version: 66.11
glider: 129
mission: 4
dive: 153
start: 12 10 112 20 51 50
data:
$ID,129
$MISSION,4
$DIVE,153
$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,-2840.1611
$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,67
$R_STBD_OVSHOOT,72
$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
$GPS1,101212,204306,2010.436,12420.483,35,1.2,35,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-54.5
$GPS2,101212,205124,2010.412,12420.533,14,1.3,31,-2.5
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,164.1,261292,-14.6,-8.684,-17.90
$D_GRID,5421
$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,-65.78,0.000,2,0.000,0.000,53,1898,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.4,-4.5,11,133,7.68,2.05,-26.98,0.000,4,0.239,0.048,1975,521,3125,0,0,0,0,0,0,25.40,26.00,26.34
$GC,341,-0.51,-175.2,52.7,-21.8,44,347,0.00,2.00,0.00,0.000,6,0.000,0.024,1966,1917,3126,0,0,0,0,0,0,28.83,26.19,28.83
$GC,648,-0.47,-175.2,119.9,-16.1,60,650,0.15,0.00,0.00,0.000,6,0.147,0.000,2008,1919,3127,0,0,0,0,0,0,26.09,28.83,28.83
$GC,948,-0.47,-175.2,156.8,-10.0,75,953,0.00,2.05,0.00,0.000,4,0.000,0.035,1999,3327,3127,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1011,-0.47,-175.2,162.4,-9.0,78,1016,0.00,2.03,0.00,0.000,6,0.000,0.023,1999,1896,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1334,-0.47,-175.2,200.5,-12.7,94,1340,0.00,1.95,0.00,0.000,4,0.000,0.031,1999,548,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1432,-0.46,-175.2,211.0,-12.7,98,1438,0.00,1.95,0.00,0.000,6,0.000,0.022,1991,1937,3127,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1737,-0.45,-175.2,244.9,-9.7,114,1742,0.00,2.05,0.00,0.000,4,0.000,0.031,1991,538,3127,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1794,-0.45,-175.2,249.6,-10.3,116,1801,0.00,1.98,0.00,0.000,6,0.000,0.023,1987,1928,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2100,-0.44,-175.2,287.8,-11.8,132,2102,0.10,0.00,0.00,0.000,6,0.161,0.000,2014,1927,3126,0,0,0,0,0,0,26.38,28.83,28.83
$GC,2403,-0.45,-175.2,313.3,-8.2,147,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1927,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2702,-0.47,-175.2,338.4,-7.9,162,2708,0.00,2.03,0.00,0.000,4,0.000,0.035,2006,3305,3125,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2750,-0.49,-175.2,341.7,-7.4,164,2755,0.00,1.92,0.00,0.000,6,0.000,0.023,2005,1929,3125,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3068,-0.50,-175.2,363.8,-6.8,180,3073,0.00,2.03,0.00,0.000,4,0.000,0.031,2005,530,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3176,-0.51,-175.2,372.3,-8.3,185,3183,0.00,2.00,0.00,0.000,6,0.000,0.022,1998,1923,3125,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3496,-0.52,-175.2,398.7,-7.9,201,3501,0.00,2.03,0.00,0.000,4,0.000,0.031,1998,539,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3530,-0.53,-175.2,400.6,-8.0,202,3536,0.00,1.95,0.00,0.000,6,0.000,0.022,1991,1931,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3844,-0.54,-175.2,426.4,-7.4,218,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1931,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.55,-175.2,447.6,-7.0,233,4150,0.00,2.05,0.00,0.000,4,0.000,0.032,1991,539,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4190,-0.56,-175.2,451.2,-7.6,235,4196,0.00,1.98,0.00,0.000,6,0.000,0.023,1985,1934,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4514,-0.57,-175.2,477.0,-8.1,251,4519,0.00,2.05,0.00,0.000,4,0.000,0.032,1984,541,3120,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4551,-0.58,-175.2,478.9,-8.1,252,4558,0.00,1.98,0.00,0.000,6,0.000,0.023,1975,1928,3120,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4857,-0.59,-175.2,505.7,-8.6,268,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5158,-0.59,-175.2,532.0,-8.8,283,5163,0.00,2.03,0.00,0.000,4,0.000,0.037,1966,3302,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5225,-0.60,-175.2,537.6,-8.8,286,5230,0.00,1.95,0.00,0.000,6,0.000,0.024,1965,1920,3115,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5542,-0.60,-175.2,566.3,-8.8,302,5548,0.00,2.03,0.00,0.000,4,0.000,0.033,1965,535,3114,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5615,-0.60,-175.2,572.9,-9.9,305,5620,0.00,1.98,0.00,0.000,6,0.000,0.024,1955,1933,3114,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5947,-0.60,-175.2,607.8,-10.4,321,5952,0.00,2.08,0.00,0.000,4,0.000,0.033,1955,533,3112,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5999,-0.60,-175.2,611.3,-10.5,322,6004,0.00,1.98,0.00,0.000,6,0.000,0.024,1946,1926,3111,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6312,-0.60,-175.2,645.3,-9.9,333,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1926,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,-0.60,-175.2,673.4,-9.0,343,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,1927,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,-0.60,-175.2,698.8,-8.4,353,6918,0.00,2.03,0.00,0.000,4,0.000,0.039,1936,3304,3107,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6940,-0.60,-175.2,698.8,-8.4,353,6948,0.00,1.95,0.00,0.000,6,0.000,0.024,1936,1931,3107,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7247,-0.60,-175.2,730.2,-9.5,364,7253,0.12,2.03,0.00,0.000,4,0.148,0.032,1977,538,3105,0,0,0,0,0,0,26.25,26.32,28.83
