version: 66.11
glider: 129
mission: 4
dive: 51
start: 11 15 112 4 11 22
data:
$ID,129
$MISSION,4
$DIVE,51
$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,-2710.198
$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,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$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,66
$R_STBD_OVSHOOT,71
$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
$GPS1,151112,040300,1747.585,12406.190,40,1.2,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.3
$GPS2,151112,041055,1747.585,12406.244,13,1.4,13,-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,276.1,236432,-13.2,-7.857,-16.86
$D_GRID,4817
$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,-0.51,-175.2,0.0,0.0,0,73,0.00,0.00,-53.05,0.000,2,0.000,0.000,51,1884,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.51,-175.2,3.1,-5.5,9,119,7.65,2.15,-28.62,0.000,4,0.248,0.049,1951,3313,3125,0,0,0,0,0,0,25.80,26.07,26.35
$GC,246,-0.38,-175.2,44.5,-28.1,34,254,0.22,2.03,0.00,0.000,6,0.149,0.028,2017,1914,3125,0,0,0,0,0,0,26.07,26.23,28.83
$GC,552,-0.29,-175.2,123.0,-20.8,51,558,0.00,2.03,0.00,0.000,4,0.000,0.036,2017,521,3124,0,0,0,0,0,0,28.83,26.38,28.83
$GC,784,-0.25,-175.2,163.2,-14.1,62,790,0.17,2.00,0.00,0.000,6,0.141,0.026,2061,1922,3125,0,0,0,0,0,0,26.34,26.47,28.83
$GC,1097,-0.29,-175.2,187.7,-6.5,78,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1923,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1399,-0.33,-175.2,207.8,-6.5,93,1405,0.00,2.05,0.00,0.000,4,0.000,0.034,2061,519,3126,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1443,-0.38,-175.2,210.8,-6.4,95,1449,0.12,2.00,0.00,0.000,6,0.091,0.026,1993,1931,3126,0,0,0,0,0,0,26.55,26.58,28.83
$GC,1766,-0.35,-175.2,245.8,-10.9,111,1768,0.12,0.00,0.00,0.000,6,0.145,0.000,2029,1932,3125,0,0,0,0,0,0,26.50,28.83,28.83
$GC,2067,-0.38,-175.2,267.2,-6.7,126,2073,0.00,2.05,0.00,0.000,4,0.000,0.034,2029,527,3125,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2099,-0.41,-175.2,269.0,-6.9,127,2104,0.00,2.00,0.00,0.000,6,0.000,0.026,2022,1935,3125,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2412,-0.43,-175.2,292.0,-7.1,143,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1935,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,-0.46,-175.2,313.7,-7.3,158,2718,0.00,2.05,0.00,0.000,4,0.000,0.034,2022,530,3123,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2745,-0.48,-175.2,315.6,-7.5,159,2750,0.00,1.98,0.00,0.000,6,0.000,0.026,2018,1924,3123,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3058,-0.50,-175.2,340.8,-7.8,175,3064,0.12,2.05,0.00,0.000,4,0.096,0.034,1948,522,3122,0,0,0,0,0,0,26.65,26.64,28.83
$GC,3121,-0.48,-175.2,348.5,-10.9,178,3127,0.15,2.00,0.00,0.000,6,0.148,0.028,1986,1918,3122,0,0,0,0,0,0,26.53,26.66,28.83
$GC,3444,-0.48,-175.2,380.2,-9.7,194,3450,0.00,2.05,0.00,0.000,4,0.000,0.041,1973,3315,3120,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3487,-0.48,-175.2,384.4,-9.9,196,3492,0.00,1.98,0.00,0.000,6,0.000,0.027,1973,1922,3120,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3809,-0.47,-175.2,418.0,-10.1,212,3815,0.00,2.03,0.00,0.000,4,0.000,0.036,1973,524,3118,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3857,-0.45,-175.2,422.6,-10.5,214,3862,0.00,2.00,0.00,0.000,6,0.000,0.028,1963,1926,3117,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4174,-0.44,-175.2,453.6,-8.8,230,4177,0.12,0.00,-0.10,0.000,6,0.147,0.000,1999,1927,3139,0,0,0,0,0,0,26.57,28.83,26.54
