version: 66.11
glider: 129
mission: 4
dive: 108
start: 11 29 112 10 53 39
data:
$ID,129
$MISSION,4
$DIVE,108
$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,-2782.0125
$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,65
$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
$GPS1,291112,104506,1912.646,12247.701,28,1.6,28,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.3
$GPS2,291112,105313,1912.715,12247.704,13,1.5,13,-2.2
$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,75.1,197544,-14.6,-8.684,-17.90
$D_GRID,4381
$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,-175.2,0.0,0.0,0,87,0.00,0.00,-65.95,0.000,2,0.000,0.000,61,1907,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.2,-5.6,11,134,7.68,2.15,-30.02,0.000,4,0.246,0.050,1963,3307,3124,0,0,0,0,0,0,25.59,26.01,26.32
$GC,241,-0.51,-175.2,32.8,-23.5,35,248,0.12,2.00,0.00,0.000,6,0.155,0.024,1995,1919,3124,0,0,0,0,0,0,25.95,26.17,28.83
$GC,547,-0.46,-175.2,107.3,-23.8,54,553,0.00,2.00,0.00,0.000,4,0.000,0.032,1995,534,3125,0,0,0,0,0,0,28.83,26.30,28.83
$GC,780,-0.45,-175.2,146.5,-15.3,65,785,0.00,1.95,0.00,0.000,6,0.000,0.024,1988,1915,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1092,-0.43,-175.2,190.3,-13.0,81,1099,0.12,2.00,0.00,0.000,4,0.155,0.030,2029,528,3126,0,0,0,0,0,0,26.29,26.43,28.83
$GC,1136,-0.43,-175.2,195.8,-13.1,83,1142,0.00,2.00,0.00,0.000,6,0.000,0.023,2021,1937,3126,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1460,-0.44,-175.2,229.9,-9.9,99,1465,0.00,2.03,0.00,0.000,4,0.000,0.037,2010,3316,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1482,-0.45,-175.2,231.9,-9.7,100,1487,0.00,1.98,0.00,0.000,6,0.000,0.023,2010,1913,3125,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1804,-0.46,-175.2,263.5,-11.2,116,1810,0.00,1.95,0.00,0.000,4,0.000,0.032,2010,540,3124,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1942,-0.47,-175.2,275.1,-8.9,122,1949,0.00,1.98,0.00,0.000,6,0.000,0.023,2002,1939,3124,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2248,-0.47,-175.2,301.7,-8.6,138,2253,0.00,2.05,0.00,0.000,4,0.000,0.031,2003,532,3122,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2285,-0.48,-175.2,303.7,-8.6,139,2292,0.00,1.98,0.00,0.000,6,0.000,0.023,1994,1930,3122,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2590,-0.48,-175.2,331.4,-9.0,155,2596,0.00,2.00,0.00,0.000,4,0.000,0.037,1986,3310,3121,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2628,-0.49,-175.2,333.4,-8.7,156,2634,0.00,1.92,0.00,0.000,6,0.000,0.023,1986,1927,3121,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2934,-0.49,-175.2,361.7,-9.3,172,2939,0.00,2.00,0.00,0.000,4,0.000,0.032,1986,539,3121,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3090,-0.49,-175.2,377.3,-11.0,179,3097,0.00,1.95,0.00,0.000,6,0.000,0.024,1977,1931,3121,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3396,-0.49,-175.2,410.5,-9.5,195,3401,0.00,2.03,0.00,0.000,4,0.000,0.037,1967,3313,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3433,-0.49,-175.2,412.4,-9.3,196,3440,0.12,1.98,0.00,0.000,6,0.132,0.024,2004,1913,3118,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3739,-0.51,-175.2,434.9,-6.9,212,3744,0.00,1.98,0.00,0.000,4,0.000,0.034,2004,550,3117,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3786,-0.52,-175.2,438.4,-7.4,214,3791,0.00,1.95,0.00,0.000,6,0.000,0.023,1997,1925,3117,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4104,-0.54,-175.2,464.2,-7.9,230,4106,0.00,0.00,-0.08,0.000,6,0.000,0.000,1996,1925,3139,0,0,0,0,0,0,28.83,28.83,25.81
