version: 66.11
glider: 129
mission: 7
dive: 4
start: 6 1 113 1 40 25
data:
$ID,129
$MISSION,7
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,120
$T_MISSION,135
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51417
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00189234
$HD_B,0.014647
$HD_C,8.6444998e-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,9
$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,-10331.28
$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,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,3400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,103
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2575
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.965656
$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,0.0044205599
$SEABIRD_T_H,0.00065295544
$SEABIRD_T_I,2.7173966e-05
$SEABIRD_T_J,2.9599335e-06
$SEABIRD_C_G,-10.091012
$SEABIRD_C_H,1.1303297
$SEABIRD_C_I,-0.0017080312
$SEABIRD_C_J,0.00019346757
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010613,013530,1904.185,12059.451,10,1.4,27,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-59.0
$GPS2,010613,013955,1904.282,12059.369,16,1.4,16,-2.1
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,222.7,104263,-14.1,-10.000,-22.53,2886
$D_GRID,2376
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,20,-1.09,-194.6,71,1990,324,94,0.0,0.0,0,123,0.00,0.00,-100.60,0.000,16386,0.000,0.000,71,1990,2623,2769,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.09,-194.6,71,1990,2770,2478,3.3,-6.1,16,156,6.95,1.92,-12.82,0.000,18948,0.233,0.045,1914,641,3370,3541,3199,0,0,0,0,0,0,26.17,26.51,26.79
$GC,204,-1.09,-194.6,1914,641,3542,3200,28.6,-35.4,27,211,0.00,1.98,0.00,0.000,1030,0.000,0.027,1905,2029,3370,3542,3199,0,0,0,0,0,0,28.83,26.55,28.83
$GC,510,-1.09,-194.6,1905,2030,3542,3200,111.8,-26.0,58,516,0.00,2.00,0.00,0.000,516,0.000,0.031,1905,641,3371,3542,3200,0,0,0,0,0,0,28.83,26.61,28.83
$GC,744,-1.09,-194.6,1905,641,3542,3200,160.5,-21.5,81,751,0.00,1.95,0.00,0.000,1030,0.000,0.026,1896,2012,3369,3538,3200,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1059,-1.09,-194.6,1895,2014,3542,3200,224.2,-16.8,112,1065,0.00,2.00,0.00,0.000,516,0.000,0.033,1895,643,3371,3542,3200,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1225,-1.09,-194.6,1895,643,3542,3200,247.4,-15.0,128,1232,0.12,1.95,0.00,0.000,3078,0.168,0.028,1921,2008,3371,3542,3200,0,0,0,0,0,0,26.51,26.71,28.83
$GC,1553,-1.09,-194.6,1919,2008,3542,3199,289.7,-11.2,140,1558,0.00,2.00,0.00,0.000,516,0.000,0.034,1920,645,3370,3542,3199,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1731,-1.09,-194.6,1920,645,3541,3199,308.7,-12.5,145,1738,0.00,1.95,0.00,0.000,1030,0.000,0.028,1911,2001,3372,3541,3203,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2037,-1.09,-194.6,1911,2002,3535,3199,350.6,-12.7,156,2042,0.00,1.98,0.00,0.000,516,0.000,0.035,1911,645,3367,3535,3199,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2095,-1.09,-194.6,1911,645,3535,3200,355.0,-12.7,157,2101,0.00,1.95,0.00,0.000,1030,0.000,0.029,1902,2003,3366,3533,3199,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,2128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2128,begin apogee
$GC,2137,-0.25,0.0,1891,3377,3532,3199,362.5,-12.6,159,2291,0.90,0.00,146.65,0.815,10246,0.132,0.000,2192,3377,2573,2721,2425,0,0,0,0,0,0,26.50,28.83,24.77
$STATE,2293,end apogee,CONTROL_FINISHED_OK
$STATE,2293,begin climb
$GC,2296,1.09,194.6,2192,3377,2718,2422,368.5,0.0,164,2456,1.17,0.00,152.48,0.796,10502,0.064,0.000,2626,3378,1781,1938,1625,0,0,0,0,0,0,25.49,28.83,24.72
$GC,2735,1.09,194.6,2626,3378,1921,1616,312.2,16.2,179,2740,0.00,0.77,0.00,0.000,260,0.000,0.058,2626,3893,1768,1921,1616,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2968,1.09,194.6,2626,3893,1916,1615,270.9,20.1,186,2973,0.00,0.62,0.00,0.000,1030,0.000,0.037,2630,3429,1765,1915,1615,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3282,1.09,194.6,2630,3429,1914,1611,213.0,15.3,211,3287,0.00,2.08,0.00,0.000,516,0.000,0.028,2641,1977,1762,1914,1611,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3429,1.12,208.7,2641,1978,1912,1608,196.1,9.5,225,3444,0.00,2.17,9.23,0.637,9222,0.000,0.041,2641,3406,1722,1874,1571,0,0,0,0,0,0,28.83,26.57,25.82
$GC,3755,1.12,208.7,2641,3406,1870,1566,160.4,12.0,257,3760,0.00,0.73,0.00,0.000,260,0.000,0.057,2641,3896,1718,1870,1566,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3910,1.12,208.7,2641,3897,1869,1566,142.5,10.3,272,3915,0.00,0.68,0.00,0.000,1030,0.000,0.037,2645,3404,1717,1869,1566,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4225,1.57,431.4,2645,3404,1869,1563,112.2,2.1,303,4409,0.32,0.82,177.88,0.641,11012,0.071,0.055,2783,3903,809,970,648,0,0,0,0,0,0,26.62,25.41,24.89
$GC,4641,1.57,431.4,2783,3903,958,644,25.5,28.7,344,4647,0.00,0.70,0.00,0.000,1030,0.000,0.034,2788,3387,801,958,644,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,4733,end climb,SURFACE_DEPTH_REACHED
$STATE,4733,begin surface coast
$FINISH,0.5,1.021476
$STATE,4738,end surface coast,CONTROL_FINISHED_OK
$STATE,4739,begin surface
$SM_CCo,4819,0.00,0.000,0,0,798,435.90
$SM_GC,0.83,6.95,2.05,0.00,0.043,0.025,0.000,70,1992,798,-6.82,1.89,435.90,0,0,0,0,0,0,26.30,26.36,28.83
$IRIDIUM_FIX,1900.10,12112.69,010613,010121
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.78
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3940256
$24V_AH,24.7,1.884
$10V_AH,9.9,1.532
$FG_AHR_24Vo,0.000
$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,16.425,32.375,486.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.703,1108.380,2227.119,495.391,939.734,129.367,0.000,1037.883,0.000,913.135,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,58.140,814.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,33.700,11.080,2.190,11.080,37.300,47.040,0.000,15.880,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4708.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.300,0.000,0.000,0.000
$MEM,338100
$DATA_FILE_SIZE,13404,362
$CAP_FILE_SIZE,87603,0
$CFSIZE,260034560,252796928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.371,315.9,1
$GPS,010613,030206,1904.693,12058.854,42,1.3,42,-2.1