version: 66.11
glider: 129
mission: 4
dive: 268
start: 1 7 113 4 26 23
data:
$ID,129
$MISSION,4
$DIVE,268
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$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,-2993.2573
$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,2
$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,77
$R_STBD_OVSHOOT,95
$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
$GPS1,070113,041735,1908.187,12245.979,34,0.9,34,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-64.0
$GPS2,070113,042555,1908.325,12245.874,13,1.3,13,-2.2
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,98.2,204928,-14.2,-8.462,-17.62
$D_GRID,4391
$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,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.25,0.000,2,0.000,0.000,53,1883,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.5,-5.4,11,133,7.85,0.00,-27.25,0.000,6,0.238,0.000,1979,1873,3128,0,0,0,0,0,0,25.15,28.83,26.52
$GC,453,-0.46,-175.2,106.5,-30.1,46,459,0.10,1.92,0.00,0.000,4,0.191,0.028,2004,535,3126,0,0,0,0,0,0,26.21,26.28,28.83
$GC,562,-0.41,-175.2,130.7,-22.1,51,568,0.12,1.95,0.00,0.000,6,0.160,0.022,2029,1903,3126,0,0,0,0,0,0,26.01,26.36,28.83
$GC,881,-0.39,-175.2,181.1,-14.4,67,887,0.00,2.05,0.00,0.000,4,0.000,0.032,2019,3313,3126,0,0,0,0,0,0,28.83,26.28,28.83
$GC,925,-0.38,-175.2,187.2,-14.1,69,931,0.00,1.95,0.00,0.000,6,0.000,0.021,2019,1897,3126,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1249,-0.36,-175.2,230.8,-12.5,85,1254,0.00,1.92,0.00,0.000,4,0.000,0.028,2019,549,3127,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1436,-0.35,-175.2,252.7,-11.4,94,1443,0.12,1.92,0.00,0.000,6,0.147,0.020,2046,1937,3126,0,0,0,0,0,0,26.11,26.43,28.83
$GC,1755,-0.35,-175.2,280.5,-7.5,110,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1938,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-0.35,-175.2,303.1,-8.3,125,2065,0.00,2.00,0.00,0.000,4,0.000,0.032,2037,3305,3125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2092,-0.36,-175.2,305.4,-8.3,126,2097,0.00,1.92,0.00,0.000,6,0.000,0.020,2037,1928,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2405,-0.36,-175.2,333.4,-8.5,142,2410,0.00,2.00,0.00,0.000,4,0.000,0.028,2037,535,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2552,-0.36,-175.2,346.1,-8.7,149,2557,0.00,1.98,0.00,0.000,6,0.000,0.020,2033,1936,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2869,-0.36,-175.2,376.1,-9.1,165,2874,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,546,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2932,-0.36,-175.2,381.4,-8.5,168,2938,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1933,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3256,-0.38,-175.2,401.4,-6.9,184,3261,0.00,2.00,0.00,0.000,4,0.000,0.028,2033,545,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3314,-0.39,-175.2,404.8,-7.3,186,3321,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1930,3121,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3620,-0.40,-175.2,426.5,-6.7,202,3625,0.00,2.00,0.00,0.000,4,0.000,0.034,2033,3297,3119,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3664,-0.42,-175.2,429.4,-6.5,204,3669,0.00,1.95,0.00,0.000,6,0.000,0.020,2033,1909,3119,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3987,-0.43,-175.2,454.2,-8.4,220,3993,0.00,1.95,0.00,0.000,4,0.000,0.030,2033,545,3116,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4113,-0.45,-175.2,464.6,-8.1,226,4119,0.00,1.98,0.00,0.000,6,0.000,0.021,2038,1938,3115,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4437,-0.46,-175.2,482.7,-5.4,242,4439,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1938,3138,0,0,0,0,0,0,28.83,28.83,25.29
