version: 66.11
glider: 129
mission: 4
dive: 328
start: 1 22 113 3 42 16
data:
$ID,129
$MISSION,4
$DIVE,328
$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,350
$T_MISSION,380
$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,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$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,-3129.8694
$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,125
$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,84
$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
$GPS1,220113,033335,1949.556,12347.187,34,1.6,34,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-58.4
$GPS2,220113,034149,1949.374,12347.267,12,1.6,12,-2.4
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,HEADING
$TGT_LATLONG,1949.374,12358.746
$TGT_RADIUS,1852.000
$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,92.4,20000,-15.3,-9.429,-18.41
$D_GRID,5249
$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,-0.58,-184.9,0.0,0.0,0,77,0.00,0.00,-55.72,0.000,2,0.000,0.000,49,1926,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.58,-184.9,3.0,-3.5,10,134,7.97,2.08,-40.03,0.000,4,0.241,0.046,1954,3272,3164,0,0,0,0,0,0,24.97,26.09,26.56
$GC,157,-0.52,-184.9,12.9,-22.6,23,164,0.12,1.90,0.00,0.000,6,0.164,0.021,1986,1910,3164,0,0,0,0,0,0,25.86,26.25,28.83
$GC,468,-0.45,-184.9,102.7,-28.9,49,474,0.00,1.98,0.00,0.000,4,0.000,0.029,1986,550,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,701,-0.41,-184.9,151.4,-18.5,60,707,0.17,1.90,0.00,0.000,6,0.142,0.021,2028,1897,3165,0,0,0,0,0,0,25.93,26.36,28.83
$GC,1015,-0.41,-184.9,197.7,-14.2,76,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1898,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1317,-0.41,-184.9,234.1,-10.5,91,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1897,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1617,-0.41,-184.9,263.0,-10.2,106,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1897,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.41,-184.9,293.3,-9.9,121,1923,0.00,1.98,0.00,0.000,4,0.000,0.029,2029,534,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1975,-0.41,-184.9,297.9,-10.1,123,1981,0.00,1.98,0.00,0.000,6,0.000,0.020,2021,1931,3167,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2280,-0.41,-184.9,330.4,-10.3,139,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1931,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2582,-0.41,-184.9,359.6,-9.4,154,2587,0.00,2.03,0.00,0.000,4,0.000,0.028,2020,543,3162,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2645,-0.41,-184.9,365.8,-9.6,157,2650,0.00,1.98,0.00,0.000,6,0.000,0.020,2011,1932,3163,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2968,-0.41,-184.9,396.7,-9.9,173,2973,0.00,2.00,0.00,0.000,4,0.000,0.028,2011,549,3162,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3021,-0.41,-184.9,401.2,-10.2,175,3026,0.00,1.95,0.00,0.000,6,0.000,0.021,2003,1927,3162,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3333,-0.41,-184.9,434.1,-9.6,191,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1928,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3635,-0.41,-184.9,463.5,-10.7,206,3641,0.00,2.03,0.00,0.000,4,0.000,0.029,2001,546,3159,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3668,-0.41,-184.9,466.3,-10.7,207,3674,0.12,1.95,0.00,0.000,6,0.142,0.021,2031,1921,3159,0,0,0,0,0,0,26.06,26.36,28.83
$GC,3982,-0.44,-184.9,492.4,-7.1,223,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1921,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4284,-0.46,-184.9,509.9,-5.4,238,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1921,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4584,-0.48,-184.9,526.3,-6.1,253,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,1921,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4884,-0.51,-184.9,544.8,-5.7,268,4890,0.12,2.03,0.00,0.000,4,0.097,0.032,1957,3302,3151,0,0,0,0,0,0,26.41,26.20,28.83
$GC,4917,-0.53,-184.9,546.7,-6.0,269,4923,0.12,1.92,0.00,0.000,6,0.139,0.021,1992,1910,3150,0,0,0,0,0,0,26.06,26.39,28.83
$GC,5232,-0.53,-184.9,571.7,-7.7,285,5237,0.00,1.95,0.00,0.000,4,0.000,0.030,1993,550,3151,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5337,-0.53,-184.9,580.7,-8.7,290,5342,0.00,1.98,0.00,0.000,6,0.000,0.021,1985,1934,3148,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5650,-0.53,-184.9,608.4,-9.2,304,5655,0.00,2.00,0.00,0.000,4,0.000,0.030,1985,557,3146,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5683,-0.53,-184.9,611.7,-9.4,305,5689,0.00,1.95,0.00,0.000,6,0.000,0.021,1976,1925,3146,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6019,-0.53,-184.9,642.4,-8.7,316,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1925,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6316,-0.53,-184.9,670.8,-9.7,326,6321,0.00,2.00,0.00,0.000,4,0.000,0.031,1976,560,3142,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6368,-0.53,-184.9,673.9,-9.6,327,6373,0.00,1.95,0.00,0.000,6,0.000,0.021,1968,1926,3142,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6683,-0.53,-184.9,704.6,-9.1,338,6688,0.00,2.03,0.00,0.000,4,0.000,0.035,1957,3306,3140,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6706,-0.53,-184.9,704.6,-9.1,338,6712,0.12,1.92,0.00,0.000,6,0.139,0.021,1993,1919,3140,0,0,0,0,0,0,26.03,26.36,28.83
