version: 66.11
glider: 129
mission: 4
dive: 160
start: 12 12 112 15 49 15
data:
$ID,129
$MISSION,4
$DIVE,160
$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,-2848.9609
$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,66
$R_STBD_OVSHOOT,68
$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
$GPS1,121212,154024,1939.912,12425.873,40,1.0,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-61.7
$GPS2,121212,154849,1939.735,12425.776,15,1.0,15,-2.4
$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,168.3,203878,-14.6,-8.684,-17.90
$D_GRID,5600
$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,-0.56,-175.2,0.0,0.0,0,81,0.00,0.00,-59.90,0.000,2,0.000,0.000,58,1893,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.56,-175.2,3.1,-3.7,10,133,7.75,2.03,-32.75,0.000,4,0.243,0.044,1972,528,3125,0,0,0,0,0,0,25.36,25.98,26.34
$GC,331,-0.50,-175.2,52.7,-25.9,45,338,0.12,2.00,0.00,0.000,6,0.167,0.024,1994,1923,3125,0,0,0,0,0,0,25.84,26.17,28.83
$GC,651,-0.49,-175.2,113.3,-13.5,61,656,0.00,2.05,0.00,0.000,4,0.000,0.030,1994,527,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,784,-0.48,-175.2,129.8,-13.0,67,790,0.00,2.00,0.00,0.000,6,0.000,0.022,1988,1940,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1098,-0.47,-175.2,167.7,-11.6,83,1103,0.00,2.08,0.00,0.000,4,0.000,0.031,1988,521,3127,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1131,-0.45,-175.2,170.8,-11.9,84,1136,0.12,1.98,0.00,0.000,6,0.141,0.021,2013,1926,3127,0,0,0,0,0,0,26.12,26.39,28.83
$GC,1444,-0.46,-175.2,202.9,-9.7,100,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1926,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1745,-0.47,-175.2,229.4,-8.5,115,1751,0.00,2.05,0.00,0.000,4,0.000,0.031,2013,530,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1809,-0.48,-175.2,235.0,-8.7,118,1814,0.00,2.00,0.00,0.000,6,0.000,0.022,2006,1938,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2132,-0.49,-175.2,265.8,-9.4,134,2137,0.00,2.08,0.00,0.000,4,0.000,0.031,2006,525,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2224,-0.49,-175.2,273.2,-8.9,138,2230,0.00,2.00,0.00,0.000,6,0.000,0.022,1998,1932,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2539,-0.50,-175.2,299.8,-8.3,154,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1932,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,-0.51,-175.2,326.5,-8.2,169,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1932,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3139,-0.52,-175.2,348.1,-7.1,184,3144,0.00,2.08,0.00,0.000,4,0.000,0.031,1998,522,3124,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3206,-0.53,-175.2,353.2,-7.8,187,3212,0.00,1.98,0.00,0.000,6,0.000,0.022,1990,1927,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3525,-0.54,-175.2,380.3,-8.3,203,3530,0.00,2.00,0.00,0.000,4,0.000,0.037,1985,3303,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3577,-0.55,-175.2,383.6,-8.1,205,3583,0.00,1.95,0.00,0.000,6,0.000,0.023,1982,1915,3124,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3891,-0.55,-175.2,409.0,-7.7,221,3897,0.00,2.03,0.00,0.000,4,0.000,0.033,1982,541,3122,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4029,-0.55,-175.2,420.0,-9.0,227,4037,0.00,1.95,0.00,0.000,6,0.000,0.023,1972,1924,3122,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4336,-0.55,-175.2,452.4,-10.6,243,4342,0.00,2.05,0.00,0.000,4,0.000,0.032,1972,537,3121,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4393,-0.55,-175.2,457.2,-10.7,245,4400,0.00,1.98,0.00,0.000,6,0.000,0.024,1963,1931,3121,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