version: 66.11
glider: 129
mission: 4
dive: 229
start: 12 29 112 21 47 28
data:
$ID,129
$MISSION,4
$DIVE,229
$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,-2941.6165
$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,79
$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,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
$GPS1,291212,213906,1806.676,12322.691,26,1.7,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-66.4
$GPS2,291212,214701,1806.769,12322.694,16,1.6,16,-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,287.8,125125,-14.2,-8.462,-17.62
$D_GRID,3989
$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,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.45,0.000,2,0.000,0.000,57,1876,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.3,-4.9,11,134,7.93,2.20,-31.25,0.000,4,0.245,0.046,1967,3319,3124,0,0,0,0,0,0,25.25,26.09,26.51
$GC,247,-0.48,-175.2,42.8,-32.5,35,253,0.15,1.98,0.00,0.000,6,0.158,0.023,2006,1923,3125,0,0,0,0,0,0,25.85,26.27,28.83
$GC,571,-0.41,-175.2,139.7,-26.2,52,577,0.00,1.98,0.00,0.000,4,0.000,0.030,2006,530,3124,0,0,0,0,0,0,28.83,26.31,28.83
$GC,738,-0.37,-175.2,174.0,-19.3,60,744,0.15,2.00,0.00,0.000,6,0.151,0.022,2041,1927,3124,0,0,0,0,0,0,26.02,26.40,28.83
$GC,1057,-0.37,-175.2,214.8,-11.3,76,1063,0.00,2.03,0.00,0.000,4,0.000,0.028,2041,527,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1150,-0.37,-175.2,223.8,-10.9,80,1155,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1929,3125,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1462,-0.37,-175.2,258.6,-10.2,96,1468,0.00,2.03,0.00,0.000,4,0.000,0.030,2034,530,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1545,-0.37,-175.2,267.3,-10.7,100,1551,0.00,2.00,0.00,0.000,6,0.000,0.022,2034,1933,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1868,-0.37,-175.2,297.3,-9.1,116,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1934,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2171,-0.37,-175.2,322.7,-8.4,131,2176,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,541,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2194,-0.37,-175.2,324.9,-8.4,132,2199,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1927,3123,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2517,-0.37,-175.2,352.5,-8.3,148,2523,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,538,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2589,-0.37,-175.2,358.3,-9.1,151,2594,0.00,1.98,0.00,0.000,6,0.000,0.022,2030,1930,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2902,-0.37,-175.2,384.8,-8.3,167,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1930,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3204,-0.38,-175.2,410.5,-8.0,182,3209,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,530,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3250,-0.38,-175.2,414.1,-7.9,184,3256,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1931,3118,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3570,-0.39,-175.2,438.3,-7.7,200,3576,0.00,2.05,-0.08,0.000,4,0.000,0.042,2033,534,3144,0,0,0,0,0,0,28.83,26.34,25.47
$GC,3608,-0.40,-175.2,440.4,-7.8,201,3616,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1940,3144,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3915,-0.42,-175.2,465.1,-7.1,217,3921,0.00,2.10,0.00,0.000,4,0.000,0.031,2033,537,3143,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3953,-0.43,-175.2,466.9,-7.1,218,3960,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1924,3143,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4260,-0.45,-175.2,489.5,-7.4,234,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1925,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4561,-0.46,-175.2,511.0,-6.7,249,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1925,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4861,-0.48,-175.2,531.0,-6.8,264,4867,0.00,2.05,0.00,0.000,4,0.000,0.037,2033,3313,3138,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4888,-0.50,-175.2,532.6,-6.8,265,4894,0.10,1.98,0.00,0.000,6,0.112,0.023,1988,1925,3138,0,0,0,0,0,0,26.28,26.44,28.83
$GC,5207,-0.50,-175.2,562.1,-8.9,281,5213,0.00,2.03,0.00,0.000,4,0.000,0.032,1988,535,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5305,-0.50,-175.2,569.6,-9.0,285,5311,0.00,2.00,0.00,0.000,6,0.000,0.023,1980,1934,3136,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5610,-0.50,-175.2,598.1,-9.1,301,5615,0.00,2.08,0.00,0.000,4,0.000,0.032,1977,527,3136,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5657,-0.50,-175.2,601.3,-9.5,303,5663,0.00,2.00,0.00,0.000,6,0.000,0.024,1972,1923,3133,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5976,-0.50,-175.2,636.3,-10.7,314,5981,0.00,2.05,0.00,0.000,4,0.000,0.031,1971,535,3131,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6013,-0.49,-175.2,640.2,-10.9,315,6019,0.12,2.00,0.00,0.000,6,0.155,0.024,1998,1928,3131,0,0,0,0,0,0,26.03,26.37,28.83
