version: 66.11
glider: 129
mission: 4
dive: 375
start: 2 2 113 0 7 48
data:
$ID,129
$MISSION,4
$DIVE,375
$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,-3219.9971
$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,79
$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,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
$GPS1,010213,235900,1755.588,12359.087,37,1.6,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-56.4
$GPS2,020213,000719,1755.542,12359.077,10,1.5,10,-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,283.6,192237,-15.3,-9.429,-18.41
$D_GRID,4751
$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,-184.9,0.0,0.0,0,86,0.00,0.00,-64.35,0.000,2,0.000,0.000,48,1885,1764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.58,-184.9,3.1,-3.9,11,145,8.05,2.12,-39.50,0.000,4,0.242,0.045,1959,3302,3163,0,0,0,0,0,0,24.87,26.06,26.58
$GC,298,-0.53,-184.9,45.4,-25.2,40,306,0.12,1.98,0.00,0.000,6,0.160,0.021,1988,1904,3163,0,0,0,0,0,0,25.91,26.29,28.83
$GC,615,-0.47,-184.9,137.9,-27.2,57,620,0.00,1.98,0.00,0.000,4,0.000,0.028,1988,531,3163,0,0,0,0,0,0,28.83,26.22,28.83
$GC,795,-0.43,-184.9,175.5,-20.2,65,804,0.15,1.98,0.00,0.000,6,0.148,0.021,2022,1925,3163,0,0,0,0,0,0,25.91,26.32,28.83
$GC,1100,-0.43,-184.9,222.1,-13.1,81,1106,0.00,2.00,0.00,0.000,4,0.000,0.031,2013,3305,3164,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1124,-0.43,-184.9,224.9,-12.5,82,1131,0.00,1.95,0.00,0.000,6,0.000,0.019,2012,1911,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1448,-0.43,-184.9,266.3,-12.7,98,1454,0.00,1.92,0.00,0.000,4,0.000,0.028,2013,555,3164,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1556,-0.43,-184.9,278.9,-11.9,103,1563,0.00,1.95,0.00,0.000,6,0.000,0.020,2003,1943,3163,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1875,-0.43,-184.9,314.0,-10.9,119,1880,0.00,1.98,0.00,0.000,4,0.000,0.032,1992,3303,3162,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1969,-0.43,-184.9,322.8,-10.5,123,1975,0.00,1.92,0.00,0.000,6,0.000,0.020,1992,1918,3162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2284,-0.43,-184.9,355.8,-10.6,139,2289,0.00,1.95,0.00,0.000,4,0.000,0.028,1992,546,3161,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2381,-0.43,-184.9,365.0,-10.9,143,2389,0.12,1.95,0.00,0.000,6,0.145,0.019,2019,1925,3159,0,0,0,0,0,0,26.03,26.36,28.83
$GC,2688,-0.45,-184.9,390.2,-7.3,159,2694,0.00,2.03,0.00,0.000,4,0.000,0.032,2010,3312,3160,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2721,-0.46,-184.9,392.0,-7.4,160,2727,0.00,1.92,0.00,0.000,6,0.000,0.020,2010,1932,3160,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3035,-0.47,-184.9,421.7,-10.2,176,3040,0.00,1.98,0.00,0.000,4,0.000,0.028,2010,549,3159,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3213,-0.47,-184.9,439.4,-10.7,184,3220,0.00,1.95,0.00,0.000,6,0.000,0.020,2003,1929,3158,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3519,-0.47,-184.9,468.1,-8.2,200,3525,0.00,2.03,0.00,0.000,4,0.000,0.028,2002,546,3157,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3612,-0.47,-184.9,475.6,-8.9,204,3618,0.00,1.95,0.00,0.000,6,0.000,0.020,1995,1932,3156,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3928,-0.47,-184.9,503.7,-9.0,220,3933,0.00,2.03,0.00,0.000,4,0.000,0.034,1985,3298,3154,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3985,-0.47,-184.9,507.7,-9.1,222,3993,0.00,1.95,0.00,0.000,6,0.000,0.020,1985,1916,3154,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4291,-0.47,-184.9,539.1,-10.1,238,4297,0.00,2.00,0.00,0.000,4,0.000,0.029,1985,539,3151,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4431,-0.47,-184.9,552.0,-10.2,244,4438,0.12,1.98,0.00,0.000,6,0.147,0.021,2011,1922,3150,0,0,0,0,0,0,25.99,26.32,28.83
