version: 66.11
glider: 129
mission: 4
dive: 52
start: 11 15 112 10 28 47
data:
$ID,129
$MISSION,4
$DIVE,52
$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,-2711.4568
$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,61
$R_STBD_OVSHOOT,62
$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
$GPS1,151112,102035,1748.441,12404.516,42,1.2,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-56.2
$GPS2,151112,102819,1748.317,12404.491,13,1.4,13,-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,267.0,233077,-13.2,-7.857,-16.86
$D_GRID,4783
$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,-175.2,0.0,0.0,0,85,0.00,0.00,-65.32,0.000,2,0.000,0.000,48,1889,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.51,-175.2,3.2,-5.4,11,132,7.57,2.22,-30.42,0.000,4,0.243,0.057,1955,3321,3125,0,0,0,0,0,0,25.79,26.07,26.36
$GC,299,-0.38,-175.2,51.9,-28.3,39,307,0.20,2.03,0.00,0.000,6,0.153,0.028,2011,1918,3124,0,0,0,0,0,0,26.10,26.27,28.83
$GC,605,-0.29,-175.2,133.9,-21.4,55,610,0.12,2.03,0.00,0.000,4,0.170,0.034,2051,530,3124,0,0,0,0,0,0,26.27,26.39,28.83
$GC,836,-0.29,-175.2,163.0,-9.5,66,843,0.00,2.00,0.00,0.000,6,0.000,0.026,2043,1935,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1150,-0.30,-175.2,191.6,-8.9,82,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1935,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.32,-175.2,215.7,-7.8,97,1457,0.00,2.05,0.00,0.000,4,0.000,0.034,2043,528,3125,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1559,-0.34,-175.2,224.5,-8.5,102,1564,0.00,2.00,0.00,0.000,6,0.000,0.026,2035,1938,3125,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1877,-0.37,-175.2,249.7,-7.2,118,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1939,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2178,-0.40,-175.2,267.8,-5.8,133,2183,0.00,2.05,0.00,0.000,4,0.000,0.034,2035,531,3123,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2215,-0.43,-175.2,269.3,-5.9,134,2222,0.00,1.98,0.00,0.000,6,0.000,0.026,2028,1937,3123,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2521,-0.46,-175.2,290.0,-6.7,150,2523,0.10,0.00,0.00,0.000,6,0.108,0.000,1978,1937,3123,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2821,-0.43,-175.2,319.6,-10.4,165,2827,0.00,2.05,0.00,0.000,4,0.000,0.034,1978,532,3122,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2844,-0.41,-175.2,322.2,-10.5,166,2851,0.15,2.00,0.00,0.000,6,0.137,0.027,2013,1943,3122,0,0,0,0,0,0,26.54,26.66,28.83
$GC,3169,-0.43,-175.2,345.4,-7.3,182,3174,0.00,2.08,0.00,0.000,4,0.000,0.034,2013,521,3121,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3201,-0.45,-175.2,347.1,-7.4,183,3206,0.00,2.00,0.00,0.000,6,0.000,0.027,2005,1925,3121,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3513,-0.47,-175.2,371.4,-7.2,199,3518,0.00,2.05,0.00,0.000,4,0.000,0.042,1998,3322,3119,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3551,-0.49,-175.2,372.9,-7.0,200,3557,0.00,2.00,0.00,0.000,6,0.000,0.027,1998,1914,3119,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3856,-0.50,-175.2,396.2,-7.2,216,3861,0.00,2.00,0.00,0.000,4,0.000,0.036,1998,532,3117,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4002,-0.50,-175.2,408.0,-8.1,223,4008,0.00,2.00,0.00,0.000,6,0.000,0.028,1990,1935,3116,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4319,-0.50,-175.2,433.4,-8.0,239,4326,0.00,2.08,-0.08,0.000,4,0.000,0.050,1989,521,3142,0,0,0,0,0,0,28.83,26.65,26.50
