version: 66.11
glider: 129
mission: 4
dive: 7
start: 11 4 112 6 54 51
data:
$ID,129
$MISSION,4
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,250
$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,-2654.3518
$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,48
$R_STBD_OVSHOOT,85
$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
$GPS1,041112,064755,1751.026,12438.948,8,1.3,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.2
$GPS2,041112,065425,1751.116,12439.048,17,1.4,34,-2.0
$SPEED_LIMITS,0.173,0.326
$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,247.4,286633,-13.9,-10.000,-17.06
$D_GRID,4074
$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,-0.69,-243.3,0.0,0.0,0,84,0.00,0.00,-64.25,0.000,2,0.000,0.000,52,1925,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.69,-243.3,3.0,-6.7,11,130,8.07,2.15,-24.52,0.000,4,0.255,0.052,2073,487,3402,0,0,0,0,0,0,26.09,26.37,26.65
$GC,313,-0.69,-243.3,39.0,-14.7,45,318,0.00,2.00,0.00,0.000,6,0.000,0.029,2065,1871,3404,0,0,0,0,0,0,28.83,26.54,28.83
$GC,625,-0.61,-243.3,94.9,-17.0,64,631,0.12,2.00,0.00,0.000,4,0.160,0.035,2106,484,3404,0,0,0,0,0,0,26.53,26.62,28.83
$GC,682,-0.61,-243.3,99.2,-13.3,66,690,0.00,2.05,0.00,0.000,6,0.000,0.028,2101,1929,3404,0,0,0,0,0,0,28.83,26.66,28.83
$GC,989,-0.94,-243.3,131.7,-12.9,82,995,0.28,1.95,0.00,0.000,4,0.097,0.037,1992,3290,3403,0,0,0,0,0,0,26.63,26.67,28.83
$GC,1073,-1.25,-243.3,140.6,-10.5,86,1079,0.28,1.98,0.00,0.000,6,0.075,0.028,1880,1863,3405,0,0,0,0,0,0,26.67,26.72,28.83
$GC,1396,-1.07,-243.3,210.5,-22.1,102,1402,0.22,1.92,0.00,0.000,4,0.159,0.034,1951,513,3405,0,0,0,0,0,0,26.58,26.72,28.83
$GC,1439,-0.93,-243.3,218.3,-19.9,104,1445,0.20,1.98,0.00,0.000,6,0.142,0.030,2005,1904,3405,0,0,0,0,0,0,26.60,26.73,28.83
$GC,1762,-0.99,-243.3,247.8,-8.4,120,1768,0.00,2.03,0.00,0.000,4,0.000,0.042,1994,3296,3405,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1794,-1.05,-243.3,249.6,-8.2,121,1800,0.00,1.95,0.00,0.000,6,0.000,0.028,1996,1906,3405,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2108,-1.10,-243.3,276.3,-9.1,137,2114,0.12,1.98,0.00,0.000,4,0.096,0.035,1924,516,3405,0,0,0,0,0,0,26.77,26.74,28.83
$GC,2193,-1.06,-243.3,288.9,-15.1,141,2199,0.15,2.00,0.00,0.000,6,0.158,0.031,1957,1909,3405,0,0,0,0,0,0,26.63,26.76,28.83
$GC,2516,-1.06,-243.3,327.4,-10.2,157,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1910,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-1.06,-243.3,358.3,-10.9,172,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1910,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,-1.06,-243.3,392.4,-11.4,187,3121,0.00,2.00,0.00,0.000,4,0.000,0.044,1949,3290,3399,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3162,-1.09,-243.3,397.0,-11.0,189,3167,0.00,1.98,0.00,0.000,6,0.000,0.031,1948,1899,3399,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3479,-1.09,-243.3,432.3,-10.5,205,3484,0.00,2.00,0.00,0.000,4,0.000,0.041,1949,517,3397,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3561,-1.09,-243.3,441.0,-10.6,209,3567,0.00,2.00,0.00,0.000,6,0.000,0.033,1940,1901,3