$GC,7351,-0.60,-175.2,738.2,-8.6,367,7357,0.00,1.98,0.00,0.000,6,0.000,0.024,1969,1933,3105,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7676,-0.61,-175.2,763.1,-7.5,378,7681,0.00,2.08,0.00,0.000,4,0.000,0.034,1969,537,3103,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7729,-0.62,-175.2,766.1,-7.7,379,7734,0.00,2.00,0.00,0.000,6,0.000,0.025,1960,1928,3102,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8044,-0.62,-175.2,792.6,-7.9,390,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1928,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8343,-0.63,-175.2,816.2,-7.9,400,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1928,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8643,-0.64,-175.2,838.9,-7.5,410,8649,0.00,2.08,0.00,0.000,4,0.000,0.035,1959,538,3098,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8707,-0.65,-175.2,844.0,-7.7,412,8712,0.00,2.00,0.00,0.000,6,0.000,0.025,1951,1928,3098,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9040,-0.65,-175.2,870.6,-8.2,423,9045,0.00,2.05,0.00,0.000,4,0.000,0.038,1941,3315,3097,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9092,-0.65,-175.2,873.5,-8.4,424,9097,0.00,2.00,0.00,0.000,6,0.000,0.026,1940,1914,3096,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9407,-0.65,-175.2,901.9,-8.3,435,9412,0.00,2.03,0.00,0.000,4,0.000,0.035,1940,540,3095,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9504,-0.65,-175.2,910.2,-8.6,438,9509,0.00,1.98,0.00,0.000,6,0.000,0.025,1932,1926,3095,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9834,-0.65,-175.2,935.1,-7.2,449,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1927,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10132,-0.65,-175.2,955.9,-7.0,459,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1927,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10433,-0.65,-175.2,977.5,-7.4,469,10434,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1927,3092,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10610,begin apogee
$GC,10614,-0.17,0.0,991.4,-7.7,475,10764,0.50,0.00,140.07,1.423,6,0.122,0.000,2096,1927,2408,0,0,0,0,0,0,25.63,28.83,23.30
$STATE,10766,end apogee,CONTROL_FINISHED_OK
$STATE,10766,begin climb
$GC,10768,0.56,175.2,995.8,0.0,480,10936,0.68,2.35,156.27,1.369,4,0.075,0.037,2336,3285,1693,0,0,0,0,0,0,24.49,23.56,22.55
$GC,10974,0.53,175.2,983.4,8.8,487,10980,0.00,2.20,0.00,0.000,6,0.000,0.026,2345,1909,1689,0,0,0,0,0,0,28.83,24.34,28.83
$GC,11308,0.52,175.2,948.2,10.5,498,11313,0.00,2.15,0.00,0.000,4,0.000,0.037,2345,3287,1684,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11325,0.50,175.2,948.2,10.5,498,11331,0.12,2.08,0.00,0.000,6,0.181,0.026,2326,1886,1684,0,0,0,0,0,0,25.43,25.77,28.83
$GC,11645,0.49,175.2,916.4,9.4,509,11650,0.00,2.15,0.00,0.000,4,0.000,0.036,2325,3287,1682,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11672,0.48,175.2,916.4,9.4,509,11680,0.00,2.05,0.00,0.000,6,0.000,0.028,2329,1892,1682,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11978,0.47,175.2,883.6,9.9,520,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1892,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12278,0.46,175.2,853.4,10.0,530,12283,0.00,2.12,0.00,0.000,4,0.000,0.036,2332,3295,1680,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12352,0.45,175.2,846.5,10.5,532,12357,0.15,2.03,0.00,0.000,6,0.171,0.027,2304,1898,1680,0,0,0,0,0,0,25.84,26.27,28.83
$GC,12676,0.45,175.2,816.8,8.8,543,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,1898,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12975,0.46,196.9,791.9,8.0,553,12994,0.00,0.00,17.20,1.259,6,0.000,0.000,2304,1898,1606,0,0,0,0,0,0,28.83,28.83,24.75
$GC,13277,0.47,210.9,767.3,8.2,563,13295,0.00,2.20,13.40,1.210,4,0.000,0.036,2303,3286,1549,0,0,0,0,0,0,28.83,25.78,24.68
$GC,13333,0.48,224.0,764.5,8.2,564,13353,0.00,2.05,12.85,1.189,6,0.000,0.028,2311,1897,1495,0,0,0,0,0,0,28.83,25.88,24.48
$GC,13672,0.48,224.0,732.9,8.7,576,13673,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1897,1492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13971,0.49,224.0,706.5,8.8,586,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,1897,1491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14272,0.50,228.8,680.5,8.5,596,14282,0.00,2.10,4.90,0.923,4,0.000,0.034,2311,3286,1476,0,0,0,0,0,0,28.83,26.20,24.87
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$STATE,21403,end climb,SURFACE_DEPTH_REACHED
$STATE,21403,begin surface coast
$FINISH,1.0,1.006342
$STATE,21426,end surface coast,CONTROL_FINISHED_OK
$STATE,21426,begin surface
$SM_CCo,21501,0.00,0.000,0,0,376,498.45
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$IRIDIUM_FIX,2008.77,12419.63,101212,141408
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.07
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3961536
$24V_AH,22.5,29.668
$10V_AH,10.2,22.171
$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
$DEVICE_SECS,16.050,155.025,570.300,0.000,0.000,0.000,0.000,304.925,3.000,0.000,32.592,3071.583,15266.072,717.396,2605.015,328.020,0.000,2259.773,0.000,2167.567,0.000,26.432,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.479,0.000,0.000,0.000
$MEM,329036
$DATA_FILE_SIZE,36711,988
$CAP_FILE_SIZE,234183,0
$CFSIZE,260034560,236720128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,219.3,1
$GPS,111212,025129,2006.401,12420.949,40,1.1,40,-2.5