$GC,4353,-0.50,-175.2,435.3,-8.0,240,4358,0.00,2.00,0.00,0.000,6,0.000,0.028,1988,1931,3142,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4666,-0.50,-175.2,458.4,-6.8,256,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4967,-0.51,-175.2,476.2,-5.8,271,4972,0.00,2.08,0.00,0.000,4,0.000,0.037,1988,523,3140,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5049,-0.51,-175.2,482.2,-7.2,275,5054,0.00,2.03,0.00,0.000,6,0.000,0.029,1988,1935,3140,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5373,-0.53,-175.2,504.0,-7.1,291,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1935,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5672,-0.54,-175.2,526.5,-7.6,306,5678,0.00,2.08,0.00,0.000,4,0.000,0.038,1988,531,3135,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5739,-0.54,-175.2,531.9,-8.3,309,5745,0.00,2.00,0.00,0.000,6,0.000,0.030,1989,1930,3135,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6057,-0.56,-175.2,555.7,-7.0,325,6062,0.00,2.05,0.00,0.000,4,0.000,0.045,1988,3329,3133,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6090,-0.58,-175.2,557.2,-6.9,326,6096,0.10,2.03,0.00,0.000,6,0.117,0.029,1943,1918,3133,0,0,0,0,0,0,26.63,26.70,28.83
$GC,6403,-0.55,-175.2,586.7,-9.1,342,6408,0.00,2.03,0.00,0.000,4,0.000,0.040,1943,532,3130,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6466,-0.52,-175.2,592.8,-9.6,345,6472,0.12,2.03,0.00,0.000,6,0.159,0.031,1968,1933,3130,0,0,0,0,0,0,26.55,26.67,28.83
$GC,6780,-0.52,-175.2,615.3,-7.0,357,6785,0.00,2.08,0.00,0.000,4,0.000,0.039,1968,528,3128,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6816,-0.52,-175.2,617.9,-7.2,358,6822,0.00,2.03,0.00,0.000,6,0.000,0.031,1960,1927,3129,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7144,-0.52,-175.2,644.3,-7.9,369,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1927,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7444,-0.52,-175.2,670.1,-8.7,379,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1927,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7743,-0.52,-175.2,695.9,-8.6,389,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1927,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8044,-0.52,-175.2,721.0,-8.2,399,8050,0.00,2.08,0.00,0.000,4,0.000,0.041,1959,533,3122,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8080,-0.52,-175.2,723.8,-8.3,400,8086,0.00,2.03,0.00,0.000,6,0.000,0.032,1950,1923,3122,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8409,-0.51,-175.2,751.1,-8.2,411,8414,0.00,2.08,0.00,0.000,4,0.000,0.041,1950,529,3121,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8456,-0.49,-175.2,754.0,-8.4,412,8462,0.12,2.05,0.00,0.000,6,0.155,0.032,1976,1934,3121,0,0,0,0,0,0,26.54,26.67,28.83
$GC,8776,-0.51,-175.2,777.1,-6.9,423,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1935,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9075,-0.53,-175.2,796.9,-6.6,433,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1935,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,-0.55,-175.2,816.4,-6.4,443,9381,0.00,2.05,0.00,0.000,4,0.000,0.048,1967,3319,3117,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9412,-0.58,-175.2,818.7,-6.4,444,9418,0.00,2.03,0.00,0.000,6,0.000,0.031,1967,1924,3117,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9741,-0.59,-175.2,842.5,-7.3,455,9746,0.00,2.08,0.00,0.000,4,0.000,0.042,1967,517,3115,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9807,-0.59,-175.2,847.7,-7.7,457,9813,0.00,2.05,0.00,0.000,6,0.000,0.033,1958,1934,3115,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10136,-0.59,-175.2,872.5,-7.2,468,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1935,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10436,-0.59,-175.2,892.8,-6.4,478,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1935,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10736,-0.59,-175.2,909.5,-5.4,488,10741,0.00,2.12,0.00,0.000,4,0.000,0.042,1958,520,3112,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10777,-0.59,-175.2,911.4,-5.4,489,10782,0.00,2.05,0.00,0.000,6,0.000,0.033,1949,1934,3112,0,0,0,0,0,0,28.83,26.67,28.83
