version: 66.11
glider: 129
mission: 4
dive: 73
start: 11 21 112 1 25 57
data:
$ID,129
$MISSION,4
$DIVE,73
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,-2737.8794
$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,0.0049999999
$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,68
$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
$GPS1,211112,011806,1803.224,12316.929,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.6
$GPS2,211112,012531,1803.348,12316.933,13,1.1,13,-2.0
$SPEED_LIMITS,0.150,0.269
$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,297.4,146625,-14.6,-8.684,-17.90
$D_GRID,4019
$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,-0.56,-175.2,0.0,0.0,0,85,0.00,0.00,-65.07,0.000,2,0.000,0.000,13,1905,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.56,-175.2,3.3,-5.8,11,132,7.68,2.10,-28.52,0.000,4,0.246,0.050,1932,3317,3124,0,0,0,0,0,0,25.72,26.06,26.34
$GC,299,-0.49,-175.2,56.5,-30.7,37,306,0.15,2.00,0.00,0.000,6,0.166,0.025,1971,1917,3124,0,0,0,0,0,0,26.04,26.26,28.83
$GC,604,-0.43,-175.2,149.4,-25.9,53,609,0.00,2.00,0.00,0.000,4,0.000,0.033,1971,531,3124,0,0,0,0,0,0,28.83,26.37,28.83
$GC,836,-0.38,-175.2,197.2,-19.1,64,843,0.15,2.00,0.00,0.000,6,0.151,0.024,2005,1937,3125,0,0,0,0,0,0,26.29,26.46,28.83
$GC,1150,-0.38,-175.2,237.4,-12.0,80,1156,0.00,2.05,0.00,0.000,4,0.000,0.031,2005,525,3125,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1247,-0.37,-175.2,247.8,-12.4,84,1255,0.00,2.00,0.00,0.000,6,0.000,0.024,1999,1938,3125,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1553,-0.37,-175.2,277.7,-9.0,100,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1938,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-0.37,-175.2,305.4,-9.7,115,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1938,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-0.38,-175.2,332.5,-8.8,130,2159,0.00,2.05,0.00,0.000,4,0.000,0.033,1999,529,3124,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2211,-0.38,-175.2,336.5,-9.1,132,2218,0.00,1.98,0.00,0.000,6,0.000,0.024,1990,1936,3123,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2516,-0.38,-175.2,365.8,-9.0,148,2522,0.00,2.05,0.00,0.000,4,0.000,0.032,1984,527,3122,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2579,-0.38,-175.2,371.9,-9.5,151,2584,0.00,2.00,0.00,0.000,6,0.000,0.025,1988,1935,3122,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2902,-0.39,-175.2,398.9,-8.4,167,2908,0.00,2.03,0.00,0.000,4,0.000,0.040,1988,3314,3121,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2930,-0.40,-175.2,400.9,-8.6,168,2935,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1918,3121,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3248,-0.41,-175.2,428.2,-7.4,184,3253,0.00,2.00,0.00,0.000,4,0.000,0.034,1988,531,3118,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3341,-0.42,-175.2,434.7,-7.8,188,3346,0.00,2.00,0.00,0.000,6,0.000,0.025,1988,1936,3118,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3654,-0.43,-175.2,455.6,-7.0,204,3656,0.00,0.00,-0.08,0.000,6,0.000,0.000,1988,1937,3138,0,0,0,0,0,0,28.83,28.83,26.11
$GC,3954,-0.44,-175.2,479.3,-7.7,219,3959,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,540,3138,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4021,-0.45,-175.2,484.3,-7.8,222,4026,0.00,1.98,0.00,0.000,6,0.000,0.025,1989,1926,3137,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4338,-0.46,-175.2,503.9,-5.8,238,4344,0.00,2.05,0.00,0.000,4,0.000,0.041,1988,3316,3136,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4376,-0.48,-175.2,505.3,-5.8,239,4383,0.00,1.98,0.00,0.000,6,0.000,0.026,1988,1923,3136,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