version: 66.11
glider: 129
mission: 4
dive: 66
start: 11 19 112 6 13 3
data:
$ID,129
$MISSION,4
$DIVE,66
$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,-2729.074
$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,64
$R_STBD_OVSHOOT,81
$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
$GPS1,191112,060453,1755.945,12336.684,25,1.0,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.9
$GPS2,191112,061237,1756.058,12336.694,14,1.0,14,-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,282.6,183325,-13.2,-7.857,-16.86
$D_GRID,5326
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.51,-175.2,0.0,0.0,0,80,0.00,0.00,-60.08,0.000,2,0.000,0.000,60,1930,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.51,-175.2,3.4,-6.1,10,126,7.57,2.08,-25.15,0.000,4,0.245,0.052,1955,3296,3126,0,0,0,0,0,0,25.74,26.06,26.34
$GC,285,-0.39,-175.2,55.9,-27.1,36,291,0.20,1.98,0.00,0.000,6,0.151,0.025,2010,1914,3126,0,0,0,0,0,0,26.06,26.26,28.83
$GC,608,-0.28,-175.2,139.7,-22.4,52,614,0.12,2.00,0.00,0.000,4,0.164,0.031,2051,531,3126,0,0,0,0,0,0,26.25,26.39,28.83
$GC,815,-0.28,-175.2,165.8,-10.1,62,820,0.00,1.98,0.00,0.000,6,0.000,0.024,2044,1927,3127,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1133,-0.29,-175.2,194.5,-8.7,78,1138,0.00,2.03,0.00,0.000,4,0.000,0.032,2043,532,3127,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1209,-0.31,-175.2,199.8,-8.3,81,1217,0.00,1.98,0.00,0.000,6,0.000,0.024,2034,1930,3127,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1516,-0.32,-175.2,226.8,-8.1,97,1522,0.00,2.03,0.00,0.000,4,0.000,0.031,2035,532,3127,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1609,-0.34,-175.2,234.0,-8.7,101,1615,0.00,1.98,0.00,0.000,6,0.000,0.024,2026,1933,3127,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1922,-0.35,-175.2,259.0,-7.6,117,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1933,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,-0.37,-175.2,281.5,-7.6,132,2228,0.00,2.03,0.00,0.000,4,0.000,0.032,2025,537,3129,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2260,-0.39,-175.2,283.4,-7.8,133,2267,0.00,1.95,0.00,0.000,6,0.000,0.024,2017,1938,3126,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2566,-0.40,-175.2,307.4,-7.5,149,2571,0.00,2.05,0.00,0.000,4,0.000,0.033,2017,526,3126,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2629,-0.42,-175.2,312.7,-8.2,152,2635,0.00,2.00,0.00,0.000,6,0.000,0.024,2009,1936,3126,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2952,-0.43,-175.2,338.3,-7.8,168,2958,0.00,2.05,0.00,0.000,4,0.000,0.032,2008,527,3125,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2996,-0.45,-175.2,342.0,-7.9,170,3002,0.00,2.00,0.00,0.000,6,0.000,0.024,2001,1935,3124,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3319,-0.46,-175.2,366.9,-7.4,186,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.47,-175.2,388.5,-7.2,201,3625,0.00,2.05,0.00,0.000,4,0.000,0.034,2001,531,3121,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3663,-0.48,-175.2,391.9,-7.5,203,3668,0.00,2.00,0.00,0.000,6,0.000,0.024,2001,1934,3120,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3986,-0.49,-175.2,413.6,-6.6,219,3991,0.00,2.00,0.00,0.000,4,0.000,0.038,1994,3319,3118,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4063,-0.52,-175.2,417.8,-6.6,222,4071,0.00,1.98,0.00,0.000,6,0.000,0.025,1994,1926,3118,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4369,-0.53,-175.2,439.9,-7.2,238,4375,0.00,1.98,0.00,0.000,4,0.000,0.034,1994,534,3116,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4457,-0.55,-175.2,446.4,-7.9,242,4463,0.00,1.98,-0.08,0.000,6,0.000,0.024,1989,1924,3138,0,0,0,0,0,0,28.83,26.66,26.16
