version: 66.11
glider: 129
mission: 4
dive: 85
start: 11 24 112 2 33 2
data:
$ID,129
$MISSION,4
$DIVE,85
$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,-2752.9858
$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,64
$R_STBD_OVSHOOT,87
$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
$GPS1,241112,022435,1825.971,12231.064,31,1.1,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.7
$GPS2,241112,023237,1826.195,12230.928,11,1.4,11,-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,317.4,56126,-14.6,-8.684,-17.90
$D_GRID,1304
$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,-0.56,-175.2,0.0,0.0,0,85,0.00,0.00,-65.47,0.000,2,0.000,0.000,67,1886,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.56,-175.2,3.3,-6.3,11,132,7.62,2.10,-28.15,0.000,4,0.245,0.047,1961,3299,3126,0,0,0,0,0,0,25.65,26.01,26.29
$GC,225,-0.50,-175.2,35.4,-27.0,33,231,0.12,2.00,0.00,0.000,6,0.161,0.024,1992,1906,3127,0,0,0,0,0,0,25.95,26.15,28.83
$GC,538,-0.46,-175.2,115.7,-20.5,51,543,0.00,1.98,0.00,0.000,4,0.000,0.032,1992,536,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,760,-0.44,-175.2,148.0,-14.0,62,766,0.00,1.98,0.00,0.000,6,0.000,0.024,1984,1914,3127,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1084,-0.44,-175.2,191.1,-11.4,78,1089,0.12,2.03,0.00,0.000,4,0.148,0.030,2029,524,3128,0,0,0,0,0,0,26.34,26.45,28.83
$GC,1168,-0.45,-175.2,199.6,-10.0,82,1174,0.00,2.03,0.00,0.000,6,0.000,0.023,2021,1930,3127,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1491,-0.47,-175.2,224.2,-7.1,98,1497,0.00,2.03,0.00,0.000,4,0.000,0.037,2011,3311,3127,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1515,-0.49,-175.2,225.8,-7.0,99,1522,0.00,1.98,0.00,0.000,6,0.000,0.023,2011,1915,3127,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1839,-0.51,-175.2,250.7,-7.0,115,1844,0.00,1.98,0.00,0.000,4,0.000,0.033,2011,538,3126,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1932,-0.52,-175.2,256.6,-7.3,119,1937,0.00,1.98,0.00,0.000,6,0.000,0.023,2003,1940,3125,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2245,-0.54,-175.2,281.9,-9.0,135,2250,0.00,2.00,0.00,0.000,4,0.000,0.037,1998,3307,3124,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2287,-0.56,-175.2,285.7,-9.1,137,2292,0.00,1.98,0.00,0.000,6,0.000,0.024,2000,1914,3124,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2611,-0.57,-175.2,312.3,-7.6,153,2616,0.00,2.03,0.00,0.000,4,0.000,0.034,1998,530,3123,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2756,-0.58,-175.2,323.1,-7.4,160,2761,0.00,2.00,0.00,0.000,6,0.000,0.024,1990,1934,3122,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3079,-0.59,-175.2,344.7,-7.1,176,3085,0.00,2.05,0.00,0.000,4,0.000,0.033,1991,530,3118,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3112,-0.60,-175.2,346.8,-7.4,177,3118,0.00,1.98,0.00,0.000,6,0.000,0.024,1989,1918,3120,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3425,-0.61,-175.2,373.5,-8.1,193,3430,0.00,2.05,0.00,0.000,4,0.000,0.040,1987,3311,3117,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3452,-0.63,-175.2,375.0,-7.7,194,3458,0.00,1.98,0.00,0.000,6,0.000,0.024,1987,1918,3117,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3771,-0.64,-175.2,399.8,-7.9,210,3773,0.10,0.00,-0.10,0.000,6,0.112,0.000,1940,1917,3136,0,0,0,0,0,0,26.61,28.83,26.33
$GC,4072,-0.63,-175.2,434.3,-11.9,225,4077,0.00,2.00,0.00,0.000,4,0.000,0.035,1940,538,3136,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4204,-0.62,-175.2,449.9,-12.5,231,4209,0.00,2.00,0.00,0.000,6,0.000,0.025,1930,1937,3135,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4517,-0.60,-175.2,485.5,-11.2,247,4523,0.12,2.08,0.00,0.000,4,0.155,0.034,1971,528,3134,0,0,0,0,0,0,26.45,26.58,28.83