$GC,4404,-0.56,-175.2,483.6,-6.2,245,4409,0.00,2.03,0.00,0.000,4,0.000,0.034,1997,546,3137,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4447,-0.57,-175.2,487.0,-7.1,247,4452,0.00,1.95,0.00,0.000,6,0.000,0.024,1990,1930,3137,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4769,-0.59,-175.2,513.3,-8.0,263,4775,0.00,2.05,0.00,0.000,4,0.000,0.038,1988,3306,3136,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4807,-0.60,-175.2,515.0,-7.8,264,4814,0.00,1.92,0.00,0.000,6,0.000,0.024,1988,1935,3136,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5113,-0.62,-175.2,536.9,-6.6,280,5119,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,517,3135,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5166,-0.63,-175.2,540.2,-7.0,282,5171,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1920,3135,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5479,-0.64,-175.2,563.6,-7.3,298,5485,0.12,2.03,0.00,0.000,4,0.101,0.036,1916,3310,3133,0,0,0,0,0,0,26.56,26.50,28.83
$GC,5512,-0.65,-175.2,565.7,-7.5,299,5518,0.12,1.98,0.00,0.000,6,0.153,0.026,1951,1914,3133,0,0,0,0,0,0,26.32,26.58,28.83
$GC,5826,-0.65,-175.2,594.9,-8.1,315,5831,0.00,1.98,0.00,0.000,4,0.000,0.034,1951,541,3130,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5979,-0.65,-175.2,607.9,-8.5,321,5985,0.00,2.00,0.00,0.000,6,0.000,0.025,1943,1917,3130,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6314,-0.65,-175.2,637.6,-9.0,332,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1917,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,-0.65,-175.2,664.3,-8.9,342,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1921,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6913,-0.65,-175.2,690.5,-8.6,352,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1917,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,-0.65,-175.2,716.1,-8.7,362,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1918,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7513,-0.65,-175.2,741.3,-8.4,372,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1918,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7813,-0.65,-175.2,765.9,-8.2,382,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1918,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8113,-0.65,-175.2,788.8,-7.4,392,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1918,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8413,-0.65,-175.2,811.0,-7.3,402,8418,0.00,2.03,0.00,0.000,4,0.000,0.037,1942,546,3117,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8485,-0.65,-175.2,816.0,-7.6,404,8490,0.00,1.98,0.00,0.000,6,0.000,0.027,1933,1927,3117,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8809,-0.65,-175.2,843.7,-8.4,415,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1927,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9108,-0.65,-175.2,868.8,-8.3,425,9113,0.00,2.08,0.00,0.000,4,0.000,0.038,1930,539,3114,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9160,-0.65,-175.2,871.7,-8.6,426,9165,0.00,2.00,0.00,0.000,6,0.000,0.027,1924,1935,3114,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9475,-0.65,-175.2,900.7,-8.7,437,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1935,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9772,-0.64,-175.2,927.5,-9.1,447,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1935,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10072,-0.63,-175.2,954.3,-8.9,457,10074,0.12,0.00,0.00,0.000,6,0.161,0.000,1958,1935,3111,0,0,0,0,0,0,26.36,28.83,28.83
$GC,10374,-0.65,-175.2,974.8,-6.6,467,10379,0.00,2.08,0.00,0.000,4,0.000,0.038,1958,552,3113,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10407,-0.66,-175.2,977.1,-6.7,468,10412,0.00,1.98,0.00,0.000,6,0.000,0.027,1951,1926,3110,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,10618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10618,begin apogee
