version: 66.11
glider: 129
mission: 4
dive: 78
start: 11 22 112 7 43 37
data:
$ID,129
$MISSION,4
$DIVE,78
$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,380
$T_MISSION,400
$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,-2744.1787
$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,0.0049999999
$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,89
$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
$GPS1,221112,073523,1812.508,12259.242,25,0.9,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.5
$GPS2,221112,074312,1812.702,12259.209,11,1.0,16,-2.0
$SPEED_LIMITS,0.150,0.269
$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,284.2,111090,-14.6,-8.684,-17.90
$D_GRID,3699
$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,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-66.07,0.000,2,0.000,0.000,66,1934,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.2,-5.8,11,133,7.47,2.05,-28.62,0.000,4,0.243,0.044,1940,528,3124,0,0,0,0,0,0,25.67,26.03,26.32
$GC,306,-0.47,-175.2,71.1,-36.6,38,312,0.17,2.00,0.00,0.000,6,0.174,0.027,1978,1902,3125,0,0,0,0,0,0,26.00,26.22,28.83
$GC,630,-0.42,-175.2,148.3,-20.7,54,635,0.00,2.00,0.00,0.000,4,0.000,0.032,1978,521,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,796,-0.39,-175.2,175.2,-15.4,62,802,0.12,2.03,0.00,0.000,6,0.155,0.025,2003,1934,3126,0,0,0,0,0,0,26.26,26.43,28.83
$GC,1115,-0.39,-175.2,212.6,-10.4,78,1120,0.00,2.05,0.00,0.000,4,0.000,0.032,2003,527,3126,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1228,-0.39,-175.2,223.4,-10.6,83,1233,0.00,1.98,0.00,0.000,6,0.000,0.024,1996,1931,3126,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1540,-0.39,-175.2,256.6,-10.2,99,1546,0.00,2.03,0.00,0.000,4,0.000,0.037,1987,3312,3125,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1583,-0.39,-175.2,260.9,-10.2,101,1589,0.00,1.98,0.00,0.000,6,0.000,0.024,1986,1904,3125,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1906,-0.39,-175.2,295.6,-10.4,117,1911,0.00,1.95,0.00,0.000,4,0.000,0.033,1987,547,3124,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2048,-0.39,-175.2,310.4,-10.3,124,2053,0.00,1.95,0.00,0.000,6,0.000,0.024,1977,1942,3124,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2370,-0.39,-175.2,340.8,-9.8,140,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1942,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-0.39,-175.2,372.0,-9.9,155,2676,0.00,2.05,0.00,0.000,4,0.000,0.033,1977,540,3122,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2803,-0.39,-175.2,384.8,-10.5,161,2809,0.12,1.98,0.00,0.000,6,0.142,0.024,2004,1927,3121,0,0,0,0,0,0,26.46,26.61,28.83
$GC,3117,-0.41,-175.2,406.2,-6.1,177,3122,0.00,2.03,0.00,0.000,4,0.000,0.034,2004,545,3122,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3149,-0.43,-175.2,407.7,-6.2,178,3155,0.00,1.98,0.00,0.000,6,0.000,0.025,2001,1942,3119,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3462,-0.44,-175.2,425.6,-5.4,194,3467,0.00,2.03,0.00,0.000,4,0.000,0.039,1991,3321,3117,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3528,-0.46,-175.2,429.2,-5.8,197,3535,0.00,1.98,0.00,0.000,6,0.000,0.024,1990,1929,3116,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3848,-0.48,-175.2,450.8,-6.6,213,3853,0.00,2.03,-0.08,0.000,4,0.000,0.047,1991,535,3141,0,0,0,0,0,0,28.83,26.59,26.27
