version: 66.11
glider: 129
mission: 4
dive: 89
start: 11 24 112 21 27 40
data:
$ID,129
$MISSION,4
$DIVE,89
$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,-2758.0212
$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,70
$R_STBD_OVSHOOT,81
$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
$GPS1,241112,211524,1834.560,12219.094,29,2.0,47,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.2
$GPS2,241112,212715,1835.007,12218.801,15,2.2,34,-2.1
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,77.5,280431,-14.6,-8.684,-17.90
$D_GRID,510
$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,-66.12,0.000,2,0.000,0.000,58,1958,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.3,-5.9,11,132,7.72,0.00,-27.48,0.000,6,0.245,0.000,1999,1957,3125,0,0,0,0,0,0,25.73,28.83,26.39
$GC,446,-0.50,-175.2,102.6,-26.3,45,452,0.00,2.08,0.00,0.000,4,0.000,0.031,1993,530,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,504,-0.46,-175.2,112.9,-23.4,47,510,0.00,1.98,0.00,0.000,6,0.000,0.024,1990,1906,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,810,-0.44,-175.2,170.4,-13.9,63,815,0.00,2.08,0.00,0.000,4,0.000,0.036,1980,3326,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,862,-0.43,-175.2,175.8,-12.7,65,868,0.15,1.98,0.00,0.000,6,0.132,0.023,2025,1896,3126,0,0,0,0,0,0,26.32,26.48,28.83
$GC,1175,-0.44,-175.2,199.4,-6.9,81,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1895,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-0.46,-175.2,219.9,-5.6,96,1482,0.00,1.92,0.00,0.000,4,0.000,0.032,2025,552,3126,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1528,-0.48,-175.2,222.5,-5.6,98,1534,0.00,1.95,0.00,0.000,6,0.000,0.023,2017,1952,3126,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1841,-0.50,-175.2,245.2,-7.9,114,1847,0.00,1.95,0.00,0.000,4,0.000,0.037,2007,3303,3124,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1906,-0.52,-175.2,250.0,-7.7,117,1912,0.00,1.92,0.00,0.000,6,0.000,0.024,2010,1937,3124,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2230,-0.53,-175.2,273.2,-6.2,133,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1937,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.55,-175.2,287.0,-4.6,148,2536,0.00,2.05,0.00,0.000,4,0.000,0.033,2006,513,3122,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2578,-0.56,-175.2,289.8,-5.7,150,2583,0.00,2.03,0.00,0.000,6,0.000,0.024,2000,1923,3122,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2896,-0.57,-175.2,312.7,-6.7,166,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1923,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3197,-0.59,-175.2,335.3,-7.5,181,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1923,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3497,-0.60,-175.2,356.0,-6.5,196,3499,0.00,0.00,-0.08,0.000,6,0.000,0.000,2000,1923,3136,0,0,0,0,0,0,28.83,28.83,25.98
$GC,3796,-0.61,-175.2,374.5,-6.4,211,3798,0.12,0.00,0.00,0.000,6,0.099,0.000,1944,1924,3136,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4097,-0.60,-175.2,407.8,-12.1,226,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1924,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4396,-0.59,-175.2,446.9,-13.9,241,4402,0.00,2.05,0.00,0.000,4,0.000,0.035,1943,533,3132,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4483,-0.58,-175.2,458.2,-13.2,245,4489,0.15,1.98,0.00,0.000,6,0.145,0.025,1978,1931,3131,0,0,0,0,0,0,26.41,26.61,28.83
$GC,4807,-0.59,-175.2,484.7,-7.2,261,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1931,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5107,-0.60,-175.2,504.9,-6.5,276,5113,0.00,2.03,0.00,0.000,4,0.000,0.040,1968,3322,3128,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5130,-0.61,-175.2,506.4,-6.5,277,5135,0.00,1.98,0.00,0.000,6,0.000,0.025,1969,1926,3128,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,5191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5195,-0.17,0.0,511.0,-7.1,280,5335,0.38,0.00,134.65,1.040,6,0.116,0.000,2099,1916,2409,0,0,0,0,0,0,26.38,28.83,24.29
$STATE,5337,end apogee,CONTROL_FINISHED_OK
$STATE,5337,begin climb
$GC,5338,0.56,175.2,515.7,0.0,287,5488,0.68,2.20,138.93,1.008,4,0.080,0.036,2340,3284,1693,0,0,0,0,0,0,25.09,24.83,24.12
