version: 66.11
glider: 129
mission: 4
dive: 474
start: 2 23 113 0 12 42
data:
$ID,129
$MISSION,4
$DIVE,474
$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,-3377.908
$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,57
$R_STBD_OVSHOOT,73
$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
$GPS1,230213,000300,2001.468,12347.784,42,1.5,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-52.5
$GPS2,230213,001213,2001.477,12347.644,13,1.3,13,-2.5
$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,108.9,61546,-15.3,-9.429,-18.41
$D_GRID,5418
$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,21,-0.58,-184.9,0.0,0.0,0,87,0.00,0.00,-64.47,0.000,2,0.000,0.000,58,1918,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.4,-4.4,11,142,7.80,2.17,-36.30,0.000,4,0.233,0.047,1965,522,3162,0,0,0,0,0,0,24.84,25.86,26.49
$GC,246,-0.53,-184.9,31.9,-25.7,36,253,0.12,2.03,0.00,0.000,6,0.168,0.022,1987,1920,3163,0,0,0,0,0,0,25.59,26.02,28.83
$GC,563,-0.50,-184.9,99.3,-18.6,56,568,0.00,2.08,0.00,0.000,4,0.000,0.031,1987,522,3163,0,0,0,0,0,0,28.83,25.82,28.83
$GC,601,-0.47,-184.9,103.4,-17.9,57,608,0.00,2.05,0.00,0.000,6,0.000,0.021,1978,1942,3164,0,0,0,0,0,0,28.83,26.03,28.83
$GC,907,-0.44,-184.9,158.6,-17.1,73,913,0.12,2.12,0.00,0.000,4,0.150,0.028,2019,521,3164,0,0,0,0,0,0,25.96,25.82,28.83
$GC,956,-0.42,-184.9,165.1,-15.4,75,961,0.00,2.05,0.00,0.000,6,0.000,0.021,2010,1945,3164,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1274,-0.42,-184.9,203.3,-11.6,91,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1946,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-0.42,-184.9,236.9,-10.9,106,1583,0.00,2.10,0.00,0.000,4,0.000,0.031,2010,524,3164,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1615,-0.42,-184.9,239.8,-11.0,107,1621,0.00,2.03,0.00,0.000,6,0.000,0.021,2001,1931,3164,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1921,-0.42,-184.9,277.2,-12.4,123,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1931,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,-0.42,-184.9,313.4,-11.0,138,2230,0.00,2.05,0.00,0.000,4,0.000,0.033,1994,3306,3163,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2258,-0.42,-184.9,316.0,-10.5,139,2264,0.12,2.03,0.00,0.000,6,0.129,0.022,2027,1898,3163,0,0,0,0,0,0,25.72,26.03,28.83
$GC,2573,-0.43,-184.9,335.0,-4.7,155,2579,0.00,2.00,0.00,0.000,4,0.000,0.032,2027,547,3163,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2720,-0.45,-184.9,343.0,-5.7,162,2726,0.00,2.00,0.00,0.000,6,0.000,0.021,2019,1935,3162,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3045,-0.46,-184.9,368.6,-9.2,178,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1935,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3348,-0.47,-184.9,396.2,-8.8,193,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1935,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3647,-0.49,-184.9,419.8,-7.4,208,3652,0.00,2.08,0.00,0.000,4,0.000,0.031,2019,546,3160,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3696,-0.50,-184.9,423.7,-7.9,210,3701,0.00,2.00,0.00,0.000,6,0.000,0.021,2009,1930,3160,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4016,-0.52,-184.9,450.6,-8.5,226,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1931,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4317,-0.53,-184.9,475.0,-8.3,241,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1931,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-0.54,-184.9,501.5,-8.7,256,4623,0.00,2.10,0.00,0.000,4,0.000,0.033,2010,546,3155,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4686,-0.55,-184.9,507.5,-8.9,259,4691,0.00,2.00,0.00,0