version: 66.11
glider: 129
mission: 4
dive: 429
start: 2 12 113 14 46 53
data:
$ID,129
$MISSION,4
$DIVE,429
$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,-13
$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,-3319.3086
$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,76
$R_STBD_OVSHOOT,89
$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,20
$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
$GPS1,120213,143705,1854.944,12225.925,36,1.0,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-61.2
$GPS2,120213,144625,1855.198,12225.773,11,1.3,11,-2.1
$SPEED_LIMITS,0.163,0.283
$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,100.4,247456,-15.3,-9.429,-18.41
$D_GRID,1487
$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,21,-0.58,-184.9,0.0,0.0,0,87,0.00,0.00,-64.53,0.000,2,0.000,0.000,54,1910,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-3.9,11,140,8.12,0.00,-35.38,0.000,6,0.243,0.000,1965,1901,3164,0,0,0,0,0,0,24.83,28.83,26.53
$GC,448,-0.51,-184.9,101.6,-29.7,47,454,0.12,2.00,0.00,0.000,4,0.179,0.028,2003,528,3164,0,0,0,0,0,0,25.95,26.10,28.83
$GC,487,-0.44,-184.9,108.6,-28.3,48,493,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1914,3164,0,0,0,0,0,0,28.83,26.22,28.83
$GC,794,-0.42,-184.9,163.4,-14.2,64,799,0.00,2.05,0.00,0.000,4,0.000,0.033,1984,3306,3165,0,0,0,0,0,0,28.83,26.06,28.83
$GC,831,-0.40,-184.9,166.9,-13.9,65,839,0.15,1.98,0.00,0.000,6,0.129,0.021,2028,1902,3164,0,0,0,0,0,0,25.89,26.26,28.83
$GC,1137,-0.40,-184.9,199.3,-9.8,81,1143,0.00,1.95,0.00,0.000,4,0.000,0.029,2028,544,3165,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1166,-0.40,-184.9,201.7,-9.7,82,1171,0.00,1.98,0.00,0.000,6,0.000,0.019,2020,1947,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1485,-0.40,-184.9,237.1,-11.3,98,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1948,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1787,-0.40,-184.9,267.9,-9.7,113,1792,0.00,2.00,0.00,0.000,4,0.000,0.032,2009,3305,3164,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1819,-0.40,-184.9,270.5,-9.7,114,1826,0.00,1.98,0.00,0.000,6,0.000,0.021,2009,1938,3164,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2134,-0.40,-184.9,302.6,-10.9,130,2139,0.00,2.05,0.00,0.000,4,0.000,0.029,2009,531,3163,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2227,-0.40,-184.9,312.0,-11.2,134,2232,0.00,1.98,0.00,0.000,6,0.000,0.019,2000,1927,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2540,-0.40,-184.9,341.8,-9.2,150,2546,0.00,2.03,0.00,0.000,4,0.000,0.033,1989,3292,3161,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2599,-0.40,-184.9,345.8,-9.3,152,2606,0.15,1.98,0.00,0.000,6,0.119,0.020,2036,1922,3161,0,0,0,0,0,0,25.96,26.29,28.83
$GC,2905,-0.43,-184.9,363.2,-4.8,168,2910,0.00,2.03,0.00,0.000,4,0.000,0.030,2036,540,3160,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2984,-0.45,-184.9,366.8,-5.4,171,2991,0.00,1.98,0.00,0.000,6,0.000,0.019,2034,1938,3160,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3289,-0.47,-184.9,385.1,-6.4,187,3294,0.00,2.08,0.00,0.000,4,0.000,0.029,2033,538,3157,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3328,-0.49,-184.9,386.7,-6.5,188,3334,0.00,1.98,0.00,0.000,6,0.000,0.019,2034,1925,3157,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3633,-0.52,-184.9,408.5,-6.8,204,3640,0.12,2.08,-0.08,0.000,4,0.096,0.045,1954,3305,3179,0,0,0,0,0,0,26.33,26.00,24.42
$GC,3668,-0.53,-184.9,410.8,-7.3,205,3674,0.12,1.95,0.00,0.000,6,0.142,0.021,1989,1909,3179,0,0,0,0,0,0,25.91,26.25,28.83
