version: 66.11
glider: 129
mission: 4
dive: 395
start: 2 6 113 13 48 54
data:
$ID,129
$MISSION,4
$DIVE,395
$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,350
$T_MISSION,380
$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,190
$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,-3248.9961
$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,125
$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,81
$R_STBD_OVSHOOT,95
$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
$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
$GPS1,060213,134006,1806.058,12316.804,26,1.4,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-63.2
$GPS2,060213,134825,1806.115,12316.707,13,1.4,13,-2.0
$SPEED_LIMITS,0.163,0.283
$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,274.4,115882,-15.3,-9.429,-18.41
$D_GRID,4240
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.38,0.000,2,0.000,0.000,59,1927,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-4.5,12,141,7.95,2.10,-29.27,0.000,4,0.237,0.044,1954,3295,3165,0,0,0,0,0,0,24.78,26.06,26.55
$GC,341,-0.52,-184.9,60.0,-27.9,43,347,0.08,1.98,0.00,0.000,6,0.128,0.021,1991,1908,3165,0,0,0,0,0,0,25.82,26.28,28.83
$GC,656,-0.46,-184.9,150.7,-27.3,59,661,0.00,1.95,0.00,0.000,4,0.000,0.028,1991,536,3165,0,0,0,0,0,0,28.83,26.20,28.83
$GC,800,-0.42,-184.9,181.4,-20.3,66,806,0.15,1.95,0.00,0.000,6,0.143,0.019,2025,1919,3166,0,0,0,0,0,0,25.89,26.31,28.83
$GC,1125,-0.42,-184.9,223.3,-12.6,82,1131,0.00,2.03,0.00,0.000,4,0.000,0.028,2026,546,3166,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1212,-0.42,-184.9,234.0,-12.6,86,1217,0.00,1.95,0.00,0.000,6,0.000,0.019,2017,1929,3166,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1531,-0.42,-184.9,272.7,-11.5,102,1537,0.00,2.03,0.00,0.000,4,0.000,0.032,2007,3311,3166,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1575,-0.42,-184.9,277.6,-11.3,104,1581,0.00,1.95,0.00,0.000,6,0.000,0.019,2007,1912,3166,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1900,-0.42,-184.9,314.0,-11.4,120,1905,0.00,1.98,0.00,0.000,4,0.000,0.028,2007,555,3166,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2104,-0.42,-184.9,338.4,-11.8,130,2109,0.00,1.92,0.00,0.000,6,0.000,0.020,1998,1926,3165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2427,-0.42,-184.9,374.4,-11.0,146,2432,0.00,2.00,0.00,0.000,4,0.000,0.027,1998,557,3167,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2514,-0.42,-184.9,383.3,-10.8,150,2520,0.12,1.95,0.00,0.000,6,0.140,0.020,2026,1932,3163,0,0,0,0,0,0,26.00,26.32,28.83
$GC,2834,-0.44,-184.9,406.6,-6.9,166,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1932,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,-0.46,-184.9,428.6,-7.3,181,3142,0.00,2.03,0.00,0.000,4,0.000,0.028,2027,559,3161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3175,-0.48,-184.9,430.7,-7.5,182,3181,0.00,1.95,0.00,0.000,6,0.000,0.020,2020,1931,3161,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3480,-0.50,-184.9,453.8,-7.9,198,3486,0.00,2.05,0.00,0.000,4,0.000,0.033,2009,3323,3159,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3505,-0.52,-184.9,455.8,-8.1,199,3510,0.00,1.98,0.00,0.000,6,0.000,0.020,2009,1931,3159,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3829,-0.53,-184.9,483.1,-8.0,215,3834,0.00,2.03,0.00,0.000,4,0.000,0.028,2009,536,3157,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4019,-0.54,-184.9,499.4,-8.8,224,4024,0.00,2.00,0.00,0.000,6,0.000,0.021,2001,1919,3155,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4338,-0.54,-184.9,524.4,-6.6,240,4343,0.00,2.05,0.00,0.000,4,0.000,0.034,1990,3304,3153,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