version: 66.11
glider: 129
mission: 4
dive: 41
start: 11 12 112 11 22 27
data:
$ID,129
$MISSION,4
$DIVE,41
$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,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,-2697.6123
$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,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,72
$R_STBD_OVSHOOT,80
$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
$GPS1,121112,111336,1748.171,12417.892,27,1.2,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.2
$GPS2,121112,112201,1748.093,12417.892,11,1.2,11,-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,251.5,254451,-13.2,-7.857,-16.86
$D_GRID,4077
$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,-0.34,-175.2,0.0,0.0,0,73,0.00,0.00,-53.33,0.000,2,0.000,0.000,55,1919,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.34,-175.2,3.2,-5.1,9,113,7.85,2.12,-24.15,0.000,4,0.248,0.054,2013,3297,3125,0,0,0,0,0,0,25.81,26.06,26.34
$GC,284,-0.34,-175.2,45.2,-22.6,39,292,0.00,2.00,0.00,0.000,6,0.000,0.028,2013,1936,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,591,-0.34,-175.2,110.0,-16.2,56,596,0.00,2.05,0.00,0.000,4,0.000,0.036,2014,528,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,823,-0.34,-175.2,145.6,-14.2,67,828,0.00,1.98,0.00,0.000,6,0.000,0.027,2004,1912,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1134,-0.34,-175.2,185.8,-12.7,83,1140,0.00,2.00,0.00,0.000,4,0.000,0.035,2004,528,3129,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1297,-0.34,-175.2,205.2,-11.2,91,1304,0.12,2.00,0.00,0.000,6,0.149,0.028,2033,1927,3127,0,0,0,0,0,0,26.46,26.58,28.83
$GC,1621,-0.34,-175.2,229.2,-6.9,107,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1928,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-0.34,-175.2,249.6,-6.8,122,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1927,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2222,-0.34,-175.2,269.7,-6.4,137,2227,0.00,2.05,0.00,0.000,4,0.000,0.042,2024,3318,3126,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2285,-0.34,-175.2,273.5,-6.2,140,2290,0.00,2.00,0.00,0.000,6,0.000,0.027,2024,1906,3123,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2608,-0.34,-175.2,294.2,-6.3,156,2614,0.00,2.00,0.00,0.000,4,0.000,0.037,2024,526,3125,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2685,-0.34,-175.2,298.8,-7.0,159,2692,0.00,2.00,0.00,0.000,6,0.000,0.028,2016,1929,3124,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2991,-0.34,-175.2,322.6,-7.2,175,2996,0.00,2.05,0.00,0.000,4,0.000,0.037,2016,530,3123,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3023,-0.34,-175.2,324.4,-7.5,176,3028,0.00,2.00,0.00,0.000,6,0.000,0.028,2008,1931,3123,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3335,-0.34,-175.2,350.2,-8.4,192,3340,0.00,2.05,0.00,0.000,4,0.000,0.036,2008,532,3121,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3371,-0.34,-175.2,352.0,-8.4,193,3378,0.00,2.00,0.00,0.000,6,0.000,0.028,2001,1930,3120,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3677,-0.34,-175.2,376.9,-6.7,209,3682,0.00,2.05,0.00,0.000,4,0.000,0.037,2001,531,3120,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3723,-0.34,-175.2,379.9,-6.9,211,3728,0.00,2.00,0.00,0.000,6,0.000,0.029,2001,1926,3119,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4040,-0.34,-175.2,400.3,-6.7,227,4046,0.00,2.05,0.00,0.000,4,0.000,0.043,1990,3316,3115,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4092,-0.34,-175.2,403.4,-6.9,229,4098,0.12,1.98,0.00,0.000,6,0.132,0.028,2030,1925,3117,0,0,0,0,0,0,26.60,26.70,28.83
$GC,4405,-0.34,-175.2,423.1,-5.8,245,4411,0.00,2.03,-0.08,0.000,4,0.000,0.052,2030,535,3143,0,0,0,0,0,0,28.83,26.67,26.58
