version: 66.11
glider: 129
mission: 4
dive: 28
start: 11 9 112 7 22 40
data:
$ID,129
$MISSION,4
$DIVE,28
$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,-2680.7786
$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,58
$R_STBD_OVSHOOT,72
$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
$GPS1,091112,071405,1746.726,12423.880,35,0.9,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.9
$GPS2,091112,072213,1746.866,12423.905,14,1.1,14,-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,268.1,265001,-13.2,-7.857,-16.86
$D_GRID,3835
$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,-0.58,-175.2,0.0,0.0,0,73,0.00,0.00,-53.55,0.000,2,0.000,0.000,55,1922,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.58,-175.2,3.3,-6.3,9,114,7.80,2.05,-23.98,0.000,4,0.248,0.056,1995,3256,3126,0,0,0,0,0,0,25.79,26.01,26.29
$GC,275,-0.42,-175.2,45.0,-21.2,37,283,0.22,2.00,0.00,0.000,6,0.143,0.028,2061,1868,3127,0,0,0,0,0,0,26.09,26.22,28.83
$GC,581,-0.33,-175.2,98.6,-16.3,54,587,0.12,2.03,0.00,0.000,4,0.151,0.034,2104,476,3127,0,0,0,0,0,0,26.27,26.37,28.83
$GC,664,-0.38,-175.2,107.0,-9.9,58,669,0.00,2.00,0.00,0.000,6,0.000,0.026,2098,1886,3128,0,0,0,0,0,0,28.83,26.41,28.83
$GC,987,-0.49,-175.2,129.6,-6.3,74,992,0.12,2.00,0.00,0.000,4,0.093,0.037,2015,3259,3128,0,0,0,0,0,0,26.49,26.48,28.83
$GC,1050,-0.53,-175.2,135.6,-8.6,77,1055,0.00,1.98,0.00,0.000,6,0.000,0.026,2014,1854,3129,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1373,-0.51,-175.2,171.2,-9.4,93,1378,0.00,1.95,0.00,0.000,4,0.000,0.036,2015,485,3128,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1520,-0.49,-175.2,186.0,-10.4,100,1526,0.12,1.98,0.00,0.000,6,0.146,0.026,2043,1876,3129,0,0,0,0,0,0,26.48,26.59,28.83
$GC,1838,-0.55,-175.2,209.0,-7.9,116,1844,0.00,2.00,0.00,0.000,4,0.000,0.039,2034,3269,3128,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1910,-0.64,-175.2,214.1,-8.2,119,1916,0.12,1.95,0.00,0.000,6,0.093,0.027,1974,1883,3129,0,0,0,0,0,0,26.60,26.65,28.83
$GC,2223,-0.54,-175.2,256.9,-13.7,135,2229,0.15,2.03,0.00,0.000,4,0.147,0.035,2023,477,3128,0,0,0,0,0,0,26.55,26.63,28.83
$GC,2306,-0.54,-175.2,265.0,-9.7,139,2312,0.00,2.03,0.00,0.000,6,0.000,0.028,2014,1880,3128,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2629,-0.57,-175.2,289.4,-7.0,155,2634,0.00,2.03,0.00,0.000,4,0.000,0.041,2004,3267,3128,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2675,-0.62,-175.2,292.3,-6.9,157,2681,0.00,1.98,0.00,0.000,6,0.000,0.028,2004,1863,3128,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2993,-0.62,-175.2,316.1,-8.1,173,2999,0.00,1.98,0.00,0.000,4,0.000,0.037,2004,494,3127,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3096,-0.62,-175.2,325.6,-9.4,178,3101,0.00,1.98,0.00,0.000,6,0.000,0.028,1997,1884,3127,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3418,-0.62,-175.2,354.3,-8.2,194,3424,0.00,2.03,0.00,0.000,4,0.000,0.041,1988,3270,3125,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3461,-0.64,-175.2,357.7,-8.0,196,3467,0.00,1.98,0.00,0.000,6,0.000,0.028,1988,1881,3125,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3784,-0.64,-175.2,383.2,-7.8,212,3790,0.00,2.03,0.00,0.000,4,0.000,0.037,1988,477,3123,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3827,-0.64,-175.2,386.6,-7.8,214,3832,0.00,2.00,0.00,0.000,6,0.000,0.028,1979,1885,3123,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4149,-0.64,-175.2,413.0,-8.2,230,4154,0.00,2.03,0.00,0.000,4,0.000,0.042,1969,3268,3120,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4211,-0.64,-175.2,418.1,-8.3,233,4216,0.00,2.03,0.00,0.000,6,0.000,0.029,1969,1866,3118,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4534,-0.62,-175.2,446.1,-8.4,249,4540,0.12,2.00,0.00,0.000,4,0.148,0.037,2011,487,3118,0,0,0,0,0,0,26.62,26.70,28.83