$GC,3982,-0.53,-184.9,440.4,-8.5,221,3988,0.00,2.03,0.00,0.000,4,0.000,0.031,1990,552,3178,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4113,-0.53,-184.9,451.4,-8.8,227,4119,0.00,1.98,0.00,0.000,6,0.000,0.021,1982,1928,3178,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4432,-0.53,-184.9,480.4,-9.5,243,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1928,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4735,-0.53,-184.9,510.0,-9.9,258,4740,0.00,2.05,0.00,0.000,4,0.000,0.029,1982,552,3174,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4813,-0.53,-184.9,516.7,-10.1,261,4820,0.00,2.00,0.00,0.000,6,0.000,0.021,1973,1955,3173,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5119,-0.53,-184.9,548.3,-10.0,277,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1956,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5420,-0.53,-184.9,578.7,-10.1,292,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1956,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5729,-0.53,-184.9,610.0,-9.8,306,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1955,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6028,-0.53,-184.9,638.8,-9.7,316,6035,0.00,2.03,0.00,0.000,4,0.000,0.035,1963,3310,3166,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6052,-0.53,-184.9,638.8,-9.7,316,6058,0.00,1.98,0.00,0.000,6,0.000,0.022,1963,1938,3165,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6366,-0.53,-184.9,673.4,-10.4,327,6372,0.00,2.08,0.00,0.000,4,0.000,0.031,1963,536,3162,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6536,-0.53,-184.9,689.8,-10.5,332,6542,0.12,2.00,0.00,0.000,6,0.150,0.022,1988,1925,3164,0,0,0,0,0,0,25.82,26.18,28.83
$GC,6858,-0.54,-184.9,719.0,-8.7,343,6863,0.00,2.08,0.00,0.000,4,0.000,0.035,1979,3312,3162,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6892,-0.56,-184.9,722.1,-8.7,344,6899,0.00,2.00,0.00,0.000,6,0.000,0.022,1979,1936,3162,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7229,-0.56,-184.9,751.8,-8.6,355,7235,0.00,2.08,0.00,0.000,4,0.000,0.032,1979,535,3160,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7404,-0.56,-184.9,766.4,-9.3,360,7409,0.00,2.00,0.00,0.000,6,0.000,0.022,1969,1926,3160,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7717,-0.56,-184.9,797.1,-9.7,371,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1926,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8018,-0.56,-184.9,825.3,-9.4,381,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1927,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8317,-0.56,-184.9,855.4,-10.1,391,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1927,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8617,-0.56,-184.9,884.5,-9.5,401,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1927,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8918,-0.56,-184.9,912.5,-9.2,411,8924,0.00,2.10,0.00,0.000,4,0.000,0.036,1959,3310,3154,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8956,-0.56,-184.9,915.6,-9.1,412,8961,0.00,2.05,0.00,0.000,6,0.000,0.023,1957,1905,3154,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9287,-0.56,-184.9,947.4,-9.6,423,9293,0.00,2.05,0.00,0.000,4,0.000,0.033,1959,531,3153,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9413,-0.56,-184.9,960.4,-10.3,427,9420,0.12,2.05,0.00,0.000,6,0.154,0.023,1983,1932,3152,0,0,0,0,0,0,25.72,26.11,28.83
$GC,9750,-0.57,-184.9,986.4,-7.5,438,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1932,3152,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9805,begin apogee
$GC,9811,-0.17,0.0,990.9,-7.4,440,9979,0.35,0.00,158.95,1.414,6,0.116,0.000,2103,1932,2409,0,0,0,0,0,0,25.49,28.83,22.35
