version: 66.11
glider: 129
mission: 4
dive: 88
start: 11 24 112 17 42 39
data:
$ID,129
$MISSION,4
$DIVE,88
$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,-2756.7642
$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,63
$R_STBD_OVSHOOT,93
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,241112,173459,1832.520,12221.296,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-56.5
$GPS2,241112,174213,1832.786,12221.102,14,1.4,14,-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,302.7,35056,-14.6,-8.684,-17.90
$D_GRID,614
$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,-65.53,0.000,2,0.000,0.000,56,1924,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.56,-175.2,3.3,-6.4,11,132,7.65,2.05,-28.67,0.000,4,0.246,0.050,1961,3295,3124,0,0,0,0,0,0,25.71,26.06,26.38
$GC,238,-0.49,-175.2,41.0,-29.9,33,245,0.15,2.00,0.00,0.000,6,0.162,0.026,1999,1908,3125,0,0,0,0,0,0,25.98,26.21,28.83
$GC,545,-0.47,-175.2,105.2,-12.0,50,551,0.00,2.00,0.00,0.000,4,0.000,0.032,2000,527,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,778,-0.46,-175.2,130.4,-12.4,61,784,0.00,1.98,0.00,0.000,6,0.000,0.024,1991,1911,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1091,-0.45,-175.2,164.4,-9.6,77,1096,0.00,2.03,0.00,0.000,4,0.000,0.031,1991,519,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1247,-0.45,-175.2,182.1,-12.3,84,1254,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1925,3126,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1553,-0.45,-175.2,215.2,-10.4,100,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1927,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.45,-175.2,246.7,-11.7,115,1860,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,516,3123,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2052,-0.45,-175.2,266.8,-10.2,124,2060,0.12,2.03,0.00,0.000,6,0.143,0.025,2017,1931,3123,0,0,0,0,0,0,26.42,26.58,28.83
$GC,2359,-0.47,-175.2,290.1,-5.8,140,2365,0.00,2.03,0.00,0.000,4,0.000,0.038,2009,3313,3122,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2416,-0.50,-175.2,292.5,-5.4,142,2423,0.00,1.95,0.00,0.000,6,0.000,0.024,2008,1918,3121,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2722,-0.51,-175.2,315.8,-7.6,158,2728,0.00,2.00,0.00,0.000,4,0.000,0.034,2008,535,3120,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2785,-0.53,-175.2,321.2,-8.3,161,2790,0.00,2.00,0.00,0.000,6,0.000,0.024,2002,1942,3121,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3109,-0.54,-175.2,346.9,-7.4,177,3114,0.00,2.05,0.00,0.000,4,0.000,0.034,2002,538,3118,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3166,-0.56,-175.2,350.2,-7.3,179,3173,0.00,1.98,0.00,0.000,6,0.000,0.025,2001,1924,3117,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3472,-0.57,-175.2,372.0,-7.0,195,3478,0.00,2.05,-0.08,0.000,4,0.000,0.047,2001,532,3141,0,0,0,0,0,0,28.83,26.57,26.19
$GC,3545,-0.59,-175.2,377.2,-8.0,198,3550,0.00,2.00,0.00,0.000,6,0.000,0.024,1993,1935,3141,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3857,-0.60,-175.2,402.5,-7.4,214,3863,0.00,2.03,0.00,0.000,4,0.000,0.040,1988,3310,3140,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3905,-0.62,-175.2,405.7,-7.3,216,3911,0.00,1.98,0.00,0.000,6,0.000,0.025,1988,1920,3140,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4223,-0.63,-175.2,430.2,-7.7,232,4228,0.00,2.03,0.00,0.000,4,0.000,0.035,1988,532,3139,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4306,-0.65,-175.2,437.8,-9.3,236,4312,0.12,2.03,0.00,0.000,6,0.101,0.026,1932,1953,3139,0,0,0,0,0,0,26.53,26.60,28.83