$GC,3942,-0.49,-175.2,456.9,-7.3,217,3948,0.00,2.00,0.00,0.000,6,0.000,0.025,1988,1936,3142,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4256,-0.50,-175.2,478.8,-7.3,233,4261,0.00,2.08,0.00,0.000,4,0.000,0.035,1988,530,3141,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4323,-0.51,-175.2,484.1,-8.4,236,4329,0.00,2.03,0.00,0.000,6,0.000,0.025,1988,1928,3141,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4641,-0.53,-175.2,510.6,-8.2,252,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1929,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4942,-0.54,-175.2,531.8,-6.3,267,4944,0.10,0.00,0.00,0.000,6,0.114,0.000,1942,1930,3137,0,0,0,0,0,0,26.63,28.83,28.83
$GC,5241,-0.53,-175.2,559.1,-9.5,282,5247,0.00,2.03,0.00,0.000,4,0.000,0.035,1942,541,3136,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5394,-0.52,-175.2,574.6,-11.0,289,5400,0.00,1.98,0.00,0.000,6,0.000,0.027,1932,1932,3134,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5717,-0.51,-175.2,610.3,-10.7,304,5724,0.12,2.05,0.00,0.000,4,0.159,0.034,1973,541,3132,0,0,0,0,0,0,26.46,26.59,28.83
$GC,5826,-0.51,-175.2,618.4,-9.0,307,5832,0.00,1.98,0.00,0.000,6,0.000,0.027,1965,1931,3131,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6146,-0.51,-175.2,643.4,-7.8,318,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1931,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6443,-0.51,-175.2,669.0,-8.8,328,6449,0.00,2.08,0.00,0.000,4,0.000,0.037,1965,536,3128,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6495,-0.51,-175.2,672.0,-9.0,329,6500,0.00,2.00,0.00,0.000,6,0.000,0.028,1956,1925,3127,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6808,-0.51,-175.2,699.5,-7.6,340,6813,0.00,2.05,0.00,0.000,4,0.000,0.037,1956,542,3125,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6845,-0.51,-175.2,702.0,-7.4,341,6850,0.00,2.00,0.00,0.000,6,0.000,0.028,1946,1930,3126,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7173,-0.51,-175.2,725.8,-7.6,352,7179,0.00,2.08,0.00,0.000,4,0.000,0.037,1946,531,3124,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7221,-0.51,-175.2,728.8,-8.0,353,7226,0.00,2.00,0.00,0.000,6,0.000,0.028,1936,1930,3124,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7539,-0.51,-175.2,758.8,-9.0,364,7544,0.00,2.05,0.00,0.000,4,0.000,0.042,1926,3313,3122,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7561,-0.50,-175.2,758.8,-9.0,364,7567,0.15,2.00,0.00,0.000,6,0.142,0.028,1970,1914,3122,0,0,0,0,0,0,26.41,26.62,28.83
$GC,7876,-0.51,-175.2,781.5,-6.3,375,7881,0.00,2.03,0.00,0.000,4,0.000,0.038,1970,534,3120,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7979,-0.52,-175.2,788.2,-6.9,378,7984,0.00,2.03,0.00,0.000,6,0.000,0.027,1963,1938,3122,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8303,-0.53,-175.2,812.7,-7.6,389,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1939,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8601,-0.54,-175.2,835.5,-7.4,399,8607,0.00,2.10,0.00,0.000,4,0.000,0.039,1962,532,3118,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8669,-0.55,-175.2,840.6,-7.7,401,8674,0.00,2.03,0.00,0.000,6,0.000,0.028,1954,1934,3117,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8998,-0.56,-175.2,864.4,-6.6,412,9003,0.00,2.08,0.00,0.000,4,0.000,0.037,1953,539,3116,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9035,-0.56,-175.2,866.8,-6.6,413,9040,0.00,1.98,0.00,0.000,6,0.000,0.028,1945,1924,3115,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9364,-0.56,-175.2,889.9,-7.2,424,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1924,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,-0.56,-175.2,913.3,-8.1,434,9668,0.00,2.08,0.00,0.000,4,0.000,0.038,1945,534,3114,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9695,-0.56,-175.2,916.1,-8.1,435,9701,0.00,2.03,0.00,0.000,6,0.000,0.028,1936,1924,3114,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10029,-0.56,-175.2,945.6,-8.7,446,10035,0.00,2.08,0.00,0.000,4,0.000,0.043,1926,3319,3113,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10050,-0.56,-175.2,945.6,-8.7,446,10056,0.00,2.00,0.00,0.000,6,0.000,0.030,1926,1937,3112,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10366,-0.56,-175.2,972.4,-7.7,457,10372,0.00,2.05,0.00,0.000,4,0.000,0.040,1926,532,3111,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10534,-0.54,-175.2,985.7,-8.7,462,10540,0.12,2.03,0.00,0.000,6,0.165,0.028,1950,1928,3111,0,0,0,0,0,0,26.34,26.59,28.83
