version: 66.11
glider: 129
mission: 4
dive: 271
start: 1 7 113 23 18 34
data:
$ID,129
$MISSION,4
$DIVE,271
$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,-3055.9626
$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,78
$R_STBD_OVSHOOT,108
$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,21.5
$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
$GPS1,070113,230806,1915.560,12252.970,41,1.1,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.5
$GPS2,070113,231807,1915.678,12252.942,16,1.4,16,-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,99.1,186953,-14.2,-8.462,-17.62
$D_GRID,4500
$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,-65.18,0.000,2,0.000,0.000,53,1940,1790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.0,-3.7,11,134,8.05,0.00,-32.30,0.000,6,0.246,0.000,1978,1932,3125,0,0,0,0,0,0,25.13,28.83,26.53
$GC,440,-0.46,-175.2,100.7,-30.2,46,445,0.12,2.03,0.00,0.000,4,0.190,0.029,2015,534,3125,0,0,0,0,0,0,26.03,26.27,28.83
$GC,634,-0.42,-175.2,145.4,-20.0,55,639,0.00,1.92,0.00,0.000,6,0.000,0.021,2006,1897,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,947,-0.40,-175.2,201.2,-15.7,71,953,0.00,1.98,0.00,0.000,4,0.000,0.029,2007,536,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1011,-0.37,-175.2,210.8,-15.1,74,1018,0.15,2.00,0.00,0.000,6,0.143,0.021,2041,1926,3126,0,0,0,0,0,0,26.06,26.41,28.83
$GC,1336,-0.37,-175.2,247.1,-9.5,90,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1927,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-0.37,-175.2,278.3,-10.2,105,1643,0.00,2.03,0.00,0.000,4,0.000,0.028,2042,531,3125,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1751,-0.37,-175.2,289.7,-10.9,110,1757,0.00,1.98,0.00,0.000,6,0.000,0.021,2035,1931,3125,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2065,-0.37,-175.2,317.2,-7.1,126,2070,0.00,2.03,0.00,0.000,4,0.000,0.028,2035,534,3124,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2097,-0.37,-175.2,319.0,-7.0,127,2103,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1930,3124,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2410,-0.37,-175.2,345.5,-8.7,143,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1931,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,-0.37,-175.2,372.7,-8.2,158,2718,0.00,2.03,0.00,0.000,4,0.000,0.028,2033,526,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2785,-0.37,-175.2,377.8,-7.8,161,2790,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1937,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3099,-0.37,-175.2,398.8,-6.5,177,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1937,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-0.38,-175.2,419.2,-6.9,192,3406,0.00,2.05,0.00,0.000,4,0.000,0.029,2033,535,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3468,-0.38,-175.2,424.2,-7.6,195,3473,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1929,3119,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3786,-0.39,-175.2,450.9,-9.3,211,3792,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,531,3117,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3851,-0.41,-175.2,458.0,-10.7,214,3857,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1927,3116,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4175,-0.42,-175.2,485.7,-6.4,230,4181,0.00,2.05,-0.08,0.000,4,0.000,0.041,2033,528,3144,0,0,0,0,0,0,28.83,26.32,25.45
$GC,4243,-0.43,-175.2,489.1,-5.4,233,4249,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1936,3145,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4563,-0.45,-175.2,503.0,-5.5,249,4568,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,537,3143,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4621,-0.47,-175.2,505.9,-6.4,251,4628,0.00,2.00,0.00,0.000,6,0.000,0.021,2033,1926,3143,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4926,-0.49,-175.2,529.5,-6.8,267,4932,0.00,2.03,0.00,0.000,4,0.000,0.030,2032,531,3142,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4964,-0.51,-175.2,531.1,-6.8,268,4973,0.12,2.00,0.00,0.000,6,0.098,0.021,1973,1940,3142,0,0,0,0,0,0,26.26,26.40,28.83
$GC,5270,-0.49,-175.2,559.0,-8.5,284,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,1940,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5571,-0.49,-175.2,582.7,-7.8,299,5576,0.00,2.08,0.00,0.000,4,0.000,0.031,1973,531,3139,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5643,-0.49,-175.2,588.3,-8.6,302,5649,0.12,2.00,0.00,0.000,6,0.148,0.022,2000,1928,3138,0,0,0,0,0,0,26.07,26.39,28.83
$GC,5967,-0.49,-175.2,609.4,-5.9,316,5973,0.00,2.05,0.00,0.000,4,0.000,0.031,2000,537,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6015,-0.49,-175.2,611.5,-6.0,317,6020,0.00,2.00,0.00,0.000,6,0.000,0.022,1993,1934,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6335,-0.49,-175.2,631.1,-5.6,328,6340,0.00,2.05,0.00,0.000,4,0.000,0.031,1993,540,3134,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6387,-0.49,-175.2,633.2,-5.7,329,6393,0.00,1.98,0.00,0.000,6,0.000,0.023,1986,1927,3132,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6703,-0.49,-175.2,654.1,-6.8,340,6709,0.00,2.05,0.00,0.000,4,0.000,0.031,1986,541,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6761,-0.49,-175.2,657.1,-7.3,341,6768,0.00,1.98,0.00,0.000,6,0.000,0.023,1978,1931,3131,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7067,-0.49,-175.2,685.8,-8.7,352,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1931,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7367,-0.49,-175.2,710.8,-8.7,362,7373,0.00,2.05,0.00,0.000,4,0.000,0.031,1978,542,3128,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7440,-0.49,-175.2,717.1,-9.3,364,7446,0.10,2.00,0.00,0.000,6,0.159,0.024,1996,1932,3128,0,0,0,0,0,0,26.08,26.35,28.83
