version: 66.11
glider: 129
mission: 4
dive: 361
start: 1 29 113 19 7 28
data:
$ID,129
$MISSION,4
$DIVE,361
$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,-3
$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,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,-3201.2239
$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,87
$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,21.5
$MINV_10V,9
$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
$GPS1,290113,185905,1749.788,12435.236,30,1.0,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-61.5
$GPS2,290113,190700,1749.726,12435.176,11,1.2,11,-2.0
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,290.8,255718,-15.3,-9.429,-18.41
$D_GRID,4007
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-184.9,0.0,0.0,0,69,0.00,0.00,-46.95,0.000,2,0.000,0.000,51,1878,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.58,-184.9,3.3,-4.6,8,122,8.05,2.15,-32.65,0.000,4,0.242,0.047,1956,3296,3163,0,0,0,0,0,0,24.87,26.07,26.56
$GC,237,-0.53,-184.9,36.2,-25.3,34,243,0.12,1.92,0.00,0.000,6,0.161,0.021,1988,1927,3163,0,0,0,0,0,0,25.89,26.29,28.83
$GC,562,-0.47,-184.9,122.9,-27.5,53,568,0.00,2.00,0.00,0.000,4,0.000,0.028,1988,535,3164,0,0,0,0,0,0,28.83,26.24,28.83
$GC,776,-0.44,-184.9,166.6,-19.7,63,782,0.12,1.95,0.00,0.000,6,0.151,0.021,2014,1902,3165,0,0,0,0,0,0,25.98,26.32,28.83
$GC,1090,-0.43,-184.9,213.7,-14.1,79,1096,0.00,2.08,0.00,0.000,4,0.000,0.032,2005,3320,3166,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1129,-0.42,-184.9,217.0,-14.3,80,1136,0.00,1.95,0.00,0.000,6,0.000,0.019,2005,1911,3166,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1435,-0.41,-184.9,259.5,-13.0,96,1440,0.00,1.95,0.00,0.000,4,0.000,0.028,2005,548,3165,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1554,-0.41,-184.9,272.3,-12.3,101,1562,0.12,1.95,0.00,0.000,6,0.143,0.020,2031,1936,3165,0,0,0,0,0,0,26.03,26.35,28.83
$GC,1859,-0.41,-184.9,300.9,-8.9,117,1865,0.00,2.03,0.00,0.000,4,0.000,0.027,2032,544,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1897,-0.41,-184.9,303.2,-8.9,118,1904,0.00,1.98,0.00,0.000,6,0.000,0.020,2024,1926,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2203,-0.41,-184.9,333.2,-9.8,134,2208,0.00,2.00,0.00,0.000,4,0.000,0.027,2024,553,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2302,-0.42,-184.9,341.2,-9.6,138,2310,0.00,1.95,0.00,0.000,6,0.000,0.020,2016,1935,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2608,-0.43,-184.9,367.0,-7.6,154,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1936,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2909,-0.44,-184.9,394.4,-8.8,169,2914,0.00,2.03,0.00,0.000,4,0.000,0.028,2016,553,3162,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2977,-0.45,-184.9,400.3,-8.9,172,2983,0.00,1.95,0.00,0.000,6,0.000,0.020,2007,1929,3162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3296,-0.45,-184.9,430.3,-9.9,188,3301,0.00,2.03,0.00,0.000,4,0.000,0.028,2007,548,3161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3323,-0.45,-184.9,432.7,-10.0,189,3328,0.00,1.95,0.00,0.000,6,0.000,0.020,2000,1925,3161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3641,-0.45,-184.9,463.6,-8.8,205,3646,0.00,2.00,0.00,0.000,4,0.000,0.033,1989,3297,3159,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3674,-0.45,-184.9,465.6,-8.7,206,3679,0.00,1.92,0.00,0.000,6,0.000,0.020,1989,1926,3158,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3987,-0.45,-184.9,496.3,-8.9,222,3993,0.00,2.00,0.00,0.000,4,0.000,0.028,1989,548,3157,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4071,-0.45,-184.9,504.2,-9.4,226,4078,0.12,1.98,0.00,0.000,6,0.146,0.021,2017,1926,3156,0,0,0,0,0,0,26.01,26.33,28.83
