version: 66.11
glider: 129
mission: 4
dive: 144
start: 12 8 112 15 8 56
data:
$ID,129
$MISSION,4
$DIVE,144
$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,-2828.7463
$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,69
$R_STBD_OVSHOOT,70
$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
$GPS1,081212,150036,2007.372,12402.626,39,1.1,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-51.1
$GPS2,081212,150831,2007.224,12402.641,13,1.2,13,-2.5
$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,40.3,33424,-14.6,-8.684,-17.90
$D_GRID,5503
$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,19,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-65.43,0.000,2,0.000,0.000,51,1877,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.3,-5.4,11,133,7.72,2.15,-28.45,0.000,4,0.242,0.045,1963,3318,3125,0,0,0,0,0,0,25.43,25.97,26.34
$GC,201,-0.51,-175.2,25.2,-26.0,31,209,0.12,2.03,0.00,0.000,6,0.148,0.024,1996,1914,3125,0,0,0,0,0,0,25.84,26.12,28.83
$GC,506,-0.48,-175.2,95.4,-18.4,52,511,0.00,1.98,0.00,0.000,4,0.000,0.032,1996,538,3125,0,0,0,0,0,0,28.83,26.22,28.83
$GC,689,-0.45,-175.2,125.9,-16.3,61,694,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1923,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1012,-0.44,-175.2,171.2,-13.8,77,1018,0.12,2.03,0.00,0.000,4,0.152,0.029,2029,524,3126,0,0,0,0,0,0,26.20,26.34,28.83
$GC,1104,-0.44,-175.2,179.7,-10.0,81,1111,0.00,2.00,0.00,0.000,6,0.000,0.022,2021,1935,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1419,-0.44,-175.2,210.1,-9.3,97,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1935,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.45,-175.2,237.6,-9.5,112,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1935,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.46,-175.2,265.5,-9.0,127,2024,0.00,2.03,0.00,0.000,4,0.000,0.031,2021,534,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2071,-0.48,-175.2,269.5,-8.9,129,2077,0.00,1.95,0.00,0.000,6,0.000,0.022,2012,1931,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2385,-0.49,-175.2,296.8,-8.2,145,2390,0.00,2.00,0.00,0.000,4,0.000,0.035,2002,3300,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2417,-0.50,-175.2,298.7,-8.3,146,2423,0.00,1.95,0.00,0.000,6,0.000,0.022,2002,1918,3125,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2731,-0.51,-175.2,328.0,-9.3,162,2736,0.00,1.98,0.00,0.000,4,0.000,0.031,2002,533,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2788,-0.51,-175.2,332.2,-9.1,164,2795,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1934,3124,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3094,-0.52,-175.2,360.0,-8.6,180,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1934,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3395,-0.53,-175.2,384.0,-7.9,195,3401,0.00,2.08,0.00,0.000,4,0.000,0.031,1994,510,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3524,-0.54,-175.2,395.1,-9.2,201,3530,0.00,2.00,0.00,0.000,6,0.000,0.022,1988,1917,3122,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3843,-0.54,-175.2,424.1,-9.0,217,3848,0.00,2.00,0.00,0.000,4,0.000,0.031,1988,539,3121,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3920,-0.55,-175.2,430.3,-9.8,220,3927,0.00,2.00,0.00,0.000,6,0.000,0.023,1981,1944,3119,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4226,-0.55,-175.2,457.3,-7.9,236,4231,0.00,2.00,0.00,0.000,4,0.000,0.036,1971,3309,3119,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4253,-0.56,-175.2,459.0,-7.6,237,4258,0.00,1.98,0.00,0.000,6,0.000,0.023,1971,1908,3118,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4570,-0.56,-175.2,484.9,-8.4,253,4576,0.00,1.95,0.00