$GC,4475,-0.46,-175.2,472.5,-6.2,245,4480,0.00,2.05,0.00,0.000,4,0.000,0.038,1999,535,3139,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4513,-0.49,-175.2,474.0,-6.3,246,4520,0.00,2.03,0.00,0.000,6,0.000,0.028,1993,1930,3139,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4818,-0.50,-175.2,495.2,-6.6,262,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1930,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-0.52,-175.2,516.1,-7.2,277,5125,0.00,2.08,0.00,0.000,4,0.000,0.039,1992,529,3135,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5157,-0.54,-175.2,518.0,-7.2,278,5163,0.00,2.03,0.00,0.000,6,0.000,0.030,1987,1933,3135,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5462,-0.56,-175.2,542.1,-7.3,294,5467,0.00,2.08,0.00,0.000,4,0.000,0.038,1987,531,3133,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5508,-0.57,-175.2,545.5,-7.6,296,5514,0.00,2.03,0.00,0.000,6,0.000,0.030,1978,1935,3132,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5827,-0.57,-175.2,568.7,-6.9,312,5832,0.00,2.05,0.00,0.000,4,0.000,0.044,1968,3318,3130,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5858,-0.57,-175.2,570.2,-6.9,313,5864,0.00,2.00,0.00,0.000,6,0.000,0.029,1968,1929,3130,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6172,-0.57,-175.2,594.3,-7.6,329,6177,0.00,2.05,0.00,0.000,4,0.000,0.040,1968,527,3128,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6243,-0.57,-175.2,599.7,-8.3,332,6248,0.00,2.03,0.00,0.000,6,0.000,0.031,1959,1926,3128,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6556,-0.56,-175.2,626.9,-8.5,343,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1927,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,-0.56,-175.2,651.4,-8.0,353,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1927,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7155,-0.56,-175.2,676.0,-8.3,363,7160,0.00,2.05,0.00,0.000,4,0.000,0.045,1948,3320,3123,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7181,-0.56,-175.2,676.0,-8.3,363,7189,0.00,2.00,0.00,0.000,6,0.000,0.031,1948,1922,3122,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7488,-0.54,-175.2,706.3,-9.4,374,7493,0.00,2.05,0.00,0.000,4,0.000,0.041,1948,526,3121,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7644,-0.52,-175.2,722.1,-10.4,379,7650,0.12,2.03,0.00,0.000,6,0.158,0.031,1974,1921,3120,0,0,0,0,0,0,26.55,26.68,28.83
$GC,7974,-0.53,-175.2,748.0,-7.5,390,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1922,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8272,-0.55,-175.2,769.6,-7.2,400,8277,0.00,2.08,0.00,0.000,4,0.000,0.041,1974,532,3117,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8306,-0.56,-175.2,772.2,-7.4,401,8311,0.00,2.05,0.00,0.000,6,0.000,0.031,1966,1933,3117,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8639,-0.56,-175.2,797.0,-7.2,412,8645,0.00,2.08,0.00,0.000,4,0.000,0.046,1956,3325,3116,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8672,-0.56,-175.2,799.4,-7.2,413,8677,0.00,2.05,0.00,0.000,6,0.000,0.031,1956,1918,3116,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9005,-0.56,-175.2,825.3,-7.8,424,9010,0.00,2.05,0.00,0.000,4,0.000,0.042,1956,530,3114,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9067,-0.56,-175.2,830.8,-8.3,426,9072,0.00,2.05,0.00,0.000,6,0.000,0.033,1947,1927,3114,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9401,-0.56,-175.2,857.8,-8.1,437,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1926,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9700,-0.56,-175.2,880.9,-7.4,447,9705,0.00,2.10,0.00,0.000,4,0.000,0.042,1948,523,3112,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9751,-0.56,-175.2,883.5,-7.5,448,9757,0.00,2.05,0.00,0.000,6,0.000,0.032,1938,1926,3111,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10065,-0.55,-175.2,908.4,-7.4,459,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1926,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10365,-0.53,-175.2,930.5,-7.5,469,10371,0.00,2.10,0.00,0.000,4,0.000,0.042,1937,526,3109,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10402,-0.52,-175.2,933.5,-7.8,470,10409,0.15,2.05,0.00,0.000,6,0.157,0.034,1970,1924,3109,0,0,0,0,0,0,26.53,26.67,28.83
