version: 66.11
glider: 129
mission: 4
dive: 15
start: 11 5 112 21 57 0
data:
$ID,129
$MISSION,4
$DIVE,15
$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,370
$T_MISSION,390
$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,225
$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,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,-2664.4172
$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,2250
$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,1975
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,50
$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
$GPS1,051112,214854,1749.548,12434.409,26,1.5,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.4
$GPS2,051112,215632,1749.573,12434.509,12,1.4,12,-2.0
$SPEED_LIMITS,0.154,0.299
$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,260.5,280219,-13.2,-8.919,-16.62
$D_GRID,3999
$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,16,begin dive
$GC,17,-0.64,-219.0,0.0,0.0,0,80,0.00,0.00,-59.72,0.000,2,0.000,0.000,62,1961,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.64,-219.0,3.1,-6.0,10,125,7.88,2.10,-27.73,0.000,4,0.250,0.049,2039,561,3303,0,0,0,0,0,0,25.87,26.10,26.37
$GC,343,-0.52,-219.0,51.9,-19.9,47,349,0.20,2.10,0.00,0.000,6,0.148,0.031,2089,1990,3304,0,0,0,0,0,0,26.18,26.30,28.83
$GC,666,-0.52,-219.0,92.5,-11.5,63,671,0.00,2.10,0.00,0.000,4,0.000,0.036,2089,563,3305,0,0,0,0,0,0,28.83,26.43,28.83
$GC,712,-0.54,-219.0,97.1,-11.4,65,717,0.00,2.05,0.00,0.000,6,0.000,0.029,2083,1985,3304,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1030,-0.63,-219.0,124.2,-8.8,81,1032,0.10,0.00,0.00,0.000,6,0.106,0.000,2029,1986,3305,0,0,0,0,0,0,26.55,28.83,28.83
$GC,1329,-0.63,-219.0,161.3,-11.4,96,1336,0.00,2.08,0.00,0.000,4,0.000,0.036,2029,554,3305,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1426,-0.63,-219.0,169.8,-10.3,100,1433,0.00,2.05,0.00,0.000,6,0.000,0.029,2019,1986,3305,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1733,-0.65,-219.0,200.8,-10.1,116,1738,0.00,2.00,0.00,0.000,4,0.000,0.042,2009,3362,3305,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1759,-0.68,-219.0,203.1,-10.3,117,1765,0.00,2.00,0.00,0.000,6,0.000,0.028,2009,1952,3305,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2078,-0.70,-219.0,235.3,-8.8,133,2083,0.00,1.98,0.00,0.000,4,0.000,0.037,2009,583,3305,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2144,-0.70,-219.0,240.9,-9.1,136,2149,0.00,2.00,0.00,0.000,6,0.000,0.030,2001,1984,3305,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2461,-0.70,-219.0,267.3,-8.3,152,2467,0.00,2.05,0.00,0.000,4,0.000,0.036,2001,577,3303,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2589,-0.72,-219.0,277.6,-8.2,158,2595,0.00,2.00,0.00,0.000,6,0.000,0.030,2001,1974,3305,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2908,-0.76,-219.0,302.5,-8.0,174,2914,0.00,2.05,0.00,0.000,4,0.000,0.037,2001,577,3305,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2960,-0.79,-219.0,306.3,-8.6,176,2966,0.00,2.03,0.00,0.000,6,0.000,0.030,1994,1992,3304,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3274,-0.82,-219.0,333.4,-7.7,192,3279,0.00,2.03,0.00,0.000,4,0.000,0.045,1985,3359,3303,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3296,-0.86,-219.0,335.2,-7.8,193,3302,0.00,1.98,0.00,0.000,6,0.000,0.029,1985,1977,3303,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3619,-0.86,-219.0,360.6,-7.9,209,3624,0.00,2.03,0.00,0.000,4,0.000,0.039,1985,585,3301,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3725,-0.86,-219.0,369.4,-8.6,214,3731,0.00,2.00,0.00,0.000,6,0.000,0.031,1976,1977,3300,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4044,-0.86,-219.0,397.6,-8.