$GC,4738,-0.49,-184.9,575.0,-6.4,260,4743,0.00,2.05,0.00,0.000,4,0.000,0.034,2002,3306,3148,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4762,-0.51,-184.9,576.5,-6.3,261,4768,0.00,1.95,0.00,0.000,6,0.000,0.021,2002,1931,3146,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5087,-0.52,-184.9,597.4,-6.4,277,5092,0.00,2.00,0.00,0.000,4,0.000,0.029,2002,540,3145,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5246,-0.53,-184.9,609.2,-7.8,283,5251,0.00,1.98,0.00,0.000,6,0.000,0.021,1993,1926,3145,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5577,-0.53,-184.9,635.7,-8.2,294,5583,0.00,2.05,0.00,0.000,4,0.000,0.035,1983,3303,3142,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5606,-0.53,-184.9,635.7,-8.2,294,5612,0.00,1.98,0.00,0.000,6,0.000,0.021,1983,1913,3142,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5911,-0.53,-184.9,667.0,-9.5,305,5917,0.00,2.03,0.00,0.000,4,0.000,0.030,1983,548,3140,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6009,-0.53,-184.9,676.5,-10.0,308,6015,0.00,2.00,0.00,0.000,6,0.000,0.022,1974,1922,3140,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6340,-0.53,-184.9,709.0,-9.5,319,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1923,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,-0.53,-184.9,735.4,-8.5,329,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1924,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,-0.53,-184.9,759.9,-8.1,339,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1924,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7239,-0.53,-184.9,787.3,-9.3,349,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1921,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7538,-0.53,-184.9,814.9,-9.0,359,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1924,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7838,-0.53,-184.9,840.9,-8.5,369,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1924,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,-0.53,-184.9,865.2,-7.9,379,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1924,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8438,-0.53,-184.9,885.8,-6.5,389,8444,0.00,2.08,0.00,0.000,4,0.000,0.031,1974,549,3126,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8468,-0.53,-184.9,885.8,-6.5,389,8475,0.00,1.98,0.00,0.000,6,0.000,0.023,1968,1921,3128,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8773,-0.53,-184.9,907.7,-6.6,400,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1921,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,-0.53,-184.9,930.7,-8.1,410,9078,0.00,2.08,0.00,0.000,4,0.000,0.031,1968,542,3126,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9101,-0.53,-184.9,930.7,-8.1,410,9108,0.00,2.03,0.00,0.000,6,0.000,0.023,1959,1939,3126,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9407,-0.53,-184.9,958.4,-8.1,421,9412,0.00,2.08,0.00,0.000,4,0.000,0.031,1959,549,3125,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9445,-0.53,-184.9,961.4,-8.2,422,9451,0.12,1.98,0.00,0.000,6,0.150,0.023,1984,1930,3125,0,0,0,0,0,0,25.86,26.22,28.83
$GC,9777,-0.55,-184.9,981.8,-6.0,433,9783,0.00,2.08,0.00,0.000,4,0.000,0.031,1985,538,3123,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9813,-0.56,-184.9,984.4,-6.2,434,9819,0.00,2.00,0.00,0.000,6,0.000,0.023,1977,1932,3123,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,9904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9904,begin apogee
$GC,9910,-0.17,0.0,990.7,-6.7,437,10073,0.38,0.00,153.90,1.412,6,0.115,0.000,2104,1932,2408,0,0,0,0,0,0,25.60,28.83,22.46
