version: 66.11
glider: 129
mission: 4
dive: 187
start: 12 19 112 15 38 34
data:
$ID,129
$MISSION,4
$DIVE,187
$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,-2883.0291
$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,73
$R_STBD_OVSHOOT,86
$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
$GPS1,191212,152953,1806.171,12439.944,41,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-59.2
$GPS2,191212,153807,1806.035,12440.198,12,1.7,12,-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,210.1,31078,-13.9,-8.250,-17.36
$D_GRID,4885
$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,-0.53,-175.2,0.0,0.0,0,86,0.00,0.00,-65.50,0.000,2,0.000,0.000,56,1888,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.53,-175.2,3.2,-5.0,11,139,7.85,2.05,-31.73,0.000,4,0.243,0.045,1982,534,3126,1,0,0,0,0,0,25.25,26.07,26.44
$GC,367,-0.46,-175.2,87.2,-32.3,41,373,0.15,1.95,0.00,0.000,6,0.172,0.022,2012,1912,3127,0,0,0,0,0,0,25.86,26.29,28.83
$GC,691,-0.40,-175.2,169.8,-21.3,57,696,0.00,2.05,0.00,0.000,4,0.000,0.033,2003,3318,3126,0,0,0,0,0,0,28.83,26.30,28.83
$GC,723,-0.36,-175.2,173.8,-19.9,58,730,0.15,1.98,0.00,0.000,6,0.140,0.021,2046,1892,3128,0,0,0,0,0,0,26.06,26.41,28.83
$GC,1039,-0.35,-175.2,213.9,-11.9,74,1044,0.00,1.90,0.00,0.000,4,0.000,0.030,2046,552,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1122,-0.34,-175.2,224.7,-13.0,78,1128,0.00,1.95,0.00,0.000,6,0.000,0.021,2037,1941,3127,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1445,-0.33,-175.2,261.5,-11.0,94,1451,0.00,2.00,0.00,0.000,4,0.000,0.030,2037,549,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1489,-0.32,-175.2,266.2,-10.9,96,1495,0.00,1.95,0.00,0.000,6,0.000,0.021,2029,1924,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1813,-0.32,-175.2,298.0,-10.4,112,1818,0.00,1.98,0.00,0.000,4,0.000,0.030,2030,552,3126,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1919,-0.32,-175.2,309.0,-10.8,117,1926,0.12,1.98,0.00,0.000,6,0.145,0.021,2057,1947,3125,0,0,0,0,0,0,26.17,26.46,28.83
$GC,2239,-0.33,-175.2,332.6,-6.9,133,2244,0.00,2.00,0.00,0.000,4,0.000,0.030,2057,561,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2302,-0.35,-175.2,337.5,-7.7,136,2308,0.00,1.95,0.00,0.000,6,0.000,0.022,2050,1934,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2626,-0.36,-175.2,360.6,-6.7,152,2631,0.00,2.00,0.00,0.000,4,0.000,0.035,2042,3300,3123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2659,-0.37,-175.2,362.1,-6.6,153,2664,0.00,1.92,0.00,0.000,6,0.000,0.021,2042,1930,3123,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2972,-0.38,-175.2,384.4,-6.9,169,2978,0.00,1.98,0.00,0.000,4,0.000,0.031,2042,548,3120,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3071,-0.39,-175.2,391.0,-7.8,173,3078,0.00,1.95,0.00,0.000,6,0.000,0.022,2035,1928,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3376,-0.40,-175.2,414.8,-7.4,189,3381,0.00,2.03,0.00,0.000,4,0.000,0.031,2034,548,3119,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3449,-0.41,-175.2,420.0,-8.0,192,3454,0.00,1.95,0.00,0.000,6,0.000,0.022,2028,1923,3118,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3762,-0.42,-175.2,445.4,-7.4,208,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1923,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4064,-0.43,-175.2,465.5,-6.1,223,4070,0.00,2.03,-0.08,0.000,4,0.000,0.044,2029,544,3143,0,0,0,0,0,0,28.83,26.36,25.51