$GC,7765,-0.49,-175.2,744.7,-8.5,375,7771,0.00,2.05,0.00,0.000,4,0.000,0.032,1996,536,3127,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7802,-0.49,-175.2,748.0,-8.7,376,7808,0.00,2.00,0.00,0.000,6,0.000,0.023,1988,1928,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8132,-0.49,-175.2,778.2,-9.2,387,8138,0.00,2.05,0.00,0.000,4,0.000,0.031,1989,538,3124,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8190,-0.49,-175.2,781.6,-9.3,388,8197,0.00,2.00,0.00,0.000,6,0.000,0.024,1981,1926,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8496,-0.49,-175.2,809.1,-7.7,399,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1927,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8796,-0.49,-175.2,829.4,-6.7,409,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,1927,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9096,-0.49,-175.2,847.8,-6.0,419,9102,0.00,2.05,0.00,0.000,4,0.000,0.032,1981,536,3121,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9165,-0.49,-175.2,852.0,-6.2,421,9170,0.00,2.00,0.00,0.000,6,0.000,0.024,1971,1928,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9494,-0.49,-175.2,873.9,-6.7,432,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1928,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9794,-0.49,-175.2,895.0,-7.3,442,9799,0.00,2.08,0.00,0.000,4,0.000,0.032,1972,536,3117,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9846,-0.49,-175.2,897.9,-7.6,443,9852,0.12,2.00,0.00,0.000,6,0.156,0.024,1997,1921,3118,0,0,0,0,0,0,25.96,26.29,28.83
$GC,10163,-0.51,-175.2,921.9,-7.4,454,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1921,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10461,-0.52,-175.2,946.6,-8.4,464,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1921,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10761,-0.53,-175.2,970.9,-8.0,474,10768,0.00,2.08,0.00,0.000,4,0.000,0.033,1997,534,3115,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10810,-0.55,-175.2,974.1,-8.2,475,10815,0.00,2.03,0.00,0.000,6,0.000,0.024,1990,1930,3115,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,11006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11006,begin apogee
$GC,11012,-0.17,0.0,991.7,-8.2,482,11169,0.32,0.00,150.30,1.420,6,0.117,0.000,2101,1929,2409,0,0,0,0,0,0,25.76,28.83,22.40
$STATE,11170,end apogee,CONTROL_FINISHED_OK
$STATE,11170,begin climb
$GC,11173,0.54,175.2,998.7,0.0,487,11343,0.70,2.45,161.45,1.367,4,0.086,0.036,2333,521,1694,0,0,0,0,0,0,24.05,23.58,22.02
$GC,11410,0.57,240.4,989.1,6.3,495,11476,0.00,2.12,59.83,1.338,6,0.000,0.022,2333,1889,1430,0,0,0,0,0,0,28.83,24.77,22.21
$GC,11799,0.59,240.4,957.3,8.8,508,11805,0.00,2.12,0.00,0.000,4,0.000,0.036,2334,3302,1420,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11877,0.60,240.4,950.7,9.5,510,11883,0.00,2.03,0.00,0.000,6,0.000,0.024,2333,1900,1419,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12198,0.62,240.4,918.3,9.7,521,12199,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1900,1419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12497,0.63,240.4,890.3,9.1,531,12502,0.00,2.12,0.00,0.000,4,0.000,0.035,2333,3307,1417,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12534,0.65,240.4,887.1,9.1,532,12540,0.10,2.05,0.00,0.000,6,0.122,0.024,2372,1888,1417,0,0,0,0,0,0,26.17,26.34,28.83
$GC,12863,0.65,240.4,851.1,10.7,543,12868,0.00,2.12,0.00,0.000,4,0.000,0.035,2372,3299,1416,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12920,0.65,240.4,847.3,10.8,544,12928,0.00,2.00,0.00,0.000,6,0.000,0.024,2373,1904,1416,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13225,0.65,240.4,813.6,9.8,555,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1904,1416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13527,0.65,240.8,787.2,8.4,565,13532,0.00,2.10,0.00,0.000,4,0.000,0.035,2373,3299,1415,0,0,0,0,0,0,28.83,26.20,28.83
$GC,13569,0.65,240.8,784.1,8.5,566,13575,0.00,2.03,0.00,0.000,6,0.000,0.024,2373,1887,1415,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21519,end climb,SURFACE_DEPTH_REACHED
$STATE,21519,begin surface coast
$FINISH,1.0,1.022407
$STATE,21536,end surface coast,CONTROL_FINISHED_OK
$STATE,21536,begin surface
$SM_CCo,21612,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1904.66,12314.82,070113,171725
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.51
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,3916288
$24V_AH,22.0,53.938
$10V_AH,9.9,37.670
$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,16.750,155.050,636.125,0.000,0.000,0.000,0.000,374.675,0.000,0.000,16.983,3036.922,15288.273,753.134,2669.024,437.455,0.000,2395.075,0.000,2193.704,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,41.310,1419.840,0.000,0.000,0.000,0.000,138.465,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.382,0.000,0.000,0.000
$MEM,308676
$DATA_FILE_SIZE,36697,961
$CAP_FILE_SIZE,229167,0
$CFSIZE,260034560,224518144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,334.2,1
$GPS,080113,052006,1917.625,12255.615,41,1.5,41,-2.2