$GC,4621,-0.60,-175.2,495.3,-9.2,252,4628,0.00,2.00,0.00,0.000,6,0.000,0.024,1964,1927,3133,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4945,-0.60,-175.2,523.4,-9.2,268,4950,0.00,2.05,0.00,0.000,4,0.000,0.034,1964,534,3130,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4988,-0.60,-175.2,527.6,-9.6,270,4993,0.00,2.00,0.00,0.000,6,0.000,0.025,1954,1928,3130,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5310,-0.60,-175.2,558.3,-9.5,286,5315,0.00,2.03,0.00,0.000,4,0.000,0.040,1944,3317,3128,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5347,-0.60,-175.2,560.4,-9.5,287,5353,0.00,2.00,0.00,0.000,6,0.000,0.027,1944,1917,3128,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5652,-0.60,-175.2,589.8,-8.8,303,5658,0.00,2.03,0.00,0.000,4,0.000,0.036,1943,530,3126,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5736,-0.60,-175.2,597.2,-8.9,307,5741,0.00,2.00,0.00,0.000,6,0.000,0.026,1939,1925,3126,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6049,-0.60,-175.2,622.1,-7.9,318,6055,0.12,2.05,0.00,0.000,4,0.153,0.034,1976,538,3124,0,0,0,0,0,0,26.44,26.57,28.83
$GC,6123,-0.60,-175.2,627.3,-8.3,320,6128,0.00,2.00,0.00,0.000,6,0.000,0.025,1968,1934,3124,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6447,-0.61,-175.2,652.2,-7.5,331,6452,0.00,2.08,0.00,0.000,4,0.000,0.035,1968,527,3122,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6481,-0.62,-175.2,655.1,-7.5,332,6487,0.00,2.05,0.00,0.000,6,0.000,0.026,1959,1929,3122,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6817,-0.62,-175.2,681.0,-7.7,343,6822,0.00,2.05,0.00,0.000,4,0.000,0.034,1959,534,3120,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6863,-0.62,-175.2,683.0,-7.3,344,6868,0.00,2.00,0.00,0.000,6,0.000,0.027,1949,1924,3119,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7182,-0.62,-175.2,705.7,-6.4,355,7187,0.00,2.05,0.00,0.000,4,0.000,0.037,1949,539,3118,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7215,-0.62,-175.2,707.7,-6.9,356,7221,0.00,2.03,0.00,0.000,6,0.000,0.028,1941,1912,3118,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7550,-0.62,-175.2,730.9,-7.4,367,7555,0.00,2.03,0.00,0.000,4,0.000,0.036,1940,538,3116,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7593,-0.62,-175.2,733.6,-7.6,368,7598,0.00,2.03,0.00,0.000,6,0.000,0.028,1932,1938,3116,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7917,-0.62,-175.2,759.1,-7.9,379,7923,0.00,2.05,0.00,0.000,4,0.000,0.042,1922,3318,3115,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7959,-0.62,-175.2,762.0,-8.0,380,7965,0.12,2.00,0.00,0.000,6,0.150,0.028,1957,1929,3114,0,0,0,0,0,0,26.38,26.60,28.83
$GC,8285,-0.62,-175.2,787.1,-7.6,391,8291,0.00,2.05,0.00,0.000,4,0.000,0.037,1957,527,3113,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8318,-0.63,-175.2,789.8,-7.9,392,8324,0.00,2.05,0.00,0.000,6,0.000,0.027,1949,1929,3113,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8653,-0.63,-175.2,819.2,-8.8,403,8658,0.00,2.08,0.00,0.000,4,0.000,0.037,1949,530,3112,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8719,-0.63,-175.2,825.7,-9.5,405,8725,0.00,2.03,0.00,0.000,6,0.000,0.027,1940,1932,3112,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9047,-0.63,-175.2,859.6,-9.8,416,9053,0.00,2.05,0.00,0.000,4,0.000,0.037,1940,533,3111,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9104,-0.63,-175.2,862.9,-9.7,417,9111,0.00,2.03,0.00,0.000,6,0.000,0.028,1932,1917,3111,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9411,-0.63,-175.2,895.1,-9.9,428,9416,0.00,2.05,0.00,0.000,4,0.000,0.038,1932,535,3110,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9453,-0.63,-175.2,898.4,-9.7,429,9459,0.12,2.03,0.00,0.000,6,0.160,0.027,1958,1938,3109,0,0,0,0,0,0,26.34,26.58,28.83
