version: 66.11
glider: 129
mission: 4
dive: 161
start: 12 12 112 21 56 39
data:
$ID,129
$MISSION,4
$DIVE,161
$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,3
$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,-2850.2219
$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,70
$R_STBD_OVSHOOT,85
$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
$GPS1,121212,214805,1935.946,12425.387,41,1.3,46,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-51.9
$GPS2,121212,215613,1935.933,12425.273,14,1.4,14,-2.4
$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,148.2,196936,-14.6,-8.684,-17.90
$D_GRID,5625
$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,-65.18,0.000,2,0.000,0.000,64,1915,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.1,-3.9,11,139,7.62,2.12,-37.30,0.000,4,0.237,0.046,1967,527,3125,0,0,0,0,0,0,25.30,25.98,26.34
$GC,268,-0.50,-175.2,34.7,-24.3,40,274,0.15,2.00,0.00,0.000,6,0.160,0.024,1999,1900,3126,0,0,0,0,0,0,25.77,26.13,28.83
$GC,582,-0.48,-175.2,93.4,-13.1,59,587,0.00,2.03,0.00,0.000,4,0.000,0.031,1999,525,3126,0,0,0,0,0,0,28.83,26.23,28.83
$GC,659,-0.47,-175.2,101.2,-12.3,62,666,0.00,2.03,0.00,0.000,6,0.000,0.023,1990,1940,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,964,-0.45,-175.2,146.1,-14.6,78,969,0.00,2.00,0.00,0.000,4,0.000,0.035,1980,3314,3127,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1022,-0.45,-175.2,151.4,-13.5,80,1029,0.12,1.98,0.00,0.000,6,0.134,0.022,2016,1902,3126,0,0,0,0,0,0,26.13,26.39,28.83
$GC,1328,-0.45,-175.2,181.2,-8.8,96,1333,0.00,1.95,0.00,0.000,4,0.000,0.031,2017,554,3127,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1400,-0.46,-175.2,187.2,-9.2,99,1406,0.00,1.95,0.00,0.000,6,0.000,0.021,2010,1932,3127,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1714,-0.47,-175.2,215.0,-8.3,115,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1933,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2015,-0.48,-175.2,239.6,-8.4,130,2020,0.00,2.03,0.00,0.000,4,0.000,0.031,2010,550,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2119,-0.48,-175.2,249.6,-9.8,135,2124,0.00,1.95,0.00,0.000,6,0.000,0.022,2002,1927,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2442,-0.49,-175.2,282.0,-10.1,151,2447,0.00,2.03,0.00,0.000,4,0.000,0.031,2002,545,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2514,-0.50,-175.2,288.4,-10.1,154,2520,0.00,1.98,0.00,0.000,6,0.000,0.023,2000,1935,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2828,-0.51,-175.2,318.4,-9.0,170,2833,0.00,2.00,0.00,0.000,4,0.000,0.036,1990,3309,3125,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2865,-0.52,-175.2,320.4,-8.9,171,2873,0.00,1.95,0.00,0.000,6,0.000,0.022,1989,1935,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3171,-0.52,-175.2,348.6,-8.8,187,3177,0.00,2.00,0.00,0.000,4,0.000,0.032,1989,538,3124,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3329,-0.52,-175.2,362.9,-9.8,194,3336,0.00,1.98,0.00,0.000,6,0.000,0.022,1983,1930,3124,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3635,-0.52,-175.2,389.6,-7.8,210,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1930,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-0.53,-175.2,415.7,-8.8,225,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1930,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4238,-0.54,-175.2,441.4,-8.1,240,4243,0.00,2.03,0.00,0.000,4,0.000,0.036,1973,3310,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4275,-0.55,-175.2,443.4,-8.1,241,4283,0.00,1.98,0.00,0.000,6,0.000,0.024,1973,1926,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4580,-0.55,-175.2,471.0,-9.0,257,4586,0.00,2.03,0.00,0.000,4,0.000,0.033,1972