version: 66.11
glider: 129
mission: 4
dive: 239
start: 1 1 113 10 27 33
data:
$ID,129
$MISSION,4
$DIVE,239
$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,-13
$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,-2955.0593
$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,72
$R_STBD_OVSHOOT,90
$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
$GPS1,010113,101805,1817.753,12249.525,39,1.1,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-58.9
$GPS2,010113,102643,1817.936,12249.385,17,1.5,17,-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,276.6,63151,-14.2,-8.462,-17.62
$D_GRID,3805
$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,-66.00,0.000,2,0.000,0.000,60,1874,1849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-3.9,11,134,7.93,2.17,-31.00,0.000,4,0.243,0.046,1970,3300,3125,0,0,0,0,0,0,25.14,26.09,26.53
$GC,272,-0.48,-175.2,45.1,-26.8,37,280,0.12,1.98,0.00,0.000,6,0.164,0.023,2002,1909,3125,0,0,0,0,0,0,25.91,26.29,28.83
$GC,589,-0.41,-175.2,137.1,-27.5,54,594,0.00,1.98,0.00,0.000,4,0.000,0.029,2002,531,3125,0,0,0,0,0,0,28.83,26.30,28.83
$GC,807,-0.37,-175.2,176.5,-17.8,64,815,0.15,1.95,0.00,0.000,6,0.142,0.022,2037,1904,3126,0,0,0,0,0,0,26.03,26.39,28.83
$GC,1112,-0.37,-175.2,211.3,-9.3,80,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1904,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-0.37,-175.2,241.0,-10.1,95,1420,0.00,2.00,0.00,0.000,4,0.000,0.030,2037,528,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1447,-0.37,-175.2,243.9,-10.6,96,1452,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1937,3126,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1760,-0.37,-175.2,273.9,-7.6,112,1766,0.00,2.05,0.00,0.000,4,0.000,0.030,2033,532,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1812,-0.37,-175.2,277.5,-7.6,114,1818,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1929,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2126,-0.37,-175.2,306.2,-9.2,130,2131,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,540,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2178,-0.37,-175.2,310.6,-9.9,132,2183,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1929,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2491,-0.37,-175.2,338.0,-7.8,148,2497,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,541,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2575,-0.37,-175.2,345.0,-8.4,152,2581,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1929,3122,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2899,-0.38,-175.2,366.7,-6.7,168,2904,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,531,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2922,-0.39,-175.2,368.4,-6.9,169,2928,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1928,3120,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3246,-0.40,-175.2,392.2,-7.7,185,3251,0.00,2.05,0.00,0.000,4,0.000,0.031,2033,532,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3338,-0.41,-175.2,399.5,-8.7,189,3344,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1936,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3653,-0.43,-175.2,423.9,-7.6,205,3655,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1937,3137,0,0,0,0,0,0,28.83,28.83,25.31
$GC,3952,-0.44,-175.2,445.9,-7.3,220,3958,0.00,2.08,0.00,0.000,4,0.000,0.032,2033,531,3136,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3982,-0.46,-175.2,447.7,-7.4,221,3988,0.00,2.00,0.00,0.000,6,0.000,0.023,2033,1932,3136,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4301,-0.47,-175.2,472.9,-7.9,237,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1931,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4602,-0.49,-175.2,495.2,-6.9,252,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1931,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4903,-0.51,-175.2,515.1,-6.9,267,4909,0.12,2.05,0.00,0.000,4,0.102,0.029,1967,543,3131,0,0,0,0,0,0,26.45,26.30,28.83
$GC,4956,-0.51,-175.2,519.9,-8.8,269,4962,0.12,1.98,0.00,0.000,6,0.153,0.022,1992,1924,3131,0,0,0,0,0,0,26.05,26.39,28.83
$GC,5269,-0.51,-175.2,553.2,-9.9,285,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1924,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5571,-0.51,-175.2,581.0,-8.7,300,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1924,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5871,-0.51,-175.2,605.9,-8.2,314,5876,0.00,2.05,0.00,0.000,4,0.000,0.033,1992,545,3125,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5974,-0.51,-175.2,614.1,-8.7,317,5979,0.00,1.98,0.00,0.000,6,0.000,0.024,1986,1936,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6298,-0.51,-175.2,642.4,-8.9,328,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1937,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6598,-0.51,-175.2,670.2,-9.3,338,6603,0.00,2.05,0.00,0.000,4,0.000,0.033,1986,540,3122,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6661,-0.51,-175.2,676.6,-9.8,340,6666,0.00,2.00,0.00,0.000,6,0.000,0.024,1976,1922,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6996,-0.51,-175.2,708.3,-9.2,351,7001,0.00,2.08,0.00,0.000,4,0.000,0.037,1966,3316,3120,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7048,-0.51,-175.2,711.4,-9.0,352,7053,0.00,2.00,0.00,0.000,6,0.000,0.024,1965,1923,3119,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7360,-0.51,-175.2,743.3,-9.5,363,7366,0.00,2.05,0.00,0.000,4,0.000,0.034,1966,530,3118,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7455,-0.50,-175.2,753.1,-10.3,366,7461,0.15,2.03,0.00,0.000,6,0.145,0.024,1999,1922,3117,0,0,0,0,0,0,25.94,26.34,28.83