$STATE,10075,end apogee,CONTROL_FINISHED_OK
$STATE,10075,begin climb
$GC,10077,0.58,184.9,995.6,0.0,442,10256,0.70,2.33,169.10,1.363,4,0.086,0.032,2346,527,1654,0,0,0,0,0,0,24.58,23.80,21.94
$GC,10311,0.61,250.3,984.6,7.2,450,10379,0.00,2.08,58.97,1.333,6,0.000,0.021,2346,1904,1386,0,0,0,0,0,0,28.83,25.22,22.76
$GC,10694,0.65,294.4,952.8,7.9,463,10740,0.00,2.17,39.05,1.332,4,0.000,0.034,2346,3274,1208,0,0,0,0,0,0,28.83,25.34,23.49
$GC,10797,0.68,332.7,945.1,8.1,466,10837,0.00,2.00,35.50,1.317,6,0.000,0.024,2346,1917,1052,0,0,0,0,0,0,28.83,25.92,23.47
$GC,11147,0.74,398.7,917.7,7.2,478,11215,0.12,2.22,59.72,1.333,4,0.106,0.035,2402,515,782,0,0,0,0,0,0,26.22,25.16,23.37
$GC,11264,0.75,398.7,908.3,9.5,481,11272,0.00,2.05,0.00,0.000,6,0.000,0.021,2402,1921,780,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11572,0.77,398.7,872.4,11.1,492,11578,0.00,2.03,0.00,0.000,4,0.000,0.034,2401,3281,777,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11640,0.78,398.7,864.7,11.4,494,11646,0.00,2.00,0.00,0.000,6,0.000,0.024,2402,1900,776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11972,0.80,398.7,825.1,12.0,505,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1900,775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12270,0.81,398.7,788.1,12.1,515,12275,0.00,2.08,0.00,0.000,4,0.000,0.034,2402,3286,775,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12308,0.83,398.7,783.8,12.2,516,12314,0.00,2.03,0.00,0.000,6,0.000,0.024,2402,1889,775,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12639,0.84,398.7,745.4,11.3,527,12644,0.00,2.08,0.00,0.000,4,0.000,0.035,2402,518,774,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12674,0.86,398.7,741.3,11.4,528,12680,0.10,2.00,0.00,0.000,6,0.115,0.021,2444,1897,774,0,0,0,0,0,0,26.13,26.31,28.83
$GC,13009,0.86,398.7,691.3,15.1,539,13014,0.00,2.05,0.00,0.000,4,0.000,0.035,2444,3288,774,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13146,0.86,398.7,672.9,14.8,543,13152,0.00,2.03,0.00,0.000,6,0.000,0.024,2446,1883,772,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13466,0.86,398.7,623.8,14.6,554,13471,0.00,2.12,0.00,0.000,4,0.000,0.034,2446,3285,772,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13494,0.86,398.7,623.8,14.6,554,13501,0.00,2.03,0.00,0.000,6,0.000,0.023,2455,1887,772,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13811,0.86,398.7,573.4,14.6,568,13817,0.00,2.05,0.00,0.000,4,0.000,0.033,2462,507,772,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,18789,end climb,SURFACE_DEPTH_REACHED
$STATE,18789,begin surface coast
$FINISH,1.2,1.021563
$STATE,18808,end surface coast,CONTROL_FINISHED_OK
$STATE,18808,begin surface
$SM_CCo,18885,0.00,0.000,0,0,484,472.20
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$IRIDIUM_FIX,1749.63,12404.02,010213,181831
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.07
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3876320
$24V_AH,21.9,76.790
$10V_AH,9.7,51.586
$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,16.775,157.650,583.350,0.000,0.000,0.000,0.000,289.150,0.000,0.000,11.268,2823.294,12862.986,717.313,2478.608,493.242,0.000,2239.937,0.000,2117.344,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,45.135,1412.190,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18837.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.958,0.000,0.000,0.000
$MEM,329608
$DATA_FILE_SIZE,33411,861
$CAP_FILE_SIZE,211226,0
$CFSIZE,260034560,213745664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101, 44.4,1
$GPS,020213,052354,1756.357,12356.950,41,0.9,41,-2.0