version: 66.11
glider: 129
mission: 4
dive: 155
start: 12 11 112 9 2 57
data:
$ID,129
$MISSION,4
$DIVE,155
$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,380
$T_MISSION,400
$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,-2842.6748
$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,1
$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,68
$R_STBD_OVSHOOT,82
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$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
$GPS1,111212,085435,2002.421,12422.749,29,1.5,29,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-57.4
$GPS2,111212,090231,2002.293,12422.748,13,1.5,13,-2.5
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,176.4,245956,-14.6,-8.684,-17.90
$D_GRID,5352
$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,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-65.88,0.000,2,0.000,0.000,57,1918,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.0,-4.0,11,139,7.78,2.08,-33.17,0.000,4,0.245,0.047,1971,532,3126,0,0,0,0,0,0,25.39,26.01,26.34
$GC,367,-0.50,-175.2,61.5,-24.7,48,373,0.12,2.00,0.00,0.000,6,0.166,0.024,1994,1914,3126,0,0,0,0,0,0,25.90,26.21,28.83
$GC,691,-0.48,-175.2,117.0,-12.9,64,696,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,517,3126,0,0,0,0,0,0,28.83,26.28,28.83
$GC,923,-0.47,-175.2,146.5,-13.0,75,929,0.00,2.00,0.00,0.000,6,0.000,0.023,1987,1932,3127,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1237,-0.46,-175.2,190.8,-13.7,91,1242,0.00,2.00,0.00,0.000,4,0.000,0.035,1977,3309,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1269,-0.45,-175.2,193.9,-13.7,92,1275,0.12,1.95,0.00,0.000,6,0.135,0.022,2013,1905,3127,0,0,0,0,0,0,26.18,26.44,28.83
$GC,1583,-0.45,-175.2,224.1,-8.7,108,1588,0.00,1.98,0.00,0.000,4,0.000,0.031,2013,536,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1660,-0.46,-175.2,229.8,-9.0,111,1667,0.00,1.98,0.00,0.000,6,0.000,0.022,2005,1931,3127,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1966,-0.46,-175.2,259.9,-9.2,127,1971,0.00,2.03,0.00,0.000,4,0.000,0.036,1994,3309,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2012,-0.47,-175.2,263.6,-8.8,129,2019,0.00,1.92,0.00,0.000,6,0.000,0.023,1994,1930,3126,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2331,-0.47,-175.2,292.8,-9.1,145,2336,0.00,2.00,0.00,0.000,4,0.000,0.031,1994,544,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2449,-0.47,-175.2,303.0,-9.9,150,2456,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1912,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2754,-0.47,-175.2,333.2,-9.1,166,2759,0.00,2.00,0.00,0.000,4,0.000,0.031,1988,531,3125,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2785,-0.47,-175.2,335.3,-9.1,167,2791,0.00,2.00,0.00,0.000,6,0.000,0.023,1981,1924,3128,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3098,-0.47,-175.2,364.8,-9.1,183,3104,0.00,2.03,0.00,0.000,4,0.000,0.036,1970,3310,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3161,-0.47,-175.2,370.6,-9.2,186,3168,0.12,1.95,0.00,0.000,6,0.132,0.024,2007,1907,3124,0,0,0,0,0,0,26.23,26.48,28.83
$GC,3486,-0.49,-175.2,393.8,-7.0,202,3491,0.00,1.98,0.00,0.000,4,0.000,0.032,2007,545,3123,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3559,-0.50,-175.2,399.0,-8.0,205,3564,0.00,1.95,0.00,0.000,6,0.000,0.022,2000,1936,3123,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3872,-0.52,-175.2,421.4,-6.3,221,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1936,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,-0.54,-175.2,440.3,-6.6,236,4179,0.00,2.03,0.00,0.000,4,0.000,0.033,2000,550,3121,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4218,-0.55,-175.2,443.8,-7.2,238,4223,0.00