version: 66.11
glider: 129
mission: 4
dive: 157
start: 12 11 112 21 25 39
data:
$ID,129
$MISSION,4
$DIVE,157
$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,3
$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,-2845.188
$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,69
$R_STBD_OVSHOOT,78
$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
$GPS1,111212,211659,1953.215,12423.267,37,1.1,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-60.4
$GPS2,111212,212513,1953.213,12423.188,15,1.0,15,-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,161.5,229138,-14.6,-8.684,-17.90
$D_GRID,5550
$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,-65.53,0.000,2,0.000,0.000,60,1923,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.2,-4.8,11,133,7.78,2.08,-28.35,0.000,4,0.246,0.043,1970,527,3124,0,0,0,0,0,0,25.39,25.98,26.33
$GC,278,-0.51,-175.2,40.5,-21.3,39,284,0.12,2.00,0.00,0.000,6,0.163,0.024,1995,1912,3124,0,0,0,0,0,0,25.84,26.14,28.83
$GC,601,-0.49,-175.2,94.0,-14.7,57,607,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,517,3125,0,0,0,0,0,0,28.83,26.23,28.83
$GC,674,-0.48,-175.2,103.4,-14.7,60,679,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1927,3125,0,0,0,0,0,0,28.83,26.30,28.83
$GC,987,-0.46,-175.2,149.6,-13.8,76,992,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,530,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1030,-0.45,-175.2,155.5,-13.7,78,1036,0.12,1.98,0.00,0.000,6,0.145,0.023,2017,1928,3125,0,0,0,0,0,0,26.11,26.37,28.83
$GC,1354,-0.46,-175.2,188.8,-10.2,94,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1928,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1656,-0.46,-175.2,215.4,-7.9,109,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,1928,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,-0.47,-175.2,238.9,-7.5,124,1962,0.00,2.05,0.00,0.000,4,0.000,0.031,2017,521,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1994,-0.48,-175.2,241.1,-7.8,125,2001,0.00,2.00,0.00,0.000,6,0.000,0.022,2010,1930,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2299,-0.49,-175.2,269.7,-9.0,141,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1930,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-0.50,-175.2,294.1,-8.2,156,2607,0.00,2.05,0.00,0.000,4,0.000,0.031,2010,518,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2645,-0.52,-175.2,298.3,-8.9,158,2650,0.00,2.00,0.00,0.000,6,0.000,0.023,2002,1924,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2968,-0.53,-175.2,327.6,-8.1,174,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1925,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3269,-0.54,-175.2,349.4,-7.1,189,3275,0.00,2.03,0.00,0.000,4,0.000,0.037,1992,3309,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3322,-0.55,-175.2,352.7,-7.2,191,3327,0.00,1.98,0.00,0.000,6,0.000,0.023,1992,1914,3123,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3635,-0.56,-175.2,377.8,-8.0,207,3640,0.00,2.00,0.00,0.000,4,0.000,0.032,1992,535,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3733,-0.57,-175.2,384.8,-8.5,211,3739,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1925,3122,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4038,-0.58,-175.2,409.8,-8.4,227,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-0.59,-175.2,435.7,-8.2,242,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1924,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4639,-0.60,-175.2,459.5,-8.2,257,4645,0.00,2.05,0.00,0.000,4,0.000,0.037,1986,3309,3118,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4697,-0.61,-175.2,463.2,-8.4,259,4704,0.00,1.98,0.00,0.000,6,0.000,0.024,1986,1921,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5003,-0.62,-175.2,490.5,-8.2,275,5008,0.00,2.03,0.00,0.000,4,0.000,0.033,1986,530,3117,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5090,-0.63,-175.2,497.8,-8.8,279,5096,0.00,1.98,0.00,0.000,6,0.000,0.023,1977,1933,3117,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5409,-0.64,-175.2,520.7,-6.1,295,5415,0.00,2.05,0.00,0.000,4,0.000,0.033,1977,542,3113,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5447,-0.65,-175.2,522.2,-6.2,296,5454,0.00,1.95,0.00,0.000,6,0.000,0.024,1969,1926,3115,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5754,-0.66,-175.2,544.3,-7.5,312,5759,0.00,2.03,0.00,0.000,4,0.000,0.037,1958,3309,3113,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5806,-0.66,-175.2,547.7,-7.6,314,5811,0.00,1.98,0.00,0.000,6,0.000,0.024,1958,1925,3112,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6118,-0.66,-175.2,577.5,-9.5,330,6124,0.00,2.03,0.00,0.000,4,0.000,0.034,1958,541,3110,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6231,-0.66,-175.2,588.2,-10.6,335,6237,0.00,1.98,0.00,0.000,6,0.000,0.024,1949,1930,3110,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6555,-0.66,-175.2,617.5,-8.0,348,6560,0.00,2.08,0.00,0.000,4,0.000,0.034,1946,531,3109,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6622,-0.66,-175.2,622.9,-8.2,350,6627,0.00,2.00,0.00,0.000,6,0.000,0.024,1940,1935,3108,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6951,-0.66,-175.2,653.0,-9.6,361,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1935,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7250,-0.65,-175.2,682.5,-9.6,371,7255,0.00,2.03,0.00,0.000,4,0.000,0.039,1929,3310,3105,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7282,-0.65,-175.2,685.5,-9.5,372,7289,0.00,2.00,0.00,0.000,6,0.000,0.026,1929,1926,3104,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7617,-0.64,-175.2,716.4,-9.0,383,7623,0.00,2.03,0.00,0.000,4,0.000,0.036,1929,535,3103,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7754,-0.63,-175.2,729.1,-10.3,387,7759,0.12,2.00,0.00,0.000,6,0.158,0.026,1954,1934,3102,0,0,0,0,0,0,26.06,26.39,28.83
