version: 66.11
glider: 129
mission: 4
dive: 125
start: 12 3 112 18 10 50
data:
$ID,129
$MISSION,4
$DIVE,125
$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,-2804.1001
$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,72
$R_STBD_OVSHOOT,82
$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
$GPS1,031212,180223,1943.058,12321.805,40,1.4,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-60.8
$GPS2,031212,181024,1942.928,12321.707,9,1.4,15,-2.4
$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,92.8,117417,-14.6,-8.684,-17.90
$D_GRID,5052
$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,18,-0.56,-175.2,0.0,0.0,0,73,0.00,0.00,-53.15,0.000,2,0.000,0.000,77,1915,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.56,-175.2,3.1,-4.9,9,125,7.65,2.10,-32.88,0.000,4,0.241,0.048,1969,532,3126,0,0,0,0,0,0,25.49,26.01,26.33
$GC,189,-0.48,-175.2,26.6,-31.6,29,197,0.15,2.00,0.00,0.000,6,0.169,0.023,2000,1915,3127,0,0,0,0,0,0,25.82,26.13,28.83
$GC,495,-0.44,-175.2,104.5,-21.0,49,501,0.00,2.03,0.00,0.000,4,0.000,0.031,2000,534,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,593,-0.40,-175.2,119.2,-17.5,53,600,0.12,2.00,0.00,0.000,6,0.151,0.023,2026,1934,3128,0,0,0,0,0,0,26.10,26.34,28.83
$GC,898,-0.40,-175.2,160.1,-11.4,69,903,0.00,2.03,0.00,0.000,4,0.000,0.036,2017,3311,3128,0,0,0,0,0,0,28.83,26.35,28.83
$GC,950,-0.40,-175.2,164.7,-11.3,71,955,0.00,1.95,0.00,0.000,6,0.000,0.022,2017,1905,3128,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1262,-0.40,-175.2,199.6,-10.1,87,1268,0.00,1.98,0.00,0.000,4,0.000,0.031,2017,547,3128,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1370,-0.40,-175.2,210.2,-10.3,92,1375,0.00,1.95,0.00,0.000,6,0.000,0.023,2008,1929,3128,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1687,-0.40,-175.2,243.7,-10.2,108,1693,0.00,2.03,0.00,0.000,4,0.000,0.036,1997,3313,3128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1731,-0.40,-175.2,247.7,-9.9,110,1737,0.12,1.92,0.00,0.000,6,0.132,0.022,2035,1920,3128,0,0,0,0,0,0,26.30,26.52,28.83
$GC,2055,-0.43,-175.2,269.7,-7.1,126,2061,0.00,1.98,0.00,0.000,4,0.000,0.031,2035,546,3127,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2149,-0.45,-175.2,276.5,-8.2,130,2155,0.00,1.95,0.00,0.000,6,0.000,0.021,2030,1933,3127,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2462,-0.47,-175.2,302.5,-7.4,146,2467,0.00,2.03,0.00,0.000,4,0.000,0.031,2030,542,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2526,-0.49,-175.2,307.6,-7.8,149,2531,0.00,1.95,0.00,0.000,6,0.000,0.022,2022,1927,3125,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2849,-0.52,-175.2,331.7,-7.4,165,2854,0.00,2.00,0.00,0.000,4,0.000,0.035,2012,3296,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2896,-0.54,-175.2,335.1,-7.4,167,2901,0.00,1.90,0.00,0.000,6,0.000,0.022,2012,1928,3124,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3215,-0.56,-175.2,357.2,-6.2,183,3220,0.00,2.03,0.00,0.000,4,0.000,0.032,2012,542,3124,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3343,-0.57,-175.2,366.0,-7.3,189,3348,0.00,1.95,0.00,0.000,6,0.000,0.023,2005,1921,3124,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3661,-0.59,-175.2,388.0,-6.6,205,3668,0.10,2.00,0.00,0.000,4,0.112,0.034,1947,3303,3123,0,0,0,0,0,0,26.58,26.46,28.83
$GC,3755,-0.59,-175.2,395.7,-9.1,209,3760,0.00,1.92,0.00,0.000,6,0.000,0.024,1947,1919,3122,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4068,-0.58,-175.2,430.6,-11.2,225,4073,0.00,2.00,0.00,0.000,4,0.000,0.032,1947,535,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4160,-0.57,-175.2,440.5,-12.0,229,4166,0.15,1.98,0.00,0.000,6,0.143,0.023,1981,1926,3121,0,0,0,0,0,0,26.25,26.54,28.83
