version: 66.11
glider: 129
mission: 4
dive: 112
start: 11 30 112 10 56 7
data:
$ID,129
$MISSION,4
$DIVE,112
$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,-6
$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,-2787.0449
$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,68
$R_STBD_OVSHOOT,80
$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
$GPS1,301112,104724,1919.889,12255.931,41,1.2,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.5
$GPS2,301112,105542,1919.949,12255.586,10,1.1,15,-2.3
$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,71.0,178626,-14.6,-8.684,-17.90
$D_GRID,4511
$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,17,begin dive
$GC,19,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-65.28,0.000,2,0.000,0.000,74,1892,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.2,-5.7,11,139,8.85,2.15,-32.80,0.000,4,0.243,0.050,2170,3304,3126,5,0,0,0,0,0,25.46,25.99,26.32
$GC,368,-0.63,-175.2,29.3,-11.1,61,374,0.75,2.00,0.00,0.000,6,0.066,0.023,1945,1910,3126,0,0,0,0,0,0,26.13,26.26,28.83
$GC,682,-0.57,-175.2,104.5,-24.6,82,688,0.00,2.08,0.00,0.000,4,0.000,0.034,1935,3307,3126,0,0,0,0,0,0,28.83,26.31,28.83
$GC,725,-0.52,-175.2,116.7,-26.5,84,732,0.20,1.98,0.00,0.000,6,0.145,0.023,1992,1905,3126,0,0,0,0,0,0,26.09,26.39,28.83
$GC,1049,-0.50,-175.2,163.7,-12.6,100,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1904,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1351,-0.49,-175.2,202.2,-12.8,115,1356,0.00,1.95,0.00,0.000,4,0.000,0.031,1992,534,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1457,-0.49,-175.2,216.5,-13.8,120,1462,0.00,1.98,0.00,0.000,6,0.000,0.023,1987,1930,3127,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1775,-0.49,-175.2,254.4,-11.0,136,1780,0.00,2.03,0.00,0.000,4,0.000,0.031,1987,535,3126,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1817,-0.48,-175.2,259.5,-11.6,138,1823,0.00,1.95,0.00,0.000,6,0.000,0.023,1977,1933,3126,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2140,-0.48,-175.2,297.2,-10.9,154,2146,0.00,2.00,0.00,0.000,4,0.000,0.031,1977,542,3126,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2232,-0.48,-175.2,306.7,-11.5,158,2238,0.12,1.95,0.00,0.000,6,0.143,0.023,2004,1938,3125,0,0,0,0,0,0,26.33,26.55,28.83
$GC,2546,-0.49,-175.2,332.3,-7.5,174,2551,0.00,1.98,0.00,0.000,4,0.000,0.036,1995,3309,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2603,-0.50,-175.2,335.4,-7.3,176,2610,0.00,1.95,0.00,0.000,6,0.000,0.023,1995,1924,3124,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2910,-0.51,-175.2,360.9,-8.3,192,2915,0.00,2.00,0.00,0.000,4,0.000,0.032,1995,532,3124,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2972,-0.52,-175.2,366.7,-9.1,195,2977,0.00,1.95,0.00,0.000,6,0.000,0.022,1988,1931,3123,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3296,-0.53,-175.2,395.7,-8.4,211,3301,0.00,2.05,0.00,0.000,4,0.000,0.032,1988,530,3122,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3384,-0.53,-175.2,403.3,-8.8,215,3389,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1921,3122,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3702,-0.54,-175.2,426.1,-6.9,231,3708,0.00,2.05,0.00,0.000,4,0.000,0.037,1988,3317,3120,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3767,-0.55,-175.2,430.2,-6.6,234,3773,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1923,3119,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4091,-0.57,-175.2,454.1,-7.8,250,4096,0.00,2.00,0.00,0.000,4,0.000,0.033,1988,524,3117,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4227,-0.58,-175.2,465.0,-9.1,256,4234,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1929,3117,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4534,-0.59,-175.2,490.4,-7.7,272,4536,0.00,0.00,-0.08,0.000,6,0.000,0.000,1988,1930,3142,0,0,0,0,0,0,28.83,28.83,25.73