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9984,0.58,184.9,997.7,0.0,445,10168,0.73,2.47,171.18,1.359,4,0.087,0.035,2356,525,1654,0,0,0,0,0,0,24.34,23.52,21.61
$GC,10263,0.61,245.6,985.3,7.3,455,10323,0.00,2.05,54.22,1.334,6,0.000,0.022,2356,1904,1407,0,0,0,0,0,0,28.83,25.63,22.99
$GC,10623,0.63,272.4,954.9,8.5,467,10653,0.00,2.17,23.73,1.300,4,0.000,0.035,2356,3285,1298,0,0,0,0,0,0,28.83,25.52,23.51
$GC,10713,0.66,293.7,949.2,8.7,469,10742,0.00,2.05,20.95,1.282,6,0.000,0.027,2365,1903,1210,0,0,0,0,0,0,28.83,25.94,23.51
$GC,11051,0.68,303.2,915.9,9.1,481,11062,0.00,0.00,8.80,1.163,6,0.000,0.000,2365,1903,1173,0,0,0,0,0,0,28.83,28.83,23.89
$GC,11351,0.70,303.2,886.9,9.9,491,11356,0.00,2.10,0.00,0.000,4,0.000,0.034,2365,3290,1170,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11399,0.71,303.2,883.1,10.2,492,11405,0.00,2.03,0.00,0.000,6,0.000,0.026,2373,1899,1169,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11720,0.73,303.2,846.5,11.1,503,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1902,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12019,0.75,303.2,815.2,10.3,513,12024,0.00,2.10,0.00,0.000,4,0.000,0.034,2373,3299,1168,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12077,0.76,303.2,811.4,10.3,514,12083,0.00,2.05,0.00,0.000,6,0.000,0.026,2377,1895,1167,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12386,0.79,335.2,780.5,8.3,525,12419,0.12,0.00,30.27,1.273,6,0.104,0.000,2430,1895,1041,0,0,0,0,0,0,26.27,28.83,23.49
$GC,12714,0.79,335.2,742.1,11.8,536,12720,0.00,2.10,0.00,0.000,4,0.000,0.036,2440,501,1038,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12738,0.79,335.2,742.1,11.8,536,12744,0.00,2.05,0.00,0.000,6,0.000,0.022,2443,1922,1037,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13052,0.79,335.2,698.1,13.3,547,13059,0.00,2.03,0.00,0.000,4,0.000,0.034,2440,3277,1036,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13147,0.79,335.2,684.8,13.9,550,13153,0.12,2.05,0.00,0.000,6,0.164,0.026,2415,1898,1035,0,0,0,0,0,0,25.75,26.12,28.83
$GC,13481,0.79,335.2,645.0,11.6,561,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1897,1035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13781,0.79,335.2,613.0,10.5,571,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1897,1035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14092,0.79,335.2,578.9,11.4,584,14097,0.00,2.08,0.00,0.000,4,0.000,0.033,2415,3272,1035,0,0,0,0,0,0,28.83,25.94,28.83
$GC,14157,0.79,335.2,571.1,11.9,587,14162,0.00,2.05,0.00,0.000,6,0.000,0.026,2420,1890,1035,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,19717,end climb,SURFACE_DEPTH_REACHED
$STATE,19717,begin surface coast
$FINISH,1.3,1.022191
$STATE,19728,end surface coast,CONTROL_FINISHED_OK
$STATE,19728,begin surface
$SM_CCo,19806,0.00,0.000,0,0,207,540.15
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$IRIDIUM_FIX,1844.15,12226.87,120213,090923
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.03
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3855712
$24V_AH,21.6,88.018
$10V_AH,9.7,57.774
$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,17.125,147.275,642.475,0.000,0.000,0.000,0.000,338.325,0.000,0.000,14.416,2883.394,13643.664,739.971,2557.972,529.920,0.000,2321.898,0.000,2157.735,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,45.135,1413.720,0.000,0.000,0.000,0.000,131.580,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.252,0.000,0.000,0.000
$MEM,308680
$DATA_FILE_SIZE,33475,902
$CAP_FILE_SIZE,214435,0
$CFSIZE,260034560,208707584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,310.0,1
$GPS,120213,201805,1855.734,12228.105,25,1.7,25,-2.1