$GC,6344,-0.49,-175.2,668.8,-8.1,326,6349,0.00,2.05,0.00,0.000,4,0.000,0.037,1990,3306,3129,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6391,-0.49,-175.2,671.7,-8.1,327,6396,0.00,1.98,0.00,0.000,6,0.000,0.024,1989,1922,3129,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6711,-0.49,-175.2,698.8,-8.0,338,6716,0.00,2.03,0.00,0.000,4,0.000,0.033,1990,536,3127,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6864,-0.49,-175.2,712.6,-9.0,343,6869,0.00,2.00,0.00,0.000,6,0.000,0.024,1981,1925,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7198,-0.49,-175.2,742.1,-8.9,354,7203,0.00,2.05,0.00,0.000,4,0.000,0.032,1981,541,3124,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7236,-0.49,-175.2,745.6,-9.2,355,7241,0.00,2.00,0.00,0.000,6,0.000,0.024,1973,1931,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7565,-0.49,-175.2,775.8,-8.7,366,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1931,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,-0.49,-175.2,799.1,-7.7,376,7870,0.00,2.08,0.00,0.000,4,0.000,0.032,1973,534,3121,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7932,-0.49,-175.2,804.7,-8.2,378,7939,0.12,2.03,0.00,0.000,6,0.158,0.024,1998,1934,3121,0,0,0,0,0,0,25.97,26.34,28.83
$GC,8264,-0.50,-175.2,826.7,-6.6,389,8269,0.00,2.08,0.00,0.000,4,0.000,0.033,1999,538,3119,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8306,-0.50,-175.2,829.5,-6.9,390,8311,0.00,2.00,0.00,0.000,6,0.000,0.024,1992,1928,3119,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8631,-0.50,-175.2,854.4,-7.6,401,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1929,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,-0.50,-175.2,876.1,-7.1,411,8935,0.00,2.08,0.00,0.000,4,0.000,0.033,1992,534,3116,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8987,-0.50,-175.2,878.7,-7.4,412,8993,0.00,2.03,0.00,0.000,6,0.000,0.025,1984,1931,3116,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9293,-0.50,-175.2,905.1,-8.1,423,9299,0.00,2.05,0.00,0.000,4,0.000,0.037,1977,3316,3115,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9316,-0.50,-175.2,905.1,-8.1,423,9321,0.00,2.00,0.00,0.000,6,0.000,0.024,1973,1925,3115,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9630,-0.50,-175.2,934.9,-8.7,434,9635,0.00,2.05,0.00,0.000,4,0.000,0.034,1973,534,3114,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9747,-0.50,-175.2,943.7,-9.2,437,9755,0.12,2.03,0.00,0.000,6,0.162,0.025,2000,1927,3114,0,0,0,0,0,0,25.91,26.28,28.83
$GC,10056,-0.51,-175.2,966.5,-6.7,448,10061,0.00,2.08,0.00,0.000,4,0.000,0.034,2000,538,3112,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10098,-0.53,-175.2,969.3,-7.0,449,10103,0.00,2.03,0.00,0.000,6,0.000,0.025,1993,1933,3112,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10359,begin apogee
$GC,10364,-0.17,0.0,990.5,-7.7,458,10521,0.32,0.00,147.75,1.416,6,0.119,0.000,2103,1934,2408,0,0,0,0,0,0,25.75,28.83,22.69
$STATE,10523,end apogee,CONTROL_FINISHED_OK
$STATE,10523,begin climb
$GC,10525,0.54,175.2,997.5,0.0,463,10695,0.70,2.22,160.48,1.366,4,0.090,0.036,2334,3287,1693,0,0,0,0,0,0,24.17,23.55,22.18
$GC,10738,0.58,273.0,990.9,5.3,470,10837,0.00,2.17,90.35,1.340,6,0.000,0.025,2343,1915,1295,0,0,0,0,0,0,28.83,24.43,22.09
$GC,11151,0.61,307.9,959.7,7.3,484,11184,0.00,0.00,31.30,1.327,6,0.000,0.000,2343,1914,1153,0,0,0,0,0,0,28.83,28.83,23.80
$GC,11482,0.64,340.1,935.8,7.4,495,11514,0.00,0.00,29.10,1.327,6,0.000,0.000,2342,1914,1023,0,0,0,0,0,0,28.83,28.83,24.01
$GC,11812,0.67,346.5,909.5,8.3,506,11826,0.00,2.17,6.40,1.078,4,0.000,0.036,2343,3307,996,0,0,0,0,0,0,28.83,25.99,24.29
$GC,11845,0.69,346.7,906.5,8.5,507,11850,0.00,2.10,0.00,0.000,6,0.000,0.027,2348,1894,996,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12179,0.71,354.1,878.3,8.2,518,12195,0.12,2.10,8.35,1.161,4,0.108,0.037,2402,500,963,0,0,0,0,0,0,26.25,26.05,24.38
$GC,12244,0.72,354.1,871.1,9.7,520,12249,0.00,2.05,0.00,0.000,6,0.000,0.024,2402,1908,964,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12579,0.72,354.1,828.7,13.0,531,12585,0.00,2.05,0.00,0.000,4,0.000,0.036,2402,3289,963,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12657,0.72,354.1,819.6,13.6,533,12662,0.00,2.05,0.00,0.000,6,0.000,0.028,2402,1889,962,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12975,0.72,354.1,778.2,12.0,544,12980,0.00,2.08,0.00,0.000,4,0.000,0.038,2402,502,962,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13022,0.72,354.1,774.5,11.8,545,13027,0.00,2.03,0.00,0.000,6,0.000,0.024,2402,1908,962,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13341,0.72,354.1,733.9,12.5,556,13347,0.00,2.03,0.00,0.000,4,0.000,0.035,2402,3276,961,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,20716,end climb,SURFACE_DEPTH_REACHED
$STATE,20716,begin surface coast
$FINISH,0.9,1.008626
$STATE,20732,end surface coast,CONTROL_FINISHED_OK
$STATE,20732,begin surface
$SM_CCo,20809,0.00,0.000,0,0,207,540.15
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$IRIDIUM_FIX,1758.70,12327.57,291212,151542
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.45
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3932448
$24V_AH,22.1,45.518
$10V_AH,10.1,32.398
$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,16.450,179.350,633.625,0.000,0.000,0.000,0.000,284.525,0.000,0.000,17.351,3085.446,14357.044,778.348,2656.565,396.412,0.000,2373.007,0.000,2270.096,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,45.900,1416.015,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20755.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.026,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,33377,941
$CAP_FILE_SIZE,230984,0
$CFSIZE,260034560,228646912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,342.3,1
$GPS,301212,033536,1808.469,12319.215,40,1.1,40,-2.0