$GC,4438,-0.34,-175.2,424.6,-5.9,246,4443,0.00,2.00,0.00,0.000,6,0.000,0.029,2025,1938,3143,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4750,-0.34,-175.2,441.2,-5.1,262,4755,0.00,2.03,0.00,0.000,4,0.000,0.044,2015,3310,3143,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4776,-0.34,-175.2,442.3,-5.2,263,4781,0.00,1.98,0.00,0.000,6,0.000,0.028,2015,1925,3143,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5094,-0.34,-175.2,460.7,-5.5,279,5099,0.00,2.03,0.00,0.000,4,0.000,0.039,2015,536,3142,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5137,-0.34,-175.2,463.2,-5.8,281,5142,0.00,2.00,0.00,0.000,6,0.000,0.029,2009,1924,3141,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5459,-0.34,-175.2,480.5,-5.4,297,5465,0.00,2.05,0.00,0.000,4,0.000,0.044,2001,3308,3138,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5516,-0.34,-175.2,483.2,-5.9,299,5523,0.00,1.98,0.00,0.000,6,0.000,0.029,2001,1926,3138,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5822,-0.34,-175.2,504.4,-6.8,315,5828,0.10,2.03,0.00,0.000,4,0.150,0.038,2031,528,3137,0,0,0,0,0,0,26.63,26.67,28.83
$GC,5895,-0.34,-175.2,508.5,-6.5,318,5900,0.00,2.03,0.00,0.000,6,0.000,0.030,2023,1939,3136,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6207,-0.34,-175.2,530.3,-6.5,334,6213,0.00,2.08,0.00,0.000,4,0.000,0.039,2024,535,3135,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6339,-0.34,-175.2,537.7,-6.0,340,6345,0.00,2.00,0.00,0.000,6,0.000,0.031,2024,1926,3134,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6652,-0.34,-175.2,557.1,-6.4,356,6657,0.00,2.08,0.00,0.000,4,0.000,0.039,2024,526,3132,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6776,-0.34,-175.2,565.3,-6.7,362,6782,0.00,2.03,0.00,0.000,6,0.000,0.031,2023,1928,3132,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7099,-0.34,-175.2,588.7,-7.4,378,7104,0.00,2.08,0.00,0.000,4,0.000,0.040,2024,530,3130,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7236,-0.34,-175.2,597.9,-7.5,384,7244,0.00,2.03,0.00,0.000,6,0.000,0.031,2024,1926,3130,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7563,-0.34,-175.2,623.5,-7.5,396,7569,0.00,2.08,0.00,0.000,4,0.000,0.041,2024,527,3128,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7796,-0.34,-175.2,638.5,-6.7,403,7801,0.00,2.03,0.00,0.000,6,0.000,0.031,2024,1925,3127,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8108,-0.34,-175.2,659.8,-6.2,414,8113,0.00,2.05,0.00,0.000,4,0.000,0.042,2020,534,3125,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8171,-0.34,-175.2,663.8,-6.2,416,8176,0.00,2.05,0.00,0.000,6,0.000,0.031,2024,1939,3125,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8506,-0.34,-175.2,685.3,-6.8,427,8511,0.00,2.10,0.00,0.000,4,0.000,0.042,2024,527,3124,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8738,-0.34,-175.2,701.1,-7.5,434,8743,0.00,2.03,0.00,0.000,6,0.000,0.032,2024,1934,3123,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9050,-0.34,-175.2,727.0,-8.2,445,9055,0.00,2.05,0.00,0.000,4,0.000,0.042,2024,539,3121,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9191,-0.34,-175.2,737.3,-8.4,449,9196,0.00,2.00,0.00,0.000,6,0.000,0.032,2024,1931,3121,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9503,-0.34,-175.2,764.3,-8.2,460,9509,0.00,2.05,0.00,0.000,4,0.000,0.046,2024,3322,3120,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9670,-0.34,-175.2,777.7,-8.9,465,9675,0.00,2.03,0.00,0.000,6,0.000,0.032,2024,1926,3119,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9988,-0.34,-175.2,805.1,-8.1,476,9993,0.00,2.05,0.00,0.000,4,0.000,0.043,2024,531,3119,