$STATE,10581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10581,begin apogee
$GC,10585,-0.17,0.0,990.5,-8.2,464,10734,0.35,0.00,142.35,1.418,6,0.122,0.000,2070,1928,2409,0,0,0,0,0,0,26.33,28.83,23.74
$STATE,10736,end apogee,CONTROL_FINISHED_OK
$STATE,10736,begin climb
$GC,10737,0.56,175.2,994.2,0.0,469,10898,0.68,2.25,151.98,1.371,4,0.091,0.037,2302,3289,1694,0,0,0,0,0,0,24.75,23.93,23.08
$GC,10977,0.55,175.2,978.2,9.0,477,10982,0.00,2.17,0.00,0.000,6,0.000,0.029,2312,1905,1688,0,0,0,0,0,0,28.83,24.86,28.83
$GC,11311,0.54,175.2,947.4,8.9,488,11316,0.00,2.15,0.00,0.000,4,0.000,0.041,2323,499,1684,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11338,0.53,175.2,947.4,8.9,488,11344,0.00,2.10,0.00,0.000,6,0.000,0.027,2323,1913,1683,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11645,0.52,175.2,916.2,9.4,499,11650,0.00,2.08,0.00,0.000,4,0.000,0.042,2323,3286,1683,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11801,0.50,175.2,899.1,11.3,504,11808,0.15,2.05,0.00,0.000,6,0.179,0.031,2293,1897,1682,0,0,0,0,0,0,25.94,26.18,28.83
$GC,12130,0.51,185.3,870.4,8.3,515,12144,0.00,2.15,7.80,1.152,4,0.000,0.041,2292,3290,1653,0,0,0,0,0,0,28.83,26.06,25.04
$GC,12175,0.51,194.6,867.6,8.4,516,12193,0.00,2.05,9.55,1.192,6,0.000,0.030,2301,1890,1616,0,0,0,0,0,0,28.83,26.13,24.84
$GC,12493,0.52,214.2,839.8,8.0,527,12516,0.00,2.22,18.27,1.280,4,0.000,0.041,2301,3279,1535,0,0,0,0,0,0,28.83,25.59,24.65
$GC,12548,0.53,233.1,837.1,8.1,528,12573,0.00,2.05,17.90,1.258,6,0.000,0.030,2310,1900,1457,0,0,0,0,0,0,28.83,25.75,24.34
$GC,12886,0.53,233.1,803.6,9.7,540,12891,0.00,2.10,0.00,0.000,4,0.000,0.040,2310,3280,1455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12932,0.53,233.1,799.9,10.2,541,12937,0.00,2.05,0.00,0.000,6,0.000,0.030,2321,1894,1451,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13249,0.53,233.1,763.6,10.6,552,13254,0.00,2.10,0.00,0.000,4,0.000,0.041,2320,3290,1451,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13301,0.53,233.1,760.1,10.6,553,13306,0.00,2.05,0.00,0.000,6,0.000,0.030,2329,1896,1450,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,21590,end climb,SURFACE_DEPTH_REACHED
$STATE,21590,begin surface coast
$FINISH,0.7,1.014576
$STATE,21612,end surface coast,CONTROL_FINISHED_OK
$STATE,21612,begin surface
$SM_CCo,21686,0.00,0.000,0,0,207,540.15
$SM_GC,1.62,6.28,0.00,0.00,0.046,0.000,0.000,60,1944,207,-6.37,0.54,540.15,0,0,0,0,0,0,26.10,28.83,28.83
$IRIDIUM_FIX,1800.97,12303.05,221112,010147
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.97
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3990336
$24V_AH,23.1,14.823
$10V_AH,10.3,11.755
$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
$DEVICE_SECS,16.325,200.550,603.350,0.000,0.000,0.000,0.000,304.700,0.000,0.000,17.272,3457.822,14644.213,758.246,3006.937,277.361,0.000,2520.981,0.000,2571.081,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.853,0.000,0.000,0.000
$MEM,326840
$DATA_FILE_SIZE,36734,987
$CAP_FILE_SIZE,254225,0
$CFSIZE,260034560,244752384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,320.7,1
$GPS,221112,134605,1813.748,12255.113,25,1.2,25,-2.0