4682,-0.49,-175.2,528.9,-8.1,255,4687,0.00,2.03,0.00,0.000,4,0.000,0.034,1988,527,3133,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4739,-0.50,-175.2,532.7,-8.3,257,4745,0.00,2.00,0.00,0.000,6,0.000,0.025,1988,1931,3133,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5045,-0.52,-175.2,556.7,-6.9,273,5050,0.00,2.05,0.00,0.000,4,0.000,0.035,1988,533,3130,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5148,-0.53,-175.2,564.3,-7.4,278,5154,0.00,2.00,0.00,0.000,6,0.000,0.026,1988,1924,3130,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5471,-0.55,-175.2,582.7,-5.6,294,5473,0.10,0.00,0.00,0.000,6,0.117,0.000,1943,1925,3128,0,0,0,0,0,0,26.63,28.83,28.83
$GC,5782,-0.54,-175.2,610.3,-9.6,308,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1926,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6081,-0.54,-175.2,638.8,-9.7,318,6086,0.00,2.05,0.00,0.000,4,0.000,0.037,1943,531,3124,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6138,-0.53,-175.2,642.2,-10.0,319,6146,0.00,2.00,0.00,0.000,6,0.000,0.027,1933,1921,3123,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6444,-0.52,-175.2,676.9,-10.4,330,6449,0.00,2.05,0.00,0.000,4,0.000,0.036,1933,533,3122,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6516,-0.51,-175.2,683.7,-10.6,332,6522,0.15,2.00,0.00,0.000,6,0.151,0.027,1966,1924,3125,0,0,0,0,0,0,26.44,26.63,28.83
$GC,6841,-0.52,-175.2,709.8,-7.4,343,6846,0.00,2.05,0.00,0.000,4,0.000,0.037,1966,532,3120,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6928,-0.53,-175.2,715.1,-7.9,345,6935,0.00,2.03,0.00,0.000,6,0.000,0.028,1959,1935,3119,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7234,-0.53,-175.2,741.2,-7.9,356,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1936,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7534,-0.54,-175.2,765.3,-8.0,366,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1936,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7833,-0.55,-175.2,788.8,-7.6,376,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1936,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8134,-0.55,-175.2,810.8,-7.2,386,8140,0.00,2.08,0.00,0.000,4,0.000,0.038,1959,541,3113,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8187,-0.56,-175.2,813.5,-7.4,387,8192,0.00,2.00,0.00,0.000,6,0.000,0.028,1950,1925,3113,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8499,-0.56,-175.2,837.0,-6.9,398,8505,0.00,2.05,0.00,0.000,4,0.000,0.043,1940,3311,3111,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8541,-0.56,-175.2,839.2,-6.8,399,8547,0.00,2.00,0.00,0.000,6,0.000,0.029,1940,1926,3111,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8865,-0.56,-175.2,860.8,-6.3,410,8870,0.00,2.05,0.00,0.000,4,0.000,0.039,1940,531,3109,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8982,-0.56,-175.2,867.4,-6.8,413,8990,0.00,2.03,0.00,0.000,6,0.000,0.028,1931,1935,3109,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9287,-0.56,-175.2,892.2,-7.9,424,9292,0.00,2.10,0.00,0.000,4,0.000,0.038,1931,523,3108,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9321,-0.56,-175.2,895.2,-8.3,425,9326,0.00,2.05,0.00,0.000,6,0.000,0.028,1922,1931,3108,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9655,-0.55,-175.2,926.4,-9.7,436,9656,0.12,0.00,0.00,0.000,6,0.164,0.000,1955,1933,3107,0,0,0,0,0,0,26.44,28.83,28.83
$GC,9955,-0.56,-175.2,950.1,-7.7,446,9960,0.00,2.10,0.00,0.000,4,0.000,0.039,1955,526,3106,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10002,-0.57,-175.2,953.0,-7.9,447,10007,0.00,2.05,0.00,0.000,6,0.000,0.028,1949,1937,3106,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10322,-0.57,-175.2,981.4,-8.5,458,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,1937,3105,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10439,begin apogee
