,0.00,0.000,4,0.000,0.041,2293,3287,1351,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,21796,end climb,SURFACE_DEPTH_REACHED
$STATE,21796,begin surface coast
$FINISH,0.8,0.997361
$STATE,21829,end surface coast,CONTROL_FINISHED_OK
$STATE,21829,begin surface
$SM_CCo,21902,0.00,0.000,0,0,349,505.32
$SM_GC,1.69,6.10,0.00,0.00,0.047,0.000,0.000,66,1913,349,-6.37,-0.08,505.32,0,0,0,0,0,0,26.44,28.83,28.83
$IRIDIUM_FIX,1751.90,12326.32,201112,010127
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.62
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3993408
$24V_AH,23.3,13.186
$10V_AH,10.3,10.633
$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,16.050,180.525,541.225,0.000,0.000,0.000,0.000,298.125,0.000,0.000,14.849,3339.938,15235.611,709.861,2801.936,278.430,0.000,2345.964,0.000,2385.137,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,48.960,1416.780,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.808,0.000,0.000,0.000
$MEM,327680
$DATA_FILE_SIZE,36726,1006
$CAP_FILE_SIZE,245497,0
$CFSIZE,260034560,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 34.1,1
$GPS,201112,131706,1801.497,12323.719,32,0.9,32,-2.0