$GC,4834,-0.60,-175.2,512.2,-7.1,287,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5135,-0.62,-175.2,534.5,-7.6,302,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5433,-0.63,-175.2,557.5,-7.5,317,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,-0.65,-175.2,577.2,-6.1,332,5737,0.12,0.00,0.00,0.000,6,0.101,0.000,1933,1930,3135,0,0,0,0,0,0,26.56,28.83,28.83
$GC,6054,-0.64,-175.2,606.7,-9.6,347,6059,0.00,2.08,0.00,0.000,4,0.000,0.035,1933,533,3133,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6110,-0.63,-175.2,610.1,-9.7,348,6118,0.12,2.00,0.00,0.000,6,0.155,0.025,1957,1924,3133,0,0,0,0,0,0,26.29,26.55,28.83
$GC,6417,-0.63,-175.2,639.5,-8.8,359,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1924,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6716,-0.63,-175.2,667.1,-9.3,369,6721,0.00,2.05,0.00,0.000,4,0.000,0.036,1958,540,3129,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6772,-0.63,-175.2,670.3,-9.4,370,6780,0.00,2.00,0.00,0.000,6,0.000,0.025,1950,1931,3129,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7081,-0.63,-175.2,700.8,-8.8,381,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1933,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7380,-0.63,-175.2,724.2,-7.3,391,7385,0.00,2.08,0.00,0.000,4,0.000,0.036,1949,534,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7443,-0.63,-175.2,729.1,-7.5,393,7448,0.00,2.00,0.00,0.000,6,0.000,0.026,1940,1930,3126,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7778,-0.63,-175.2,752.1,-6.8,404,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1930,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8076,-0.63,-175.2,775.1,-8.0,414,8081,0.00,2.03,0.00,0.000,4,0.000,0.040,1930,3310,3122,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8099,-0.63,-175.2,775.1,-8.0,414,8104,0.00,2.00,0.00,0.000,6,0.000,0.027,1930,1921,3121,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8413,-0.62,-175.2,806.0,-9.5,425,8418,0.00,2.05,0.00,0.000,4,0.000,0.037,1930,529,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8489,-0.62,-175.2,812.9,-10.1,427,8495,0.15,2.03,0.00,0.000,6,0.151,0.026,1963,1932,3120,0,0,0,0,0,0,26.22,26.53,28.83
$GC,8809,-0.63,-175.2,839.7,-7.8,438,8814,0.00,2.08,0.00,0.000,4,0.000,0.037,1963,537,3119,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8843,-0.64,-175.2,842.6,-7.9,439,8848,0.00,2.03,0.00,0.000,6,0.000,0.026,1956,1935,3119,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9177,-0.65,-175.2,869.5,-8.0,450,9182,0.00,2.08,0.00,0.000,4,0.000,0.037,1956,537,3117,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9234,-0.66,-175.2,872.4,-8.0,451,9242,0.00,1.98,0.00,0.000,6,0.000,0.027,1947,1922,3117,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9542,-0.66,-175.2,897.8,-7.5,462,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1924,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9841,-0.67,-175.2,921.3,-8.0,472,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1924,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10140,-0.67,-175.2,943.9,-7.6,482,10146,0.00,2.08,0.00,0.000,4,0.000,0.037,1947,535,3114,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10168,-0.68,-175.2,943.9,-7.6,482,10175,0.00,2.03,0.00,0.000,6,0.000,0.026,1938,1935,3114,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10474,-0.68,-175.2,968.3,-7.2,493,10480,0.00,2.10,0.00,0.000,4,0.000,0.037,1938,531,3113,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10501,-0.68,-175.2,968.3,-7.2,493,10509,0.00,2.00,0.00,0.000,6,0.000,0.026,1929,1928,3113,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,10805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10805,begin apogee
