version: 66.11
glider: 129
mission: 4
dive: 180
start: 12 17 112 19 5 57
data:
$ID,129
$MISSION,4
$DIVE,180
$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,400
$T_MISSION,430
$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,-2874.2244
$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,75
$R_STBD_OVSHOOT,77
$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,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
$GPS1,171212,185654,1825.547,12439.318,39,1.2,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-63.6
$GPS2,171212,190531,1825.353,12439.606,11,1.5,11,-2.1
$SPEED_LIMITS,0.143,0.264
$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,227.8,65976,-13.9,-8.250,-17.36
$D_GRID,5552
$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,-0.53,-175.2,0.0,0.0,0,74,0.00,0.00,-53.22,0.000,2,0.000,0.000,56,1888,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.53,-175.2,3.3,-5.7,9,127,7.95,2.05,-31.83,0.000,4,0.241,0.046,2007,529,3125,1,0,0,0,0,0,25.10,26.03,26.39
$GC,355,-0.50,-175.2,52.9,-19.7,47,361,0.00,2.00,0.00,0.000,6,0.000,0.022,1999,1922,3126,0,0,0,0,0,0,28.83,26.23,28.83
$GC,668,-0.46,-175.2,118.2,-20.1,63,673,0.00,2.03,0.00,0.000,4,0.000,0.031,1998,536,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,725,-0.43,-175.2,124.9,-17.3,65,733,0.12,1.98,0.00,0.000,6,0.145,0.021,2024,1946,3126,0,0,0,0,0,0,26.07,26.36,28.83
$GC,1031,-0.43,-175.2,157.9,-9.8,81,1036,0.00,1.98,0.00,0.000,4,0.000,0.034,2015,3306,3127,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1068,-0.43,-175.2,159.9,-9.3,82,1076,0.00,1.95,0.00,0.000,6,0.000,0.021,2015,1917,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1374,-0.43,-175.2,189.3,-9.5,98,1380,0.00,1.98,0.00,0.000,4,0.000,0.031,2015,531,3126,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1466,-0.43,-175.2,197.5,-9.8,102,1471,0.00,1.98,0.00,0.000,6,0.000,0.021,2006,1932,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1778,-0.43,-175.2,228.1,-10.3,118,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1933,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.44,-175.2,256.9,-9.1,133,2085,0.00,2.03,0.00,0.000,4,0.000,0.030,2006,543,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2132,-0.44,-175.2,261.2,-9.6,135,2138,0.00,1.95,0.00,0.000,6,0.000,0.021,2000,1924,3126,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2446,-0.44,-175.2,292.1,-8.7,151,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,1924,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2747,-0.44,-175.2,317.5,-9.2,166,2752,0.00,2.00,0.00,0.000,4,0.000,0.030,1999,535,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2824,-0.44,-175.2,323.7,-9.5,169,2831,0.00,1.98,0.00,0.000,6,0.000,0.022,1992,1927,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3130,-0.45,-175.2,351.4,-8.3,185,3136,0.00,2.03,0.00,0.000,4,0.000,0.035,1988,3300,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3163,-0.45,-175.2,353.4,-8.4,186,3168,0.00,1.95,0.00,0.000,6,0.000,0.021,1988,1921,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3476,-0.46,-175.2,379.9,-8.4,202,3481,0.00,1.98,0.00,0.000,4,0.000,0.031,1988,541,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3602,-0.46,-175.2,391.5,-9.4,208,3607,0.00,1.98,0.00,0.000,6,0.000,0.022,1988,1926,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3920,-0.47,-175.2,419.1,-8.3,224,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1926,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4221,-0.48,-175.2,444.2,-8.5,239,4227,0.00,2.05,0.00,0.000,4,0.000,0.036,1988,3313,3120,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4245,-0.49,-175.2,446.3,-8.5,240,4251,0.00,1.98,0.00,0.000,6,0.000,0.022,1988