$GC,4775,-0.56,-175.2,471.8,-7.9,258,4780,0.00,2.03,0.00,0.000,4,0.000,0.035,1989,527,3137,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4801,-0.56,-175.2,473.8,-8.2,259,4807,0.00,2.00,0.00,0.000,6,0.000,0.026,1988,1927,3140,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5119,-0.57,-175.2,499.3,-7.5,275,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1928,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5421,-0.58,-175.2,522.1,-7.6,290,5427,0.10,2.05,0.00,0.000,4,0.116,0.038,1932,3318,3135,0,0,0,0,0,0,26.65,26.61,28.83
$GC,5447,-0.58,-175.2,524.3,-7.8,291,5453,0.00,1.98,0.00,0.000,6,0.000,0.027,1931,1917,3134,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5765,-0.54,-175.2,559.7,-11.0,307,5772,0.12,2.03,0.00,0.000,4,0.161,0.035,1972,530,3132,0,0,0,0,0,0,26.50,26.64,28.83
$GC,5864,-0.52,-175.2,567.5,-9.4,311,5871,0.00,2.00,0.00,0.000,6,0.000,0.026,1964,1929,3131,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6168,-0.52,-175.2,594.9,-8.5,327,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1930,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-0.52,-175.2,619.6,-8.0,338,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1930,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6770,-0.52,-175.2,642.3,-7.4,348,6776,0.00,2.05,0.00,0.000,4,0.000,0.037,1964,541,3126,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6842,-0.52,-175.2,647.6,-7.8,350,6847,0.00,2.00,0.00,0.000,6,0.000,0.028,1954,1934,3126,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7165,-0.51,-175.2,674.1,-8.1,361,7171,0.00,2.05,0.00,0.000,4,0.000,0.037,1954,541,3124,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7247,-0.49,-175.2,679.9,-8.5,363,7255,0.12,2.03,0.00,0.000,6,0.157,0.028,1982,1928,3124,0,0,0,0,0,0,26.48,26.66,28.83
$GC,7563,-0.51,-175.2,701.8,-6.4,374,7569,0.00,2.05,0.00,0.000,4,0.000,0.041,1972,3315,3122,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7597,-0.53,-175.2,704.0,-6.4,375,7602,0.00,2.00,0.00,0.000,6,0.000,0.028,1972,1932,3122,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7930,-0.53,-175.2,727.8,-7.2,386,7935,0.00,2.05,0.00,0.000,4,0.000,0.038,1972,531,3120,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8022,-0.53,-175.2,735.5,-8.1,389,8028,0.00,2.03,0.00,0.000,6,0.000,0.028,1963,1931,3120,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8357,-0.53,-175.2,761.4,-7.6,400,8362,0.00,2.05,0.00,0.000,4,0.000,0.043,1954,3311,3117,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8393,-0.53,-175.2,763.9,-7.5,401,8398,0.00,2.00,0.00,0.000,6,0.000,0.028,1954,1926,3118,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8721,-0.53,-175.2,787.7,-6.9,412,8727,0.00,2.03,0.00,0.000,4,0.000,0.038,1953,528,3116,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8888,-0.52,-175.2,800.4,-8.4,417,8894,0.00,2.05,0.00,0.000,6,0.000,0.029,1945,1929,3116,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9207,-0.50,-175.2,828.5,-8.8,428,9214,0.12,2.08,0.00,0.000,4,0.154,0.037,1988,530,3114,0,0,0,0,0,0,26.50,26.60,28.83
$GC,9236,-0.49,-175.2,828.5,-8.8,428,9242,0.00,2.03,0.00,0.000,6,0.000,0.028,1988,1931,3114,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9543,-0.52,-175.2,851.5,-6.7,439,9548,0.00,2.08,0.00,0.000,4,0.000,0.039,1988,531,3113,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9571,-0.55,-175.2,851.5,-6.7,439,9577,0.00,2.03,0.00,0.000,6,0.000,0.028,1980,1935,3113,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9878,-0.58,-175.2,875.5,-7.1,450,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1935,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10176,-0.60,-175.2,896.1,-6.8,460,10182,0.10,2.10,0.00,0.000,4,0.116,0.038,1935,528,3111,0,0,0,0,0,0,26.65,26.60,28.83