9,230,4049,0.00,2.05,0.00,0.000,4,0.000,0.047,1966,3363,3298,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4060,-0.86,-219.0,397.6,-8.9,230,4068,0.00,1.98,0.00,0.000,6,0.000,0.031,1965,1977,3298,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4366,-0.86,-219.0,432.4,-11.5,246,4372,0.00,2.03,0.00,0.000,4,0.000,0.040,1966,569,3296,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4517,-0.86,-219.0,449.7,-11.9,253,4522,0.00,2.03,0.00,0.000,6,0.000,0.033,1957,1974,3296,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4830,-0.86,-219.0,483.8,-10.1,269,4835,0.00,2.05,0.00,0.000,4,0.000,0.040,1957,582,3294,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4896,-0.84,-219.0,490.3,-10.3,272,4903,0.12,2.03,-0.10,0.000,6,0.155,0.033,1984,1981,3320,0,0,0,0,0,0,26.64,26.74,26.65
$GC,5216,-0.90,-219.0,511.9,-6.1,288,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1981,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.96,-219.0,530.0,-6.4,303,5523,0.12,2.05,0.00,0.000,4,0.099,0.039,1924,582,3317,0,0,0,0,0,0,26.74,26.73,28.83
$GC,5555,-0.99,-219.0,532.2,-7.0,304,5563,0.00,2.03,0.00,0.000,6,0.000,0.034,1915,1977,3317,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5860,-0.90,-219.0,571.4,-12.5,320,5867,0.12,2.05,0.00,0.000,4,0.168,0.047,1944,3366,3315,0,0,0,0,0,0,26.63,26.72,28.83
$GC,5878,-0.82,-219.0,571.4,-12.5,320,5886,0.08,2.03,0.00,0.000,6,0.101,0.032,1987,1976,3315,0,0,0,0,0,0,26.65,26.76,28.83
$GC,6185,-0.89,-219.0,597.7,-8.6,336,6190,0.00,2.03,0.00,0.000,4,0.000,0.042,1987,581,3313,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6287,-0.96,-219.0,606.6,-9.6,340,6293,0.15,2.03,0.00,0.000,6,0.092,0.035,1924,1977,3312,0,0,0,0,0,0,26.72,26.74,28.83
$GC,6611,-0.90,-219.0,648.3,-12.6,351,6613,0.12,0.00,0.00,0.000,6,0.158,0.000,1958,1978,3310,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6910,-0.90,-219.0,676.5,-8.7,361,6915,0.00,2.08,0.00,0.000,4,0.000,0.043,1958,581,3308,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6987,-0.90,-219.0,682.1,-8.7,363,6992,0.00,2.03,0.00,0.000,6,0.000,0.036,1950,1971,3308,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7305,-0.90,-219.0,710.4,-8.2,374,7310,0.00,2.08,0.00,0.000,4,0.000,0.044,1950,578,3307,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7351,-0.90,-219.0,713.3,-8.3,375,7357,0.00,2.05,0.00,0.000,6,0.000,0.036,1942,1979,3307,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7670,-0.90,-219.0,741.0,-8.2,386,7675,0.00,2.10,0.00,0.000,4,0.000,0.044,1942,573,3304,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7712,-0.90,-219.0,744.0,-8.3,387,7717,0.00,2.05,0.00,0.000,6,0.000,0.037,1933,1974,3304,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8035,-0.87,-219.0,774.6,-9.3,398,8037,0.12,0.00,0.00,0.000,6,0.164,0.000,1967,1974,3300,0,0,0,0,0,0,26.65,28.83,28.83
$GC,8336,-0.92,-219.0,796.9,-7.5,408,8341,0.00,2.10,0.00,0.000,4,0.000,0.045,1967,572,3301,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8383,-0.97,-219.0,799.7,-7.7,409,8388,0.00,2.08,0.00,0.000,6,0.000,0.037,1961,1986,3301,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8702,-1.01,-219.0,826.3,-7.9,420,8707,0.10,2.10,0.00,0.000,4,0.116,0.044,1917,584,3299,0,0,0,0,0,0,26.75,26.72,28.83
$GC,8740,-1.03,-219.0,829.7,-8.3,421,8745,0.00,2.05,0.00,0.000,6,0.000,0.038,1908,1975,3299,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9069,-0.96,-219.0,867.0,-11.0,432,9075,0.12,2.10,0.00,0.000,4,0.172,0.044,1947,575,3297,0,0,0,0,0,0,26.63,26.72,28.83