$GC,4108,-0.43,-175.2,468.9,-7.0,225,4113,0.00,1.98,0.00,0.000,6,0.000,0.022,2020,1928,3144,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4431,-0.44,-175.2,492.6,-7.5,241,4437,0.00,2.05,0.00,0.000,4,0.000,0.036,2009,3313,3143,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4489,-0.45,-175.2,495.9,-7.6,243,4496,0.00,1.95,0.00,0.000,6,0.000,0.023,2010,1937,3142,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4795,-0.45,-175.2,522.6,-8.2,259,4800,0.00,2.03,0.00,0.000,4,0.000,0.032,2010,535,3142,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4892,-0.45,-175.2,529.7,-8.6,263,4898,0.00,1.98,0.00,0.000,6,0.000,0.023,2001,1925,3141,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5198,-0.45,-175.2,555.3,-7.7,279,5203,0.00,2.03,0.00,0.000,4,0.000,0.036,1990,3304,3140,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5235,-0.45,-175.2,557.1,-7.7,280,5242,0.00,1.98,0.00,0.000,6,0.000,0.024,1990,1919,3139,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5541,-0.44,-175.2,584.7,-9.0,296,5547,0.00,2.05,0.00,0.000,4,0.000,0.034,1990,505,3137,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5647,-0.43,-175.2,595.5,-10.5,301,5653,0.15,2.05,0.00,0.000,6,0.147,0.023,2023,1930,3138,0,0,0,0,0,0,26.01,26.42,28.83
$GC,5982,-0.45,-175.2,621.4,-7.5,313,5987,0.00,2.05,0.00,0.000,4,0.000,0.037,2014,3314,3135,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6025,-0.46,-175.2,623.8,-7.4,314,6031,0.00,1.98,0.00,0.000,6,0.000,0.023,2014,1918,3134,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6350,-0.47,-175.2,647.6,-6.7,325,6355,0.00,2.00,0.00,0.000,4,0.000,0.033,2014,534,3133,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6454,-0.48,-175.2,654.3,-7.1,328,6459,0.00,2.00,0.00,0.000,6,0.000,0.024,2006,1928,3132,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6778,-0.48,-175.2,674.8,-5.9,339,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1928,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7078,-0.49,-175.2,693.5,-6.4,349,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,1928,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7377,-0.49,-175.2,714.3,-7.1,359,7383,0.00,2.05,0.00,0.000,4,0.000,0.034,2006,538,3128,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7406,-0.50,-175.2,714.3,-7.1,359,7413,0.00,2.00,0.00,0.000,6,0.000,0.024,1998,1930,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7711,-0.50,-175.2,739.0,-7.2,370,7717,0.00,2.05,0.00,0.000,4,0.000,0.037,1988,3307,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7754,-0.50,-175.2,741.4,-7.2,371,7760,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1920,3126,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8080,-0.50,-175.2,767.6,-8.0,382,8085,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,531,3124,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8221,-0.50,-175.2,778.9,-9.1,386,8227,0.00,2.03,0.00,0.000,6,0.000,0.024,1980,1939,3124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8535,-0.50,-175.2,807.7,-8.9,397,8540,0.00,2.08,0.00,0.000,4,0.000,0.034,1979,536,3123,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8602,-0.49,-175.2,813.6,-9.0,399,8607,0.00,2.03,0.00,0.000,6,0.000,0.024,1970,1934,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8931,-0.49,-175.2,845.9,-9.9,410,8933,0.12,0.00,0.00,0.000,6,0.155,0.000,2005,1934,3121,0,0,0,0,0,0,26.27,28.83,28.83