$GC,4630,-0.63,-175.2,476.2,-12.0,252,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1954,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4931,-0.62,-175.2,513.1,-12.7,267,4936,0.00,2.10,0.00,0.000,4,0.000,0.035,1931,530,3135,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4982,-0.60,-175.2,519.0,-13.1,269,4988,0.15,2.00,0.00,0.000,6,0.151,0.026,1964,1924,3135,0,0,0,0,0,0,26.39,26.60,28.83
$GC,5297,-0.61,-175.2,550.5,-9.0,285,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1924,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,-0.62,-175.2,578.3,-9.3,300,5602,0.00,2.05,0.00,0.000,4,0.000,0.036,1964,539,3131,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5669,-0.62,-175.2,584.3,-9.4,303,5674,0.00,2.00,0.00,0.000,6,0.000,0.027,1956,1927,3130,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,5871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5871,begin apogee
$GC,5875,-0.17,0.0,603.7,-9.1,313,6017,0.43,0.00,136.73,1.128,6,0.116,0.000,2102,1928,2409,0,0,0,0,0,0,26.37,28.83,24.16
$STATE,6019,end apogee,CONTROL_FINISHED_OK
$STATE,6019,begin climb
$GC,6020,0.56,175.2,608.5,0.0,317,6174,0.65,2.30,141.30,1.088,4,0.076,0.037,2347,516,1692,0,0,0,0,0,0,25.00,24.68,23.92
$GC,6217,0.56,225.1,600.7,7.0,324,6263,0.00,2.10,41.22,1.054,6,0.000,0.024,2347,1907,1491,0,0,0,0,0,0,28.83,25.25,24.01
$GC,6581,0.55,225.1,564.9,8.9,342,6587,0.00,2.10,0.00,0.000,4,0.000,0.040,2347,3285,1483,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6725,0.54,225.1,550.4,10.2,349,6731,0.00,2.03,0.00,0.000,6,0.000,0.027,2356,1903,1481,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7048,0.53,225.1,520.9,9.4,365,7053,0.00,2.10,0.00,0.000,4,0.000,0.038,2357,3286,1481,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7075,0.51,225.1,518.7,9.5,366,7082,0.15,2.03,0.00,0.000,6,0.172,0.027,2327,1894,1480,0,0,0,0,0,0,26.08,26.33,28.83
$GC,7394,0.51,225.1,490.0,9.3,382,7399,0.00,2.08,0.00,0.000,4,0.000,0.037,2326,3283,1479,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7480,0.51,225.1,481.4,10.6,386,7485,0.00,2.00,0.00,0.000,6,0.000,0.028,2333,1900,1478,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7798,0.51,225.1,449.9,9.2,402,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1899,1478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8098,0.52,241.6,423.6,8.1,417,8118,0.00,2.10,12.32,0.964,4,0.000,0.039,2342,503,1424,0,0,0,0,0,0,28.83,26.20,25.37
$GC,8134,0.53,259.3,422.1,8.1,418,8155,0.00,2.03,15.95,0.973,6,0.000,0.024,2342,1910,1352,0,0,0,0,0,0,28.83,26.25,25.07
$GC,8455,0.53,259.3,390.3,11.2,434,8461,0.00,2.05,0.00,0.000,4,0.000,0.038,2342,3282,1347,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8541,0.53,259.3,380.4,11.9,438,8547,0.00,2.00,0.00,0.000,6,0.000,0.028,2350,1897,1347,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8859,0.53,259.3,350.4,9.2,454,8864,0.00,2.05,0.00,0.000,4,0.000,0.037,2361,510,1345,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8930,0.53,259.3,344.2,10.0,457,8937,0.12,2.03,0.00,0.000,6,0.148,0.024,2326,1928,1345,0,0,0,0,0,0,26.25,26.44,28.83