$GC,7024,-0.54,-184.9,730.1,-7.4,349,7029,0.00,2.00,0.00,0.000,4,0.000,0.031,1994,549,3138,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7181,-0.55,-184.9,743.2,-8.3,354,7187,0.00,1.98,0.00,0.000,6,0.000,0.022,1986,1929,3138,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7512,-0.55,-184.9,767.9,-7.1,365,7517,0.00,2.03,0.00,0.000,4,0.000,0.031,1987,559,3136,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7589,-0.55,-184.9,773.0,-7.4,367,7595,0.00,1.98,0.00,0.000,6,0.000,0.023,1980,1918,3136,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7911,-0.55,-184.9,797.8,-7.3,378,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1918,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8208,-0.55,-184.9,819.8,-7.4,388,8214,0.00,2.08,0.00,0.000,4,0.000,0.036,1969,3310,3132,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8251,-0.55,-184.9,822.4,-7.5,389,8256,0.00,1.95,0.00,0.000,6,0.000,0.021,1969,1933,3132,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8576,-0.55,-184.9,849.3,-8.2,400,8581,0.00,2.03,0.00,0.000,4,0.000,0.031,1969,538,3131,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8702,-0.55,-184.9,860.8,-9.2,404,8707,0.00,2.00,0.00,0.000,6,0.000,0.022,1961,1931,3131,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9037,-0.55,-184.9,890.0,-8.5,415,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1931,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9336,-0.55,-184.9,916.8,-9.1,425,9341,0.00,2.08,0.00,0.000,4,0.000,0.031,1960,541,3131,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9423,-0.55,-184.9,923.0,-9.5,427,9429,0.00,2.00,0.00,0.000,6,0.000,0.023,1951,1925,3128,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9729,-0.55,-184.9,955.3,-9.8,438,9735,0.12,2.05,0.00,0.000,4,0.157,0.030,1993,539,3127,0,0,0,0,0,0,26.13,26.13,28.83
$GC,9764,-0.55,-184.9,958.4,-9.6,439,9769,0.00,2.03,0.00,0.000,6,0.000,0.022,1986,1937,3127,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10099,-0.57,-184.9,983.7,-7.5,450,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1939,3126,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10185,begin apogee
$GC,10191,-0.17,0.0,990.6,-7.7,453,10352,0.35,0.00,153.95,1.402,6,0.116,0.000,2104,1938,2409,0,0,0,0,0,0,25.70,28.83,22.32
$STATE,10353,end apogee,CONTROL_FINISHED_OK
$STATE,10353,begin climb
$GC,10356,0.58,184.9,996.6,0.0,458,10536,0.73,2.38,170.48,1.354,4,0.086,0.034,2356,527,1656,0,0,0,0,0,0,24.26,23.68,21.90
$GC,10604,0.61,255.6,986.5,7.0,466,10677,0.00,2.08,64.20,1.328,6,0.000,0.021,2355,1897,1369,0,0,0,0,0,0,28.83,25.13,22.51
$GC,11000,0.63,255.6,948.0,9.4,480,11006,0.00,2.08,0.00,0.000,4,0.000,0.035,2355,3289,1358,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11138,0.64,255.6,934.8,10.7,484,11143,0.00,2.00,0.00,0.000,6,0.000,0.024,2363,1892,1357,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11458,0.65,255.6,900.7,10.2,495,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1892,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11757,0.66,255.6,871.3,9.7,505,11762,0.00,2.10,0.00,0.000,4,0.000,0.034,2363,3286,1356,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11794,0.68,255.6,867.7,9.8,506,11799,0.00,2.00,0.00,0.000,6,0.000,0.023,2369,1901,1356,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12124,0.69,255.6,834.8,9.9,517,12129,0.00,2.08,0.00,0.000,4,0.000,0.034,2380,508,1355,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12161,0.70,255.6,831.1,10.0,518,12166,0.00,2.00,0.00,0.000,6,0.000,0.021,2380,1926,1355,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12491,0.70,255.6,796.9,10.0,529,12496,0.00,2.00,0.00,0.000,4,0.000,0.034,2380,3271,1354,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12603,0.70,255.6,786.8,10.4,532,12608,0.00,1.98,0.00,0.000,6,0.000,0.024,2386,1902,1354,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12917,0.70,255.6,752.9,10.0,543,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1902,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13216,0.70,263.4,724.6,9.2,553,13224,0.00,0.00,6.22,1.019,6,0.000,0.000,2387,1902,1335,0,0,0,0,0,0,28.83,28.83,23.84
$GC,13516,0.71,275.3,697.7,9.0,563,13531,0.00,0.00,12.57,1.154,6,0.000,0.000,2386,1902,1286,0,0,0,0,0,0,28.83,28.83,23.77
$GC,13817,0.71,276.0,669.8,9.4,573,13822,0.00,2.10,0.00,0.000,4,0.000,0.034,2387,3281,1283,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13859,0.71,276.0,666.3,9.7,574,13864,0.00,2.00,0.00,0.000,6,0.000,0.024,2386,1894,1283,0,0,0,0,0,0,28.83,26.25,28.83
$GC,14184,0.72,276.0,632.9,10.2,585,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1893,1283,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20426,end climb,SURFACE_DEPTH_REACHED
$STATE,20427,begin surface coast
$FINISH,1.1,1.000599
$STATE,20443,end surface coast,CONTROL_FINISHED_OK
$STATE,20443,begin surface
$SM_CCo,20521,0.00,0.000,0,0,503,467.54
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$IRIDIUM_FIX,1941.24,12343.31,210113,222223
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.48
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3894400
$24V_AH,21.9,66.379
$10V_AH,9.7,45.559
$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,16.725,145.200,577.550,0.000,0.000,0.000,0.000,295.300,0.000,0.000,13.331,2794.134,14549.248,666.829,2535.861,461.588,0.000,2192.911,0.000,2158.144,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,45.900,1402.245,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.655,0.000,0.000,0.000
$MEM,329060
$DATA_FILE_SIZE,33365,932
$CAP_FILE_SIZE,217728,0
$CFSIZE,260034560,218525696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220113,092536,1946.227,12349.760,39,1.1,39,-2.4