$GC,4598,-0.64,-175.2,450.5,-7.2,252,4604,0.00,2.00,0.00,0.000,6,0.000,0.029,2004,1879,3117,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4921,-0.70,-175.2,468.9,-5.7,268,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1879,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-0.75,-175.2,488.1,-6.7,283,5225,0.15,0.00,-0.10,0.000,6,0.088,0.000,1937,1881,3139,0,0,0,0,0,0,26.71,28.83,26.63
$GC,5521,-0.68,-175.2,519.8,-10.4,298,5523,0.15,0.00,0.00,0.000,6,0.145,0.000,1981,1883,3139,0,0,0,0,0,0,26.62,28.83,28.83
$GC,5822,-0.70,-175.2,542.8,-7.8,313,5827,0.00,2.05,0.00,0.000,4,0.000,0.045,1972,3268,3137,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5849,-0.73,-175.2,544.5,-7.7,314,5854,0.00,2.00,0.00,0.000,6,0.000,0.031,1972,1870,3136,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6165,-0.73,-175.2,571.3,-8.3,330,6171,0.00,2.03,0.00,0.000,4,0.000,0.041,1972,486,3137,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6242,-0.73,-175.2,577.0,-9.1,333,6249,0.00,2.00,0.00,0.000,6,0.000,0.031,1964,1871,3134,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6568,-0.73,-175.2,605.6,-7.9,349,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1872,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-0.73,-175.2,629.5,-8.0,359,6874,0.00,2.08,0.00,0.000,4,0.000,0.046,1953,3274,3131,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6915,-0.73,-175.2,632.1,-8.0,360,6920,0.00,2.03,0.00,0.000,6,0.000,0.032,1953,1868,3131,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7233,-0.70,-175.2,661.7,-9.1,371,7239,0.00,2.05,0.00,0.000,4,0.000,0.043,1953,477,3129,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7290,-0.67,-175.2,665.0,-9.3,372,7297,0.15,2.05,0.00,0.000,6,0.148,0.033,1988,1887,3128,0,0,0,0,0,0,26.62,26.72,28.83
$GC,7598,-0.73,-175.2,688.3,-6.5,383,7603,0.00,2.05,0.00,0.000,4,0.000,0.047,1988,3268,3127,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7644,-0.79,-175.2,690.5,-6.5,384,7650,0.12,2.00,0.00,0.000,6,0.102,0.032,1935,1879,3127,0,0,0,0,0,0,26.69,26.72,28.83
$GC,7964,-0.73,-175.2,721.3,-9.6,395,7969,0.00,2.08,0.00,0.000,4,0.000,0.044,1935,470,3125,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8100,-0.67,-175.2,734.1,-10.4,399,8106,0.20,2.03,0.00,0.000,6,0.145,0.032,1985,1880,3125,0,0,0,0,0,0,26.61,26.72,28.83
$GC,8419,-0.72,-175.2,755.9,-6.1,410,8424,0.00,2.05,0.00,0.000,4,0.000,0.046,1977,3265,3123,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8452,-0.77,-175.2,758.1,-6.1,411,8457,0.00,2.03,0.00,0.000,6,0.000,0.033,1976,1869,3123,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8786,-0.81,-175.2,779.3,-6.3,422,8792,0.12,2.05,0.00,0.000,4,0.102,0.042,1915,481,3122,0,0,0,0,0,0,26.71,26.70,28.83
$GC,8809,-0.84,-175.2,779.3,-6.3,422,8814,0.00,2.03,0.00,0.000,6,0.000,0.034,1905,1875,3121,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9122,-0.73,-175.2,815.8,-11.3,433,9128,0.17,2.08,0.00,0.000,4,0.158,0.047,1952,3269,3120,0,0,0,0,0,0,26.60,26.68,28.83
$GC,9180,-0.65,-175.2,819.0,-10.9,434,9189,0.12,2.03,0.00,0.000,6,0.140,0.034,1989,1866,3120,0,0,0,0,0,0,26.63,26.72,28.83
$GC,9486,-0.73,-175.2,837.9,-5.4,445,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1866,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9786,-0.80,-175.2,853.6,-5.1,455,9792,0.12,2.05,0.00,0.000,4,0.103,0.044,1929,481,3118,0,0,0,0,0,0,26.71,26.70,28.83
