version: 66.11
glider: 129
mission: 4
dive: 26
start: 11 8 112 18 17 33
data:
$ID,129
$MISSION,4
$DIVE,26
$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,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,-2678.2617
$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,2200
$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,1875
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,100
$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
$GPS1,081112,180836,1747.257,12425.519,32,1.4,32,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.0
$GPS2,081112,181706,1747.339,12425.609,11,1.4,16,-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,252.5,267384,-13.2,-7.857,-16.86
$D_GRID,3869
$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,-0.58,-175.2,0.0,0.0,0,67,0.00,0.00,-47.58,0.000,2,0.000,0.000,47,1871,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.58,-175.2,3.3,-6.8,8,108,7.78,2.10,-24.48,0.000,4,0.246,0.054,1998,3238,3126,0,0,0,0,0,0,25.78,26.03,26.29
$GC,272,-0.43,-175.2,45.7,-20.1,37,278,0.22,2.00,0.00,0.000,6,0.147,0.028,2064,1851,3127,0,0,0,0,0,0,26.10,26.24,28.83
$GC,595,-0.35,-175.2,98.5,-14.4,54,600,0.00,2.00,0.00,0.000,4,0.000,0.037,2064,478,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,657,-0.35,-175.2,105.1,-11.1,57,662,0.00,1.95,0.00,0.000,6,0.000,0.027,2058,1841,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,979,-0.35,-175.2,137.7,-8.8,73,984,0.00,2.08,0.00,0.000,4,0.000,0.039,2047,3264,3128,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1021,-0.39,-175.2,141.4,-9.0,75,1027,0.00,1.98,0.00,0.000,6,0.000,0.026,2047,1868,3128,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1345,-0.43,-175.2,169.8,-8.1,91,1350,0.00,2.00,0.00,0.000,4,0.000,0.036,2047,487,3129,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1448,-0.49,-175.2,178.5,-8.3,96,1454,0.00,2.00,0.00,0.000,6,0.000,0.027,2040,1888,3129,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1771,-0.53,-175.2,204.3,-7.6,112,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1888,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-0.58,-175.2,226.1,-7.1,127,2077,0.00,1.98,0.00,0.000,4,0.000,0.040,2030,3259,3128,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2098,-0.63,-175.2,227.8,-7.2,128,2105,0.10,1.95,0.00,0.000,6,0.110,0.026,1981,1881,3129,0,0,0,0,0,0,26.61,26.66,28.83
$GC,2417,-0.55,-175.2,263.1,-11.3,144,2423,0.12,2.03,0.00,0.000,4,0.153,0.035,2022,483,3129,0,0,0,0,0,0,26.56,26.65,28.83
$GC,2480,-0.55,-175.2,269.2,-10.1,147,2486,0.00,2.00,0.00,0.000,6,0.000,0.027,2013,1886,3129,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2804,-0.58,-175.2,294.9,-7.4,163,2809,0.00,2.00,0.00,0.000,4,0.000,0.041,2004,3259,3128,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2897,-0.63,-175.2,301.4,-7.8,167,2902,0.00,1.98,0.00,0.000,6,0.000,0.028,2004,1858,3128,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3208,-0.63,-175.2,330.3,-9.2,183,3214,0.00,2.00,0.00,0.000,4,0.000,0.037,2004,476,3126,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3332,-0.63,-175.2,341.8,-9.3,189,3338,0.00,2.00,0.00,0.000,6,0.000,0.028,1998,1875,3125,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3655,-0.63,-175.2,366.9,-7.5,205,3660,0.00,2.00,0.00,0.000,4,0.000,0.041,1988,3257,3124,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3692,-0.65,-175.2,368.6,-7.5,206,3698,0.00,1.98,0.00,0.000,6,0.000,0.028,1988,1862,3124,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3997,-0.65,-175.2,394.7,-8.6,222,4002,0.00,2.00,0.00,0.000,4,0.000,0.037,1989,484,3122,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4114,-0.65,-175