,535,3120,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4704,-0.55,-175.2,482.5,-9.2,263,4710,0.00,2.00,0.00,0.000,6,0.000,0.024,1964,1931,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5028,-0.55,-175.2,508.6,-8.7,279,5033,0.00,2.00,0.00,0.000,4,0.000,0.037,1953,3302,3119,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5096,-0.55,-175.2,514.7,-9.6,282,5102,0.00,1.98,0.00,0.000,6,0.000,0.024,1953,1921,3116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5414,-0.55,-175.2,547.9,-9.7,298,5419,0.00,2.00,0.00,0.000,4,0.000,0.034,1953,538,3114,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5572,-0.55,-175.2,562.4,-9.8,305,5580,0.08,2.00,0.00,0.000,6,0.102,0.024,1983,1916,3113,0,0,0,0,0,0,26.06,26.43,28.83
$GC,5879,-0.56,-175.2,582.3,-5.7,321,5884,0.00,2.05,0.00,0.000,4,0.000,0.037,1978,3310,3111,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5957,-0.58,-175.2,586.4,-6.3,324,5965,0.00,2.03,0.00,0.000,6,0.000,0.026,1978,1893,3111,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6272,-0.60,-175.2,612.9,-8.5,338,6278,0.00,2.00,0.00,0.000,4,0.000,0.035,1979,533,3109,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6344,-0.61,-175.2,619.0,-9.1,340,6350,0.00,2.00,0.00,0.000,6,0.000,0.024,1970,1927,3109,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6669,-0.62,-175.2,648.4,-8.6,351,6675,0.00,2.08,0.00,0.000,4,0.000,0.038,1956,3302,3107,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6704,-0.63,-175.2,651.3,-8.5,352,6710,0.00,2.00,0.00,0.000,6,0.000,0.025,1959,1923,3108,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7041,-0.63,-175.2,680.7,-8.5,363,7047,0.00,2.05,0.00,0.000,4,0.000,0.035,1959,531,3105,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7134,-0.63,-175.2,689.8,-9.4,366,7139,0.00,2.05,0.00,0.000,6,0.000,0.025,1950,1927,3104,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7468,-0.63,-175.2,718.7,-8.5,377,7473,0.00,2.05,0.00,0.000,4,0.000,0.039,1940,3314,3103,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7509,-0.63,-175.2,721.5,-8.4,378,7515,0.00,2.03,0.00,0.000,6,0.000,0.026,1940,1915,3103,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7835,-0.63,-175.2,750.3,-8.6,389,7841,0.00,2.03,0.00,0.000,4,0.000,0.035,1940,528,3101,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7932,-0.62,-175.2,758.9,-8.8,392,7937,0.00,2.03,0.00,0.000,6,0.000,0.025,1930,1927,3101,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8261,-0.61,-175.2,786.3,-8.2,403,8267,0.12,2.08,0.00,0.000,4,0.152,0.032,1972,526,3100,0,0,0,0,0,0,26.27,26.27,28.83
$GC,8325,-0.61,-175.2,791.2,-7.8,405,8330,0.00,2.05,0.00,0.000,6,0.000,0.025,1963,1935,3099,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8658,-0.63,-175.2,813.1,-6.6,416,8664,0.00,2.10,0.00,0.000,4,0.000,0.036,1963,533,3098,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8706,-0.64,-175.2,815.6,-6.8,417,8712,0.00,2.05,0.00,0.000,6,0.000,0.027,1955,1929,3098,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9026,-0.65,-175.2,839.9,-7.5,428,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1930,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9326,-0.65,-175.2,862.7,-7.8,438,9331,0.00,2.10,0.00,0.000,4,0.000,0.036,1955,535,3095,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9383,-0.66,-175.2,865.7,-8.0,439,9390,0.00,2.05,0.00,0.000,6,0.000,0.026,1946,1925,3095,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9690,-0.67,-175.2,892.6,-7.9,450,9696,0.00,2.10,0.00,0.000,4,0.000,0.037,1946,528,3095,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9747,-0.67,-175.2,895.7,-8.2,451,9755,0.00,2.05,0.00,0.000,6,0.000,0.027,1937,1919,3094,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