$GC,11101,-0.59,-175.2,930.9,-6.0,500,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1934,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11399,-0.59,-175.2,949.5,-6.3,510,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1934,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11700,-0.59,-175.2,968.9,-6.6,520,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1934,3110,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11999,begin apogee
$GC,12002,-0.17,0.0,990.2,-7.3,530,12152,0.38,0.00,141.75,1.409,6,0.123,0.000,2077,1935,2409,0,0,0,0,0,0,26.52,28.83,23.79
$STATE,12153,end apogee,CONTROL_FINISHED_OK
$STATE,12154,begin climb
$GC,12155,0.51,175.2,995.6,0.0,535,12316,0.65,2.28,150.62,1.364,4,0.086,0.046,2301,3299,1693,0,0,0,0,0,0,24.84,24.34,23.46
$GC,12408,0.48,175.2,981.8,8.4,543,12414,0.00,2.15,0.00,0.000,6,0.000,0.033,2311,1899,1687,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12727,0.46,175.2,950.6,9.7,554,12732,0.00,2.17,0.00,0.000,4,0.000,0.044,2311,3295,1684,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12760,0.43,175.2,947.1,9.8,555,12765,0.15,2.10,0.00,0.000,6,0.171,0.034,2283,1893,1683,0,0,0,0,0,0,25.82,25.97,28.83
$GC,13092,0.43,175.2,918.2,8.5,566,13097,0.00,2.17,0.00,0.000,4,0.000,0.046,2288,3295,1682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13133,0.43,175.2,915.2,8.7,567,13138,0.00,2.08,0.00,0.000,6,0.000,0.035,2289,1892,1682,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13456,0.43,175.2,885.5,8.9,578,13462,0.00,2.15,0.00,0.000,4,0.000,0.046,2289,3295,1681,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13507,0.43,175.2,882.6,8.9,579,13513,0.00,2.05,0.00,0.000,6,0.000,0.034,2298,1897,1681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13821,0.42,175.2,852.1,9.2,590,13826,0.00,2.10,0.00,0.000,4,0.000,0.046,2308,504,1680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13842,0.41,175.2,852.1,9.2,590,13848,0.15,2.08,0.00,0.000,6,0.168,0.032,2269,1918,1678,0,0,0,0,0,0,26.26,26.44,28.83
$GC,14157,0.43,184.7,825.8,7.6,601,14171,0.00,2.12,7.07,1.111,4,0.000,0.047,2269,3286,1655,0,0,0,0,0,0,28.83,26.25,25.22
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$STATE,23189,end climb,SURFACE_DEPTH_REACHED
$STATE,23189,begin surface coast
$FINISH,0.6,1.021407
$STATE,23201,end surface coast,CONTROL_FINISHED_OK
$STATE,23201,begin surface
$SM_CCo,23274,0.00,0.000,0,0,208,539.91
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$IRIDIUM_FIX,1742.84,12407.78,151112,040440
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.05
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,4000320
$24V_AH,23.5,9.721
$10V_AH,10.1,8.013
$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,17.075,182.900,596.300,0.000,0.000,0.000,0.000,305.900,0.000,0.000,13.783,3381.619,16493.955,733.781,2862.599,258.403,0.000,2424.058,0.000,2427.166,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,57.375,1409.130,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23217.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.266,0.000,0.000,0.000
$MEM,327496
$DATA_FILE_SIZE,40011,1041
$CAP_FILE_SIZE,253067,0
$CFSIZE,260034560,247664640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157, 64.0,1
$GPS,151112,165800,1748.441,12403.182,43,1.2,43,-2.0