$GC,9121,-0.90,-219.0,870.6,-10.9,433,9127,0.00,2.08,0.00,0.000,6,0.000,0.037,1938,1985,3297,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9434,-0.90,-219.0,899.5,-8.8,444,9439,0.00,2.10,0.00,0.000,4,0.000,0.046,1938,584,3296,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9467,-0.90,-219.0,902.6,-9.0,445,9472,0.12,2.08,0.00,0.000,6,0.164,0.037,1963,1987,3296,0,0,0,0,0,0,26.63,26.73,28.83
$GC,9801,-0.96,-219.0,926.6,-7.1,456,9806,0.00,2.10,0.00,0.000,4,0.000,0.046,1963,585,3295,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9843,-1.02,-219.0,929.5,-7.6,457,9849,0.00,2.05,0.00,0.000,6,0.000,0.037,1955,1982,3294,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10167,-1.05,-219.0,955.4,-7.6,468,10173,0.12,2.10,0.00,0.000,4,0.103,0.044,1898,582,3293,0,0,0,0,0,0,26.76,26.72,28.83
$GC,10209,-1.05,-219.0,958.9,-8.1,469,10214,0.00,2.05,0.00,0.000,6,0.000,0.039,1887,1971,3291,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,10470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10470,begin apogee
$GC,10475,-0.14,0.0,992.6,-12.4,478,10661,0.93,0.00,178.93,1.410,6,0.135,0.000,2197,1798,2408,0,0,0,0,0,0,26.63,28.83,23.60
$STATE,10662,end apogee,CONTROL_FINISHED_OK
$STATE,10663,begin climb
$GC,10664,0.64,219.0,1001.5,0.0,484,10863,0.73,2.35,188.85,1.362,4,0.070,0.048,2454,3197,1515,0,0,0,0,0,0,24.65,24.37,23.49
$GC,11091,0.37,219.0,942.1,20.5,498,11098,0.35,2.12,0.00,0.000,6,0.194,0.039,2373,1816,1506,0,0,0,0,0,0,25.57,25.74,28.83
$GC,11411,0.25,219.0,896.9,12.6,509,11417,0.12,2.15,0.00,0.000,4,0.192,0.049,2336,3207,1504,0,0,0,0,0,0,25.98,26.08,28.83
$GC,11535,0.16,219.0,882.0,11.9,513,11541,0.15,2.15,0.00,0.000,6,0.186,0.039,2306,1793,1503,0,0,0,0,0,0,26.06,26.18,28.83
$GC,11868,0.17,227.1,852.4,8.7,524,11882,0.00,2.25,5.95,1.041,4,0.000,0.049,2306,3205,1484,0,0,0,0,0,0,28.83,26.15,25.25
$GC,11960,0.14,227.1,843.5,9.4,527,11966,0.00,2.15,0.00,0.000,6,0.000,0.040,2315,1791,1485,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12293,0.11,227.1,811.6,9.7,538,12298,0.00,2.15,0.00,0.000,4,0.000,0.050,2315,3200,1482,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12466,0.06,227.1,794.7,11.1,543,12472,0.17,2.10,0.00,0.000,6,0.170,0.040,2274,1797,1482,0,0,0,0,0,0,26.29,26.41,28.83
$GC,12782,0.13,249.9,765.9,8.3,554,12810,0.00,2.20,20.65,1.245,4,0.000,0.047,2274,3206,1390,0,0,0,0,0,0,28.83,25.81,24.97
$GC,12852,0.19,265.7,760.4,8.5,556,12874,0.12,2.15,15.57,1.196,6,0.109,0.040,2318,1802,1325,0,0,0,0,0,0,25.89,25.94,24.64
$GC,13173,0.19,265.7,726.5,9.9,567,13178,0.00,2.15,0.00,0.000,4,0.000,0.049,2318,3198,1320,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13269,0.16,265.7,716.5,10.6,570,13275,0.00,2.12,0.00,0.000,6,0.000,0.040,2328,1796,1320,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,20191,end climb,SURFACE_DEPTH_REACHED
$STATE,20191,begin surface coast
$FINISH,0.5,1.009166
$STATE,20213,end surface coast,CONTROL_FINISHED_OK
$STATE,20213,begin surface
$SM_CCo,20287,0.00,0.000,0,0,316,513.41
$SM_GC,1.41,6.15,0.17,0.00,0.044,0.061,0.000,63,2001,316,-6.74,-2.18,513.41,0,0,0,0,0,0,26.26,26.30,28.83
$IRIDIUM_FIX,1742.84,12440.42,051112,161617
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.31
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,4014528
$24V_AH,23.5,2.643
$10V_AH,10.4,2.181
$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,19.300,197.600,611.300,0.000,0.000,0.000,0.000,303.325,0.000,0.000,13.591,3280.247,13613.075,755.801,2865.333,227.519,0.000,2442.192,0.000,2434.031,0.000,0.541,0.000
$DEVICE_MAMPS,250.155,66.555,1409.895,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20239.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.707,0.000,0.000,0.000
$MEM,327436
$DATA_FILE_SIZE,36676,939
$CAP_FILE_SIZE,242250,0
$CFSIZE,260034560,252096512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 73.5,1
$GPS,061112,033607,1748.653,12433.764,24,1.7,24,-2.0