$GC,10622,-0.17,0.0,991.8,-6.8,475,10772,0.45,0.00,142.70,1.423,6,0.118,0.000,2103,1928,2409,0,0,0,0,0,0,26.13,28.83,23.64
$STATE,10774,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10775,0.56,175.2,996.3,0.0,480,10939,0.65,2.42,154.32,1.372,4,0.066,0.039,2352,533,1693,0,0,0,0,0,0,24.71,23.64,22.73
$GC,10961,0.53,195.5,986.3,8.0,486,10987,0.00,2.17,19.05,1.268,6,0.000,0.024,2352,1901,1611,0,0,0,0,0,0,28.83,24.23,23.03
$GC,11315,0.51,195.5,940.5,12.8,498,11321,0.00,2.12,0.00,0.000,4,0.000,0.039,2355,3285,1604,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11508,0.49,195.5,914.8,14.0,504,11514,0.17,2.03,0.00,0.000,6,0.172,0.029,2316,1912,1603,0,0,0,0,0,0,25.62,25.91,28.83
$GC,11832,0.49,195.5,879.0,10.5,515,11838,0.00,2.12,0.00,0.000,4,0.000,0.039,2314,3299,1601,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11869,0.49,195.5,875.1,10.6,516,11874,0.00,2.05,0.00,0.000,6,0.000,0.029,2324,1895,1601,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12197,0.48,195.5,839.2,10.5,527,12202,0.00,2.08,0.00,0.000,4,0.000,0.041,2333,508,1600,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12224,0.48,195.5,839.2,10.5,527,12231,0.00,2.03,0.00,0.000,6,0.000,0.025,2334,1921,1600,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12531,0.47,195.5,804.5,10.1,538,12536,0.00,2.00,0.00,0.000,4,0.000,0.040,2333,3275,1600,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12613,0.46,195.5,797.4,10.5,540,12619,0.12,2.03,0.00,0.000,6,0.182,0.029,2311,1896,1599,0,0,0,0,0,0,26.06,26.35,28.83
$GC,12926,0.46,195.5,766.4,9.3,551,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1896,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13227,0.46,195.5,739.8,8.8,561,13232,0.00,2.08,0.00,0.000,4,0.000,0.039,2311,3278,1598,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13338,0.46,195.5,730.2,10.0,564,13344,0.00,2.00,0.00,0.000,6,0.000,0.030,2318,1895,1598,0,0,0,0,0,0,28.83,26.43,28.83
$GC,13651,0.46,195.5,698.0,9.8,575,13656,0.00,2.10,0.00,0.000,4,0.000,0.039,2318,3287,1598,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13687,0.46,195.5,694.5,10.0,576,13692,0.00,2.03,0.00,0.000,6,0.000,0.029,2328,1886,1598,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14015,0.46,195.5,660.3,10.1,587,14021,0.00,2.10,0.00,0.000,4,0.000,0.039,2334,3281,1598,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,21070,end climb,SURFACE_DEPTH_REACHED
$STATE,21070,begin surface coast
$FINISH,1.1,1.021743
$STATE,21087,end surface coast,CONTROL_FINISHED_OK
$STATE,21087,begin surface
$SM_CCo,21161,0.00,0.000,0,0,208,539.66
$SM_GC,1.64,6.22,0.00,0.00,0.042,0.000,0.000,61,1906,208,-6.46,-0.54,539.66,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,1904.66,12241.92,291112,040445
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.82
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3978816
$24V_AH,22.7,20.794
$10V_AH,10.3,15.853
$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,16.325,167.200,596.725,0.000,0.000,0.000,0.000,320.425,3.000,0.000,13.972,3112.610,14805.078,769.333,2661.177,289.727,0.000,2343.810,0.000,2222.699,0.000,25.449,0.000
$DEVICE_MAMPS,245.565,49.725,1422.900,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21100.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.980,0.000,0.000,0.000
$MEM,308636
$DATA_FILE_SIZE,36646,967
$CAP_FILE_SIZE,234609,0
$CFSIZE,260034560,241602560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,318.8,1
$GPS,291112,164736,1915.403,12249.422,39,1.2,39,-2.2