version: 66.11
glider: 129
mission: 4
dive: 240
start: 1 1 113 16 37 19
data:
$ID,129
$MISSION,4
$DIVE,240
$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,-2956.4133
$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,76
$R_STBD_OVSHOOT,81
$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
$GPS1,010113,162835,1819.992,12245.529,32,1.2,32,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-56.6
$GPS2,010113,163651,1820.210,12245.368,12,2.6,31,-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,257.9,55018,-14.2,-8.462,-17.62
$D_GRID,3885
$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,-65.43,0.000,2,0.000,0.000,59,1897,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.3,-4.3,11,134,7.93,2.15,-30.92,0.000,4,0.245,0.044,1968,3309,3126,0,0,0,0,0,0,25.28,26.12,26.52
$GC,142,-0.48,-175.2,10.3,-15.7,19,149,0.12,1.98,0.00,0.000,6,0.168,0.021,2000,1901,3126,0,0,0,0,0,0,25.84,26.22,28.83
$GC,468,-0.40,-175.2,110.8,-29.2,46,474,0.10,2.08,0.00,0.000,4,0.185,0.031,2016,3300,3126,0,0,0,0,0,0,26.22,26.25,28.83
$GC,583,-0.36,-175.2,132.4,-19.3,51,588,0.00,1.92,0.00,0.000,6,0.000,0.022,2015,1936,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,896,-0.34,-175.2,185.3,-15.4,67,902,0.12,2.00,0.00,0.000,4,0.153,0.028,2056,532,3126,0,0,0,0,0,0,26.21,26.34,28.83
$GC,1069,-0.34,-175.2,204.7,-11.3,75,1074,0.00,1.98,0.00,0.000,6,0.000,0.021,2049,1929,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1382,-0.34,-175.2,235.5,-9.0,91,1387,0.00,2.03,0.00,0.000,4,0.000,0.029,2049,538,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1414,-0.34,-175.2,237.6,-9.1,92,1420,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1933,3127,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1727,-0.34,-175.2,268.1,-8.5,108,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1934,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-0.35,-175.2,288.2,-6.4,123,2035,0.00,2.03,0.00,0.000,4,0.000,0.030,2046,532,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2169,-0.36,-175.2,297.3,-7.2,129,2177,0.00,2.00,0.00,0.000,6,0.000,0.021,2046,1925,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2475,-0.37,-175.2,319.8,-6.6,145,2481,0.00,2.03,0.00,0.000,4,0.000,0.030,2046,532,3123,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2509,-0.39,-175.2,321.5,-6.7,146,2514,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1926,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2822,-0.41,-175.2,343.8,-7.2,162,2827,0.00,2.03,0.00,0.000,4,0.000,0.030,2043,541,3122,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2859,-0.42,-175.2,345.6,-7.5,163,2866,0.00,1.98,0.00,0.000,6,0.000,0.021,2046,1934,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3165,-0.44,-175.2,368.3,-7.1,179,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1935,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.46,-175.2,391.8,-7.7,194,3474,0.10,2.05,0.00,0.000,4,0.112,0.029,1999,535,3118,0,0,0,0,0,0,26.51,26.34,28.83
$GC,3581,-0.46,-175.2,403.1,-11.2,199,3586,0.00,1.98,0.00,0.000,6,0.000,0.023,1991,1919,3117,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3894,-0.46,-175.2,435.0,-9.6,215,3900,0.00,2.05,-0.08,0.000,4,0.000,0.043,1991,543,3143,0,0,0,0,0,0,28.83,26.32,25.46
$GC,3967,-0.46,-175.2,441.0,-9.5,218,3972,0.00,1.98,0.00,0.000,6,0.000,0.022,1982,1927,3143,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4279,-0.46,-175.2,472.4,-10.2,234,4284,0.00,2.05,0.00,0.000,4,0.000,0.031,1982,543,3142,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4356,-0.45,-175.2,479.3,-11.0,237,4364,0.15,1.98,0.00,0.000,6,0.143,0.022,2017,1924,3142,0,0,0,0,0,0,26.04,26.41,28.83