$GC,9777,-0.64,-175.2,923.9,-7.2,440,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1939,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,-0.65,-175.2,942.8,-6.7,450,10083,0.00,2.10,0.00,0.000,4,0.000,0.038,1958,530,3107,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10105,-0.67,-175.2,942.8,-6.7,450,10112,0.00,2.03,0.00,0.000,6,0.000,0.027,1950,1931,3107,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10412,-0.67,-175.2,964.9,-6.0,461,10417,0.00,2.08,0.00,0.000,4,0.000,0.038,1950,535,3106,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10435,-0.68,-175.2,964.9,-6.0,461,10440,0.00,2.03,0.00,0.000,6,0.000,0.028,1942,1936,3106,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10749,-0.68,-175.2,988.1,-6.3,472,10754,0.00,2.10,0.00,0.000,4,0.000,0.039,1942,530,3106,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,10780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10780,begin apogee
$GC,10786,-0.17,0.0,990.8,-6.2,473,10934,0.50,0.00,141.52,1.421,6,0.122,0.000,2103,1902,2409,0,0,0,0,0,0,26.25,28.83,23.70
$STATE,10935,end apogee,CONTROL_FINISHED_OK
$STATE,10936,begin climb
$GC,10937,0.56,175.2,994.5,0.0,478,11098,0.65,2.40,152.32,1.369,4,0.064,0.038,2353,517,1693,0,0,0,0,0,0,24.72,23.76,22.87
$GC,11146,0.52,175.2,977.6,11.2,485,11151,0.00,2.17,0.00,0.000,6,0.000,0.024,2353,1900,1688,0,0,0,0,0,0,28.83,24.53,28.83
$GC,11480,0.50,175.2,940.2,11.9,496,11486,0.12,2.12,0.00,0.000,4,0.161,0.037,2316,3285,1683,0,0,0,0,0,0,25.52,25.65,28.83
$GC,11597,0.49,175.2,930.3,10.6,499,11604,0.00,2.08,0.00,0.000,6,0.000,0.029,2324,1896,1682,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11905,0.48,175.2,895.8,10.0,510,11911,0.00,2.12,0.00,0.000,4,0.000,0.039,2325,3290,1681,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11951,0.47,175.2,891.9,10.4,511,11956,0.00,2.05,0.00,0.000,6,0.000,0.030,2333,1900,1680,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12270,0.45,175.2,856.9,11.0,522,12275,0.00,2.08,0.00,0.000,4,0.000,0.041,2342,507,1679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12322,0.44,175.2,853.2,10.8,523,12328,0.15,2.05,0.00,0.000,6,0.158,0.027,2302,1916,1679,0,0,0,0,0,0,26.05,26.28,28.83
$GC,12637,0.44,175.2,823.2,9.1,534,12642,0.00,2.05,0.00,0.000,4,0.000,0.039,2302,3283,1678,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,21509,end climb,SURFACE_DEPTH_REACHED
$STATE,21509,begin surface coast
$FINISH,0.7,1.002864
$STATE,21526,end surface coast,CONTROL_FINISHED_OK
$STATE,21526,begin surface
$SM_CCo,21599,0.00,0.000,0,0,209,539.66
$SM_GC,1.50,6.25,0.00,0.00,0.043,0.000,0.000,65,1892,209,-6.45,-0.93,539.66,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,1816.86,12234.02,231112,202036
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.94
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3987648
$24V_AH,22.9,16.251
$10V_AH,10.2,12.757
$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,16.750,200.475,595.375,0.000,0.000,0.000,0.000,320.150,0.000,0.000,12.493,3366.272,14747.173,756.652,2900.405,299.210,0.000,2477.129,0.000,2456.132,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,46.665,1421.370,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21541.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.990,0.000,0.000,0.000
$MEM,306428
$DATA_FILE_SIZE,36701,981
$CAP_FILE_SIZE,249496,0
$CFSIZE,260034560,243990528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,332.7,1
$GPS,241112,083406,1828.320,12227.876,29,1.2,29,-2.0