,0.000,4,0.000,0.033,1971,548,3117,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4653,-0.56,-175.2,492.8,-9.4,257,4659,0.00,1.95,0.00,0.000,6,0.000,0.023,1962,1930,3117,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4976,-0.56,-175.2,523.2,-9.7,273,4981,0.00,2.05,0.00,0.000,4,0.000,0.032,1962,535,3115,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5008,-0.56,-175.2,525.4,-9.8,274,5014,0.00,2.00,0.00,0.000,6,0.000,0.023,1952,1939,3115,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5321,-0.56,-175.2,557.9,-10.1,290,5326,0.00,2.03,0.00,0.000,4,0.000,0.033,1952,549,3113,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5372,-0.56,-175.2,562.3,-10.3,292,5379,0.12,1.95,0.00,0.000,6,0.151,0.024,1978,1934,3113,0,0,0,0,0,0,26.17,26.47,28.83
$GC,5688,-0.57,-175.2,589.4,-7.9,308,5693,0.00,2.03,0.00,0.000,4,0.000,0.037,1968,3304,3110,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5714,-0.58,-175.2,591.3,-7.9,309,5720,0.00,1.95,0.00,0.000,6,0.000,0.024,1969,1938,3110,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6043,-0.58,-175.2,617.3,-7.5,322,6048,0.00,2.03,0.00,0.000,4,0.000,0.034,1969,537,3109,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6155,-0.58,-175.2,624.6,-7.7,325,6160,0.00,2.00,0.00,0.000,6,0.000,0.024,1959,1934,3108,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6469,-0.58,-175.2,648.7,-7.1,336,6474,0.00,2.05,0.00,0.000,4,0.000,0.034,1960,531,3106,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6492,-0.58,-175.2,648.7,-7.1,336,6497,0.00,1.98,0.00,0.000,6,0.000,0.024,1950,1926,3106,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6807,-0.58,-175.2,675.5,-8.0,347,6812,0.00,2.03,0.00,0.000,4,0.000,0.033,1950,538,3104,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6844,-0.58,-175.2,678.6,-8.1,348,6850,0.00,2.00,0.00,0.000,6,0.000,0.024,1942,1931,3104,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7173,-0.58,-175.2,705.0,-7.7,359,7179,0.10,2.08,0.00,0.000,4,0.161,0.031,1969,532,3102,0,0,0,0,0,0,26.40,26.36,28.83
$GC,7201,-0.57,-175.2,705.0,-7.7,359,7208,0.00,2.00,0.00,0.000,6,0.000,0.024,1961,1925,3101,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7509,-0.58,-175.2,726.6,-6.5,370,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1926,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7807,-0.59,-175.2,747.4,-7.1,380,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1925,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,-0.59,-175.2,768.5,-6.8,390,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1926,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8407,-0.60,-175.2,788.2,-6.5,400,8412,0.00,2.08,0.00,0.000,4,0.000,0.035,1961,530,3096,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8434,-0.61,-175.2,788.2,-6.5,400,8441,0.00,2.03,0.00,0.000,6,0.000,0.025,1952,1930,3099,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8741,-0.61,-175.2,811.7,-6.9,411,8746,0.00,2.08,0.00,0.000,4,0.000,0.034,1953,539,3095,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8768,-0.61,-175.2,811.7,-6.9,411,8775,0.00,2.00,0.00,0.000,6,0.000,0.024,1944,1938,3094,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9074,-0.61,-175.2,837.3,-7.8,422,9079,0.00,2.08,0.00,0.000,4,0.000,0.035,1944,539,3093,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9146,-0.61,-175.2,842.9,-8.4,424,9151,0.00,2.00,0.00,0.000,6,0.000,0.025,1935,1937,3093,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9471,-0.61,-175.2,871.3,-8.3,435,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1937,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9769,-0.61,-175.2,895.1,-7.7,445,9775,0.00,2.10,0.00,0.000,4,0.000,0.036,1935,534,3091,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9796,-0.61,-175.2,895.1,-7.7,445,9804,0.12,2.00,0.00,0.000,6,0.155,0.026,1960,1928,3090,0,0,0,0,0,0,26.06,26.39,28.83