$GC,10443,-0.17,0.0,991.2,-8.2,462,10591,0.35,0.00,140.93,1.426,6,0.123,0.000,2067,1941,2408,0,0,0,0,0,0,26.36,28.83,23.77
$STATE,10593,end apogee,CONTROL_FINISHED_OK
$STATE,10593,begin climb
$GC,10595,0.56,175.2,997.0,0.0,467,10756,0.70,2.25,151.32,1.378,4,0.092,0.041,2306,3285,1693,0,0,0,0,0,0,24.79,24.08,23.21
$GC,10804,0.55,196.6,985.1,8.0,474,10834,0.00,2.17,19.38,1.278,6,0.000,0.029,2316,1908,1607,0,0,0,0,0,0,28.83,24.77,23.52
$GC,11133,0.54,196.6,952.7,9.6,485,11138,0.00,2.15,0.00,0.000,4,0.000,0.040,2316,3288,1599,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11166,0.54,196.6,949.4,9.6,486,11172,0.00,2.10,0.00,0.000,6,0.000,0.030,2326,1897,1599,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11500,0.53,196.6,917.4,9.5,497,11505,0.00,2.15,0.00,0.000,4,0.000,0.040,2326,3300,1598,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11547,0.52,196.6,913.9,9.6,498,11553,0.12,2.08,0.00,0.000,6,0.183,0.030,2304,1898,1597,0,0,0,0,0,0,25.91,26.13,28.83
$GC,11866,0.52,200.8,885.5,8.5,509,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,1897,1596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12167,0.53,204.7,859.7,8.6,519,12180,0.00,2.17,6.65,1.109,4,0.000,0.041,2304,3290,1574,0,0,0,0,0,0,28.83,26.15,25.11
$GC,12238,0.53,204.7,853.8,8.9,521,12243,0.00,2.05,0.00,0.000,6,0.000,0.031,2312,1900,1573,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12561,0.53,204.7,823.1,9.2,532,12567,0.00,2.10,0.00,0.000,4,0.000,0.040,2313,3292,1572,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12643,0.53,204.7,816.9,9.5,534,12648,0.00,2.05,0.00,0.000,6,0.000,0.031,2322,1896,1571,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12955,0.53,204.7,787.3,8.9,545,12961,0.00,2.12,0.00,0.000,4,0.000,0.040,2322,3298,1571,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12981,0.53,204.7,787.3,8.9,545,12988,0.00,2.05,0.00,0.000,6,0.000,0.031,2331,1897,1571,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13289,0.52,204.7,754.5,10.0,556,13291,0.12,0.00,0.00,0.000,6,0.180,0.000,2299,1897,1570,0,0,0,0,0,0,26.28,28.83,28.83
$GC,13589,0.54,226.2,730.1,8.0,566,13619,0.00,2.22,19.55,1.239,4,0.000,0.040,2299,3311,1484,0,0,0,0,0,0,28.83,25.87,24.98
$GC,13641,0.55,247.2,727.8,8.0,567,13666,0.00,2.10,19.15,1.212,6,0.000,0.029,2307,1903,1401,0,0,0,0,0,0,28.83,25.96,24.57
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$STATE,21306,end climb,SURFACE_DEPTH_REACHED
$STATE,21306,begin surface coast
$FINISH,0.7,1.001621
$STATE,21343,end surface coast,CONTROL_FINISHED_OK
$STATE,21343,begin surface
$SM_CCo,21416,0.00,0.000,0,0,207,540.15
$SM_GC,1.58,6.10,0.00,0.00,0.045,0.000,0.000,68,1935,207,-6.37,0.28,540.15,0,0,0,0,0,0,26.22,28.83,28.83
$IRIDIUM_FIX,1754.17,12319.40,201112,191943
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.48
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3992256
$24V_AH,23.2,13.788
$10V_AH,10.1,11.050
$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,15.975,181.125,567.100,0.000,0.000,0.000,0.000,288.325,0.000,0.000,13.847,3230.991,14908.951,718.664,2738.278,255.678,0.000,2344.082,0.000,2331.093,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,49.725,1425.960,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21354.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.737,0.000,0.000,0.000
$MEM,326824
$DATA_FILE_SIZE,36679,998
$CAP_FILE_SIZE,243950,0
$CFSIZE,260034560,245309440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,337.4,1
$GPS,211112,072406,1805.936,12313.160,37,1.0,37,-2.0