version: 66.11
glider: 129
mission: 4
dive: 80
start: 11 22 112 19 45 6
data:
$ID,129
$MISSION,4
$DIVE,80
$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,-13
$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,-2746.6936
$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,2160
$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,72
$R_STBD_OVSHOOT,74
$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
$GPS1,221112,193705,1815.673,12250.912,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.5
$GPS2,221112,194419,1815.835,12250.868,11,2.0,11,-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,300.4,95686,-14.6,-8.684,-17.90
$D_GRID,3804
$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,-175.2,0.0,0.0,0,86,0.00,0.00,-65.95,0.000,2,0.000,0.000,67,1910,1871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.2,-6.1,11,133,7.55,2.00,-28.67,0.000,4,0.243,0.046,1967,535,3125,0,0,0,0,0,0,25.70,26.08,26.37
$GC,360,-0.47,-175.2,83.1,-35.8,40,368,0.17,2.00,0.00,0.000,6,0.164,0.025,2005,1927,3125,0,0,0,0,0,0,26.07,26.29,28.83
$GC,666,-0.44,-175.2,154.7,-17.3,56,671,0.00,2.03,0.00,0.000,4,0.000,0.031,2005,535,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,848,-0.42,-175.2,183.8,-16.0,65,854,0.00,2.00,0.00,0.000,6,0.000,0.024,1997,1944,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1171,-0.42,-175.2,219.6,-8.8,81,1177,0.00,2.03,0.00,0.000,4,0.000,0.031,1997,534,3126,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1348,-0.42,-175.2,235.9,-9.8,89,1357,0.12,1.98,0.00,0.000,6,0.147,0.024,2025,1930,3126,0,0,0,0,0,0,26.37,26.54,28.83
$GC,1655,-0.44,-175.2,262.3,-7.3,105,1661,0.00,2.03,0.00,0.000,4,0.000,0.032,2025,530,3125,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1725,-0.46,-175.2,267.0,-7.3,108,1730,0.00,1.98,0.00,0.000,6,0.000,0.024,2018,1934,3125,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2043,-0.48,-175.2,289.2,-7.4,124,2048,0.00,2.00,0.00,0.000,4,0.000,0.037,2005,3309,3124,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2095,-0.50,-175.2,292.7,-7.9,126,2101,0.00,1.95,0.00,0.000,6,0.000,0.023,2008,1914,3124,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2408,-0.51,-175.2,319.2,-8.0,142,2413,0.00,1.98,0.00,0.000,4,0.000,0.033,2007,538,3123,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2455,-0.52,-175.2,322.9,-8.4,144,2461,0.00,1.95,0.00,0.000,6,0.000,0.024,2001,1923,3122,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2774,-0.54,-175.2,349.6,-8.1,160,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1923,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3074,-0.55,-175.2,371.2,-7.4,175,3080,0.00,2.03,0.00,0.000,4,0.000,0.034,2001,532,3119,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3118,-0.56,-175.2,375.0,-8.1,177,3123,0.00,1.98,0.00,0.000,6,0.000,0.024,1993,1933,3119,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3441,-0.57,-175.2,400.4,-7.2,193,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1934,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-0.58,-175.2,422.1,-7.2,208,3748,0.00,2.05,-0.08,0.000,4,0.000,0.047,1993,534,3141,0,0,0,0,0,0,28.83,26.58,26.24
$GC,3780,-0.59,-175.2,424.1,-7.5,209,3787,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1924,3141,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4086,-0.60,-175.2,451.6,-9.1,225,4091,0.00,2.03,0.00,0.000,4,0.000,0.034,1989,539,3141,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4212,-0.61,-175.2,463.5,-9.5,231,4218,0.00,1.98,0.00,0.000,6,0.000,0.025,1988,1927,3141,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4530,-0.62,-175.2,484.6,-5.7,247,4537,0.00,2.05,0.00,0.000,4,0.000,0.040,1987,3308,3139,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4558,-0.64,-175.2,486.0,-5.7,248,4564,0.10,1.95,0.00,0.000,6,0.115,0.024,1943,1927,3139,0,0,0,0,0,0,26.54,26.64,28.83