.2,404.1,-9.2,227,4120,0.00,2.00,0.00,0.000,6,0.000,0.029,1988,1880,3122,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4419,-0.65,-175.2,429.0,-7.5,243,4424,0.00,2.03,0.00,0.000,4,0.000,0.043,1985,3264,3119,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4526,-0.69,-175.2,436.7,-7.4,248,4532,0.00,2.00,0.00,0.000,6,0.000,0.029,1985,1880,3119,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4844,-0.69,-175.2,464.5,-8.9,264,4850,0.00,2.03,0.00,0.000,4,0.000,0.038,1985,467,3116,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4926,-0.69,-175.2,472.6,-9.8,268,4932,0.00,2.03,0.00,0.000,6,0.000,0.029,1975,1886,3116,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5249,-0.69,-175.2,501.9,-8.5,284,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1885,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5550,-0.69,-175.2,525.4,-7.5,299,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1886,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5850,-0.69,-175.2,549.1,-7.9,314,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1886,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6150,-0.69,-175.2,572.5,-7.6,329,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1886,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6450,-0.69,-175.2,595.7,-7.8,344,6455,0.00,2.03,0.00,0.000,4,0.000,0.047,1965,3263,3107,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6502,-0.69,-175.2,599.0,-7.8,346,6507,0.00,2.00,0.00,0.000,6,0.000,0.032,1965,1874,3106,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6814,-0.69,-175.2,626.3,-8.9,357,6819,0.00,2.05,0.00,0.000,4,0.000,0.042,1965,479,3104,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6938,-0.67,-175.2,638.6,-10.1,361,6943,0.00,2.03,0.00,0.000,6,0.000,0.032,1956,1871,3104,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7272,-0.64,-175.2,670.5,-9.5,372,7277,0.12,2.08,0.00,0.000,4,0.153,0.040,1998,477,3102,0,0,0,0,0,0,26.64,26.71,28.83
$GC,7318,-0.64,-175.2,673.5,-9.4,373,7324,0.00,2.03,0.00,0.000,6,0.000,0.032,1992,1873,3104,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7637,-0.69,-175.2,697.2,-6.9,384,7642,0.00,2.08,0.00,0.000,4,0.000,0.047,1987,3269,3100,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7660,-0.75,-175.2,697.2,-6.9,384,7666,0.00,2.00,0.00,0.000,6,0.000,0.032,1986,1881,3100,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7974,-0.79,-175.2,720.3,-6.8,395,7980,0.12,2.05,0.00,0.000,4,0.103,0.041,1925,476,3098,0,0,0,0,0,0,26.71,26.71,28.83
$GC,8031,-0.79,-175.2,723.6,-7.4,396,8038,0.00,2.05,0.00,0.000,6,0.000,0.033,1915,1884,3098,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8339,-0.69,-175.2,760.7,-11.1,407,8345,0.17,2.08,0.00,0.000,4,0.157,0.041,1972,480,3097,0,0,0,0,0,0,26.60,26.71,28.83
$GC,8411,-0.63,-175.2,766.4,-10.1,409,8417,0.12,2.03,0.00,0.000,6,0.148,0.033,2000,1877,3096,0,0,0,0,0,0,26.63,26.72,28.83
$GC,8736,-0.71,-175.2,785.1,-5.5,420,8741,0.00,2.08,0.00,0.000,4,0.000,0.047,1992,3271,3095,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8768,-0.79,-175.2,787.0,-5.5,421,8774,0.15,2.05,0.00,0.000,6,0.093,0.032,1929,1864,3096,0,0,0,0,0,0,26.70,26.74,28.83
$GC,9101,-0.72,-175.2,817.3,-9.2,432,9107,0.12,2.05,0.00,0.000,4,0.164,0.042,1968,478,3093,0,0,0,0,0,0,26.61,26.71,28.83
$GC,9170,-0.68,-175.2,822.7,-8.9,434,9177,0.00,2.05,0.00,0.000,6,0.000,0.034,1960,1884,3093,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9500,-0.68,-175.2,846.3,-6.9,445,9505,0.00,2.05,0.00,0.000,4,0.000,0.048,1950,3273,3091,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9541,-0.68,-175.2,848.6,-6.9,446,9547,0.00,2.03,0.00,0.000,6,0.000,0.034,1950,1868,3091,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9866,-0.66,-175.2,871.7,-6.8,457,9871,0.12,2.03,0.00,0.000,4,0.151,0.043,1992,487,3090,0,0,0,0,0,0,26.64,26.70,28.83