$GC,4663,-0.46,-175.2,504.2,-7.2,253,4668,0.00,2.05,0.00,0.000,4,0.000,0.036,2009,3312,3141,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4701,-0.47,-175.2,505.7,-7.1,254,4707,0.00,1.98,0.00,0.000,6,0.000,0.023,2009,1924,3142,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5007,-0.47,-175.2,528.6,-7.1,270,5012,0.00,2.00,0.00,0.000,4,0.000,0.032,2008,535,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5156,-0.47,-175.2,540.0,-7.8,277,5161,0.00,2.00,0.00,0.000,6,0.000,0.023,2001,1938,3138,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5474,-0.47,-175.2,564.9,-7.8,293,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1938,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5776,-0.47,-175.2,588.5,-8.3,308,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1938,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6093,-0.47,-175.2,618.0,-9.3,321,6099,0.00,2.08,0.00,0.000,4,0.000,0.033,2001,539,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6151,-0.47,-175.2,621.5,-9.6,322,6158,0.00,2.00,0.00,0.000,6,0.000,0.023,1992,1917,3132,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6457,-0.47,-175.2,655.5,-10.7,333,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1917,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6757,-0.47,-175.2,687.8,-10.3,343,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1917,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7057,-0.47,-175.2,715.6,-8.8,353,7063,0.00,2.05,0.00,0.000,4,0.000,0.033,1993,542,3127,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7084,-0.47,-175.2,715.6,-8.8,353,7091,0.00,2.00,0.00,0.000,6,0.000,0.024,1986,1933,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7392,-0.47,-175.2,743.0,-7.8,364,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1933,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7690,-0.47,-175.2,765.1,-7.3,374,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1933,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,-0.47,-175.2,788.2,-7.6,384,7996,0.00,2.03,0.00,0.000,4,0.000,0.037,1976,3304,3123,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8028,-0.47,-175.2,790.8,-7.7,385,8034,0.12,1.98,0.00,0.000,6,0.140,0.023,2012,1929,3123,0,0,0,0,0,0,26.06,26.39,28.83
$GC,8358,-0.49,-175.2,811.7,-6.1,396,8364,0.00,2.05,0.00,0.000,4,0.000,0.034,2012,535,3121,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8412,-0.50,-175.2,814.0,-6.2,397,8418,0.00,2.00,0.00,0.000,6,0.000,0.024,2004,1927,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8727,-0.51,-175.2,835.4,-6.3,408,8732,0.00,2.08,0.00,0.000,4,0.000,0.032,2004,531,3123,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8761,-0.53,-175.2,837.9,-6.6,409,8767,0.00,2.03,0.00,0.000,6,0.000,0.023,1995,1930,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9096,-0.53,-175.2,861.3,-7.0,420,9102,0.00,2.08,0.00,0.000,4,0.000,0.033,1996,535,3118,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9131,-0.53,-175.2,863.8,-7.0,421,9136,0.00,2.03,0.00,0.000,6,0.000,0.024,1986,1935,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9465,-0.53,-175.2,886.1,-6.4,432,9471,0.00,2.08,0.00,0.000,4,0.000,0.038,1978,3306,3116,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9499,-0.53,-175.2,888.3,-6.4,433,9505,0.00,2.00,0.00,0.000,6,0.000,0.024,1978,1922,3116,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9836,-0.53,-175.2,912.4,-7.3,444,9842,0.00,2.05,0.00,0.000,4,0.000,0.034,1978,534,3115,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9955,-0.53,-175.2,920.5,-8.2,447,9962,0.00,2.03,0.00,0.000,6,0.000,0.025,1968,1928,3115,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10260,-0.53,-175.2,948.6,-8.7,458,10265,0.00,2.10,0.00,0.000,4,0.000,0.034,1968,528,3114,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10293,-0.53,-175.2,951.7,-8.9,459,10300,0.12,2.05,0.00,0.000,6,0.159,0.024,1992,1929,3114,0,0,0,0,0,0,25.91,26.28,28.83