$GC,9820,-0.84,-175.2,856.2,-5.7,456,9825,0.00,2.05,0.00,0.000,6,0.000,0.034,1919,1880,3118,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10153,-0.76,-175.2,886.1,-9.0,467,10159,0.12,2.10,0.00,0.000,4,0.168,0.043,1959,477,3116,0,0,0,0,0,0,26.60,26.70,28.83
$GC,10187,-0.70,-175.2,888.9,-8.8,468,10192,0.00,2.05,0.00,0.000,6,0.000,0.034,1951,1877,3116,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10520,-0.70,-175.2,912.4,-7.0,479,10525,0.00,2.08,0.00,0.000,4,0.000,0.049,1941,3268,3115,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10556,-0.70,-175.2,914.7,-7.0,480,10563,0.12,2.03,0.00,0.000,6,0.145,0.034,1977,1869,3115,0,0,0,0,0,0,26.62,26.72,28.83
$GC,10886,-0.76,-175.2,933.6,-5.6,491,10891,0.00,2.05,0.00,0.000,4,0.000,0.046,1977,487,3114,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10938,-0.81,-175.2,935.6,-5.8,492,10944,0.00,2.03,0.00,0.000,6,0.000,0.034,1970,1874,3114,0,0,0,0,0,0,28.83,26.72,28.83
$GC,11252,-0.84,-175.2,956.5,-6.1,503,11258,0.12,2.08,0.00,0.000,4,0.103,0.047,1899,3277,3113,0,0,0,0,0,0,26.70,26.68,28.83
$GC,11289,-0.84,-175.2,959.4,-6.6,504,11295,0.00,2.05,0.00,0.000,6,0.000,0.034,1899,1868,3112,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,11586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11587,begin apogee
$GC,11590,-0.14,0.0,990.0,-10.1,514,11739,0.75,0.00,143.20,1.422,6,0.133,0.000,2150,1863,2410,0,0,0,0,0,0,26.58,28.83,23.70
$STATE,11741,end apogee,CONTROL_FINISHED_OK
$STATE,11741,begin climb
$GC,11742,0.58,175.2,995.3,0.0,519,11898,0.65,0.00,150.82,1.368,6,0.063,0.000,2389,1862,1694,0,0,0,0,0,0,24.72,28.83,23.54
$GC,12188,0.42,175.2,949.0,13.3,534,12194,0.17,2.25,0.00,0.000,4,0.171,0.046,2339,3299,1685,0,0,0,0,0,0,25.68,25.79,28.83
$GC,12286,0.28,175.2,937.4,12.5,537,12293,0.20,2.12,0.00,0.000,6,0.184,0.036,2296,1894,1683,0,0,0,0,0,0,25.80,25.95,28.83
$GC,12615,0.25,175.2,907.9,8.7,548,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1894,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12916,0.25,175.2,881.2,8.9,558,12921,0.00,2.17,0.00,0.000,4,0.000,0.047,2295,3301,1681,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12962,0.23,175.2,878.1,9.1,559,12967,0.00,2.08,0.00,0.000,6,0.000,0.036,2304,1893,1680,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,22064,end climb,SURFACE_DEPTH_REACHED
$STATE,22065,begin surface coast
$FINISH,0.5,1.021600
$STATE,22081,end surface coast,CONTROL_FINISHED_OK
$STATE,22081,begin surface
$SM_CCo,22157,0.00,0.000,0,0,599,443.99
$SM_GC,1.39,6.30,2.12,0.00,0.047,0.029,0.000,61,1873,599,-6.59,1.64,443.99,0,0,0,0,0,0,26.20,26.22,28.83
$IRIDIUM_FIX,1742.84,12424.10,091112,000053
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.15
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4009536
$24V_AH,23.5,5.175
$10V_AH,10.3,4.331
$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,20.325,197.625,520.150,0.000,0.000,0.000,0.000,314.450,0.000,0.000,15.255,3384.257,15442.493,696.953,2876.722,233.975,0.000,2380.973,0.000,2422.638,0.000,0.541,0.000
$DEVICE_MAMPS,247.860,55.845,1422.135,0.000,0.000,0.000,0.000,141.525,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22108.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.979,0.000,0.000,0.000
$MEM,327472
$DATA_FILE_SIZE,36716,996
$CAP_FILE_SIZE,253808,0
$CFSIZE,260034560,250466304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167, 40.2,1
$GPS,091112,133306,1747.822,12422.254,33,2.0,33,-2.0