$GC,10103,-0.62,-175.2,915.2,-5.4,456,10108,0.00,2.08,0.00,0.000,4,0.000,0.039,1951,3317,3090,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10147,-0.63,-175.2,917.1,-5.4,457,10153,0.00,2.00,0.00,0.000,6,0.000,0.026,1951,1931,3090,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10472,-0.64,-175.2,935.6,-5.6,468,10478,0.00,2.05,0.00,0.000,4,0.000,0.037,1951,534,3089,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10519,-0.64,-175.2,937.8,-5.9,469,10525,0.00,2.00,0.00,0.000,6,0.000,0.026,1943,1930,3089,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10839,-0.64,-175.2,960.0,-7.0,480,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1930,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11138,-0.64,-175.2,981.1,-7.0,490,11143,0.00,2.12,0.00,0.000,4,0.000,0.037,1943,515,3087,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11205,-0.64,-175.2,986.1,-7.5,492,11211,0.00,2.05,0.00,0.000,6,0.000,0.027,1934,1937,3087,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,11261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11261,begin apogee
$GC,11265,-0.17,0.0,990.8,-7.8,494,11415,0.50,0.00,138.73,1.423,6,0.122,0.000,2100,1938,2409,0,0,0,0,0,0,25.66,28.83,23.37
$STATE,11416,end apogee,CONTROL_FINISHED_OK
$STATE,11416,begin climb
$GC,11418,0.56,175.2,995.2,0.0,499,11584,0.68,2.40,156.00,1.373,4,0.066,0.037,2356,519,1692,0,0,0,0,0,0,24.58,23.58,22.57
$GC,11616,0.53,203.1,985.6,7.8,505,11650,0.00,2.20,25.60,1.298,6,0.000,0.024,2356,1906,1580,0,0,0,0,0,0,28.83,24.26,22.83
$GC,11957,0.52,203.1,942.6,11.7,517,11963,0.00,2.12,0.00,0.000,4,0.000,0.038,2356,3292,1573,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12104,0.50,203.1,926.4,13.3,521,12113,0.17,2.08,0.00,0.000,6,0.169,0.028,2319,1905,1571,0,0,0,0,0,0,25.45,25.84,28.83
$GC,12411,0.50,203.1,893.5,9.4,532,12416,0.00,2.10,0.00,0.000,4,0.000,0.037,2320,3286,1570,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12490,0.49,203.1,887.2,9.5,534,12495,0.00,2.05,0.00,0.000,6,0.000,0.028,2328,1897,1569,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12809,0.49,203.1,856.0,9.2,545,12814,0.00,2.12,0.00,0.000,4,0.000,0.036,2328,3289,1569,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12845,0.48,203.1,852.7,9.3,546,12851,0.00,2.03,0.00,0.000,6,0.000,0.029,2337,1899,1569,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21703,end climb,SURFACE_DEPTH_REACHED
$STATE,21703,begin surface coast
$FINISH,1.4,1.022750
$STATE,21719,end surface coast,CONTROL_FINISHED_OK
$STATE,21719,begin surface
$SM_CCo,21794,0.00,0.000,0,0,711,416.52
$SM_GC,1.68,6.18,0.00,0.00,0.048,0.000,0.000,62,1887,711,-6.47,-1.05,416.52,0,0,0,0,0,0,26.14,28.83,28.83
$IRIDIUM_FIX,1957.29,12400.50,081212,080847
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.67
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3964992
$24V_AH,22.6,28.003
$10V_AH,10.1,20.951
$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,16.525,191.875,503.400,0.000,0.000,0.000,0.000,301.150,3.000,0.000,14.507,3248.536,15198.707,699.671,2771.629,339.136,0.000,2337.848,0.000,2345.236,0.000,26.831,0.000
$DEVICE_MAMPS,241.740,45.135,1422.900,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21734.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.763,0.000,0.000,0.000
$MEM,329004
$DATA_FILE_SIZE,36660,982
$CAP_FILE_SIZE,248326,0
$CFSIZE,260034560,237678592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,200.3,1
$GPS,081212,211329,2009.292,12403.796,37,1.3,42,-2.5