$GC,7789,-0.50,-175.2,779.1,-7.7,377,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1922,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,-0.51,-175.2,801.6,-7.7,387,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1923,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8389,-0.51,-175.2,823.8,-7.3,397,8395,0.00,2.08,0.00,0.000,4,0.000,0.034,2000,529,3111,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8437,-0.51,-175.2,826.4,-7.3,398,8443,0.00,2.05,0.00,0.000,6,0.000,0.024,1992,1929,3113,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8757,-0.51,-175.2,851.7,-7.4,409,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1929,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9057,-0.51,-175.2,872.6,-6.7,419,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1929,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,-0.51,-175.2,892.1,-6.3,429,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1929,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,-0.51,-175.2,911.4,-6.4,439,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1929,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9957,-0.51,-175.2,931.0,-6.5,449,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1929,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10257,-0.51,-175.2,950.6,-6.7,459,10262,0.00,2.10,0.00,0.000,4,0.000,0.034,1994,531,3106,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10304,-0.51,-175.2,953.1,-6.8,460,10309,0.00,2.03,0.00,0.000,6,0.000,0.025,1984,1924,3106,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10623,-0.51,-175.2,977.3,-7.4,471,10628,0.00,2.08,0.00,0.000,4,0.000,0.034,1984,533,3106,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10651,-0.51,-175.2,977.3,-7.4,471,10658,0.00,2.03,0.00,0.000,6,0.000,0.025,1974,1923,3105,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,10804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10804,begin apogee
$GC,10809,-0.17,0.0,991.9,-7.9,477,10962,0.38,0.00,147.27,1.411,6,0.123,0.000,2099,1924,2409,0,0,0,0,0,0,25.60,28.83,22.54
$STATE,10964,end apogee,CONTROL_FINISHED_OK
$STATE,10964,begin climb
$GC,10967,0.54,175.2,997.8,0.0,482,11139,0.70,2.38,160.70,1.360,4,0.093,0.036,2335,522,1694,0,0,0,0,0,0,24.06,23.55,22.09
$GC,11196,0.58,252.6,989.7,5.9,489,11275,0.00,2.15,71.72,1.333,6,0.000,0.023,2335,1900,1378,0,0,0,0,0,0,28.83,24.60,22.08
$GC,11594,0.59,252.6,954.2,8.8,503,11599,0.00,2.12,0.00,0.000,4,0.000,0.037,2335,3296,1370,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11666,0.61,252.6,948.1,9.2,505,11671,0.00,2.05,0.00,0.000,6,0.000,0.025,2337,1908,1368,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11991,0.62,252.6,917.0,9.4,516,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1903,1371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12290,0.63,252.6,887.8,9.8,526,12295,0.00,2.10,0.00,0.000,4,0.000,0.036,2337,3297,1366,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12332,0.65,252.6,884.3,10.0,527,12338,0.00,2.05,0.00,0.000,6,0.000,0.024,2346,1884,1365,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12658,0.66,252.6,852.5,9.1,538,12663,0.00,2.12,0.00,0.000,4,0.000,0.035,2346,3296,1365,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12691,0.67,252.6,849.1,9.1,539,12696,0.00,2.05,0.00,0.000,6,0.000,0.024,2354,1890,1365,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13027,0.67,252.6,818.7,8.8,550,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1889,1365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13325,0.69,259.7,794.0,8.2,560,13335,0.00,2.20,5.28,0.986,4,0.000,0.035,2354,3304,1350,0,0,0,0,0,0,28.83,26.18,23.96
$GC,13362,0.69,265.0,791.0,8.3,561,13377,0.00,2.05,6.68,1.063,6,0.000,0.026,2362,1901,1328,0,0,0,0,0,0,28.83,26.27,24.10
$GC,13689,0.69,265.0,762.9,8.6,572,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1900,1327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13990,0.69,265.0,736.6,9.0,582,13995,0.00,2.10,0.00,0.000,4,0.000,0.035,2363,3297,1326,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14023,0.69,265.0,733.2,9.2,583,14028,0.00,2.03,0.00,0.000,6,0.000,0.026,2368,1896,1325,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,21493,end climb,SURFACE_DEPTH_REACHED
$STATE,21493,begin surface coast
$FINISH,0.9,1.010567
$STATE,21515,end surface coast,CONTROL_FINISHED_OK
$STATE,21515,begin surface
$SM_CCo,21591,0.00,0.000,0,0,210,539.66
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$IRIDIUM_FIX,1812.31,12255.44,010113,040439
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.88
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3928608
$24V_AH,22.1,47.719
$10V_AH,10.1,33.765
$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,16.475,159.700,634.525,0.000,0.000,0.000,0.000,322.850,0.000,0.000,18.135,3084.668,15239.379,721.850,2655.562,418.590,0.000,2337.260,0.000,2233.135,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,45.900,1411.425,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21534.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.859,0.000,0.000,0.000
$MEM,308908
$DATA_FILE_SIZE,36652,972
$CAP_FILE_SIZE,231287,0
$CFSIZE,260034560,227577856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,348.0,1
$GPS,010113,162835,1819.992,12245.529,32,1.2,32,-2.0