$GC,9943,-0.66,-175.2,875.4,-6.2,459,9949,0.00,2.03,0.00,0.000,6,0.000,0.034,1988,1869,3090,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10262,-0.73,-175.2,890.9,-4.5,470,10268,0.00,2.10,0.00,0.000,4,0.000,0.049,1988,3275,3089,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10314,-0.80,-175.2,892.4,-4.5,471,10320,0.15,2.03,0.00,0.000,6,0.097,0.034,1926,1882,3088,0,0,0,0,0,0,26.69,26.72,28.83
$GC,10629,-0.74,-175.2,916.8,-7.8,482,10634,0.12,2.08,0.00,0.000,4,0.164,0.043,1965,469,3087,0,0,0,0,0,0,26.63,26.70,28.83
$GC,10692,-0.70,-175.2,921.4,-7.5,484,10697,0.00,2.08,0.00,0.000,6,0.000,0.034,1956,1880,3087,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11027,-0.70,-175.2,941.9,-6.4,495,11032,0.00,2.08,0.00,0.000,4,0.000,0.049,1947,3268,3086,0,0,0,0,0,0,28.83,26.69,28.83
$GC,11053,-0.70,-175.2,941.9,-6.4,495,11061,0.00,2.03,0.00,0.000,6,0.000,0.034,1948,1871,3086,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11360,-0.70,-175.2,965.7,-7.4,506,11365,0.00,2.08,0.00,0.000,4,0.000,0.046,1948,474,3086,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11462,-0.67,-175.2,973.8,-8.5,509,11468,0.15,2.05,0.00,0.000,6,0.152,0.035,1982,1873,3085,0,0,0,0,0,0,26.61,26.71,28.83
$STATE,11694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11694,begin apogee
$GC,11698,-0.14,0.0,990.0,-6.5,517,11847,0.47,0.00,137.70,1.419,6,0.113,0.000,2151,1875,2408,0,0,0,0,0,0,26.62,28.83,23.68
$STATE,11848,end apogee,CONTROL_FINISHED_OK
$STATE,11848,begin climb
$GC,11850,0.58,175.2,996.9,0.0,522,12011,0.65,2.33,150.95,1.372,4,0.063,0.047,2393,3289,1693,0,0,0,0,0,0,24.83,24.41,23.53
$GC,12158,0.38,175.2,971.1,13.8,532,12164,0.28,2.12,0.00,0.000,6,0.184,0.035,2331,1911,1686,0,0,0,0,0,0,25.39,25.55,28.83
$GC,12482,0.30,175.2,940.2,9.0,543,12488,0.12,2.17,0.00,0.000,4,0.184,0.045,2293,3304,1683,0,0,0,0,0,0,25.91,26.01,28.83
$GC,12534,0.23,175.2,937.2,9.0,544,12540,0.00,2.12,0.00,0.000,6,0.000,0.034,2301,1893,1683,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12847,0.19,175.2,909.5,8.6,555,12853,0.12,2.17,0.00,0.000,4,0.181,0.046,2264,3300,1681,0,0,0,0,0,0,26.14,26.23,28.83
$GC,12930,0.17,175.2,904.2,8.4,557,12935,0.00,2.10,0.00,0.000,6,0.000,0.035,2273,1893,1681,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,22507,end climb,SURFACE_DEPTH_REACHED
$STATE,22507,begin surface coast
$FINISH,0.6,1.021629
$STATE,22528,end surface coast,CONTROL_FINISHED_OK
$STATE,22528,begin surface
$SM_CCo,22542,16.92,0.054,0,0,777,400.08
$SM_GC,2.48,6.10,0.00,16.92,0.050,0.000,0.054,66,1932,777,-6.58,1.61,400.08,0,0,0,0,0,0,26.56,28.83,26.51
$IRIDIUM_FIX,1740.58,12429.11,081112,111125
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.25
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,4010304
$24V_AH,23.5,4.801
$10V_AH,10.0,4.003
$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,18.550,219.425,452.725,16.925,0.000,0.000,0.000,331.600,0.000,0.000,17.308,3583.352,15496.692,674.629,3049.828,254.612,0.000,2446.417,0.000,2568.835,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,55.845,1419.075,53.550,0.000,0.000,0.000,140.760,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22557.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.731,0.000,0.000,0.000
$MEM,327444
$DATA_FILE_SIZE,39979,1037
$CAP_FILE_SIZE,263993,0
$CFSIZE,260034560,250707968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211, 56.2,1
$GPS,091112,003453,1747.203,12425.017,26,1.4,43,-2.0