$GC,8072,-0.63,-175.2,757.2,-8.3,398,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1935,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8373,-0.64,-175.2,779.8,-7.2,408,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1935,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8672,-0.64,-175.2,799.0,-6.2,418,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1935,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8974,-0.65,-175.2,819.2,-7.3,428,8979,0.00,2.10,0.00,0.000,4,0.000,0.036,1954,534,3097,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9012,-0.65,-175.2,822.0,-7.5,429,9017,0.00,2.00,0.00,0.000,6,0.000,0.026,1946,1929,3096,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9341,-0.65,-175.2,849.9,-8.5,440,9347,0.00,2.08,0.00,0.000,4,0.000,0.039,1934,3315,3095,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9379,-0.65,-175.2,852.9,-8.5,441,9385,0.00,2.03,0.00,0.000,6,0.000,0.028,1936,1923,3095,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9708,-0.65,-175.2,884.9,-10.0,452,9714,0.00,2.08,0.00,0.000,4,0.000,0.038,1936,516,3094,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9836,-0.65,-175.2,898.7,-11.1,456,9841,0.00,2.03,0.00,0.000,6,0.000,0.027,1926,1921,3094,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10164,-0.65,-175.2,934.5,-10.7,467,10169,0.00,2.08,0.00,0.000,4,0.000,0.037,1926,528,3093,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10206,-0.64,-175.2,938.2,-10.6,468,10212,0.12,2.03,0.00,0.000,6,0.158,0.026,1950,1935,3093,0,0,0,0,0,0,25.98,26.34,28.83
$GC,10531,-0.65,-175.2,965.1,-7.5,479,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1936,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10830,-0.66,-175.2,986.1,-6.7,489,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,1935,3090,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10918,begin apogee
$GC,10923,-0.17,0.0,992.0,-6.6,492,11071,0.45,0.00,139.75,1.427,6,0.117,0.000,2103,1936,2411,0,0,0,0,0,0,25.70,28.83,23.26
$STATE,11072,end apogee,CONTROL_FINISHED_OK
$STATE,11073,begin climb
$GC,11074,0.56,175.2,996.2,0.0,497,11245,0.65,2.47,156.98,1.372,4,0.066,0.037,2349,519,1692,0,0,0,0,0,0,24.44,23.56,22.54
$GC,11257,0.53,201.2,986.3,7.8,503,11287,0.00,2.20,24.48,1.289,6,0.000,0.024,2349,1905,1588,0,0,0,0,0,0,28.83,24.05,22.67
$GC,11615,0.52,201.2,943.6,11.8,515,11620,0.00,2.10,0.00,0.000,4,0.000,0.037,2349,3288,1580,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11752,0.50,201.2,927.8,12.8,519,11758,0.15,2.08,0.00,0.000,6,0.173,0.028,2321,1900,1578,0,0,0,0,0,0,25.50,25.86,28.83
$GC,12071,0.50,201.2,894.5,9.9,530,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1900,1577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12370,0.50,201.2,865.4,9.7,540,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1900,1577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12670,0.50,201.2,837.1,9.4,550,12676,0.00,2.12,0.00,0.000,4,0.000,0.037,2320,3299,1576,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12706,0.50,201.2,833.8,9.7,551,12711,0.00,2.05,0.00,0.000,6,0.000,0.029,2329,1897,1574,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13035,0.50,201.2,800.7,10.2,562,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1897,1575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13334,0.50,201.2,769.9,10.3,572,13339,0.00,2.12,0.00,0.000,4,0.000,0.037,2329,3292,1574,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13397,0.49,201.2,762.8,10.7,574,13402,0.00,2.05,0.00,0.000,6,0.000,0.029,2337,1897,1574,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13731,0.48,201.2,728.8,10.1,585,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1899,1574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14031,0.47,201.2,699.2,9.8,595,14036,0.00,2.08,0.00,0.000,4,0.000,0.041,2348,509,1573,0,0,0,0,0,0,28.83,26.21,28.83
$GC,14054,0.47,201.2,699.2,9.8,595,14060,0.12,2.03,0.00,0.000,6,0.152,0.023,2314,1923,1573,0,0,0,0,0,0,26.02,26.36,28.83
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$STATE,21325,end climb,SURFACE_DEPTH_REACHED
$STATE,21325,begin surface coast
$FINISH,1.0,1.023209
$STATE,21342,end surface coast,CONTROL_FINISHED_OK
$STATE,21342,begin surface
$SM_CCo,21416,0.00,0.000,0,0,282,521.75
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$IRIDIUM_FIX,1948.12,12418.94,111212,151525
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3959968
$24V_AH,22.5,30.458
$10V_AH,10.0,22.718
$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,16.375,159.825,591.600,0.000,0.000,0.000,0.000,315.450,3.000,0.000,16.375,3144.064,14992.045,704.130,2707.218,351.845,0.000,2320.654,0.000,2276.526,0.000,25.438,0.000
$DEVICE_MAMPS,245.565,42.840,1426.725,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21358.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.198,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,36684,974
$CAP_FILE_SIZE,238897,0
$CFSIZE,260034560,236281856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,203.8,1
$GPS,121212,032353,1949.425,12424.269,40,1.1,40,-2.4