version: 66.11
glider: 129
mission: 4
dive: 454
start: 2 18 113 9 53 49
data:
$ID,129
$MISSION,4
$DIVE,454
$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,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,-3351.7019
$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,61
$R_STBD_OVSHOOT,82
$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,20
$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
$GPS1,180213,094353,1930.069,12305.512,28,1.5,45,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-59.6
$GPS2,180213,095319,1930.097,12305.809,14,1.3,14,-2.3
$SPEED_LIMITS,0.163,0.283
$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,43.5,153406,-15.3,-9.429,-18.41
$D_GRID,4620
$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,-184.9,0.0,0.0,0,88,0.00,0.00,-65.00,0.000,2,0.000,0.000,47,1918,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.4,-5.5,11,141,7.95,2.05,-33.58,0.000,4,0.236,0.044,1958,3299,3165,0,0,0,0,0,0,24.91,25.94,26.52
$GC,235,-0.54,-184.9,31.1,-26.3,34,242,0.00,2.00,0.00,0.000,6,0.000,0.024,1958,1916,3166,0,0,0,0,0,0,28.83,26.08,28.83
$GC,541,-0.49,-184.9,102.3,-21.4,54,548,0.12,2.05,0.00,0.000,4,0.157,0.029,1998,518,3166,0,0,0,0,0,0,25.97,25.97,28.83
$GC,736,-0.46,-184.9,132.8,-14.6,63,742,0.00,2.00,0.00,0.000,6,0.000,0.021,1989,1918,3166,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1050,-0.44,-184.9,180.9,-14.2,79,1055,0.00,2.03,0.00,0.000,4,0.000,0.029,1989,528,3166,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1124,-0.42,-184.9,190.4,-14.6,82,1130,0.15,2.00,0.00,0.000,6,0.142,0.021,2023,1931,3166,0,0,0,0,0,0,25.74,26.17,28.83
$GC,1438,-0.42,-184.9,226.3,-10.1,98,1443,0.00,2.08,0.00,0.000,4,0.000,0.030,2023,517,3166,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1511,-0.42,-184.9,233.2,-10.8,101,1517,0.00,2.00,0.00,0.000,6,0.000,0.020,2014,1936,3166,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1826,-0.42,-184.9,267.5,-10.8,117,1831,0.00,2.03,0.00,0.000,4,0.000,0.033,2004,3304,3165,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1844,-0.42,-184.9,267.5,-10.8,117,1851,0.00,2.00,0.00,0.000,6,0.000,0.022,2004,1907,3165,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2149,-0.42,-184.9,304.5,-11.4,133,2155,0.00,2.00,0.00,0.000,4,0.000,0.031,2004,531,3165,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2254,-0.42,-184.9,317.6,-12.8,138,2260,0.00,2.00,0.00,0.000,6,0.000,0.021,1994,1929,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2578,-0.42,-184.9,353.5,-10.6,154,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1931,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2881,-0.42,-184.9,383.9,-9.8,169,2886,0.00,2.05,0.00,0.000,4,0.000,0.033,1983,3309,3162,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2905,-0.42,-184.9,386.3,-9.8,170,2911,0.15,2.00,0.00,0.000,6,0.122,0.022,2029,1923,3163,0,0,0,0,0,0,25.79,26.14,28.83
$GC,3230,-0.44,-184.9,409.5,-7.2,186,3235,0.00,2.03,0.00,0.000,4,0.000,0.031,2029,541,3162,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3337,-0.46,-184.9,417.9,-8.0,191,3342,0.00,2.00,0.00,0.000,6,0.000,0.021,2022,1921,3161,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3661,-0.48,-184.9,443.2,-7.9,207,3667,0.00,2.08,0.00,0.000,4,0.000,0.031,2022,536,3159,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3680,-0.49,-184.9,443.2,-7.9,207,3687,0.00,2.00,0.00,0.000,6,0.000,0.021,2013,1943,3159,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3986,-0.51,-184.9,470.5,-8.7,223,3991,0.00,2.00,0.00,0.000,4,0.000,0.033,2003,3299,3157,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4014,-0.52,-184.9,472.6,-8.7,224,4020,0.00,2.00,0.00,0.000,6,0.000,0.023,2003