$GC,4396,-0.47,-184.9,528.0,-7.3,242,4401,0.00,2.05,0.00,0.000,4,0.000,0.028,2018,539,3154,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4455,-0.49,-184.9,531.4,-7.5,244,4462,0.00,1.98,0.00,0.000,6,0.000,0.020,2011,1931,3153,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4760,-0.51,-184.9,555.0,-7.3,260,4765,0.00,2.05,0.00,0.000,4,0.000,0.029,2011,542,3152,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4809,-0.52,-184.9,558.3,-7.6,262,4814,0.00,1.98,0.00,0.000,6,0.000,0.021,2003,1925,3151,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5128,-0.54,-184.9,584.0,-8.4,278,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1927,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5450,-0.55,-184.9,609.5,-7.5,292,5455,0.00,2.05,0.00,0.000,4,0.000,0.029,2003,541,3148,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5487,-0.56,-184.9,612.2,-7.4,293,5492,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1924,3147,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5819,-0.57,-184.9,637.6,-8.0,304,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1924,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6117,-0.58,-184.9,662.1,-8.2,314,6122,0.00,2.03,0.00,0.000,4,0.000,0.030,1995,555,3144,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6140,-0.60,-184.9,662.1,-8.2,314,6145,0.00,1.98,0.00,0.000,6,0.000,0.021,1987,1936,3144,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6453,-0.60,-184.9,690.8,-8.4,325,6458,0.00,2.05,0.00,0.000,4,0.000,0.030,1988,556,3142,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6490,-0.60,-184.9,693.7,-8.4,326,6495,0.00,1.98,0.00,0.000,6,0.000,0.022,1979,1928,3141,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6821,-0.60,-184.9,720.7,-7.9,337,6827,0.00,2.05,0.00,0.000,4,0.000,0.036,1970,3307,3141,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6864,-0.60,-184.9,723.7,-8.0,338,6870,0.00,1.95,0.00,0.000,6,0.000,0.021,1969,1933,3143,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7190,-0.60,-184.9,753.0,-8.9,349,7196,0.00,2.03,0.00,0.000,4,0.000,0.031,1970,546,3139,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7358,-0.60,-184.9,767.9,-9.5,354,7364,0.00,2.00,0.00,0.000,6,0.000,0.022,1961,1928,3138,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7681,-0.60,-184.9,798.5,-9.2,365,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1929,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7977,-0.60,-184.9,826.7,-9.3,375,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1929,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8279,-0.60,-184.9,853.7,-9.0,385,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1929,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8577,-0.60,-184.9,881.5,-9.4,395,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1933,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8879,-0.60,-184.9,909.4,-9.2,405,8884,0.00,2.10,0.00,0.000,4,0.000,0.031,1962,537,3131,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8931,-0.60,-184.9,912.9,-9.5,406,8936,0.00,2.03,0.00,0.000,6,0.000,0.023,1953,1927,3131,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9247,-0.60,-184.9,943.2,-8.7,417,9252,0.00,2.08,0.00,0.000,4,0.000,0.031,1952,543,3130,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9283,-0.60,-184.9,946.5,-8.7,418,9289,0.00,2.00,0.00,0.000,6,0.000,0.023,1943,1927,3130,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9614,-0.60,-184.9,974.5,-8.5,429,9619,0.00,2.08,0.00,0.000,4,0.000,0.031,1943,545,3129,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9683,-0.60,-184.9,980.4,-8.9,431,9689,0.12,2.00,0.00,0.000,6,0.156,0.024,1969,1922,3128,0,0,0,0,0,0,25.83,26.21,28.83
