version: 66.11
glider: 129
mission: 4
dive: 69
start: 11 20 112 1 11 33
data:
$ID,129
$MISSION,4
$DIVE,69
$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,400
$T_MISSION,420
$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,-2732.8445
$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,2130
$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,0.0070000002
$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,65
$R_STBD_OVSHOOT,67
$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
$GPS1,201112,010353,1758.537,12328.957,25,0.9,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-61.7
$GPS2,201112,011107,1758.598,12328.970,9,2.0,9,-2.0
$SPEED_LIMITS,0.143,0.264
$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,287.6,169244,-13.9,-8.250,-17.36
$D_GRID,4455
$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,-0.53,-175.2,0.0,0.0,0,80,0.00,0.00,-59.75,0.000,2,0.000,0.000,56,1895,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.53,-175.2,3.2,-5.1,10,125,7.60,2.17,-28.80,0.000,4,0.248,0.050,1936,3320,3125,0,0,0,0,0,0,25.72,26.06,26.35
$GC,243,-0.43,-175.2,46.5,-30.9,34,249,0.17,2.03,0.00,0.000,6,0.161,0.026,1983,1908,3125,0,0,0,0,0,0,26.01,26.22,28.83
$GC,556,-0.34,-175.2,141.5,-26.7,50,563,0.12,1.98,0.00,0.000,4,0.172,0.030,2022,524,3125,0,0,0,0,0,0,26.22,26.36,28.83
$GC,700,-0.31,-175.2,166.1,-16.1,57,706,0.00,2.03,0.00,0.000,6,0.000,0.024,2014,1937,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1023,-0.30,-175.2,206.9,-10.9,73,1029,0.00,2.05,0.00,0.000,4,0.000,0.032,2013,525,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1116,-0.30,-175.2,216.3,-11.5,77,1121,0.00,2.00,0.00,0.000,6,0.000,0.023,2004,1937,3126,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1428,-0.30,-175.2,254.7,-11.6,93,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1938,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-0.30,-175.2,285.0,-10.1,108,1734,0.00,2.05,0.00,0.000,4,0.000,0.032,2004,526,3126,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1792,-0.30,-175.2,291.8,-10.9,111,1797,0.12,2.00,0.00,0.000,6,0.147,0.024,2033,1928,3126,0,0,0,0,0,0,26.45,26.59,28.83
$GC,2115,-0.32,-175.2,316.9,-7.6,127,2121,0.00,2.03,0.00,0.000,4,0.000,0.038,2024,3313,3125,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2144,-0.35,-175.2,318.8,-7.6,128,2149,0.00,1.98,0.00,0.000,6,0.000,0.024,2024,1913,3125,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2462,-0.38,-175.2,343.2,-6.8,144,2467,0.00,1.98,0.00,0.000,4,0.000,0.033,2024,536,3124,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2519,-0.40,-175.2,346.1,-6.7,146,2525,0.00,1.98,0.00,0.000,6,0.000,0.024,2016,1935,3124,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2825,-0.42,-175.2,368.4,-7.4,162,2830,0.00,2.00,0.00,0.000,4,0.000,0.038,2006,3313,3123,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2892,-0.45,-175.2,373.3,-7.6,165,2897,0.00,1.98,0.00,0.000,6,0.000,0.025,2006,1916,3122,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3210,-0.47,-175.2,395.8,-6.5,181,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1915,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3511,-0.49,-175.2,415.6,-6.6,196,3517,0.00,1.98,0.00,0.000,4,0.000,0.034,2006,532,3119,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3630,-0.51,-175.2,423.0,-7.2,201,3637,0.10,1.98,0.00,0.000,6,0.114,0.025,1954,1927,3118,0,0,0,0,0,0,26.57,26.64,28.83
$GC,3934,-0.49,-175.2,451.6,-9.1,217,3939,0.00,2.03,0.00,0.000,4,0.000,0.034,1953,527,3116,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3962,-0.47,-175.2,453.7,-9.4,218,3969,0.12,2.00,0.00,0.000,6,0.153,0.025,1979,1930,3115,0,0,0,0,0,0,26.48,26.65,28.83