10057,-0.67,-175.2,924.1,-8.5,462,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1920,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10354,-0.67,-175.2,947.8,-7.6,472,10360,0.00,2.10,0.00,0.000,4,0.000,0.037,1938,529,3092,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10427,-0.67,-175.2,953.1,-7.9,474,10433,0.00,2.05,0.00,0.000,6,0.000,0.027,1929,1932,3092,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10751,-0.67,-175.2,976.1,-6.4,485,10757,0.00,2.10,0.00,0.000,4,0.000,0.035,1929,535,3091,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10876,-0.66,-175.2,985.4,-7.5,489,10882,0.00,2.05,0.00,0.000,6,0.000,0.026,1920,1931,3090,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,10968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10968,begin apogee
$GC,10972,-0.17,0.0,992.0,-7.2,492,11122,0.55,0.00,140.80,1.425,6,0.123,0.000,2100,1932,2409,0,0,0,0,0,0,25.53,28.83,23.18
$STATE,11123,end apogee,CONTROL_FINISHED_OK
$STATE,11123,begin climb
$GC,11125,0.56,175.2,994.6,0.0,497,11289,0.68,0.00,157.45,1.372,6,0.066,0.000,2344,1932,1694,0,0,0,0,0,0,24.39,28.83,22.50
$GC,11570,0.54,175.2,951.2,11.9,512,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1932,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11870,0.53,175.2,916.1,11.6,522,11876,0.00,2.08,0.00,0.000,4,0.000,0.037,2344,3298,1683,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11928,0.51,175.2,912.0,11.8,523,11935,0.00,2.08,0.00,0.000,6,0.000,0.027,2353,1896,1683,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12235,0.49,175.2,873.7,11.2,534,12241,0.12,2.12,0.00,0.000,4,0.174,0.035,2315,3289,1681,0,0,0,0,0,0,25.89,26.06,28.83
$GC,12288,0.47,175.2,869.7,11.2,535,12294,0.00,2.05,0.00,0.000,6,0.000,0.028,2325,1896,1681,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12602,0.46,175.2,835.8,10.1,546,12608,0.00,2.12,0.00,0.000,4,0.000,0.036,2324,3290,1681,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12625,0.46,175.2,835.8,10.1,546,12630,0.00,2.05,0.00,0.000,6,0.000,0.028,2334,1894,1680,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12938,0.44,175.2,801.3,10.0,557,12943,0.00,2.12,0.00,0.000,4,0.000,0.037,2334,3291,1680,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13002,0.43,175.2,794.3,10.6,559,13008,0.15,2.05,0.00,0.000,6,0.175,0.029,2304,1895,1679,0,0,0,0,0,0,25.79,26.27,28.83
$GC,13335,0.44,191.1,765.6,8.2,570,13354,0.00,2.15,12.25,1.208,4,0.000,0.037,2303,3293,1630,0,0,0,0,0,0,28.83,26.03,24.79
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$STATE,21391,end climb,SURFACE_DEPTH_REACHED
$STATE,21391,begin surface coast
$FINISH,1.1,1.011083
$STATE,21404,end surface coast,CONTROL_FINISHED_OK
$STATE,21404,begin surface
$SM_CCo,21481,0.00,0.000,0,0,390,495.26
$SM_GC,1.76,6.25,2.05,0.00,0.042,0.018,0.000,66,1910,390,-6.46,-2.46,495.26,0,0,0,0,0,0,26.10,26.23,28.83
$IRIDIUM_FIX,1932.09,12427.09,121212,151518
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.63
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3958432
$24V_AH,22.5,31.256
$10V_AH,10.0,23.269
$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,16.375,184.175,571.675,0.000,0.000,0.000,0.000,309.325,3.000,0.000,15.458,3270.719,14757.309,758.459,2808.342,363.317,0.000,2416.309,0.000,2370.935,0.000,27.912,0.000
$DEVICE_MAMPS,237.150,45.900,1425.195,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21419.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.405,0.000,0.000,0.000
$MEM,328972
$DATA_FILE_SIZE,36661,988
$CAP_FILE_SIZE,246493,0
$CFSIZE,260034560,235843584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,205.7,1
$GPS,131212,035554,1932.915,12427.170,37,2.0,37,-2.4