version: 66.11
glider: 129
mission: 4
dive: 295
start: 1 14 113 0 53 46
data:
$ID,129
$MISSION,4
$DIVE,295
$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,-3087.488
$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,71
$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,21.5
$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
$GPS1,140113,004437,1951.820,12340.490,32,1.2,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-55.9
$GPS2,140113,005319,1951.719,12340.472,13,1.2,13,-2.4
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,44.1,81093,-14.2,-8.462,-17.62
$D_GRID,5269
$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,-175.2,0.0,0.0,0,80,0.00,0.00,-58.85,0.000,2,0.000,0.000,181,1891,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.54,-175.2,3.2,-3.2,10,133,8.25,2.15,-30.50,0.000,4,0.244,0.046,1998,3305,3125,9,0,0,0,0,0,24.81,26.10,26.53
$GC,148,-0.51,-175.2,12.2,-18.1,20,155,0.00,1.98,0.00,0.000,6,0.000,0.020,2027,1891,3123,0,0,0,0,0,0,28.83,26.25,28.83
$GC,464,-0.45,-175.2,89.5,-24.0,48,469,0.00,1.92,0.00,0.000,4,0.000,0.028,2027,546,3126,0,0,0,0,0,0,28.83,26.29,28.83
$GC,507,-0.40,-175.2,99.2,-23.5,50,512,0.00,1.95,0.00,0.000,6,0.000,0.021,2017,1920,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,830,-0.37,-175.2,153.4,-16.4,66,835,0.00,2.00,0.00,0.000,4,0.000,0.028,2017,541,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1029,-0.35,-175.2,181.8,-14.0,75,1036,0.12,1.95,0.00,0.000,6,0.150,0.021,2042,1927,3125,0,0,0,0,0,0,26.08,26.40,28.83
$GC,1333,-0.35,-175.2,216.4,-9.8,91,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1926,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-0.35,-175.2,244.2,-8.2,106,1641,0.00,2.00,0.00,0.000,4,0.000,0.028,2042,551,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1683,-0.35,-175.2,249.3,-10.1,108,1688,0.00,1.95,0.00,0.000,6,0.000,0.020,2036,1940,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2002,-0.35,-175.2,274.9,-7.0,124,2007,0.00,2.03,0.00,0.000,4,0.000,0.028,2037,546,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2059,-0.35,-175.2,278.3,-7.3,126,2065,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1925,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2364,-0.35,-175.2,310.0,-11.5,142,2369,0.00,2.03,0.00,0.000,4,0.000,0.034,2038,3309,3124,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2396,-0.35,-175.2,312.5,-11.5,143,2402,0.00,1.92,0.00,0.000,6,0.000,0.020,2033,1931,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2711,-0.35,-175.2,344.7,-9.9,159,2716,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,559,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2783,-0.35,-175.2,351.3,-10.2,162,2788,0.00,1.92,0.00,0.000,6,0.000,0.021,2033,1931,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3097,-0.36,-175.2,378.0,-6.8,178,3103,0.00,2.05,0.00,0.000,4,0.000,0.028,2033,543,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3227,-0.36,-175.2,387.2,-7.3,184,3232,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1933,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3545,-0.38,-175.2,411.7,-8.2,200,3550,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,547,3121,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3638,-0.39,-175.2,419.1,-8.8,204,3643,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1929,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3952,-0.40,-175.2,439.2,-6.2,220,3957,0.00,2.03,0.00,0.000,4,0.000,0.029,2031,546,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3975,-0.42,-175.2,441.0,-6.5,221,3981,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1924,3118,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4299,-0.43,-175.2,465.4,-7.5,237,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1925,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4601,-0.45,-175.2,485.1,-6.0,252,4603,0.00,0.00,-0.08,0.000,6,0.000,0.000,2034,1924,3139,0,0,0,0,0,0,28.83,28.83,25.30
$GC,4899,-0.47,-175.2,502.0,-5.8,267,4904,0.00,2.05,0.00,0.000,4,0.000,0.030,2034,552,3139,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4943,-0.49,-175.2,504.9,-6.4,269,4949,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1929,3138,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5267,-0.51,-175.2,526.0,-6.3,285,5273,0.12,2.05,0.00,0.000,4,0.100,0.033,1959,3308,3137,0,0,0,0,0,0,26.44,26.24,28.83
$GC,5287,-0.53,-175.2,526.0,-6.3,285,5294,0.00,1.95,0.00,0.000,6,0.000,0.021,1961,1934,3137,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5592,-0.51,-175.2,559.1,-10.3,301,5598,0.12,2.03,0.00,0.000,4,0.148,0.028,2003,542,3136,0,0,0,0,0,0,26.22,26.28,28.83