$GC,4738,-0.48,-175.2,503.4,-7.2,257,4743,0.00,2.05,0.00,0.000,4,0.000,0.029,2033,540,3137,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4825,-0.49,-175.2,510.0,-7.9,261,4831,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1919,3137,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5145,-0.51,-175.2,531.4,-5.9,277,5147,0.12,0.00,0.00,0.000,6,0.099,0.000,1976,1920,3136,0,0,0,0,0,0,26.46,28.83,28.83
$GC,5445,-0.51,-175.2,556.4,-8.6,292,5451,0.00,2.05,0.00,0.000,4,0.000,0.034,1966,3310,3134,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5493,-0.51,-175.2,560.2,-8.6,294,5498,0.00,1.95,0.00,0.000,6,0.000,0.021,1966,1934,3134,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5811,-0.50,-175.2,591.6,-10.3,310,5817,0.12,2.03,0.00,0.000,4,0.149,0.029,2008,531,3132,0,0,0,0,0,0,26.22,26.29,28.83
$GC,6019,-0.50,-175.2,609.2,-9.4,318,6026,0.00,1.98,0.00,0.000,6,0.000,0.021,2000,1928,3131,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6326,-0.50,-175.2,638.7,-8.9,329,6331,0.00,2.00,0.00,0.000,4,0.000,0.034,1989,3295,3129,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6353,-0.50,-175.2,638.7,-8.9,329,6360,0.00,1.92,0.00,0.000,6,0.000,0.021,1989,1922,3129,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6660,-0.50,-175.2,667.9,-8.3,340,6665,0.00,2.00,0.00,0.000,4,0.000,0.031,1989,542,3127,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6892,-0.50,-175.2,685.1,-7.8,347,6898,0.00,2.00,0.00,0.000,6,0.000,0.022,1980,1925,3127,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7208,-0.50,-175.2,711.4,-8.1,358,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1926,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7505,-0.50,-175.2,738.1,-9.4,368,7511,0.00,2.05,0.00,0.000,4,0.000,0.031,1980,541,3121,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7578,-0.50,-175.2,744.5,-9.9,370,7584,0.00,2.00,0.00,0.000,6,0.000,0.022,1971,1921,3122,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7904,-0.50,-175.2,773.8,-8.0,381,7909,0.00,2.08,0.00,0.000,4,0.000,0.037,1961,3320,3122,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7927,-0.50,-175.2,773.8,-8.0,381,7933,0.12,2.00,0.00,0.000,6,0.140,0.021,1998,1912,3121,0,0,0,0,0,0,26.08,26.41,28.83
$GC,8242,-0.51,-175.2,794.7,-5.8,392,8248,0.00,2.00,0.00,0.000,4,0.000,0.031,1998,540,3119,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8345,-0.51,-175.2,800.6,-6.1,395,8350,0.00,1.98,0.00,0.000,6,0.000,0.023,1994,1936,3118,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8670,-0.51,-175.2,821.2,-6.0,406,8675,0.00,2.08,0.00,0.000,4,0.000,0.031,1994,534,3117,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8712,-0.51,-175.2,823.6,-6.3,407,8718,0.00,1.98,0.00,0.000,6,0.000,0.023,1993,1922,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9037,-0.51,-175.2,845.3,-6.5,418,9043,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,545,3116,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9090,-0.51,-175.2,847.8,-6.6,419,9095,0.00,1.98,0.00,0.000,6,0.000,0.024,1994,1933,3115,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9406,-0.51,-175.2,867.5,-5.8,430,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1930,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9703,-0.51,-175.2,885.4,-6.4,440,9708,0.00,2.05,0.00,0.000,4,0.000,0.032,1994,539,3114,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9761,-0.51,-175.2,887.9,-6.8,441,9767,0.00,2.00,0.00,0.000,6,0.000,0.024,1994,1922,3113,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10067,-0.51,-175.2,912.3,-7.5,452,10072,0.00,2.03