,1929,3120,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4569,-0.50,-175.2,473.9,-9.0,256,4574,0.00,2.00,0.00,0.000,4,0.000,0.032,1988,538,3119,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4676,-0.50,-175.2,484.0,-9.9,261,4682,0.00,1.98,0.00,0.000,6,0.000,0.023,1988,1927,3117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4996,-0.52,-175.2,511.7,-8.0,277,5001,0.00,2.05,0.00,0.000,4,0.000,0.037,1988,3310,3115,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5054,-0.53,-175.2,515.0,-7.8,279,5061,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1927,3114,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5360,-0.54,-175.2,537.4,-6.4,295,5365,0.00,2.05,0.00,0.000,4,0.000,0.033,1988,528,3113,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5443,-0.55,-175.2,543.1,-6.8,299,5449,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1930,3113,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5767,-0.56,-175.2,563.6,-6.7,315,5773,0.00,2.03,0.00,0.000,4,0.000,0.037,1988,3302,3110,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5796,-0.58,-175.2,565.3,-6.8,316,5801,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1922,3110,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6114,-0.59,-175.2,589.1,-7.2,332,6119,0.00,2.03,0.00,0.000,4,0.000,0.034,1988,527,3109,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6186,-0.60,-175.2,593.9,-7.6,335,6191,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1925,3109,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6521,-0.62,-175.2,616.6,-6.7,348,6527,0.00,2.05,0.00,0.000,4,0.000,0.038,1988,3310,3107,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6556,-0.64,-175.2,618.8,-6.6,349,6561,0.00,2.00,0.00,0.000,6,0.000,0.024,1988,1921,3107,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6892,-0.65,-175.2,639.8,-6.2,360,6898,0.12,2.03,0.00,0.000,4,0.102,0.032,1922,533,3105,0,0,0,0,0,0,26.46,26.28,28.83
$GC,6987,-0.65,-175.2,649.7,-9.3,363,6993,0.15,2.00,0.00,0.000,6,0.149,0.024,1955,1928,3104,0,0,0,0,0,0,25.99,26.39,28.83
$GC,7321,-0.65,-175.2,675.8,-7.5,374,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1929,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7622,-0.65,-175.2,696.6,-6.7,384,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1929,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,-0.65,-175.2,716.3,-6.6,394,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1929,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,-0.65,-175.2,736.7,-6.9,404,8227,0.00,2.08,0.00,0.000,4,0.000,0.035,1954,535,3100,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8265,-0.65,-175.2,739.2,-7.0,405,8270,0.00,2.03,0.00,0.000,6,0.000,0.024,1947,1937,3099,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8589,-0.65,-175.2,765.1,-8.0,416,8594,0.00,2.05,0.00,0.000,4,0.000,0.037,1937,3313,3098,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8610,-0.65,-175.2,765.1,-8.0,416,8616,0.00,2.00,0.00,0.000,6,0.000,0.025,1936,1929,3098,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8925,-0.64,-175.2,793.8,-8.8,427,8930,0.00,2.05,0.00,0.000,4,0.000,0.035,1937,528,3096,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9049,-0.63,-175.2,805.5,-9.4,431,9054,0.00,2.03,0.00,0.000,6,0.000,0.025,1928,1925,3096,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9383,-0.62,-175.2,834.5,-8.4,442,9385,0.12,0.00,0.00,0.000,6,0.151,0.000,1962,1926,3095,0,0,0,0,0,0,26.27,28.83,28.83