$GC,4474,-0.58,-175.2,468.2,-7.6,245,4479,0.00,2.03,0.00,0.000,4,0.000,0.032,1986,543,3117,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4512,-0.59,-175.2,470.0,-7.7,246,4519,0.00,1.98,0.00,0.000,6,0.000,0.023,1974,1937,3118,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4817,-0.59,-175.2,495.9,-8.1,262,4819,0.00,0.00,-0.08,0.000,6,0.000,0.000,1974,1936,3140,0,0,0,0,0,0,28.83,28.83,25.60
$GC,5117,-0.60,-175.2,522.4,-8.9,277,5123,0.00,2.05,0.00,0.000,4,0.000,0.034,1974,538,3139,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5165,-0.61,-175.2,526.6,-9.2,279,5170,0.00,2.00,0.00,0.000,6,0.000,0.024,1965,1920,3139,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5482,-0.61,-175.2,555.4,-8.7,295,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1921,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5784,-0.61,-175.2,581.9,-8.9,310,5789,0.00,2.00,0.00,0.000,4,0.000,0.034,1965,552,3137,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5840,-0.61,-175.2,586.2,-9.4,312,5847,0.00,1.98,0.00,0.000,6,0.000,0.024,1956,1931,3136,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6167,-0.61,-175.2,618.6,-9.2,326,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1933,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6466,-0.61,-175.2,645.6,-8.9,336,6471,0.00,2.05,0.00,0.000,4,0.000,0.034,1956,549,3133,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6555,-0.61,-175.2,651.7,-9.3,338,6562,0.00,1.98,0.00,0.000,6,0.000,0.024,1948,1924,3133,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6862,-0.61,-175.2,682.1,-9.0,349,6867,0.00,2.03,0.00,0.000,4,0.000,0.039,1937,3309,3130,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6888,-0.61,-175.2,682.1,-9.0,349,6895,0.00,2.00,0.00,0.000,6,0.000,0.026,1938,1931,3130,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7197,-0.60,-175.2,712.8,-8.9,360,7202,0.00,2.05,0.00,0.000,4,0.000,0.035,1937,531,3129,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7294,-0.59,-175.2,721.5,-9.1,363,7301,0.15,1.98,0.00,0.000,6,0.147,0.025,1971,1924,3128,0,0,0,0,0,0,26.18,26.51,28.83
$GC,7625,-0.60,-175.2,742.0,-5.8,374,7630,0.00,2.05,0.00,0.000,4,0.000,0.039,1962,3307,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7672,-0.62,-175.2,744.0,-5.9,375,7678,0.00,1.98,0.00,0.000,6,0.000,0.026,1962,1920,3126,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7992,-0.63,-175.2,765.5,-6.7,386,7998,0.00,2.03,0.00,0.000,4,0.000,0.035,1962,527,3125,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8110,-0.63,-175.2,773.2,-7.8,389,8118,0.00,2.03,0.00,0.000,6,0.000,0.025,1953,1919,3124,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8415,-0.63,-175.2,799.2,-7.8,400,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1919,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8715,-0.63,-175.2,822.5,-7.7,410,8721,0.00,2.08,0.00,0.000,4,0.000,0.040,1943,3313,3122,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8758,-0.64,-175.2,825.1,-7.7,411,8763,0.00,1.98,0.00,0.000,6,0.000,0.026,1943,1924,3121,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9083,-0.64,-175.2,852.3,-8.3,422,9089,0.00,2.05,0.00,0.000,4,0.000,0.037,1942,524,3121,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9146,-0.64,-175.2,858.1,-8.6,424,9152,0.00,2.03,0.00,0.000,6,0.000,0.026,1933,1923,3120,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9480,-0.64,-175.2,886.3,-8.2,435,9485,0.00,2.05,0.00,0.000,4,0.000,0.041,1922,3313,3119,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9513,-0.64,-175.2,889.0,-8.3,436,9519,0.12,2.00,0.00,0.000,6,0.148,0.027,1957,1911,3119,0,0,0,0,0,0,26.19,26.48,28.83