397,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3884,-1.09,-243.3,473.9,-9.8,225,3890,0.00,2.08,0.00,0.000,4,0.000,0.047,1929,3304,3395,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3921,-1.09,-243.3,476.1,-9.8,226,3928,0.00,2.00,0.00,0.000,6,0.000,0.031,1929,1897,3394,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4227,-1.06,-243.3,507.5,-9.9,242,4233,0.00,2.03,0.00,0.000,4,0.000,0.042,1929,509,3391,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4284,-1.04,-243.3,512.1,-10.2,244,4291,0.15,2.03,0.00,0.000,6,0.162,0.034,1962,1905,3391,0,0,0,0,0,0,26.64,26.78,28.83
$GC,4590,-1.07,-243.3,537.6,-7.9,260,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1906,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4891,-1.12,-243.3,561.1,-7.8,275,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1906,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5191,-1.16,-243.3,585.2,-8.5,290,5197,0.12,2.08,0.00,0.000,4,0.100,0.048,1893,3310,3384,0,0,0,0,0,0,26.79,26.74,28.83
$GC,5249,-1.16,-243.3,590.2,-9.8,292,5256,0.10,2.03,0.00,0.000,6,0.171,0.034,1921,1901,3383,0,0,0,0,0,0,26.65,26.79,28.83
$GC,5555,-1.14,-243.3,629.5,-12.5,304,5560,0.00,2.05,0.00,0.000,4,0.000,0.045,1921,510,3381,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5672,-1.11,-243.3,641.5,-12.8,307,5679,0.00,2.05,0.00,0.000,6,0.000,0.037,1913,1912,3381,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5796,begin apogee
$GC,5800,-0.14,0.0,660.3,-12.5,312,5992,0.98,0.00,185.45,1.144,6,0.124,0.000,2247,1787,2409,0,0,0,0,0,0,26.64,28.83,24.21
$STATE,5993,end apogee,CONTROL_FINISHED_OK
$STATE,5993,begin climb
$GC,5995,0.69,243.3,670.8,0.0,318,6199,0.75,2.28,195.52,1.108,4,0.062,0.048,2535,410,1417,0,0,0,0,0,0,25.10,24.95,24.19
$GC,6284,0.37,243.3,634.6,22.2,328,6290,0.43,2.12,0.00,0.000,6,0.191,0.034,2423,1802,1412,0,0,0,0,0,0,25.63,25.82,28.83
$GC,6603,0.23,243.3,583.5,15.8,340,6609,0.15,2.10,0.00,0.000,4,0.197,0.046,2379,3202,1407,0,0,0,0,0,0,26.20,26.32,28.83
$GC,6811,0.13,243.3,555.0,13.7,350,6817,0.15,2.08,0.00,0.000,6,0.190,0.038,2348,1804,1406,0,0,0,0,0,0,26.32,26.47,28.83
$GC,7130,0.16,264.7,522.9,9.4,366,7152,0.00,2.20,17.08,1.021,4,0.000,0.047,2348,3198,1328,0,0,0,0,0,0,28.83,26.11,25.35
$GC,7238,0.13,264.7,512.2,10.3,371,7244,0.00,2.10,0.00,0.000,6,0.000,0.037,2356,1793,1326,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7556,0.11,264.7,477.5,11.2,387,7562,0.00,2.12,0.00,0.000,4,0.000,0.046,2356,3212,1325,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7639,0.07,264.7,467.1,12.4,391,7646,0.15,2.10,0.00,0.000,6,0.174,0.037,2326,1797,1325,0,0,0,0,0,0,26.40,26.54,28.83
$GC,7963,0.10,264.7,433.8,10.2,407,7968,0.00,2.12,0.00,0.000,4,0.000,0.046,2326,3210,1324,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8069,0.10,264.7,422.6,10.9,412,8075,0.00,2.10,0.00,0.000,6,0.000,0.037,2332,1789,1323,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8388,0.20,329.3,393.1,8.2,428,8448,0.10,0.00,53.40,0.994,6,0.116,0.000,2375,1789,1065,0,0,0,0,0,0,26.67,28.83,24.79