4397,-0.55,-184.9,526.9,-6.1,242,4404,0.00,1.95,0.00,0.000,6,0.000,0.020,1990,1929,3153,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4701,-0.55,-184.9,548.4,-7.1,258,4708,0.00,2.05,0.00,0.000,4,0.000,0.030,1990,521,3151,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4868,-0.55,-184.9,562.2,-8.5,266,4874,0.00,2.03,0.00,0.000,6,0.000,0.021,1981,1928,3150,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5192,-0.55,-184.9,591.2,-9.5,282,5197,0.00,2.05,0.00,0.000,4,0.000,0.029,1981,539,3147,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5220,-0.55,-184.9,593.6,-9.6,283,5226,0.00,1.98,0.00,0.000,6,0.000,0.021,1972,1938,3147,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5551,-0.55,-184.9,626.4,-9.4,295,5556,0.00,2.00,0.00,0.000,4,0.000,0.034,1962,3299,3145,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5574,-0.55,-184.9,626.4,-9.4,295,5579,0.00,1.98,0.00,0.000,6,0.000,0.021,1962,1902,3145,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5887,-0.55,-184.9,661.1,-10.5,306,5892,0.00,1.95,0.00,0.000,4,0.000,0.030,1962,550,3143,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6045,-0.55,-184.9,678.2,-11.0,311,6050,0.00,1.98,0.00,0.000,6,0.000,0.022,1951,1928,3143,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6375,-0.55,-184.9,714.6,-10.7,322,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1928,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6674,-0.55,-184.9,743.1,-9.1,332,6680,0.00,2.05,0.00,0.000,4,0.000,0.030,1951,553,3140,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6717,-0.55,-184.9,746.3,-9.2,333,6723,0.15,1.98,0.00,0.000,6,0.142,0.022,1985,1924,3139,0,0,0,0,0,0,25.82,26.24,28.83
$GC,7044,-0.55,-184.9,769.6,-7.0,344,7050,0.00,2.08,0.00,0.000,4,0.000,0.035,1975,3314,3136,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7068,-0.55,-184.9,769.6,-7.0,344,7074,0.00,1.98,0.00,0.000,6,0.000,0.021,1975,1933,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7384,-0.55,-184.9,796.9,-8.3,355,7390,0.00,2.05,0.00,0.000,4,0.000,0.031,1975,537,3135,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7469,-0.55,-184.9,803.2,-8.9,357,7475,0.00,2.00,0.00,0.000,6,0.000,0.022,1966,1937,3133,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7785,-0.55,-184.9,833.4,-8.5,368,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1940,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8084,-0.55,-184.9,858.0,-8.2,378,8089,0.00,2.08,0.00,0.000,4,0.000,0.031,1966,544,3132,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8157,-0.55,-184.9,863.4,-8.1,380,8163,0.00,2.00,0.00,0.000,6,0.000,0.022,1958,1916,3132,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8484,-0.55,-184.9,890.8,-8.4,391,8490,0.00,2.08,0.00,0.000,4,0.000,0.037,1947,3306,3131,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8518,-0.55,-184.9,893.9,-8.4,392,8525,0.12,2.00,0.00,0.000,6,0.143,0.021,1982,1904,3130,0,0,0,0,0,0,25.88,26.25,28.83
$GC,8855,-0.57,-184.9,918.5,-7.5,403,8860,0.00,1.98,0.00,0.000,4,0.000,0.031,1982,549,3129,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8989,-0.57,-184.9,929.0,-8.3,407,8994,0.00,2.00,0.00,0.000,6,0.000,0.023,1974,1932,3128,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9315,-0.57,-184.9,956.8,-8.3,418,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1932,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,-0.57,-184.9,981.6,-8.4,428,9618,0.00,2.05,0.00,0.000,4,0.000,0.031,1975,556,3126,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9655,-0.57,-184.9,984.6,-8.5,429,9660,0.00,1.98,0.00,0.000,6,0.000,0.023,1966,1925,3126,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,9706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9706,begin apogee