$GC,4281,-0.47,-175.2,478.5,-7.5,234,4287,0.00,2.03,-0.08,0.000,4,0.000,0.053,1970,3311,3142,0,0,0,0,0,0,28.83,26.60,26.33
$GC,4308,-0.47,-175.2,480.1,-7.4,235,4313,0.00,1.98,0.00,0.000,6,0.000,0.026,1970,1922,3142,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4625,-0.47,-175.2,507.0,-8.6,251,4630,0.00,2.03,0.00,0.000,4,0.000,0.035,1970,524,3142,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4783,-0.47,-175.2,520.6,-9.5,258,4790,0.00,2.00,0.00,0.000,6,0.000,0.026,1961,1926,3142,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5089,-0.47,-175.2,548.9,-8.9,274,5095,0.00,2.05,0.00,0.000,4,0.000,0.035,1961,529,3140,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5141,-0.47,-175.2,552.9,-9.1,276,5146,0.00,2.00,0.00,0.000,6,0.000,0.026,1951,1928,3140,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5453,-0.46,-175.2,583.9,-9.4,292,5458,0.00,2.05,0.00,0.000,4,0.000,0.035,1951,532,3138,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5505,-0.45,-175.2,588.2,-9.6,294,5511,0.15,2.00,0.00,0.000,6,0.145,0.027,1986,1930,3137,0,0,0,0,0,0,26.48,26.65,28.83
$GC,5839,-0.47,-175.2,612.4,-6.8,308,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1930,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6139,-0.49,-175.2,631.8,-6.3,318,6144,0.00,2.05,0.00,0.000,4,0.000,0.041,1977,3321,3133,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6161,-0.51,-175.2,631.8,-6.3,318,6166,0.00,2.00,0.00,0.000,6,0.000,0.027,1977,1925,3133,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6475,-0.52,-175.2,654.1,-6.8,329,6480,0.00,2.00,0.00,0.000,4,0.000,0.037,1977,527,3130,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6676,-0.52,-175.2,668.7,-8.1,335,6681,0.00,2.00,0.00,0.000,6,0.000,0.027,1968,1927,3130,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6990,-0.52,-175.2,695.2,-8.1,346,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1927,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7288,-0.53,-175.2,720.4,-8.4,356,7295,0.00,2.08,0.00,0.000,4,0.000,0.037,1968,527,3127,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7341,-0.54,-175.2,723.4,-8.5,357,7347,0.00,2.00,0.00,0.000,6,0.000,0.028,1959,1923,3126,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7653,-0.54,-175.2,751.7,-8.3,368,7659,0.00,2.08,0.00,0.000,4,0.000,0.037,1959,520,3124,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7699,-0.54,-175.2,754.6,-8.3,369,7705,0.00,2.03,0.00,0.000,6,0.000,0.027,1950,1928,3125,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8018,-0.54,-175.2,781.4,-7.9,380,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1928,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8317,-0.54,-175.2,804.5,-7.8,390,8322,0.00,2.05,0.00,0.000,4,0.000,0.038,1950,533,3121,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8350,-0.54,-175.2,807.4,-8.0,391,8356,0.00,2.03,0.00,0.000,6,0.000,0.028,1941,1930,3121,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8685,-0.53,-175.2,836.3,-8.8,402,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1930,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8983,-0.53,-175.2,862.9,-8.9,412,8988,0.00,2.05,0.00,0.000,4,0.000,0.043,1930,3311,3119,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9004,-0.53,-175.2,862.9,-8.9,412,9009,0.00,2.00,0.00,0.000,6,0.000,0.029,1930,1926,3119,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9318,-0.52,-175.2,894.9,-9.7,423,9323,0.12,2.05,0.00,0.000,4,0.161,0.037,1971,532,3118,0,0,0,0,0,0,26.47,26.59,28.83