,0.00,0.000,4,0.000,0.032,1994,545,3112,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10104,-0.51,-175.2,915.3,-7.8,453,10110,0.00,2.00,0.00,0.000,6,0.000,0.024,1994,1926,3112,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10435,-0.52,-175.2,942.1,-7.6,464,10440,0.00,2.08,0.00,0.000,4,0.000,0.033,1994,538,3111,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10498,-0.52,-175.2,947.5,-7.9,466,10503,0.00,2.03,0.00,0.000,6,0.000,0.024,1994,1926,3110,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10835,-0.53,-175.2,970.9,-6.8,477,10840,0.00,2.05,0.00,0.000,4,0.000,0.032,1994,537,3109,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10883,-0.54,-175.2,973.6,-6.9,478,10889,0.00,2.03,0.00,0.000,6,0.000,0.024,1994,1930,3109,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,11140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11140,begin apogee
$GC,11145,-0.17,0.0,991.0,-6.0,487,11303,0.32,0.00,149.12,1.417,6,0.118,0.000,2104,1931,2409,0,0,0,0,0,0,25.75,28.83,22.40
$STATE,11305,end apogee,CONTROL_FINISHED_OK
$STATE,11305,begin climb
$GC,11307,0.54,175.2,995.5,0.0,492,11476,0.68,2.33,161.18,1.366,4,0.088,0.035,2328,3280,1694,0,0,0,0,0,0,24.07,23.56,22.01
$GC,11513,0.56,212.7,985.0,7.2,499,11559,0.00,2.15,35.60,1.311,6,0.000,0.024,2331,1923,1540,0,0,0,0,0,0,28.83,24.39,22.22
$GC,11872,0.57,212.7,952.7,9.1,511,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1923,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12173,0.59,212.7,925.3,9.0,521,12178,0.00,2.08,0.00,0.000,4,0.000,0.035,2331,3295,1531,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12207,0.60,212.7,922.0,9.1,522,12212,0.00,2.08,0.00,0.000,6,0.000,0.024,2331,1874,1530,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12543,0.62,242.5,895.8,7.5,533,12571,0.00,0.00,25.65,1.325,6,0.000,0.000,2331,1874,1420,0,0,0,0,0,0,28.83,28.83,23.91
$GC,12872,0.67,307.9,873.7,6.3,544,12941,0.12,2.28,58.92,1.338,4,0.109,0.035,2377,3280,1152,0,0,0,0,0,0,26.20,25.06,23.58
$GC,12965,0.68,325.5,865.8,7.9,547,12988,0.00,2.08,16.73,1.232,6,0.000,0.023,2385,1903,1082,0,0,0,0,0,0,28.83,25.49,23.58
$GC,13296,0.68,325.5,833.8,9.9,558,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1903,1076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13596,0.68,325.5,802.4,10.6,568,13601,0.00,2.08,0.00,0.000,4,0.000,0.036,2386,511,1075,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13629,0.68,325.5,798.8,10.7,569,13635,0.00,2.03,0.00,0.000,6,0.000,0.022,2386,1904,1074,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,21891,end climb,SURFACE_DEPTH_REACHED
$STATE,21891,begin surface coast
$FINISH,1.0,1.022170
$STATE,21909,end surface coast,CONTROL_FINISHED_OK
$STATE,21909,begin surface
$SM_CCo,21985,0.00,0.000,0,0,218,537.21
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$IRIDIUM_FIX,1857.82,12243.84,060113,222252
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.79
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3917440
$24V_AH,22.0,53.262
$10V_AH,10.1,37.245
$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,16.150,170.075,620.825,0.000,0.000,0.000,0.000,304.400,0.000,0.000,14.620,3281.575,15166.247,761.414,2813.872,452.410,0.000,2426.651,0.000,2405.401,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,36.720,1416.780,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21933.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.784,0.000,0.000,0.000
$MEM,308672
$DATA_FILE_SIZE,36725,994
$CAP_FILE_SIZE,238149,0
$CFSIZE,260034560,224829440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,320.0,1
$GPS,070113,103406,1910.466,12247.567,40,1.2,40,-2.2