$GC,10244,-0.60,-175.2,902.0,-8.0,462,10249,0.00,2.00,0.00,0.000,6,0.000,0.028,1925,1924,3110,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10572,-0.57,-175.2,933.1,-9.5,473,10577,0.00,2.08,0.00,0.000,4,0.000,0.039,1925,529,3110,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10613,-0.54,-175.2,936.4,-9.7,474,10619,0.17,2.03,0.00,0.000,6,0.148,0.029,1967,1926,3109,0,0,0,0,0,0,26.41,26.63,28.83
$GC,10938,-0.56,-175.2,960.7,-6.9,485,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1926,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11237,-0.58,-175.2,981.9,-7.2,495,11242,0.00,2.08,0.00,0.000,4,0.000,0.041,1968,530,3107,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11270,-0.59,-175.2,984.8,-7.4,496,11276,0.00,2.05,0.00,0.000,6,0.000,0.029,1960,1936,3108,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,11361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11362,begin apogee
$GC,11365,-0.17,0.0,992.1,-8.0,499,11515,0.35,0.00,141.35,1.418,6,0.119,0.000,2081,1936,2409,0,0,0,0,0,0,26.42,28.83,23.80
$STATE,11517,end apogee,CONTROL_FINISHED_OK
$STATE,11517,begin climb
$GC,11518,0.51,175.2,998.9,0.0,504,11680,0.62,2.40,150.75,1.375,4,0.086,0.042,2310,521,1693,0,0,0,0,0,0,24.83,24.24,23.37
$GC,11721,0.50,252.1,992.1,5.5,510,11797,0.00,2.15,67.45,1.341,6,0.000,0.027,2310,1908,1380,0,0,0,0,0,0,28.83,24.87,23.21
$GC,12119,0.50,252.1,952.4,9.5,524,12124,0.00,2.10,0.00,0.000,4,0.000,0.041,2310,3284,1371,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12286,0.48,252.1,936.7,10.4,529,12292,0.00,2.05,0.00,0.000,6,0.000,0.031,2320,1904,1370,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12605,0.48,252.1,903.7,9.9,540,12611,0.00,2.10,0.00,0.000,4,0.000,0.041,2320,3285,1369,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12648,0.47,252.1,900.0,10.2,541,12653,0.15,2.05,0.00,0.000,6,0.164,0.031,2289,1900,1368,0,0,0,0,0,0,26.01,26.20,28.83
$GC,12972,0.49,254.0,872.3,7.8,552,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,1368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13272,0.51,275.2,850.4,7.2,562,13296,0.00,2.22,19.05,1.283,4,0.000,0.041,2289,3291,1286,0,0,0,0,0,0,28.83,25.77,24.84
$GC,13327,0.54,297.5,848.2,7.2,563,13353,0.00,2.10,20.77,1.269,6,0.000,0.031,2297,1893,1198,0,0,0,0,0,0,28.83,25.89,24.39
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$STATE,21716,end climb,SURFACE_DEPTH_REACHED
$STATE,21716,begin surface coast
$FINISH,0.7,1.005173
$STATE,21745,end surface coast,CONTROL_FINISHED_OK
$STATE,21745,begin surface
$SM_CCo,21758,6.78,0.053,0,0,779,400.08
$SM_GC,3.03,6.07,0.00,6.78,0.047,0.000,0.053,64,1907,779,-6.40,-0.48,400.08,0,0,0,0,0,0,26.54,28.83,26.51
$IRIDIUM_FIX,1749.63,12339.52,181112,232340
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.15
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3994944
$24V_AH,23.2,12.420
$10V_AH,10.2,10.062
$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,16.750,196.225,475.950,6.775,0.000,0.000,0.000,299.800,0.000,0.000,15.204,3409.986,14995.542,673.647,2882.722,257.631,0.000,2357.635,0.000,2454.090,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,52.020,1418.310,52.785,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21761.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.570,0.000,0.000,0.000
$MEM,327452
$DATA_FILE_SIZE,36639,1004
$CAP_FILE_SIZE,251939,0
$CFSIZE,260034560,246067200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 30.0,1
$GPS,191112,121706,1757.203,12334.375,40,0.9,40,-2.0