$GC,4876,-0.63,-175.2,518.9,-10.9,264,4882,0.00,2.00,0.00,0.000,4,0.000,0.035,1943,531,3138,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4908,-0.62,-175.2,521.5,-10.9,265,4914,0.00,2.00,0.00,0.000,6,0.000,0.025,1933,1923,3137,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5221,-0.60,-175.2,556.0,-10.4,281,5227,0.12,2.05,0.00,0.000,4,0.157,0.033,1974,528,3135,0,0,0,0,0,0,26.46,26.58,28.83
$GC,5293,-0.60,-175.2,561.8,-9.5,284,5300,0.00,2.03,0.00,0.000,6,0.000,0.025,1966,1931,3135,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5608,-0.60,-175.2,586.7,-7.2,300,5613,0.00,2.03,0.00,0.000,4,0.000,0.039,1956,3313,3132,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5635,-0.61,-175.2,588.3,-7.2,301,5640,0.00,1.98,0.00,0.000,6,0.000,0.026,1955,1925,3132,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5944,-0.61,-175.2,613.8,-8.3,314,5949,0.00,2.03,0.00,0.000,4,0.000,0.035,1955,528,3130,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6120,-0.61,-175.2,627.8,-9.1,319,6128,0.00,2.00,0.00,0.000,6,0.000,0.026,1947,1930,3129,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6426,-0.61,-175.2,656.2,-8.6,330,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1930,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,-0.61,-175.2,684.3,-9.8,340,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1930,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7026,-0.61,-175.2,712.0,-8.7,350,7031,0.00,2.05,0.00,0.000,4,0.000,0.041,1937,3318,3122,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7049,-0.61,-175.2,712.0,-8.7,350,7054,0.00,2.00,0.00,0.000,6,0.000,0.028,1937,1918,3123,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7362,-0.61,-175.2,741.3,-8.7,361,7368,0.00,2.03,0.00,0.000,4,0.000,0.038,1937,533,3122,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7511,-0.60,-175.2,754.4,-10.7,365,7519,0.15,2.00,0.00,0.000,6,0.150,0.026,1970,1929,3121,0,0,0,0,0,0,26.39,26.61,28.83
$GC,7818,-0.61,-175.2,783.5,-8.8,376,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1929,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8116,-0.63,-175.2,807.2,-7.0,386,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,-0.64,-175.2,826.3,-6.6,396,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1929,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8716,-0.66,-175.2,846.7,-6.7,406,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1930,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-0.67,-175.2,863.9,-5.2,416,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1929,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9316,-0.69,-175.2,878.9,-5.1,426,9322,0.00,2.05,0.00,0.000,4,0.000,0.039,1970,538,3113,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9349,-0.70,-175.2,880.6,-5.1,427,9355,0.00,2.00,0.00,0.000,6,0.000,0.028,1963,1923,3113,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9685,-0.71,-175.2,898.2,-5.0,438,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1924,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9983,-0.73,-175.2,915.9,-6.1,448,9989,0.12,2.08,0.00,0.000,4,0.105,0.037,1904,531,3111,0,0,0,0,0,0,26.58,26.54,28.83
$GC,10031,-0.73,-175.2,919.1,-6.9,449,10037,0.10,2.03,0.00,0.000,6,0.187,0.028,1919,1933,3111,0,0,0,0,0,0,26.34,26.60,28.83