,1.95,0.00,0.000,6,0.000,0.023,1992,1928,3121,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4541,-0.56,-175.2,470.9,-8.3,254,4547,0.00,2.05,0.00,0.000,4,0.000,0.037,1983,3314,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4599,-0.58,-175.2,474.6,-8.5,256,4606,0.00,1.98,0.00,0.000,6,0.000,0.024,1983,1927,3118,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4904,-0.59,-175.2,496.9,-5.7,272,4910,0.00,2.03,0.00,0.000,4,0.000,0.034,1983,531,3116,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4990,-0.60,-175.2,502.1,-6.2,276,4995,0.00,2.00,0.00,0.000,6,0.000,0.023,1974,1934,3116,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5313,-0.60,-175.2,525.2,-8.2,292,5318,0.00,2.05,0.00,0.000,4,0.000,0.033,1974,530,3114,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5356,-0.61,-175.2,529.4,-8.9,294,5361,0.00,2.00,0.00,0.000,6,0.000,0.024,1965,1931,3113,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5680,-0.61,-175.2,557.0,-7.6,310,5685,0.00,2.05,0.00,0.000,4,0.000,0.033,1965,531,3112,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5732,-0.61,-175.2,560.5,-7.7,312,5737,0.00,1.98,0.00,0.000,6,0.000,0.024,1955,1926,3112,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6045,-0.61,-175.2,585.5,-8.2,328,6051,0.00,2.05,0.00,0.000,4,0.000,0.038,1944,3309,3110,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6109,-0.61,-175.2,591.1,-8.7,331,6115,0.00,1.95,0.00,0.000,6,0.000,0.025,1944,1923,3110,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6423,-0.60,-175.2,623.8,-10.9,343,6428,0.00,2.03,0.00,0.000,4,0.000,0.034,1945,543,3108,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6629,-0.60,-175.2,644.7,-11.2,349,6638,0.12,2.00,0.00,0.000,6,0.156,0.024,1970,1931,3108,0,0,0,0,0,0,26.10,26.43,28.83
$GC,6936,-0.60,-175.2,670.9,-7.1,360,6941,0.00,2.05,0.00,0.000,4,0.000,0.038,1961,3310,3107,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6969,-0.62,-175.2,673.2,-7.0,361,6974,0.00,1.98,0.00,0.000,6,0.000,0.025,1961,1925,3106,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7305,-0.62,-175.2,695.3,-6.4,372,7310,0.00,2.05,0.00,0.000,4,0.000,0.035,1961,533,3103,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7458,-0.62,-175.2,706.4,-7.2,377,7463,0.00,2.03,0.00,0.000,6,0.000,0.025,1951,1929,3103,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7793,-0.62,-175.2,728.6,-7.0,388,7798,0.00,2.05,0.00,0.000,4,0.000,0.034,1951,539,3102,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7840,-0.62,-175.2,731.5,-7.4,389,7846,0.00,2.00,0.00,0.000,6,0.000,0.025,1942,1924,3102,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8161,-0.62,-175.2,759.1,-8.4,400,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1924,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8459,-0.62,-175.2,784.1,-8.2,410,8464,0.00,2.08,0.00,0.000,4,0.000,0.036,1942,525,3099,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8493,-0.62,-175.2,787.1,-8.4,411,8498,0.00,2.05,0.00,0.000,6,0.000,0.026,1933,1931,3098,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8826,-0.61,-175.2,815.3,-8.1,422,8832,0.00,2.08,0.00,0.000,4,0.000,0.040,1922,3320,3097,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8884,-0.61,-175.2,817.9,-7.9,423,8892,0.15,2.00,0.00,0.000,6,0.142,0.026,1965,1909,3097,0,0,0,0,0,0,26.03,26.41,28.83