$GC,5660,0.54,175.2,492.4,10.1,303,5665,0.00,2.03,0.00,0.000,6,0.000,0.026,2349,1896,1686,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5977,0.53,175.2,461.8,10.2,319,5983,0.00,2.08,0.00,0.000,4,0.000,0.036,2349,3291,1683,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6114,0.51,175.2,447.2,12.1,325,6122,0.12,2.03,0.00,0.000,6,0.177,0.027,2328,1895,1682,0,0,0,0,0,0,26.09,26.31,28.83
$GC,6420,0.51,180.2,416.8,8.5,341,6426,0.00,2.08,0.00,0.000,4,0.000,0.035,2328,3289,1681,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6446,0.52,187.7,414.8,8.4,342,6463,0.00,2.03,9.27,0.885,6,0.000,0.027,2335,1888,1643,0,0,0,0,0,0,28.83,26.43,25.36
$GC,6763,0.53,212.6,388.7,7.9,358,6792,0.00,2.15,21.05,0.952,4,0.000,0.037,2335,3278,1542,0,0,0,0,0,0,28.83,25.90,25.14
$GC,6908,0.52,215.6,376.9,8.6,365,6919,0.00,2.03,3.80,0.624,6,0.000,0.027,2343,1892,1530,0,0,0,0,0,0,28.83,26.14,25.20
$GC,7227,0.52,215.6,346.8,9.9,381,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1892,1527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,0.52,215.6,318.7,9.0,396,7533,0.00,2.10,0.00,0.000,4,0.000,0.037,2344,3294,1526,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7679,0.51,215.6,304.6,9.5,403,7684,0.00,2.00,0.00,0.000,6,0.000,0.028,2353,1896,1526,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7991,0.51,215.6,275.8,10.1,419,7996,0.00,2.03,0.00,0.000,4,0.000,0.037,2363,500,1525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8033,0.51,215.6,272.0,9.7,421,8039,0.12,2.00,0.00,0.000,6,0.146,0.024,2328,1924,1523,0,0,0,0,0,0,26.33,26.53,28.83
$GC,8358,0.54,265.5,249.6,7.0,437,8405,0.00,2.08,39.80,0.884,4,0.000,0.036,2328,3265,1325,0,0,0,0,0,0,28.83,25.71,25.03
$GC,8492,0.55,265.5,239.0,9.2,443,8499,0.00,2.00,0.00,0.000,6,0.000,0.028,2332,1889,1322,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8798,0.57,265.5,206.9,9.0,459,8803,0.00,2.05,0.00,0.000,4,0.000,0.037,2343,506,1320,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8923,0.60,301.8,197.3,7.5,465,8962,0.00,1.98,29.27,0.830,6,0.000,0.024,2343,1894,1182,0,0,0,0,0,0,28.83,26.37,25.08
$GC,9263,0.63,313.5,173.2,8.3,482,9277,0.00,2.08,9.80,0.741,4,0.000,0.034,2343,3293,1131,0,0,0,0,0,0,28.83,26.04,25.28
$GC,9355,0.66,331.1,166.4,8.1,486,9376,0.00,2.05,15.90,0.768,6,0.000,0.027,2351,1884,1059,0,0,0,0,0,0,28.83,26.17,25.15
$GC,9689,0.70,363.7,143.1,7.6,503,9719,0.10,0.00,27.23,0.763,6,0.106,0.000,2399,1884,926,0,0,0,0,0,0,26.27,28.83,25.09
$GC,10009,0.72,363.7,114.0,9.0,519,10014,0.00,2.08,0.00,0.000,4,0.000,0.034,2399,3287,922,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10056,0.74,363.7,110.2,8.9,521,10062,0.00,2.03,0.00,0.000,6,0.000,0.025,2408,1886,922,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10374,0.78,388.1,86.8,7.9,537,10396,0.00,0.00,20.23,0.693,6,0.000,0.000,2408,1886,826,0,0,0,0,0,0,28.83,28.83,25.37
$GC,10695,0.86,510.7,64.9,4.6,553,10796,0.00,2.25,94.25,0.679,4,0.000,0.033,2408,3295,327,0,0,0,0,0,0,28.83,25.29,24.69
$GC,10815,0.97,648.2,60.8,4.1,558,10846,0.17,2.05,23.27,0.641,6,0.075,0.024,2490,1898,208,0,0,0,0,0,0,25.51,25.54,24.75
$GC,11148,0.98,648.2,23.4,12.5,587,11155,0.00,2.05,0.00,0.000,4,0.000,0.036,2500,514,207,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11225,0.99,648.2,13.1,13.2,601,11232,0.00,2.00,0.00,0.000,6,0.000,0.021,2500,1920,205,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11312,end climb,SURFACE_DEPTH_REACHED
$STATE,11313,begin surface coast
$FINISH,0.9,1.021529
$STATE,11325,end surface coast,CONTROL_FINISHED_OK
$STATE,11325,begin surface
$SM_CCo,11399,0.00,0.000,0,0,207,540.15
$SM_GC,1.29,6.18,0.00,0.00,0.037,0.000,0.000,66,1933,207,-6.46,0.23,540.15,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,1830.49,12245.89,241112,212152
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.65
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3986112
$24V_AH,24.1,16.949
$10V_AH,10.4,13.203
$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,15.900,77.350,567.450,0.000,0.000,0.000,0.000,480.475,0.750,0.000,36.449,1886.676,7445.458,599.645,1974.094,203.077,0.000,1907.198,0.000,1400.661,0.000,7.880,0.000
$DEVICE_MAMPS,244.800,39.780,1040.400,0.000,0.000,0.000,0.000,123.930,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11341.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.869,0.000,0.000,0.000
$MEM,308720
$DATA_FILE_SIZE,23435,620
$CAP_FILE_SIZE,146966,0
$CFSIZE,260034560,243720192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.399,323.0,1
$GPS,251112,003854,1837.488,12218.784,39,1.2,39,-2.1