.000,6,0.000,0.021,2002,1925,3157,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5005,-0.55,-184.9,534.8,-8.5,275,5011,0.00,2.08,0.00,0.000,4,0.000,0.033,2002,549,3153,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5063,-0.55,-184.9,539.0,-9.1,277,5071,0.00,2.00,0.00,0.000,6,0.000,0.022,1993,1927,3153,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5369,-0.55,-184.9,570.2,-9.8,293,5375,0.00,2.08,0.00,0.000,4,0.000,0.033,1993,544,3151,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5418,-0.55,-184.9,574.6,-9.9,295,5423,0.00,2.00,0.00,0.000,6,0.000,0.022,1985,1923,3151,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5736,-0.55,-184.9,605.6,-9.1,310,5742,0.00,2.10,0.00,0.000,4,0.000,0.033,1985,542,3149,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5779,-0.55,-184.9,608.6,-9.0,311,5785,0.00,2.03,0.00,0.000,6,0.000,0.023,1975,1928,3149,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6106,-0.55,-184.9,636.2,-7.8,322,6112,0.00,2.08,0.00,0.000,4,0.000,0.034,1965,3306,3147,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6141,-0.55,-184.9,638.9,-7.6,323,6146,0.00,2.03,0.00,0.000,6,0.000,0.024,1965,1934,3147,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6476,-0.55,-184.9,668.9,-9.4,334,6481,0.00,2.10,0.00,0.000,4,0.000,0.034,1965,537,3146,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6620,-0.55,-184.9,682.0,-10.5,338,6625,0.00,2.03,0.00,0.000,6,0.000,0.022,1955,1926,3145,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6935,-0.55,-184.9,720.0,-11.5,349,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,1927,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7235,-0.55,-184.9,753.9,-11.1,359,7241,0.00,2.12,0.00,0.000,4,0.000,0.034,1955,536,3142,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7361,-0.55,-184.9,768.2,-11.4,363,7368,0.12,2.05,0.00,0.000,6,0.147,0.023,1980,1929,3141,0,0,0,0,0,0,25.58,25.96,28.83
$GC,7698,-0.55,-184.9,793.6,-6.5,374,7704,0.00,2.10,0.00,0.000,4,0.000,0.035,1971,3319,3140,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7767,-0.55,-184.9,797.6,-6.2,376,7772,0.00,2.03,0.00,0.000,6,0.000,0.025,1971,1933,3140,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8101,-0.55,-184.9,819.9,-7.0,387,8107,0.00,2.10,0.00,0.000,4,0.000,0.035,1971,531,3138,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8271,-0.55,-184.9,833.7,-8.8,392,8276,0.00,2.05,0.00,0.000,6,0.000,0.023,1960,1931,3137,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8590,-0.55,-184.9,868.3,-11.0,403,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1932,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8890,-0.55,-184.9,900.8,-10.5,413,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1932,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9191,-0.55,-184.9,929.0,-8.7,423,9196,0.00,2.15,0.00,0.000,4,0.000,0.034,1962,530,3133,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9225,-0.55,-184.9,932.0,-8.6,424,9231,0.00,2.08,0.00,0.000,6,0.000,0.024,1952,1933,3133,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9562,-0.55,-184.9,960.3,-8.3,435,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1934,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9859,-0.55,-184.9,985.5,-8.7,445,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1933,3131,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9916,begin apogee
$GC,9923,-0.17,0.0,990.7,-8.8,447,10086,0.45,0.00,153.70,1.419,6,0.122,0.000,2098,1934,2409,0,0,0,0,0,0,24.94,28.83,22.50
$STATE,10087,end apogee,CONTROL_FINISHED_OK
$STATE,10088,begin climb
$GC,10090,0.58,184.9,996.4,0.0,452,10273,0.75,2.53,171.88,1.368,4,0.089,0.038,2354,524,1655,0,0,0,0,0,0,24.06,23.05,21.54