$GC,9191,-0.62,-175.2,837.4,-5.7,434,9196,0.00,2.03,0.00,0.000,4,0.000,0.037,1965,544,3096,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9294,-0.63,-175.2,843.8,-6.5,437,9300,0.00,2.00,0.00,0.000,6,0.000,0.026,1957,1940,3095,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9619,-0.64,-175.2,866.6,-7.0,448,9624,0.00,2.10,0.00,0.000,4,0.000,0.036,1958,535,3094,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9656,-0.65,-175.2,869.4,-7.2,449,9663,0.00,2.03,0.00,0.000,6,0.000,0.025,1949,1930,3094,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9986,-0.65,-175.2,893.6,-7.1,460,9992,0.00,2.08,0.00,0.000,4,0.000,0.034,1949,541,3093,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10064,-0.65,-175.2,898.3,-7.3,462,10069,0.00,2.03,0.00,0.000,6,0.000,0.026,1941,1936,3093,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10382,-0.65,-175.2,922.1,-7.1,473,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1935,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10682,-0.65,-175.2,945.2,-7.8,483,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1935,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10981,-0.65,-175.2,970.6,-8.7,493,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,1936,3090,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11189,begin apogee
$GC,11194,-0.17,0.0,990.1,-9.2,500,11343,0.47,0.00,140.30,1.427,6,0.120,0.000,2099,1935,2408,0,0,0,0,0,0,25.67,28.83,23.25
$STATE,11345,end apogee,CONTROL_FINISHED_OK
$STATE,11345,begin climb
$GC,11347,0.56,175.2,997.6,0.0,505,11509,0.68,0.00,157.93,1.375,6,0.072,0.000,2339,1937,1694,0,0,0,0,0,0,24.43,28.83,22.53
$GC,11791,0.54,175.2,965.6,9.8,520,11797,0.00,2.10,0.00,0.000,4,0.000,0.037,2339,3283,1684,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11844,0.53,175.2,962.1,10.1,521,11850,0.00,2.05,0.00,0.000,6,0.000,0.028,2349,1912,1684,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12158,0.51,175.2,923.8,11.8,532,12164,0.00,2.10,0.00,0.000,4,0.000,0.037,2348,3285,1682,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12192,0.49,175.2,919.3,12.1,533,12198,0.15,2.05,0.00,0.000,6,0.177,0.028,2320,1894,1682,0,0,0,0,0,0,25.64,26.04,28.83
$GC,12526,0.48,175.2,885.4,9.8,544,12531,0.00,2.10,0.00,0.000,4,0.000,0.037,2320,3295,1681,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12563,0.48,175.2,881.9,9.8,545,12568,0.00,2.08,0.00,0.000,6,0.000,0.029,2329,1889,1681,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12892,0.47,175.2,847.2,10.8,556,12898,0.00,2.10,0.00,0.000,4,0.000,0.040,2339,496,1679,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12950,0.46,175.2,843.3,10.9,557,12958,0.12,2.05,0.00,0.000,6,0.161,0.024,2306,1920,1678,0,0,0,0,0,0,25.93,26.27,28.83
$GC,13257,0.46,175.2,809.9,9.7,568,13262,0.00,2.05,0.00,0.000,4,0.000,0.037,2306,3298,1678,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13388,0.46,175.2,797.1,10.3,572,13395,0.00,2.05,0.00,0.000,6,0.000,0.029,2315,1887,1678,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,21763,end climb,SURFACE_DEPTH_REACHED
$STATE,21763,begin surface coast
$FINISH,1.0,1.017663
$STATE,21779,end surface coast,CONTROL_FINISHED_OK
$STATE,21779,begin surface
$SM_CCo,21854,0.00,0.000,0,0,721,414.07
$SM_GC,1.83,6.25,0.00,0.00,0.050,0.000,0.000,62,1897,721,-6.48,-0.79,414.07,0,0,0,0,0,0,26.16,28.83,28.83
$IRIDIUM_FIX,1957.29,12420.23,111212,020219
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3960736
$24V_AH,22.5,30.060
$10V_AH,10.1,22.445
$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,16.575,179.125,507.675,0.000,0.000,0.000,0.000,300.750,3.000,0.000,14.336,3339.105,15104.624,706.901,2811.798,356.479,0.000,2338.051,0.000,2394.055,0.000,26.441,0.000
$DEVICE_MAMPS,244.800,47.430,1426.725,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21793.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.038,0.000,0.000,0.000
$MEM,328972
$DATA_FILE_SIZE,36691,995
$CAP_FILE_SIZE,247394,0
$CFSIZE,260034560,236490752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,200.5,1
$GPS,111212,150830,1957.666,12422.876,42,1.0,42,-2.5