,1936,3157,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4334,-0.53,-184.9,504.2,-10.0,240,4339,0.00,2.10,0.00,0.000,4,0.000,0.032,2003,521,3155,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4454,-0.53,-184.9,514.4,-9.7,245,4462,0.00,2.03,0.00,0.000,6,0.000,0.021,1994,1914,3154,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4758,-0.53,-184.9,540.7,-7.6,261,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1914,3152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,-0.53,-184.9,563.8,-7.4,276,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1914,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-0.53,-184.9,588.1,-8.2,291,5365,0.00,2.08,0.00,0.000,4,0.000,0.032,1994,532,3149,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5466,-0.53,-184.9,597.6,-9.1,296,5471,0.00,2.00,0.00,0.000,6,0.000,0.022,1985,1927,3148,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5782,-0.53,-184.9,626.5,-9.3,307,5788,0.00,2.10,0.00,0.000,4,0.000,0.032,1985,524,3146,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5837,-0.53,-184.9,630.1,-9.5,308,5843,0.00,2.03,0.00,0.000,6,0.000,0.021,1975,1922,3146,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6151,-0.53,-184.9,664.2,-10.4,319,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1922,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6452,-0.53,-184.9,697.4,-11.2,329,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1923,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6751,-0.53,-184.9,730.4,-10.7,339,6756,0.00,2.12,0.00,0.000,4,0.000,0.033,1976,528,3140,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6779,-0.53,-184.9,730.4,-10.7,339,6786,0.00,2.05,0.00,0.000,6,0.000,0.023,1967,1934,3140,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7086,-0.53,-184.9,763.4,-9.3,350,7091,0.00,2.08,0.00,0.000,4,0.000,0.035,1957,3312,3138,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7120,-0.53,-184.9,766.4,-9.0,351,7126,0.12,2.05,0.00,0.000,6,0.140,0.024,1992,1916,3138,0,0,0,0,0,0,25.70,26.03,28.83
$GC,7456,-0.55,-184.9,788.8,-6.4,362,7461,0.00,2.05,0.00,0.000,4,0.000,0.034,1992,535,3137,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7521,-0.56,-184.9,793.4,-7.0,364,7526,0.00,2.03,0.00,0.000,6,0.000,0.022,1984,1936,3136,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7859,-0.56,-184.9,817.7,-7.4,375,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1936,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8155,-0.56,-184.9,841.1,-7.9,385,8160,0.00,2.10,0.00,0.000,4,0.000,0.034,1985,539,3133,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8197,-0.56,-184.9,844.1,-8.0,386,8203,0.00,2.00,0.00,0.000,6,0.000,0.023,1975,1929,3133,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8525,-0.56,-184.9,870.7,-7.8,397,8530,0.00,2.05,0.00,0.000,4,0.000,0.036,1965,3305,3132,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8583,-0.56,-184.9,873.6,-7.8,398,8591,0.00,2.03,0.00,0.000,6,0.000,0.025,1965,1924,3132,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8890,-0.56,-184.9,900.8,-8.5,409,8895,0.00,2.08,0.00,0.000,4,0.000,0.035,1965,534,3130,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9015,-0.56,-184.9,912.7,-9.5,413,9021,0.00,2.05,0.00,0.000,6,0.000,0.024,1955,1929,3130,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9352,-0.56,-184.9,946.3,-10.3,424,9357,0.00,2.12,0.00,0.000,4,0.000,0.034,1955,531,3128,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9394,-0.56,-184.9,950.4,-10.5,425,9400,0.12,2.05,0.00,0.000,6,0.158,0.024,1978,1932,3129,0,0,0,0,0,0,25.60,26.01,28.83
$GC,9722,-0.56,-184.9,979.0,-8.2,436,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1933,3128,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9865,begin apogee