$GC,10732,-0.55,-175.2,953.6,-5.9,481,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11032,-0.57,-175.2,972.6,-6.3,491,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1925,3108,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11329,begin apogee
$GC,11333,-0.17,0.0,991.6,-6.3,501,11483,0.30,0.00,141.43,1.418,6,0.121,0.000,2079,1925,2408,0,0,0,0,0,0,26.55,28.83,23.77
$STATE,11485,end apogee,CONTROL_FINISHED_OK
$STATE,11485,begin climb
$GC,11486,0.51,175.2,997.4,0.0,506,11647,0.65,2.30,150.65,1.371,4,0.086,0.045,2303,3288,1693,0,0,0,0,0,0,24.83,24.35,23.45
$GC,11706,0.47,196.5,987.1,7.2,513,11731,0.00,2.17,18.95,1.273,6,0.000,0.033,2313,1901,1608,0,0,0,0,0,0,28.83,25.10,23.79
$GC,12059,0.45,196.5,956.1,8.3,525,12064,0.00,2.17,0.00,0.000,4,0.000,0.044,2309,3293,1601,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12101,0.43,196.5,953.1,8.4,526,12107,0.17,2.10,0.00,0.000,6,0.166,0.034,2277,1888,1600,0,0,0,0,0,0,25.76,25.91,28.83
$GC,12425,0.46,261.6,932.6,5.9,537,12489,0.00,2.33,55.95,1.351,4,0.000,0.044,2277,3288,1343,0,0,0,0,0,0,28.83,24.85,23.94
$GC,12520,0.48,315.1,926.6,6.2,540,12578,0.00,2.15,48.28,1.327,6,0.000,0.034,2284,1901,1123,0,0,0,0,0,0,28.83,25.31,23.77
$GC,12877,0.51,322.3,900.6,7.6,552,12888,0.00,2.25,6.38,1.068,4,0.000,0.044,2284,3293,1095,0,0,0,0,0,0,28.83,25.72,24.79
$GC,12911,0.54,322.3,897.8,8.0,553,12916,0.00,2.12,0.00,0.000,6,0.000,0.034,2288,1901,1093,0,0,0,0,0,0,28.83,25.80,28.83
$GC,13244,0.57,322.3,868.0,9.2,564,13246,0.10,0.00,0.00,0.000,6,0.120,0.000,2327,1899,1091,0,0,0,0,0,0,26.14,28.83,28.83
$GC,13543,0.57,322.3,833.4,11.5,574,13549,0.00,2.12,0.00,0.000,4,0.000,0.045,2327,3293,1091,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13579,0.57,322.3,829.2,11.7,575,13585,0.00,2.08,0.00,0.000,6,0.000,0.034,2336,1892,1090,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13908,0.57,322.3,787.8,12.6,586,13913,0.00,2.15,0.00,0.000,4,0.000,0.045,2336,3296,1090,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,21984,end climb,SURFACE_DEPTH_REACHED
$STATE,21984,begin surface coast
$FINISH,0.7,1.016595
$STATE,22001,end surface coast,CONTROL_FINISHED_OK
$STATE,22001,begin surface
$SM_CCo,22075,0.00,0.000,0,0,208,539.91
$SM_GC,1.32,6.25,0.00,0.00,0.041,0.000,0.000,56,1896,208,-6.41,-0.79,539.91,0,0,0,0,0,0,26.22,28.83,28.83
$IRIDIUM_FIX,1742.84,12407.78,141112,212159
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.77
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,4000704
$24V_AH,23.5,9.519
$10V_AH,10.1,7.866
$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,17.050,186.400,594.500,0.000,0.000,0.000,0.000,312.350,0.000,0.000,14.089,3207.608,15633.784,723.005,2729.294,245.237,0.000,2361.632,0.000,2287.891,0.000,0.541,0.000
$DEVICE_MAMPS,247.860,48.960,1417.545,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22017.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.499,0.000,0.000,0.000
$MEM,327468
$DATA_FILE_SIZE,36631,995
$CAP_FILE_SIZE,244277,0
$CFSIZE,260034560,247787520
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156, 55.2,1
$GPS,151112,102035,1748.441,12404.516,42,1.2,42,-2.0