$GC,9231,-0.50,-175.2,869.6,-7.7,420,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1934,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9531,-0.51,-175.2,891.7,-7.1,430,9536,0.00,2.08,0.00,0.000,4,0.000,0.035,2005,534,3119,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9594,-0.52,-175.2,896.6,-7.4,432,9599,0.00,2.03,0.00,0.000,6,0.000,0.025,1998,1925,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9930,-0.53,-175.2,919.2,-6.5,443,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1925,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10227,-0.53,-175.2,937.2,-5.8,453,10233,0.00,2.08,0.00,0.000,4,0.000,0.034,1998,535,3117,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10291,-0.54,-175.2,941.6,-6.3,455,10298,0.00,2.03,0.00,0.000,6,0.000,0.025,1989,1938,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10627,-0.54,-175.2,962.6,-6.2,466,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1938,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10926,-0.54,-175.2,982.0,-6.4,476,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1938,3115,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11044,begin apogee
$GC,11048,-0.17,0.0,990.2,-6.8,480,11202,0.35,0.00,145.90,1.413,6,0.124,0.000,2105,1939,2409,0,0,0,0,0,0,25.70,28.83,23.03
$STATE,11204,end apogee,CONTROL_FINISHED_OK
$STATE,11204,begin climb
$GC,11206,0.53,175.2,994.6,0.0,485,11378,0.68,2.50,157.60,1.360,4,0.092,0.037,2333,514,1693,0,0,0,0,0,0,24.27,23.57,22.39
$GC,11395,0.56,242.7,987.1,6.1,491,11464,0.00,2.20,61.55,1.330,6,0.000,0.022,2333,1889,1420,0,0,0,0,0,0,28.83,24.17,22.39
$GC,11772,0.56,242.7,952.6,8.9,504,11778,0.00,2.17,0.00,0.000,4,0.000,0.038,2333,3298,1411,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11855,0.57,242.7,946.2,9.3,506,11861,0.00,2.08,0.00,0.000,6,0.000,0.027,2343,1905,1410,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12170,0.58,242.7,914.5,9.4,517,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1905,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12469,0.58,242.7,886.5,9.3,527,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1904,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12769,0.59,242.7,859.7,8.7,537,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1905,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13069,0.60,242.7,834.5,8.3,547,13074,0.00,2.10,0.00,0.000,4,0.000,0.036,2343,3296,1407,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13105,0.60,242.7,831.4,8.4,548,13111,0.00,2.05,0.00,0.000,6,0.000,0.027,2352,1893,1406,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13435,0.60,244.5,803.7,8.2,559,13441,0.00,2.10,0.00,0.000,4,0.000,0.036,2352,3297,1407,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13458,0.60,246.4,803.7,8.2,559,13463,0.00,2.05,0.00,0.000,6,0.000,0.027,2360,1896,1406,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13771,0.60,246.4,774.8,8.6,570,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1896,1406,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22124,end climb,SURFACE_DEPTH_REACHED
$STATE,22124,begin surface coast
$FINISH,0.9,1.000180
$STATE,22141,end surface coast,CONTROL_FINISHED_OK
$STATE,22141,begin surface
$SM_CCo,22217,0.00,0.000,0,0,210,539.41
$SM_GC,1.64,6.68,0.00,0.00,0.060,0.000,0.000,5,1904,210,-6.47,-0.57,539.41,3,0,0,0,0,0,24.33,28.83,28.83
$IRIDIUM_FIX,1800.97,12442.43,191212,090931
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.92
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3948576
$24V_AH,22.4,36.381
$10V_AH,10.2,26.884
$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,16.775,170.950,612.725,0.000,0.000,0.000,0.000,309.350,0.000,0.000,12.764,3210.461,15634.877,754.165,2732.035,367.745,0.000,2394.548,0.000,2311.126,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,45.135,1412.955,0.000,0.000,0.000,0.000,137.700,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22164.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.680,0.000,0.000,0.000
$MEM,328996
$DATA_FILE_SIZE,36689,994
$CAP_FILE_SIZE,242829,0
$CFSIZE,260034560,233025536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0,0
$CURRENT,0.112, 69.4,1
$GPS,191212,215006,1803.500,12440.354,38,1.6,38,-2.0