4699,-0.55,-175.2,486.2,-8.8,261,4704,0.00,2.05,0.00,0.000,4,0.000,0.033,1963,539,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4741,-0.55,-175.2,490.4,-9.3,263,4746,0.00,1.98,0.00,0.000,6,0.000,0.024,1954,1926,3118,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5063,-0.55,-175.2,522.3,-9.5,279,5068,0.00,2.03,0.00,0.000,4,0.000,0.037,1943,3307,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5089,-0.55,-175.2,524.2,-9.3,280,5095,0.12,1.98,0.00,0.000,6,0.136,0.024,1980,1907,3116,0,0,0,0,0,0,26.17,26.45,28.83
$GC,5408,-0.57,-175.2,546.0,-6.9,296,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1907,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-0.58,-175.2,567.3,-6.9,311,5714,0.00,2.00,0.00,0.000,4,0.000,0.034,1980,545,3113,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5753,-0.59,-175.2,570.7,-7.2,313,5759,0.00,1.98,0.00,0.000,6,0.000,0.024,1972,1933,3113,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6076,-0.60,-175.2,593.5,-7.0,329,6082,0.00,2.05,0.00,0.000,4,0.000,0.037,1962,3311,3110,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6149,-0.61,-175.2,598.3,-7.5,332,6154,0.00,1.98,0.00,0.000,6,0.000,0.025,1962,1939,3110,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6483,-0.61,-175.2,627.7,-8.5,344,6488,0.00,2.08,0.00,0.000,4,0.000,0.035,1961,531,3109,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6555,-0.61,-175.2,633.4,-8.6,346,6561,0.00,2.03,0.00,0.000,6,0.000,0.024,1952,1943,3109,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6880,-0.61,-175.2,659.7,-8.0,357,6885,0.00,2.03,0.00,0.000,4,0.000,0.039,1942,3316,3107,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6913,-0.61,-175.2,662.5,-8.1,358,6919,0.00,2.03,0.00,0.000,6,0.000,0.026,1942,1914,3107,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7248,-0.61,-175.2,692.6,-9.3,369,7254,0.00,2.00,0.00,0.000,4,0.000,0.035,1943,542,3104,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7377,-0.60,-175.2,705.4,-10.1,373,7383,0.12,1.98,0.00,0.000,6,0.155,0.025,1967,1923,3104,0,0,0,0,0,0,26.06,26.39,28.83
$GC,7707,-0.61,-175.2,731.9,-8.0,384,7713,0.00,2.05,0.00,0.000,4,0.000,0.040,1958,3310,3102,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7750,-0.62,-175.2,734.6,-7.9,385,7757,0.00,1.98,0.00,0.000,6,0.000,0.026,1958,1932,3103,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8076,-0.63,-175.2,761.0,-7.6,396,8081,0.00,2.08,0.00,0.000,4,0.000,0.035,1958,529,3101,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8144,-0.64,-175.2,766.5,-8.1,398,8149,0.00,2.03,0.00,0.000,6,0.000,0.025,1950,1928,3101,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8473,-0.64,-175.2,791.2,-7.0,409,8478,0.00,2.08,0.00,0.000,4,0.000,0.040,1939,3318,3099,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8510,-0.64,-175.2,793.6,-7.1,410,8515,0.00,2.00,0.00,0.000,6,0.000,0.027,1939,1921,3099,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8837,-0.64,-175.2,821.5,-9.0,421,8843,0.00,2.05,0.00,0.000,4,0.000,0.037,1939,538,3098,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8930,-0.64,-175.2,831.0,-10.0,424,8935,0.00,2.03,0.00,0.000,6,0.000,0.026,1930,1926,3098,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9263,-0.63,-175.2,863.9,-9.9,435,9269,0.00,2.08,0.00,0.000,4,0.000,0.039,1919,3316,3096,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9320,-0.63,-175.2,867.3,-10.0,436,9328,0.12,2.03,0.00,0.000,6,0.148,0.028,1954,1921,3098,0,0,0,0,0,0,26.03,26.36,28.83
