version: 66.11
glider: 129
mission: 4
dive: 224
start: 12 28 112 15 36 22
data:
$ID,129
$MISSION,4
$DIVE,224
$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,390
$T_MISSION,410
$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,2
$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,-2934.9453
$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,2
$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,78
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,281212,152824,1803.828,12339.473,40,1.3,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-54.2
$GPS2,281212,153555,1803.860,12339.442,14,1.0,14,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,256.5,154579,-14.2,-8.462,-17.62
$D_GRID,5342
$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,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.18,0.000,2,0.000,0.000,54,1919,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.3,-5.0,11,134,7.93,2.10,-30.77,0.000,4,0.243,0.044,1978,524,3126,0,0,0,0,0,0,25.18,26.12,26.51
$GC,308,-0.46,-175.2,64.7,-32.7,38,314,0.15,2.00,0.00,0.000,6,0.171,0.024,2008,1918,3127,0,0,0,0,0,0,25.83,26.27,28.83
$GC,632,-0.40,-175.2,158.2,-24.5,54,638,0.00,2.03,0.00,0.000,4,0.000,0.030,2008,525,3126,0,0,0,0,0,0,28.83,26.32,28.83
$GC,696,-0.35,-175.2,172.6,-23.0,57,702,0.17,2.03,0.00,0.000,6,0.153,0.022,2050,1942,3125,0,0,0,0,0,0,25.93,26.38,28.83
$GC,1020,-0.35,-175.2,213.6,-11.1,73,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1944,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.35,-175.2,249.5,-11.4,88,1327,0.00,2.00,0.00,0.000,4,0.000,0.034,2040,3313,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1349,-0.35,-175.2,252.3,-11.1,89,1354,0.00,2.00,0.00,0.000,6,0.000,0.022,2040,1897,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1667,-0.35,-175.2,287.4,-11.3,105,1672,0.00,1.92,0.00,0.000,4,0.000,0.030,2040,537,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1769,-0.35,-175.2,298.8,-10.9,110,1774,0.00,1.98,0.00,0.000,6,0.000,0.021,2032,1935,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2092,-0.35,-175.2,333.8,-10.9,126,2097,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,545,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2229,-0.35,-175.2,346.8,-10.4,132,2237,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1923,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2536,-0.35,-175.2,372.9,-7.6,148,2541,0.00,2.00,0.00,0.000,4,0.000,0.030,2033,549,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2573,-0.35,-175.2,374.9,-7.9,149,2581,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1931,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2879,-0.35,-175.2,400.0,-7.7,165,2885,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,545,3121,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2906,-0.35,-175.2,402.0,-7.6,166,2911,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1925,3122,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3224,-0.36,-175.2,426.5,-7.2,182,3230,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,543,3121,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3297,-0.36,-175.2,431.5,-7.9,185,3302,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1933,3121,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3610,-0.37,-175.2,454.0,-7.3,201,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1934,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,-0.38,-175.2,475.7,-7.3,216,3914,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1934,3140,0,0,0,0,0,0,28.83,28.83,25.32
$GC,4210,-0.39,-175.2,496.5,-6.8,231,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1934,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.40,-175.2,515.2,-6.0,246,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1934,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.42,-175.2,533.7,-6.5,261,4817,0.00,2.05,0.00,0.000,4,0.000,0.032,2033,539,3137,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4870,-0.43,-175.2,537.1,-7.1,263,4877,0.00,1.98,0.00,0.000,6,0.000,0.024,2033,1922,3137,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5176,-0.45,-175.2,561.2,-7.6,279,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1922,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5477,-0.46,-175.2,582.7,-6.9,294,5483,0.00,2.03,0.00,0.000,4,0.000,0.033,2033,553,3132,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5510,-0.48,-175.2,584.6,-7.0,295,5515,0.00,1.98,0.00,0.000,6,0.000,0.023,2033,1935,3132,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5843,-0.50,-175.2,603.3,-4.6,311,5845,0.10,0.00,0.00,0.000,6,0.116,0.000,1988,1937,3130,0,0,0,0,0,0,26.50,28.83,28.83
$GC,6143,-0.50,-175.2,625.7,-8.1,321,6148,0.00,2.05,0.00,0.000,4,0.000,0.033,1988,556,3128,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6186,-0.50,-175.2,628.9,-8.5,322,6191,0.00,1.98,0.00,0.000,6,0.000,0.024,1978,1931,3128,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6509,-0.50,-175.2,663.4,-10.4,333,6515,0.00,2.05,0.00,0.000,4,0.000,0.033,1978,552,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6567,-0.50,-175.2,667.3,-10.7,334,6573,0.00,1.98,0.00,0.000,6,0.000,0.024,1969,1926,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6873,-0.49,-175.2,702.6,-10.2,345,6879,0.12,2.05,0.00,0.000,4,0.151,0.036,2001,3316,3124,0,0,0,0,0,0,26.22,26.20,28.83