$GC,8747,0.20,331.1,357.5,9.9,446,8753,0.00,2.15,0.00,0.000,4,0.000,0.046,2374,3205,1061,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8810,0.20,331.1,350.8,10.3,449,8816,0.00,2.10,0.00,0.000,6,0.000,0.037,2382,1801,1060,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9132,0.20,331.1,313.6,12.7,465,9138,0.00,2.12,0.00,0.000,4,0.000,0.045,2382,3210,1059,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9251,0.20,331.1,300.2,13.1,470,9257,0.00,2.10,0.00,0.000,6,0.000,0.037,2391,1788,1059,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9555,0.20,331.1,261.4,11.8,486,9560,0.00,2.12,0.00,0.000,4,0.000,0.044,2391,3204,1060,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9646,0.20,331.1,251.3,12.3,490,9652,0.12,2.08,0.00,0.000,6,0.177,0.037,2369,1791,1059,0,0,0,0,0,0,26.48,26.63,28.83
$GC,9960,0.25,347.7,219.6,9.5,506,9981,0.00,2.15,15.05,0.815,4,0.000,0.048,2377,399,992,0,0,0,0,0,0,28.83,26.32,25.64
$GC,9998,0.29,362.4,217.7,9.6,507,10018,0.00,2.08,13.57,0.796,6,0.000,0.032,2377,1812,930,0,0,0,0,0,0,28.83,26.39,25.41
$GC,10325,0.33,362.4,181.4,10.7,524,10330,0.00,2.03,0.00,0.000,4,0.000,0.044,2377,3189,927,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10468,0.35,362.4,166.3,10.1,531,10473,0.10,2.05,0.00,0.000,6,0.111,0.035,2425,1796,927,0,0,0,0,0,0,26.46,26.50,28.83
$GC,10791,0.35,362.4,132.5,11.1,547,10796,0.00,2.08,0.00,0.000,4,0.000,0.041,2426,3201,927,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10907,0.35,362.4,120.4,11.7,552,10915,0.00,2.05,0.00,0.000,6,0.000,0.035,2434,1796,927,0,0,0,0,0,0,28.83,26.61,28.83
$GC,11213,0.37,379.7,90.7,9.5,568,11234,0.00,2.15,14.98,0.695,4,0.000,0.040,2433,3194,859,0,0,0,0,0,0,28.83,26.36,25.75
$GC,11462,0.52,468.4,71.0,7.5,580,11537,0.00,2.05,68.65,0.705,6,0.000,0.034,2438,1788,499,0,0,0,0,0,0,28.83,26.52,24.94
$GC,11838,0.65,508.0,38.8,8.9,605,11874,0.17,2.12,30.65,0.659,4,0.079,0.036,2522,3195,337,0,0,0,0,0,0,26.27,25.80,25.24
$GC,11992,0.62,508.0,14.7,16.5,626,11999,0.12,2.08,0.00,0.000,6,0.171,0.034,2500,1797,336,0,0,0,0,0,0,25.99,26.13,28.83
$STATE,12085,end climb,SURFACE_DEPTH_REACHED
$STATE,12085,begin surface coast
$FINISH,0.2,1.021636
$STATE,12102,end surface coast,CONTROL_FINISHED_OK
$STATE,12102,begin surface
$SM_CCo,12175,0.00,0.000,0,0,335,508.75
$SM_GC,0.98,6.28,0.12,0.00,0.047,0.073,0.000,68,1930,335,-6.89,-1.84,508.75,0,0,0,0,0,0,26.25,26.31,28.83
$IRIDIUM_FIX,1745.10,12441.71,041112,040413
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.88
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,4017600
$24V_AH,24.2,0.872
$10V_AH,10.4,1.075
$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,19.325,103.375,594.350,0.000,0.000,0.000,0.000,245.825,0.000,0.000,34.980,2149.349,7656.346,636.006,1999.495,135.125,0.000,1833.418,0.000,1633.750,0.000,0.541,0.000
$DEVICE_MAMPS,254.745,73.440,1144.440,0.000,0.000,0.000,0.000,126.990,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.006,0.000,0.000,0.000
$MEM,327504
$DATA_FILE_SIZE,23418,647
$CAP_FILE_SIZE,154983,0
$CFSIZE,260034560,253046784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255, 58.0,1
$GPS,041112,101901,1750.737,12439.169,39,1.7,39,-2.0