$GC,9871,-0.17,0.0,990.9,-7.9,441,10035,0.38,0.00,152.50,1.426,6,0.120,0.000,2103,1932,2409,0,0,0,0,0,0,25.27,28.83,22.56
$STATE,10036,end apogee,CONTROL_FINISHED_OK
$STATE,10036,begin climb
$GC,10039,0.58,184.9,996.9,0.0,446,10218,0.73,2.45,169.57,1.374,4,0.089,0.037,2356,517,1654,0,0,0,0,0,0,24.30,23.32,21.69
$GC,10307,0.60,235.8,983.7,7.7,455,10361,0.00,2.08,45.33,1.336,6,0.000,0.023,2356,1890,1447,0,0,0,0,0,0,28.83,25.51,23.10
$GC,10686,0.62,238.2,947.3,9.3,468,10692,0.00,2.10,0.00,0.000,4,0.000,0.036,2356,3299,1439,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10760,0.63,238.2,940.5,9.9,470,10765,0.00,2.08,0.00,0.000,6,0.000,0.028,2365,1904,1438,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11086,0.63,238.2,905.9,10.4,481,11091,0.00,2.12,0.00,0.000,4,0.000,0.039,2375,505,1437,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11128,0.63,238.2,902.2,10.4,482,11134,0.00,2.05,0.00,0.000,6,0.000,0.024,2378,1910,1437,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11454,0.63,238.2,867.0,10.2,493,11459,0.00,2.05,0.00,0.000,4,0.000,0.035,2375,3285,1436,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11527,0.63,238.2,859.9,10.6,495,11533,0.00,2.05,0.00,0.000,6,0.000,0.028,2384,1896,1435,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11851,0.63,238.2,826.1,9.9,506,11856,0.00,2.12,0.00,0.000,4,0.000,0.034,2384,3287,1435,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11895,0.63,238.2,822.7,9.8,507,11900,0.00,2.08,0.00,0.000,6,0.000,0.028,2394,1897,1435,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12220,0.63,242.0,790.4,9.3,518,12231,0.00,2.12,4.80,0.949,4,0.000,0.036,2404,496,1422,0,0,0,0,0,0,28.83,25.86,24.00
$GC,12279,0.64,248.0,787.0,9.2,519,12292,0.15,2.05,6.93,1.085,6,0.148,0.024,2363,1911,1398,0,0,0,0,0,0,25.67,26.10,23.92
$GC,12621,0.67,305.6,758.6,7.5,531,12681,0.00,2.20,52.88,1.284,4,0.000,0.035,2363,3281,1163,0,0,0,0,0,0,28.83,25.13,23.41
$GC,12770,0.71,349.4,748.6,7.9,535,12819,0.00,2.08,39.92,1.244,6,0.000,0.028,2369,1895,985,0,0,0,0,0,0,28.83,25.89,23.39
$GC,13139,0.74,371.0,715.7,8.7,548,13168,0.00,2.17,19.55,1.200,4,0.000,0.040,2374,512,896,0,0,0,0,0,0,28.83,25.60,23.77
$GC,13196,0.78,391.1,713.1,8.7,549,13221,0.12,2.05,19.25,1.183,6,0.103,0.024,2425,1901,814,0,0,0,0,0,0,25.76,25.94,23.63
$GC,13534,0.78,391.1,670.7,11.6,561,13539,0.00,2.05,0.00,0.000,4,0.000,0.034,2425,3282,810,0,0,0,0,0,0,28.83,25.93,28.83
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$STATE,19510,end climb,SURFACE_DEPTH_REACHED
$STATE,19510,begin surface coast
$FINISH,1.4,1.022486
$STATE,19526,end surface coast,CONTROL_FINISHED_OK
$STATE,19526,begin surface
$SM_CCo,19605,0.00,0.000,0,0,207,540.40
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$IRIDIUM_FIX,1920.65,12302.10,180213,040417
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.12
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3846112
$24V_AH,21.7,93.691
$10V_AH,9.6,60.968
$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,17.025,181.825,598.150,0.000,0.000,0.000,0.000,332.850,0.000,0.000,18.288,2956.546,13258.742,730.752,2629.674,585.073,0.000,2357.120,0.000,2227.011,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,44.370,1425.960,0.000,0.000,0.000,0.000,130.815,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19562.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.301,0.000,0.000,0.000
$MEM,329024
$DATA_FILE_SIZE,33362,899
$CAP_FILE_SIZE,223400,0
$CFSIZE,260034560,206143488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,182.8,1
$GPS,180213,152154,1932.069,12307.608,39,1.7,39,-2.3