$GC,9630,-0.64,-175.2,896.3,-8.4,447,9635,0.00,2.08,0.00,0.000,4,0.000,0.037,1954,527,3095,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9694,-0.65,-175.2,902.3,-8.7,449,9700,0.00,2.03,0.00,0.000,6,0.000,0.026,1948,1926,3094,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10030,-0.65,-175.2,928.8,-7.6,460,10036,0.00,2.08,0.00,0.000,4,0.000,0.041,1938,3310,3093,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10079,-0.66,-175.2,931.5,-7.5,461,10084,0.00,2.03,0.00,0.000,6,0.000,0.028,1937,1906,3093,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10398,-0.66,-175.2,957.0,-7.5,472,10404,0.00,2.05,0.00,0.000,4,0.000,0.037,1938,528,3092,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10450,-0.66,-175.2,959.9,-7.7,473,10456,0.00,2.03,0.00,0.000,6,0.000,0.027,1929,1932,3092,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10765,-0.66,-175.2,987.6,-8.2,484,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1933,3092,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10792,begin apogee
$GC,10796,-0.17,0.0,990.1,-8.2,485,10945,0.52,0.00,140.43,1.425,6,0.122,0.000,2101,1933,2410,0,0,0,0,0,0,25.56,28.83,23.20
$STATE,10947,end apogee,CONTROL_FINISHED_OK
$STATE,10947,begin climb
$GC,10949,0.56,175.2,994.5,0.0,490,11118,0.70,2.47,157.20,1.372,4,0.063,0.037,2359,517,1693,0,0,0,0,0,0,24.41,23.56,22.50
$GC,11130,0.53,196.1,984.4,8.0,496,11156,0.00,2.22,20.02,1.271,6,0.000,0.024,2358,1903,1609,0,0,0,0,0,0,28.83,24.03,22.69
$GC,11458,0.51,196.1,945.3,11.9,507,11464,0.12,2.12,0.00,0.000,4,0.168,0.037,2321,3292,1601,0,0,0,0,0,0,25.35,25.51,28.83
$GC,11491,0.50,196.1,941.4,11.6,508,11497,0.00,2.08,0.00,0.000,6,0.000,0.028,2329,1905,1600,0,0,0,0,0,0,28.83,25.66,28.83
$GC,11826,0.49,196.1,907.7,10.0,519,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1905,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12125,0.48,196.1,879.1,9.6,529,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1905,1598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12425,0.48,196.1,852.1,9.0,539,12426,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1905,1600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12725,0.47,199.3,826.1,8.6,549,12730,0.00,2.10,0.00,0.000,4,0.000,0.037,2329,3289,1596,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12762,0.47,199.9,823.0,8.7,550,12768,0.00,2.05,0.00,0.000,6,0.000,0.028,2338,1894,1596,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13092,0.46,199.9,792.0,9.5,561,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1894,1596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13392,0.45,199.9,763.2,9.5,571,13394,0.12,0.00,0.00,0.000,6,0.171,0.000,2306,1894,1596,0,0,0,0,0,0,26.15,28.83,28.83
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$STATE,21360,end climb,SURFACE_DEPTH_REACHED
$STATE,21360,begin surface coast
$FINISH,1.0,1.013217
$STATE,21372,end surface coast,CONTROL_FINISHED_OK
$STATE,21372,begin surface
$SM_CCo,21447,0.00,0.000,0,0,292,519.30
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$IRIDIUM_FIX,1938.95,12423.32,121212,090953
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3958816
$24V_AH,22.5,31.054
$10V_AH,10.2,23.128
$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,16.425,167.400,583.950,0.000,0.000,0.000,0.000,326.975,3.000,0.000,16.406,3126.745,15032.189,745.056,2688.593,348.393,0.000,2351.000,0.000,2253.519,0.000,25.440,0.000
$DEVICE_MAMPS,242.505,43.605,1425.195,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.272,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,36669,974
$CAP_FILE_SIZE,238209,0
$CFSIZE,260034560,235958272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,242.3,1
$GPS,121212,214805,1935.946,12425.387,41,1.3,46,-2.4