$GC,6906,-0.49,-175.2,705.5,-9.7,346,6912,0.00,1.98,0.00,0.000,6,0.000,0.024,2000,1946,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7241,-0.49,-175.2,730.5,-7.6,357,7246,0.00,2.05,0.00,0.000,4,0.000,0.034,2001,532,3123,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7343,-0.49,-175.2,738.6,-8.4,360,7348,0.00,2.00,0.00,0.000,6,0.000,0.024,1993,1924,3120,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7668,-0.49,-175.2,765.6,-8.1,371,7673,0.00,2.08,0.00,0.000,4,0.000,0.035,1993,524,3118,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7704,-0.49,-175.2,768.7,-8.3,372,7711,0.00,2.03,0.00,0.000,6,0.000,0.024,1984,1930,3121,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8035,-0.49,-175.2,798.0,-8.8,383,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1930,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8334,-0.49,-175.2,822.2,-7.7,393,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1930,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8634,-0.49,-175.2,845.7,-7.9,403,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1930,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,-0.49,-175.2,869.7,-7.8,413,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1930,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9233,-0.49,-175.2,892.1,-7.3,423,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1931,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9534,-0.49,-175.2,911.9,-6.2,433,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1930,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9834,-0.49,-175.2,930.6,-6.3,443,9839,0.00,2.10,0.00,0.000,4,0.000,0.035,1984,536,3112,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9877,-0.49,-175.2,933.1,-6.5,444,9882,0.00,2.03,0.00,0.000,6,0.000,0.025,1974,1926,3112,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10202,-0.49,-175.2,957.3,-7.5,455,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1927,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10500,-0.49,-175.2,980.3,-7.9,465,10505,0.00,2.10,0.00,0.000,4,0.000,0.036,1974,534,3109,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10563,-0.49,-175.2,986.0,-8.5,467,10569,0.12,2.05,0.00,0.000,6,0.162,0.026,1999,1937,3110,0,0,0,0,0,0,25.89,26.27,28.83
$STATE,10625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10625,begin apogee
$GC,10630,-0.17,0.0,990.5,-8.0,469,10783,0.30,0.00,146.68,1.410,6,0.122,0.000,2101,1937,2409,0,0,0,0,0,0,25.77,28.83,22.77
$STATE,10785,end apogee,CONTROL_FINISHED_OK
$STATE,10785,begin climb
$GC,10787,0.54,175.2,995.3,0.0,474,10960,0.70,2.30,159.80,1.358,4,0.092,0.038,2331,3276,1692,0,0,0,0,0,0,24.16,23.57,22.20
$GC,10977,0.57,244.7,987.4,6.2,480,11047,0.00,2.20,63.90,1.322,6,0.000,0.027,2338,1910,1412,0,0,0,0,0,0,28.83,24.18,22.22
$GC,11355,0.59,244.7,951.2,9.4,493,11361,0.00,2.12,0.00,0.000,4,0.000,0.040,2349,503,1403,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11398,0.60,244.7,948.1,9.3,494,11403,0.00,2.08,0.00,0.000,6,0.000,0.024,2349,1912,1403,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11722,0.60,244.7,917.8,8.9,505,11728,0.00,2.08,0.00,0.000,4,0.000,0.039,2349,3293,1402,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11829,0.60,244.7,908.6,9.5,508,11835,0.00,2.05,0.00,0.000,6,0.000,0.028,2358,1889,1401,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12149,0.60,244.7,878.6,9.0,519,12155,0.00,2.12,0.00,0.000,4,0.000,0.036,2358,3289,1400,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12186,0.60,244.7,875.1,9.3,520,12192,0.00,2.05,0.00,0.000,6,0.000,0.028,2367,1888,1400,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12516,0.60,244.7,841.3,10.3,531,12521,0.00,2.12,0.00,0.000,4,0.000,0.036,2367,3293,1400,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12583,0.60,244.7,834.1,10.7,533,12589,0.00,2.05,0.00,0.000,6,0.000,0.028,2373,1893,1399,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12912,0.60,244.7,800.5,9.7,544,12918,0.00,2.10,0.00,0.000,4,0.000,0.036,2373,3293,1399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12980,0.60,244.7,794.0,9.9,546,12986,0.00,2.05,0.00,0.000,6,0.000,0.028,2381,1888,1399,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13309,0.60,244.7,760.5,10.4,557,13315,0.00,2.12,0.00,0.000,4,0.000,0.036,2380,3291,1399,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13346,0.60,244.7,756.7,10.5,558,13352,0.12,2.05,0.00,0.000,6,0.174,0.028,2357,1886,1398,0,0,0,0,0,0,25.94,26.32,28.83
$GC,13676,0.60,245.8,727.4,8.4,569,13677,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1886,1398,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21723,end climb,SURFACE_DEPTH_REACHED
$STATE,21723,begin surface coast
$FINISH,1.1,1.022101
$STATE,21740,end surface coast,CONTROL_FINISHED_OK
$STATE,21740,begin surface
$SM_CCo,21815,0.00,0.000,0,0,209,539.66
$SM_GC,1.80,6.40,0.00,0.00,0.044,0.000,0.000,66,1927,209,-6.45,0.06,539.66,0,0,0,0,0,0,26.16,28.83,28.83
$IRIDIUM_FIX,1758.70,12340.78,281212,090935
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.33
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3934368
$24V_AH,22.2,44.438
$10V_AH,10.3,31.730
$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,16.525,163.875,625.500,0.000,0.000,0.000,0.000,267.375,0.000,0.000,15.598,3107.184,15381.396,753.797,2622.349,392.900,0.000,2321.039,0.000,2263.200,0.000,0.540,0.000
$DEVICE_MAMPS,243.270,43.605,1409.895,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21756.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.754,0.000,0.000,0.000
$MEM,329036
$DATA_FILE_SIZE,36639,977
$CAP_FILE_SIZE,232912,0
$CFSIZE,260034560,229179392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,357.0,1
$GPS,281212,214106,1803.218,12336.315,31,1.7,31,-2.0