$GC,9425,-0.52,-175.2,903.1,-9.0,426,9430,0.00,2.03,0.00,0.000,6,0.000,0.028,1963,1935,3117,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9744,-0.53,-175.2,928.4,-7.3,437,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1935,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10043,-0.54,-175.2,949.4,-7.1,447,10049,0.00,2.10,0.00,0.000,4,0.000,0.040,1963,523,3115,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10131,-0.55,-175.2,954.4,-7.4,449,10137,0.00,2.03,0.00,0.000,6,0.000,0.028,1954,1924,3115,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10437,-0.55,-175.2,978.0,-6.9,460,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1924,3114,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10614,begin apogee
$GC,10618,-0.17,0.0,990.6,-7.0,466,10768,0.35,0.00,142.35,1.417,6,0.120,0.000,2073,1925,2409,0,0,0,0,0,0,26.41,28.83,23.80
$STATE,10770,end apogee,CONTROL_FINISHED_OK
$STATE,10770,begin climb
$GC,10771,0.53,175.2,995.4,0.0,471,10932,0.65,2.40,150.60,1.369,4,0.088,0.041,2312,512,1693,0,0,0,0,0,0,24.80,24.20,23.33
$GC,10974,0.52,221.2,986.2,6.8,477,11020,0.00,2.15,40.83,1.320,6,0.000,0.026,2308,1899,1507,0,0,0,0,0,0,28.83,24.84,23.36
$GC,11343,0.52,221.2,947.3,10.2,490,11348,0.00,2.15,0.00,0.000,4,0.000,0.041,2308,3285,1498,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11474,0.52,221.2,933.7,11.1,494,11480,0.00,2.08,0.00,0.000,6,0.000,0.031,2316,1901,1497,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11798,0.52,221.2,901.5,9.2,505,11803,0.00,2.12,0.00,0.000,4,0.000,0.040,2315,3286,1495,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11834,0.51,221.2,898.2,9.3,506,11841,0.12,2.05,0.00,0.000,6,0.175,0.031,2294,1889,1496,0,0,0,0,0,0,25.98,26.18,28.83
$GC,12164,0.54,269.1,874.6,6.7,517,12214,0.00,2.28,40.22,1.326,4,0.000,0.041,2295,3284,1310,0,0,0,0,0,0,28.83,25.16,24.25
$GC,12241,0.56,319.1,870.4,6.7,519,12291,0.00,2.12,45.30,1.306,6,0.000,0.031,2302,1894,1108,0,0,0,0,0,0,28.83,25.48,23.91
$GC,12619,0.59,325.1,839.6,8.1,532,12630,0.00,2.22,5.75,1.014,4,0.000,0.041,2302,3290,1083,0,0,0,0,0,0,28.83,25.82,24.86
$GC,12667,0.61,325.1,836.5,8.4,533,12673,0.00,2.10,0.00,0.000,6,0.000,0.031,2310,1890,1083,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12986,0.62,325.1,804.0,10.1,544,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1890,1080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13285,0.64,325.1,773.0,10.5,554,13291,0.00,2.12,0.00,0.000,4,0.000,0.041,2310,3284,1079,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13348,0.65,325.1,765.7,11.0,556,13353,0.00,2.08,0.00,0.000,6,0.000,0.031,2316,1889,1078,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13681,0.67,325.1,728.6,10.9,567,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1889,1078,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20885,end climb,SURFACE_DEPTH_REACHED
$STATE,20885,begin surface coast
$FINISH,0.7,1.021546
$STATE,20922,end surface coast,CONTROL_FINISHED_OK
$STATE,20922,begin surface
$SM_CCo,20996,0.00,0.000,0,0,568,451.35
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$IRIDIUM_FIX,1751.90,12329.46,191112,181807
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.40
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3993792
$24V_AH,23.3,13.001
$10V_AH,10.2,10.489
$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,16.475,172.250,531.400,0.000,0.000,0.000,0.000,279.775,0.000,0.000,10.267,3210.977,14574.043,673.887,2714.004,247.203,0.000,2268.281,0.000,2323.000,0.000,0.542,0.000
$DEVICE_MAMPS,247.860,52.785,1416.780,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.886,0.000,0.000,0.000
$MEM,327468
$DATA_FILE_SIZE,36623,970
$CAP_FILE_SIZE,236901,0
$CFSIZE,260034560,245751808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,360.0,1
$GPS,201112,070236,1800.424,12325.887,30,0.9,30,-2.0