$GC,9244,0.55,272.4,316.6,8.2,473,9264,0.00,2.05,11.27,0.888,4,0.000,0.037,2326,3279,1298,0,0,0,0,0,0,28.83,26.21,25.41
$GC,9348,0.56,277.9,308.1,8.5,478,9359,0.00,2.03,6.22,0.780,6,0.000,0.028,2329,1896,1275,0,0,0,0,0,0,28.83,26.30,25.34
$GC,9672,0.59,321.2,283.7,7.2,494,9716,0.00,2.17,36.17,0.920,4,0.000,0.038,2340,507,1099,0,0,0,0,0,0,28.83,25.58,24.87
$GC,9743,0.62,357.4,279.1,7.5,497,9783,0.00,2.05,31.05,0.892,6,0.000,0.023,2340,1894,950,0,0,0,0,0,0,28.83,25.78,24.58
$GC,10096,0.64,357.4,247.8,9.1,515,10101,0.00,2.10,0.00,0.000,4,0.000,0.037,2340,3291,945,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10122,0.66,357.4,245.6,9.2,516,10127,0.00,2.05,0.00,0.000,6,0.000,0.028,2342,1899,944,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10441,0.70,397.1,220.1,7.4,532,10482,0.12,2.12,31.80,0.859,4,0.100,0.037,2411,498,789,0,0,0,0,0,0,26.29,25.67,24.94
$GC,10519,0.71,397.1,212.5,10.7,535,10527,0.00,2.08,0.00,0.000,6,0.000,0.023,2411,1916,788,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10824,0.71,397.1,170.7,12.7,551,10830,0.00,2.00,0.00,0.000,4,0.000,0.037,2411,3275,786,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10871,0.71,397.1,165.1,12.9,553,10878,0.12,2.00,0.00,0.000,6,0.163,0.028,2388,1891,785,0,0,0,0,0,0,26.06,26.25,28.83
$GC,11190,0.75,458.9,136.8,6.6,569,11245,0.00,2.10,48.78,0.786,4,0.000,0.036,2397,511,538,0,0,0,0,0,0,28.83,25.51,24.84
$GC,11337,0.81,535.2,128.6,6.1,576,11403,0.00,2.03,59.88,0.763,6,0.000,0.023,2397,1906,227,0,0,0,0,0,0,28.83,25.90,24.55
$GC,11716,0.90,571.5,101.6,7.5,595,11726,0.12,2.10,4.15,0.514,4,0.112,0.037,2451,508,211,0,0,0,0,0,0,26.04,26.01,25.26
$GC,11842,0.98,571.5,89.4,9.2,601,11848,0.00,2.00,0.00,0.000,6,0.000,0.024,2450,1884,210,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12160,1.07,571.5,56.0,10.9,617,12167,0.12,2.05,0.17,0.148,4,0.107,0.033,2507,3293,210,0,0,0,0,0,0,26.29,26.29,26.09
$GC,12246,1.12,571.5,47.4,9.9,622,12251,0.00,2.03,0.00,0.000,6,0.000,0.026,2515,1883,210,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12554,1.12,571.5,7.2,14.1,665,12562,0.00,2.00,0.25,0.110,4,0.000,0.034,2525,501,210,0,0,0,0,0,0,28.83,26.40,26.29
$STATE,12592,end climb,SURFACE_DEPTH_REACHED
$STATE,12592,begin surface coast
$FINISH,0.7,1.021503
$STATE,12604,end surface coast,CONTROL_FINISHED_OK
$STATE,12604,begin surface
$SM_CCo,12681,0.00,0.000,0,0,209,539.66
$SM_GC,1.27,6.32,2.10,0.00,0.047,0.023,0.000,71,1953,209,-6.46,-1.64,539.66,0,0,0,0,0,0,26.36,26.46,28.83
$IRIDIUM_FIX,1823.67,12225.13,241112,131335
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.42
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.1,31.9
$SC_FREEKB,3986496
$24V_AH,23.9,16.792
$10V_AH,10.3,13.101
$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,16.375,114.400,577.275,0.000,0.000,0.000,0.000,282.975,1.500,0.000,14.875,2219.406,8002.406,633.583,2062.456,194.560,0.000,1897.439,0.000,1679.051,0.000,13.673,0.000
$DEVICE_MAMPS,245.565,49.725,1127.610,0.000,0.000,0.000,0.000,131.580,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12633.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.284,0.000,0.000,0.000
$MEM,306432
$DATA_FILE_SIZE,23399,674
$CAP_FILE_SIZE,165087,0
$CFSIZE,260034560,243785728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,357.9,1
$GPS,241112,211524,1834.560,12219.094,29,2.0,47,-2.1