$GC,10328,0.62,272.6,987.4,6.4,460,10416,0.00,2.15,81.68,1.342,6,0.000,0.023,2355,1899,1297,0,0,0,0,0,0,28.83,24.54,22.00
$GC,10729,0.65,311.3,953.3,8.1,474,10772,0.00,2.20,34.10,1.328,4,0.000,0.036,2354,3289,1140,0,0,0,0,0,0,28.83,25.32,23.58
$GC,10843,0.69,341.9,945.5,8.4,477,10881,0.00,2.08,28.73,1.310,6,0.000,0.029,2363,1903,1014,0,0,0,0,0,0,28.83,25.91,23.56
$GC,11181,0.73,390.4,916.1,7.8,489,11235,0.00,2.25,44.28,1.334,4,0.000,0.040,2373,502,817,0,0,0,0,0,0,28.83,25.21,23.53
$GC,11266,0.77,442.4,911.6,7.6,491,11322,0.12,2.10,48.08,1.319,6,0.107,0.024,2422,1906,604,0,0,0,0,0,0,25.64,25.80,23.34
$GC,11637,0.79,442.4,866.5,12.2,504,11642,0.00,2.10,0.00,0.000,4,0.000,0.035,2419,3301,600,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11675,0.80,442.4,861.9,12.5,505,11680,0.00,2.10,0.00,0.000,6,0.000,0.029,2431,1898,599,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12006,0.80,442.4,817.6,13.3,516,12013,0.00,2.12,0.00,0.000,4,0.000,0.039,2441,500,599,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12050,0.80,442.4,812.7,13.2,517,12056,0.00,2.08,0.00,0.000,6,0.000,0.024,2441,1907,599,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12378,0.80,442.4,768.5,13.0,528,12383,0.00,2.05,0.00,0.000,4,0.000,0.034,2442,3290,598,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12426,0.80,442.4,763.3,13.3,529,12432,0.12,2.08,0.00,0.000,6,0.158,0.028,2416,1902,598,0,0,0,0,0,0,25.54,25.89,28.83
$GC,12748,0.82,442.4,724.8,11.3,540,12754,0.00,2.12,0.00,0.000,4,0.000,0.040,2425,501,597,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12818,0.83,442.4,717.4,11.1,542,12824,0.00,2.05,0.00,0.000,6,0.000,0.024,2425,1907,597,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13150,0.85,442.4,680.4,11.0,553,13156,0.00,2.10,0.00,0.000,4,0.000,0.034,2425,3294,597,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13194,0.86,442.4,676.1,11.2,554,13200,0.00,2.10,0.00,0.000,6,0.000,0.029,2427,1894,596,0,0,0,0,0,0,28.83,25.83,28.83
$GC,13521,0.88,442.4,638.6,11.1,565,13526,0.00,2.15,0.00,0.000,4,0.000,0.040,2426,500,597,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13569,0.89,442.4,634.6,11.1,566,13574,0.00,2.08,0.00,0.000,6,0.000,0.024,2426,1909,597,0,0,0,0,0,0,28.83,25.94,28.83
$GC,13881,0.91,442.4,597.6,11.8,577,13887,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,3286,597,0,0,0,0,0,0,28.83,25.66,28.83
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$STATE,18649,end climb,SURFACE_DEPTH_REACHED
$STATE,18649,begin surface coast
$FINISH,1.4,1.023268
$STATE,18664,end surface coast,CONTROL_FINISHED_OK
$STATE,18664,begin surface
$SM_CCo,18742,0.00,0.000,0,0,554,455.28
$SM_GC,2.05,6.53,0.00,0.00,0.050,0.000,0.000,58,1947,554,-6.46,0.59,455.28,0,0,0,0,0,0,25.63,28.83,28.83
$IRIDIUM_FIX,1952.70,12336.32,220213,181846
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.75
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3838432
$24V_AH,21.5,98.128
$10V_AH,9.5,63.510
$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,16.650,158.325,573.925,0.000,0.000,0.000,0.000,319.350,0.000,0.000,14.269,2748.412,12821.176,689.364,2437.115,588.668,0.000,2208.291,0.000,2051.506,0.000,0.539,0.000
$DEVICE_MAMPS,233.325,46.665,1419.075,0.000,0.000,0.000,0.000,132.345,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18698.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.947,0.000,0.000,0.000
$MEM,329004
$DATA_FILE_SIZE,30025,854
$CAP_FILE_SIZE,207068,0
$CFSIZE,260034560,204120064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,316.9,1
$GPS,230213,052624,2001.066,12350.527,39,1.1,39,-2.5