$GC,9847,-0.65,-175.2,911.0,-6.4,447,9852,0.00,2.03,0.00,0.000,4,0.000,0.037,1958,539,3118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9894,-0.65,-175.2,913.3,-6.6,448,9900,0.00,2.00,0.00,0.000,6,0.000,0.025,1950,1930,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10213,-0.66,-175.2,936.6,-7.2,459,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1930,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,-0.66,-175.2,958.9,-7.6,469,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1930,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10813,-0.67,-175.2,981.7,-7.7,479,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1930,3116,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10930,begin apogee
$GC,10934,-0.17,0.0,990.7,-7.4,483,11085,0.45,0.00,144.05,1.414,6,0.117,0.000,2102,1930,2409,0,0,0,0,0,0,25.97,28.83,23.56
$STATE,11086,end apogee,CONTROL_FINISHED_OK
$STATE,11086,begin climb
$GC,11088,0.56,175.2,996.1,0.0,488,11247,0.65,0.00,155.15,1.364,6,0.067,0.000,2340,1931,1694,0,0,0,0,0,0,24.65,28.83,22.68
$GC,11532,0.54,175.2,962.4,9.7,503,11537,0.00,2.10,0.00,0.000,4,0.000,0.037,2340,3284,1685,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11565,0.53,175.2,959.0,9.9,504,11571,0.00,2.08,0.00,0.000,6,0.000,0.027,2350,1912,1685,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11900,0.51,175.2,924.8,10.3,515,11906,0.00,2.10,0.00,0.000,4,0.000,0.036,2350,3292,1684,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11957,0.49,175.2,920.9,10.5,516,11964,0.15,2.08,0.00,0.000,6,0.178,0.028,2322,1890,1682,0,0,0,0,0,0,25.73,26.08,28.83
$GC,12264,0.48,175.2,889.0,9.6,527,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1890,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12564,0.48,175.2,859.4,9.9,537,12570,0.00,2.12,0.00,0.000,4,0.000,0.037,2322,3292,1681,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12652,0.47,175.2,852.5,10.4,539,12659,0.00,2.08,0.00,0.000,6,0.000,0.029,2329,1899,1680,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12958,0.46,175.2,819.5,9.7,550,12964,0.00,2.10,0.00,0.000,4,0.000,0.036,2329,3287,1680,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13011,0.45,175.2,816.1,9.6,551,13017,0.12,2.05,0.00,0.000,6,0.173,0.028,2308,1890,1680,0,0,0,0,0,0,26.03,26.36,28.83
$GC,13325,0.46,212.5,789.5,7.4,562,13363,0.00,2.25,30.23,1.281,4,0.000,0.036,2308,3290,1541,0,0,0,0,0,0,28.83,25.52,24.57
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$STATE,21557,end climb,SURFACE_DEPTH_REACHED
$STATE,21557,begin surface coast
$FINISH,0.9,1.022276
$STATE,21572,end surface coast,CONTROL_FINISHED_OK
$STATE,21573,begin surface
$SM_CCo,21647,0.00,0.000,0,0,303,516.60
$SM_GC,1.64,6.12,0.00,0.00,0.044,0.000,0.000,67,1922,303,-6.47,-0.08,516.60,0,0,0,0,0,0,26.13,28.83,28.83
$IRIDIUM_FIX,1934.38,12411.88,031212,111125
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.74
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3972288
$24V_AH,22.7,24.232
$10V_AH,10.1,18.243
$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,16.475,178.450,560.700,0.000,0.000,0.000,0.000,308.375,3.000,0.000,16.679,3290.153,14984.045,737.914,2793.813,311.518,0.000,2372.182,0.000,2361.943,0.000,25.450,0.000
$DEVICE_MAMPS,240.975,48.195,1413.720,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21588.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.929,0.000,0.000,0.000
$MEM,329036
$DATA_FILE_SIZE,36703,1002
$CAP_FILE_SIZE,244516,0
$CFSIZE,260034560,239763456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 16.0,1
$GPS,041212,001253,1944.451,12325.410,39,1.0,39,-2.4