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10094,-0.34,-175.2,812.6,-8.1,479,10099,0.00,2.03,0.00,0.000,6,0.000,0.032,2024,1922,3118,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10412,-0.34,-175.2,837.2,-7.2,490,10417,0.00,2.08,0.00,0.000,4,0.000,0.046,2024,3320,3117,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10428,-0.34,-175.2,837.2,-7.2,490,10433,0.00,2.03,0.00,0.000,6,0.000,0.031,2024,1920,3117,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10746,-0.34,-175.2,861.3,-7.1,501,10751,0.00,2.05,0.00,0.000,4,0.000,0.044,2024,532,3116,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10839,-0.34,-175.2,867.9,-7.2,504,10844,0.00,2.05,0.00,0.000,6,0.000,0.032,2024,1931,3115,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11172,-0.34,-175.2,891.6,-7.2,515,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1931,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11471,-0.34,-175.2,914.2,-7.6,525,11477,0.00,2.10,0.00,0.000,4,0.000,0.044,2024,531,3114,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11543,-0.34,-175.2,919.2,-7.8,527,11548,0.00,2.05,0.00,0.000,6,0.000,0.033,2024,1934,3114,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11866,-0.34,-175.2,945.4,-8.0,538,11871,0.00,2.10,0.00,0.000,4,0.000,0.044,2024,530,3113,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11967,-0.34,-175.2,953.0,-8.1,541,11973,0.00,2.05,0.00,0.000,6,0.000,0.033,2024,1933,3112,0,0,0,0,0,0,28.83,26.70,28.83
$GC,12291,-0.34,-175.2,978.9,-7.9,552,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1933,3111,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12438,begin apogee
$GC,12442,-0.10,0.0,990.7,-7.9,557,12591,0.22,0.00,142.85,1.421,6,0.081,0.000,2124,1932,2409,0,0,0,0,0,0,26.67,28.83,23.74
$STATE,12593,end apogee,CONTROL_FINISHED_OK
$STATE,12593,begin climb
$GC,12594,0.34,175.2,998.4,0.0,562,12756,0.32,2.40,150.50,1.378,4,0.070,0.045,2260,517,1693,0,0,0,0,0,0,24.82,24.38,23.47
$GC,12793,0.36,246.9,991.2,5.7,568,12864,0.00,2.17,63.25,1.343,6,0.000,0.031,2255,1900,1401,0,0,0,0,0,0,28.83,25.01,23.40
$GC,13164,0.37,261.2,962.5,7.4,581,13183,0.00,2.25,11.98,1.228,4,0.000,0.047,2259,3296,1345,0,0,0,0,0,0,28.83,25.36,24.46
$GC,13241,0.37,266.0,957.4,7.7,583,13252,0.00,2.12,6.12,1.051,6,0.000,0.034,2265,1900,1324,0,0,0,0,0,0,28.83,25.60,24.50
$GC,13560,0.38,277.2,931.6,7.5,594,13573,0.00,0.00,10.98,1.226,6,0.000,0.000,2266,1903,1279,0,0,0,0,0,0,28.83,28.83,24.72
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$STATE,22906,end climb,SURFACE_DEPTH_REACHED
$STATE,22907,begin surface coast
$FINISH,0.7,1.017870
$STATE,22928,end surface coast,CONTROL_FINISHED_OK
$STATE,22928,begin surface
$SM_CCo,23002,0.00,0.000,0,0,492,470.24
$SM_GC,1.41,5.65,0.00,0.00,0.044,0.000,0.000,60,1913,492,-6.39,-0.31,470.24,0,0,0,0,0,0,26.43,28.83,28.83
$IRIDIUM_FIX,1740.58,12415.94,121112,050521
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.55
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,4004544
$24V_AH,23.4,7.588
$10V_AH,10.3,6.333
$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,14.525,193.825,560.500,0.000,0.000,0.000,0.000,335.450,0.000,0.000,12.250,3772.191,15428.473,731.296,3317.370,249.352,0.000,2606.845,0.000,2833.761,0.000,0.542,0.000
$DEVICE_MAMPS,247.860,54.315,1420.605,0.000,0.000,0.000,0.000,138.465,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22957.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.130,0.000,0.000,0.000
$MEM,327460
$DATA_FILE_SIZE,40052,1052
$CAP_FILE_SIZE,256709,0
$CFSIZE,260034560,248950784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.791, 64.6,1
$GPS,121112,174705,1748.142,12418.551,40,1.0,40,-2.0