$GC,5730,-0.51,-175.2,570.0,-8.4,307,5738,0.00,1.95,0.00,0.000,6,0.000,0.021,1995,1929,3135,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6036,-0.51,-175.2,598.9,-9.0,323,6042,0.00,2.05,0.00,0.000,4,0.000,0.030,1995,539,3133,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6119,-0.51,-175.2,604.4,-8.8,326,6125,0.00,1.98,0.00,0.000,6,0.000,0.022,1986,1923,3132,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6434,-0.51,-175.2,629.1,-7.3,337,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1924,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6734,-0.51,-175.2,655.2,-9.2,347,6739,0.00,2.05,0.00,0.000,4,0.000,0.031,1986,539,3129,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6767,-0.51,-175.2,658.6,-9.5,348,6774,0.00,2.03,0.00,0.000,6,0.000,0.023,1979,1920,3129,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7104,-0.51,-175.2,691.4,-9.5,359,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1921,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7401,-0.51,-175.2,718.3,-8.6,369,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1921,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7702,-0.51,-175.2,742.6,-8.0,379,7708,0.00,2.05,0.00,0.000,4,0.000,0.031,1979,541,3124,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7731,-0.51,-175.2,742.6,-8.0,379,7738,0.00,1.98,0.00,0.000,6,0.000,0.023,1970,1930,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8035,-0.51,-175.2,771.2,-8.7,390,8042,0.00,2.08,0.00,0.000,4,0.000,0.031,1970,548,3123,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8084,-0.51,-175.2,774.4,-8.9,391,8090,0.12,2.00,0.00,0.000,6,0.155,0.023,1997,1920,3123,0,0,0,0,0,0,26.01,26.34,28.83
$GC,8407,-0.52,-175.2,799.4,-7.1,402,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1919,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8704,-0.53,-175.2,819.6,-6.5,412,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1924,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9004,-0.55,-175.2,839.0,-6.6,422,9009,0.00,2.08,0.00,0.000,4,0.000,0.032,1998,535,3119,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9038,-0.56,-175.2,841.4,-6.8,423,9043,0.00,2.03,0.00,0.000,6,0.000,0.024,1993,1926,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9373,-0.56,-175.2,866.7,-8.0,434,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1927,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9672,-0.57,-175.2,890.8,-8.0,444,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1927,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9972,-0.58,-175.2,913.8,-7.6,454,9979,0.00,2.08,0.00,0.000,4,0.000,0.032,1993,542,3115,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10007,-0.59,-175.2,916.8,-7.8,455,10012,0.00,2.00,0.00,0.000,6,0.000,0.024,1985,1931,3115,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10344,-0.59,-175.2,942.2,-7.5,466,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1929,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10640,-0.59,-175.2,965.7,-7.8,476,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1931,3113,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10938,begin apogee
$GC,10944,-0.17,0.0,990.8,-8.6,486,11101,0.35,0.00,150.75,1.409,6,0.116,0.000,2104,1932,2409,0,0,0,0,0,0,25.75,28.83,22.36
$STATE,11102,end apogee,CONTROL_FINISHED_OK
$STATE,11102,begin climb
$GC,11104,0.54,175.2,998.5,0.0,491,11275,0.68,2.45,161.35,1.365,4,0.087,0.034,2331,524,1693,0,0,0,0,0,0,24.14,23.62,21.94
$GC,11332,0.59,288.8,993.3,4.8,498,11445,0.00,2.10,104.43,1.345,6,0.000,0.021,2331,1893,1229,0,0,0,0,0,0,28.83,24.79,22.01
$GC,11761,0.63,316.9,961.7,7.5,513,11792,0.00,2.20,24.58,1.310,4,0.000,0.035,2331,3289,1117,0,0,0,0,0,0,28.83,25.46,23.75
$GC,11861,0.65,326.2,953.9,8.2,516,11876,0.12,2.03,9.60,1.174,6,0.105,0.024,2379,1904,1080,0,0,0,0,0,0,25.81,25.95,23.87
$GC,12189,0.65,326.2,918.5,10.8,527,12194,0.00,2.08,0.00,0.000,4,0.000,0.035,2387,510,1076,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12226,0.65,326.2,914.7,10.9,528,12232,0.00,2.03,0.00,0.000,6,0.000,0.021,2387,1911,1076,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12556,0.65,326.2,877.1,11.0,539,12562,0.00,2.08,0.00,0.000,4,0.000,0.035,2387,3309,1075,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12623,0.65,326.2,869.5,11.5,541,12629,0.00,2.05,0.00,0.000,6,0.000,0.024,2383,1896,1074,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12953,0.65,326.2,834.7,10.2,552,12959,0.00,2.03,0.00,0.000,4,0.000,0.036,2386,512,1074,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13011,0.65,326.2,831.3,10.2,553,13018,0.00,2.00,0.00,0.000,6,0.000,0.021,2386,1896,1074,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13317,0.65,326.2,799.2,9.7,564,13322,0.00,2.03,0.00,0.000,4,0.000,0.034,2387,3286,1073,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13389,0.65,326.2,792.5,10.1,566,13394,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1903,1073,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13713,0.65,326.2,760.3,9.5,577,13718,0.00,2.08,0.00,0.000,4,0.000,0.036,2387,507,1073,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,21548,end climb,SURFACE_DEPTH_REACHED
$STATE,21548,begin surface coast
$FINISH,1.1,1.022843
$STATE,21564,end surface coast,CONTROL_FINISHED_OK
$STATE,21564,begin surface
$SM_CCo,21640,0.00,0.000,0,0,210,539.41
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$IRIDIUM_FIX,1945.83,12333.14,130113,181805
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.22
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3907072
$24V_AH,21.9,59.175
$10V_AH,9.7,41.019
$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,16.825,182.375,635.125,0.000,0.000,0.000,0.000,320.800,0.000,0.000,15.352,3155.396,15020.496,757.536,2748.293,469.182,0.000,2433.692,0.000,2334.240,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,45.900,1409.130,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21589.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.594,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,36604,974
$CAP_FILE_SIZE,237618,0
$CFSIZE,260034560,221970432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0,0
$CURRENT,0.127,207.7,1
$GPS,140113,065536,1952.988,12341.750,31,1.6,31,-2.4