$GC,10628,-0.53,-175.2,976.6,-7.2,470,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1929,3113,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10835,begin apogee
$GC,10840,-0.17,0.0,991.3,-6.9,477,10998,0.32,0.00,148.35,1.417,6,0.119,0.000,2104,1929,2409,0,0,0,0,0,0,25.75,28.83,22.56
$STATE,11000,end apogee,CONTROL_FINISHED_OK
$STATE,11000,begin climb
$GC,11002,0.54,175.2,996.6,0.0,482,11172,0.68,2.40,161.07,1.364,4,0.090,0.035,2330,524,1693,0,0,0,0,0,0,24.10,23.55,22.11
$GC,11209,0.58,253.4,988.4,5.9,489,11289,0.00,2.17,72.60,1.333,6,0.000,0.022,2331,1898,1375,0,0,0,0,0,0,28.83,24.36,22.06
$GC,11597,0.61,286.0,959.6,7.4,502,11631,0.00,2.17,28.55,1.320,4,0.000,0.036,2330,3303,1243,0,0,0,0,0,0,28.83,25.24,23.77
$GC,11659,0.63,309.1,954.7,7.7,504,11690,0.00,2.12,22.15,1.286,6,0.000,0.025,2331,1896,1148,0,0,0,0,0,0,28.83,25.59,23.66
$GC,11990,0.67,341.6,929.9,7.4,515,12025,0.12,2.15,29.55,1.324,4,0.111,0.037,2386,507,1016,0,0,0,0,0,0,26.09,25.38,23.94
$GC,12054,0.68,341.6,923.4,8.7,517,12059,0.00,2.10,0.00,0.000,6,0.000,0.024,2386,1912,1013,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12388,0.68,341.6,884.2,12.1,528,12393,0.00,2.05,0.00,0.000,4,0.000,0.037,2391,3283,1010,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12430,0.68,341.6,879.8,12.4,529,12435,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1901,1010,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12755,0.68,341.6,838.3,12.6,540,12760,0.00,2.10,0.00,0.000,4,0.000,0.038,2386,500,1009,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12818,0.68,341.6,830.5,12.3,542,12824,0.00,2.05,0.00,0.000,6,0.000,0.024,2386,1909,1009,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13154,0.68,341.6,791.0,11.8,553,13159,0.00,2.05,0.00,0.000,4,0.000,0.035,2386,3287,1008,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13192,0.68,341.6,786.5,12.0,554,13198,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1897,1007,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13521,0.68,341.6,746.9,11.8,565,13526,0.00,2.10,0.00,0.000,4,0.000,0.039,2387,503,1007,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,20935,end climb,SURFACE_DEPTH_REACHED
$STATE,20935,begin surface coast
$FINISH,1.1,1.022064
$STATE,20951,end surface coast,CONTROL_FINISHED_OK
$STATE,20952,begin surface
$SM_CCo,21028,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1812.31,12252.30,010113,101013
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.69
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3928224
$24V_AH,22.1,47.939
$10V_AH,10.0,33.900
$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,16.675,179.800,624.450,0.000,0.000,0.000,0.000,286.750,0.000,0.000,33.401,3079.019,14599.216,763.694,2655.480,417.203,0.000,2356.368,0.000,2259.761,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,44.370,1416.780,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20974.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.089,0.000,0.000,0.000
$MEM,308664
$DATA_FILE_SIZE,36717,949
$CAP_FILE_SIZE,231713,0
$CFSIZE,260034560,227471360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223,  1.4,1
$GPS,010113,222906,1821.838,12242.387,41,0.9,41,-2.0