$GC,10809,-0.17,0.0,991.2,-6.4,504,10959,0.50,0.00,142.90,1.418,6,0.122,0.000,2098,1930,2409,0,0,0,0,0,0,26.05,28.83,23.63
$STATE,10961,end apogee,CONTROL_FINISHED_OK
$STATE,10961,begin climb
$GC,10963,0.56,175.2,992.9,0.0,509,11121,0.70,0.00,154.77,1.366,6,0.065,0.000,2346,1930,1694,0,0,0,0,0,0,24.69,28.83,22.72
$GC,11407,0.54,175.2,944.4,12.8,524,11413,0.00,2.10,0.00,0.000,4,0.000,0.037,2346,3289,1685,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11504,0.52,175.2,931.6,13.4,527,11510,0.00,2.08,0.00,0.000,6,0.000,0.029,2356,1910,1684,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11833,0.50,175.2,892.1,11.4,538,11839,0.12,2.10,0.00,0.000,4,0.177,0.035,2319,3288,1683,0,0,0,0,0,0,25.84,26.02,28.83
$GC,11871,0.48,175.2,888.4,11.1,539,11876,0.00,2.05,0.00,0.000,6,0.000,0.029,2328,1889,1682,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12200,0.47,175.2,857.3,9.0,550,12206,0.00,2.08,0.00,0.000,4,0.000,0.041,2338,496,1681,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12273,0.46,175.2,851.1,9.4,552,12278,0.00,2.05,0.00,0.000,6,0.000,0.025,2338,1908,1680,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12597,0.45,175.2,819.5,9.7,563,12603,0.12,2.03,0.00,0.000,4,0.161,0.037,2299,3280,1679,0,0,0,0,0,0,26.12,26.27,28.83
$GC,12686,0.44,175.2,813.4,9.6,565,12693,0.00,2.00,0.00,0.000,6,0.000,0.029,2307,1897,1679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12991,0.44,175.2,784.5,8.8,576,12997,0.00,2.08,0.00,0.000,4,0.000,0.038,2307,3282,1679,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13028,0.44,175.2,781.2,9.0,577,13033,0.00,2.03,0.00,0.000,6,0.000,0.028,2317,1896,1679,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13356,0.44,175.2,750.2,9.2,588,13361,0.00,2.08,0.00,0.000,4,0.000,0.037,2317,3282,1678,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13483,0.43,175.2,737.8,10.0,592,13489,0.00,2.03,0.00,0.000,6,0.000,0.029,2327,1896,1678,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13812,0.42,175.2,707.5,8.7,603,13814,0.12,0.00,0.00,0.000,6,0.179,0.000,2295,1896,1678,0,0,0,0,0,0,26.22,28.83,28.83
$GC,14114,0.45,229.7,686.5,6.9,613,14160,0.00,0.00,44.47,1.230,6,0.000,0.000,2295,1896,1472,0,0,0,0,0,0,28.83,28.83,24.41
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$STATE,21261,end climb,SURFACE_DEPTH_REACHED
$STATE,21261,begin surface coast
$FINISH,0.8,1.021933
$STATE,21283,end surface coast,CONTROL_FINISHED_OK
$STATE,21284,begin surface
$SM_CCo,21357,0.00,0.000,0,0,576,449.63
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$IRIDIUM_FIX,1913.80,12257.70,301112,040445
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.98
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3977280
$24V_AH,22.7,21.576
$10V_AH,10.2,16.412
$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,18.375,154.875,526.950,0.000,0.000,0.000,0.000,329.850,3.000,0.000,15.802,3183.295,14955.622,720.174,2679.517,305.658,0.000,2278.240,0.000,2231.524,0.000,27.327,0.000
$DEVICE_MAMPS,242.505,49.725,1417.545,0.000,0.000,0.000,0.000,131.580,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.095,0.000,0.000,0.000
$MEM,328948
$DATA_FILE_SIZE,36743,1008
$CAP_FILE_SIZE,236021,0
$CFSIZE,260034560,241168384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0
$CURRENT,0.239,306.7,1
$GPS,301112,165306,1923.078,12256.159,25,1.9,25,-2.3