$STATE,9829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9830,begin apogee
$GC,9835,-0.17,0.0,992.0,-7.1,436,9998,0.40,0.00,154.50,1.407,6,0.117,0.000,2105,1922,2409,0,0,0,0,0,0,25.55,28.83,22.41
$STATE,10000,end apogee,CONTROL_FINISHED_OK
$STATE,10000,begin climb
$GC,10002,0.58,184.9,996.6,0.0,441,10183,0.70,2.38,169.20,1.358,4,0.085,0.034,2346,538,1655,0,0,0,0,0,0,24.48,23.75,21.92
$GC,10229,0.61,261.4,985.7,6.8,449,10305,0.00,2.10,69.62,1.330,6,0.000,0.020,2346,1911,1343,0,0,0,0,0,0,28.83,25.01,22.43
$GC,10619,0.66,312.5,954.8,7.7,462,10671,0.00,2.15,45.80,1.330,4,0.000,0.035,2346,3282,1133,0,0,0,0,0,0,28.83,25.25,23.44
$GC,10749,0.69,345.3,944.6,8.3,466,10789,0.10,2.03,30.58,1.302,6,0.116,0.024,2388,1905,1001,0,0,0,0,0,0,25.84,25.97,23.54
$GC,11102,0.70,345.3,906.2,10.7,478,11107,0.00,2.08,0.00,0.000,4,0.000,0.034,2397,510,995,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11140,0.72,345.3,902.7,10.8,479,11145,0.00,2.03,0.00,0.000,6,0.000,0.021,2397,1915,995,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11470,0.72,345.3,865.5,11.0,490,11475,0.00,2.05,0.00,0.000,4,0.000,0.035,2397,3275,994,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11567,0.72,345.3,854.3,11.6,493,11573,0.00,2.00,0.00,0.000,6,0.000,0.024,2403,1890,993,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11898,0.72,345.3,816.0,11.5,504,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1890,993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12197,0.72,345.3,782.0,11.1,514,12202,0.00,2.12,0.00,0.000,4,0.000,0.034,2404,3286,992,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12244,0.72,345.3,778.0,11.3,515,12249,0.00,2.03,0.00,0.000,6,0.000,0.024,2410,1887,992,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12562,0.72,345.3,739.1,11.6,526,12567,0.00,2.05,0.00,0.000,4,0.000,0.034,2420,507,992,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12605,0.72,345.3,735.2,11.7,527,12610,0.00,2.00,0.00,0.000,6,0.000,0.021,2420,1898,992,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12930,0.72,345.3,691.7,13.7,538,12935,0.00,2.05,0.00,0.000,4,0.000,0.034,2417,3279,992,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13050,0.72,345.3,678.2,14.0,541,13058,0.12,2.03,0.00,0.000,6,0.166,0.024,2394,1877,991,0,0,0,0,0,0,25.86,26.26,28.83
$GC,13356,0.73,348.0,643.4,9.3,552,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1877,991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13655,0.75,352.5,616.1,9.3,562,13669,0.00,2.20,6.45,0.970,4,0.000,0.034,2393,3283,971,0,0,0,0,0,0,28.83,25.93,23.92
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$STATE,19304,end climb,SURFACE_DEPTH_REACHED
$STATE,19304,begin surface coast
$FINISH,1.3,1.022788
$STATE,19320,end surface coast,CONTROL_FINISHED_OK
$STATE,19320,begin surface
$SM_CCo,19399,0.00,0.000,0,0,206,540.40
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$IRIDIUM_FIX,1745.10,12435.41,290113,141429
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.33
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3881696
$24V_AH,21.9,73.629
$10V_AH,9.8,49.827
$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
$DEVICE_SECS,16.750,165.975,636.500,0.000,0.000,0.000,0.000,276.900,0.000,0.000,12.623,2935.833,13164.505,723.910,2556.941,486.954,0.000,2280.435,0.000,2207.631,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.977,0.000,0.000,0.000
$MEM,329628
$DATA_FILE_SIZE,33364,875
$CAP_FILE_SIZE,219163,0
$CFSIZE,260034560,215171072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,162.4,1
$GPS,300113,003206,1749.420,12432.579,39,0.9,39,-2.0