$GC,9684,-0.62,-175.2,854.0,-6.5,452,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1925,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9983,-0.63,-175.2,872.2,-5.9,462,9988,0.00,2.10,0.00,0.000,4,0.000,0.037,1963,525,3093,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10025,-0.64,-175.2,874.5,-6.1,463,10030,0.00,2.03,0.00,0.000,6,0.000,0.025,1954,1926,3093,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10350,-0.64,-175.2,895.9,-6.4,474,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1927,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10648,-0.64,-175.2,914.5,-6.3,484,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1926,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10949,-0.64,-175.2,933.2,-6.0,494,10954,0.00,2.08,0.00,0.000,4,0.000,0.036,1955,534,3091,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11013,-0.64,-175.2,937.7,-6.5,496,11018,0.00,2.03,0.00,0.000,6,0.000,0.026,1947,1921,3091,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11347,-0.64,-175.2,960.4,-6.8,507,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1921,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11645,-0.64,-175.2,982.4,-7.4,517,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,1922,3089,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11763,begin apogee
$GC,11768,-0.17,0.0,991.7,-7.8,521,11918,0.45,0.00,140.27,1.424,6,0.117,0.000,2098,1921,2410,0,0,0,0,0,0,25.60,28.83,23.08
$STATE,11919,end apogee,CONTROL_FINISHED_OK
$STATE,11919,begin climb
$GC,11921,0.53,175.2,997.0,0.0,526,12090,0.70,2.45,158.88,1.374,4,0.071,0.037,2349,518,1694,0,0,0,0,0,0,24.36,23.56,22.39
$GC,12103,0.52,225.1,989.0,6.7,532,12161,0.00,2.22,46.53,1.329,6,0.000,0.023,2349,1904,1489,0,0,0,0,0,0,28.83,24.03,22.42
$GC,12459,0.51,225.1,948.3,11.5,544,12465,0.00,2.15,0.00,0.000,4,0.000,0.038,2348,3293,1483,0,0,0,0,0,0,28.83,25.59,28.83
$GC,12613,0.48,225.1,928.8,12.8,549,12619,0.15,2.08,0.00,0.000,6,0.174,0.027,2321,1901,1481,0,0,0,0,0,0,25.56,25.94,28.83
$GC,12946,0.48,225.1,895.6,9.8,560,12952,0.00,2.12,0.00,0.000,4,0.000,0.036,2318,3290,1479,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12989,0.48,225.1,892.2,10.0,561,12994,0.00,2.05,0.00,0.000,6,0.000,0.028,2329,1897,1479,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13313,0.48,225.1,857.5,10.4,572,13319,0.00,2.10,0.00,0.000,4,0.000,0.036,2329,3292,1478,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13371,0.47,225.1,853.5,10.7,573,13378,0.00,2.05,0.00,0.000,6,0.000,0.028,2338,1898,1478,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13677,0.46,225.1,817.4,10.6,584,13683,0.00,2.10,0.00,0.000,4,0.000,0.036,2337,3297,1477,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13731,0.45,225.1,813.4,10.7,585,13737,0.15,2.05,0.00,0.000,6,0.166,0.027,2307,1896,1477,0,0,0,0,0,0,25.88,26.33,28.83
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$STATE,22865,end climb,SURFACE_DEPTH_REACHED
$STATE,22866,begin surface coast
$FINISH,1.1,1.009161
$STATE,22882,end surface coast,CONTROL_FINISHED_OK
$STATE,22882,begin surface
$SM_CCo,22956,0.00,0.000,0,0,517,464.11
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$IRIDIUM_FIX,1821.40,12441.28,171212,121252
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.12
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3951264
$24V_AH,22.4,34.957
$10V_AH,10.2,25.900
$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,16.450,187.975,539.800,0.000,0.000,0.000,0.000,334.850,0.000,0.000,12.093,3457.228,15992.637,724.797,2902.845,383.269,0.000,2433.136,0.000,2457.949,0.000,0.539,0.000
$DEVICE_MAMPS,240.975,45.900,1424.430,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.360,0.000,0.000,0.000
$MEM,329032
$DATA_FILE_SIZE,40011,1054
$CAP_FILE_SIZE,253204,0
$CFSIZE,260034560,233779200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.090,127.0,1
$GPS,181212,012954,1822.103,12438.670,44,1.4,44,-2.1