$GC,9713,-0.17,0.0,990.4,-9.0,431,9873,0.40,0.00,154.07,1.412,6,0.118,0.000,2100,1926,2409,0,0,0,0,0,0,25.50,28.83,22.49
$STATE,9875,end apogee,CONTROL_FINISHED_OK
$STATE,9875,begin climb
$GC,9878,0.58,184.9,996.8,0.0,436,10055,0.73,2.33,168.75,1.363,4,0.086,0.031,2356,532,1654,0,0,0,0,0,0,24.58,23.85,21.95
$GC,10113,0.61,252.8,986.4,7.1,444,10182,0.00,2.05,60.70,1.333,6,0.000,0.020,2356,1896,1379,0,0,0,0,0,0,28.83,25.33,22.89
$GC,10496,0.63,252.8,949.1,9.6,457,10501,0.00,2.08,0.00,0.000,4,0.000,0.035,2356,3286,1371,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10601,0.64,252.8,940.0,9.7,460,10607,0.00,2.00,0.00,0.000,6,0.000,0.024,2363,1906,1369,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10927,0.65,252.8,908.2,9.5,471,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1906,1368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11227,0.66,257.2,880.8,9.3,481,11232,0.00,2.08,0.00,0.000,4,0.000,0.034,2363,3282,1367,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11270,0.68,257.2,877.2,9.6,482,11275,0.00,2.03,0.00,0.000,6,0.000,0.024,2370,1888,1367,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11596,0.70,277.1,845.8,8.7,493,11625,0.00,2.08,21.15,1.281,4,0.000,0.033,2374,518,1279,0,0,0,0,0,0,28.83,25.66,23.55
$GC,11643,0.71,290.1,843.0,9.0,494,11663,0.00,2.05,13.70,1.215,6,0.000,0.021,2374,1911,1226,0,0,0,0,0,0,28.83,25.93,23.52
$GC,11991,0.73,290.1,809.0,9.6,506,11997,0.00,2.05,0.00,0.000,4,0.000,0.035,2374,3281,1221,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12111,0.74,290.1,799.7,9.9,509,12117,0.00,2.03,0.00,0.000,6,0.000,0.024,2374,1891,1220,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12418,0.76,305.6,770.5,8.9,520,12441,0.00,2.15,14.35,1.206,4,0.000,0.034,2384,508,1163,0,0,0,0,0,0,28.83,25.84,23.73
$GC,12489,0.78,310.1,764.5,9.3,522,12500,0.00,2.03,5.95,0.995,6,0.000,0.021,2384,1897,1144,0,0,0,0,0,0,28.83,26.10,23.77
$GC,12816,0.79,310.1,730.8,10.2,533,12822,0.00,2.05,0.00,0.000,4,0.000,0.034,2384,3284,1140,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12904,0.80,310.1,723.2,10.8,535,12910,0.00,2.03,0.00,0.000,6,0.000,0.024,2387,1892,1140,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13213,0.81,314.2,690.4,9.3,546,13220,0.00,0.00,4.65,0.887,6,0.000,0.000,2390,1892,1128,0,0,0,0,0,0,28.83,28.83,23.99
$GC,13510,0.83,314.2,662.3,9.6,556,13516,0.12,2.12,0.00,0.000,4,0.105,0.032,2449,3288,1127,0,0,0,0,0,0,26.27,26.05,28.83
$GC,13564,0.83,314.2,658.0,10.4,557,13569,0.00,2.03,0.00,0.000,6,0.000,0.024,2459,1894,1125,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,19701,end climb,SURFACE_DEPTH_REACHED
$STATE,19701,begin surface coast
$FINISH,1.1,1.022969
$STATE,19715,end surface coast,CONTROL_FINISHED_OK
$STATE,19715,begin surface
$SM_CCo,19793,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1800.97,12320.64,060213,080857
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.15
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3868640
$24V_AH,22.0,81.282
$10V_AH,9.6,54.119
$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,16.975,174.450,633.700,0.000,0.000,0.000,0.000,280.875,0.000,0.000,13.937,3059.700,13238.385,750.126,2691.165,543.401,0.000,2372.493,0.000,2336.050,0.000,0.542,0.000
$DEVICE_MAMPS,237.150,43.605,1412.190,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19746.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.905,0.000,0.000,0.000
$MEM,329052
$DATA_FILE_SIZE,33361,885
$CAP_FILE_SIZE,226200,0
$CFSIZE,260034560,211668992
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,326.7,1
$GPS,060213,192006,1807.140,12312.942,38,0.9,38,-2.0