$GC,10350,-0.72,-175.2,949.4,-8.9,460,10355,0.00,2.08,0.00,0.000,4,0.000,0.039,1919,537,3110,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10392,-0.71,-175.2,952.7,-9.0,461,10397,0.00,2.03,0.00,0.000,6,0.000,0.028,1911,1937,3110,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10716,-0.70,-175.2,984.9,-9.5,472,10721,0.00,2.10,0.00,0.000,4,0.000,0.040,1911,530,3109,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10763,-0.68,-175.2,988.6,-9.9,473,10768,0.12,2.03,0.00,0.000,6,0.169,0.028,1934,1929,3109,0,0,0,0,0,0,26.32,26.58,28.83
$STATE,10779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10780,begin apogee
$GC,10783,-0.17,0.0,991.9,-10.1,474,10933,0.50,0.00,142.68,1.424,6,0.125,0.000,2103,1930,2409,0,0,0,0,0,0,26.27,28.83,23.72
$STATE,10935,end apogee,CONTROL_FINISHED_OK
$STATE,10935,begin climb
$GC,10936,0.56,175.2,996.8,0.0,479,11097,0.68,2.25,152.43,1.374,4,0.066,0.037,2344,3285,1693,0,0,0,0,0,0,24.77,23.88,23.01
$GC,11134,0.53,208.7,987.5,7.6,485,11174,0.00,2.17,30.25,1.307,6,0.000,0.028,2354,1904,1558,0,0,0,0,0,0,28.83,24.53,23.15
$GC,11475,0.51,208.7,946.5,11.8,497,11480,0.00,2.15,0.00,0.000,4,0.000,0.039,2354,3286,1550,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11582,0.49,208.7,934.4,12.8,500,11588,0.17,2.10,0.00,0.000,6,0.177,0.030,2319,1889,1549,0,0,0,0,0,0,25.52,25.76,28.83
$GC,11901,0.48,208.7,901.0,9.6,511,11907,0.00,2.15,0.00,0.000,4,0.000,0.039,2319,3296,1548,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11935,0.48,208.7,897.6,9.7,512,11940,0.00,2.08,0.00,0.000,6,0.000,0.030,2328,1895,1548,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12268,0.47,208.7,861.9,10.9,523,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1895,1547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12568,0.46,208.7,830.0,10.2,533,12574,0.00,2.12,0.00,0.000,4,0.000,0.041,2329,3299,1546,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12651,0.45,208.7,823.3,10.2,535,12657,0.12,2.05,0.00,0.000,6,0.180,0.030,2306,1900,1546,0,0,0,0,0,0,26.11,26.36,28.83
$GC,12965,0.45,208.7,794.9,8.9,546,12971,0.00,2.10,0.00,0.000,4,0.000,0.040,2306,3293,1545,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12998,0.45,208.7,791.6,9.2,547,13003,0.00,2.05,0.00,0.000,6,0.000,0.029,2315,1892,1545,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13331,0.45,208.7,757.3,10.3,558,13336,0.00,2.10,0.00,0.000,4,0.000,0.040,2315,3289,1545,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13449,0.45,208.7,747.3,10.7,561,13456,0.00,2.03,0.00,0.000,6,0.000,0.031,2324,1893,1545,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13753,0.45,208.7,716.2,9.2,572,13759,0.00,2.05,0.00,0.000,4,0.000,0.042,2334,500,1544,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,21482,end climb,SURFACE_DEPTH_REACHED
$STATE,21482,begin surface coast
$FINISH,0.7,1.008305
$STATE,21498,end surface coast,CONTROL_FINISHED_OK
$STATE,21498,begin surface
$SM_CCo,21572,0.00,0.000,0,0,208,539.91
$SM_GC,1.60,6.32,0.00,0.00,0.044,0.000,0.000,51,1931,208,-6.50,0.17,539.91,0,0,0,0,0,0,26.03,28.83,28.83
$IRIDIUM_FIX,1807.77,12257.34,221112,131344
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.60
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3989568
$24V_AH,23.0,15.236
$10V_AH,10.3,12.034
$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,17.000,184.175,599.675,0.000,0.000,0.000,0.000,278.700,0.000,0.000,11.859,3332.052,14821.720,768.803,2802.465,294.068,0.000,2408.298,0.000,2406.905,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,47.430,1423.665,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21511.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.770,0.000,0.000,0.000
$MEM,307200
$DATA_FILE_SIZE,36636,983
$CAP_FILE_SIZE,246560,0
$CFSIZE,260034560,244539392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,313.8,1
$GPS,231112,014554,1817.375,12247.053,40,1.2,40,-2.0