version: 66.11
glider: 129
mission: 4
dive: 8
start: 11 4 112 10 26 5
data:
$ID,129
$MISSION,4
$DIVE,8
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,250
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-2655.6111
$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,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,87
$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,0.0012300001
$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,22
$MINV_10V,9.5
$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,10
$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
$GPS1,041112,101901,1750.737,12439.169,39,1.7,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.3
$GPS2,041112,102538,1750.841,12439.307,14,1.3,14,-2.0
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$TGT_RADIUS,5000.000
$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,254.0,287236,-13.9,-10.000,-17.06
$D_GRID,4074
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-243.3,0.0,0.0,0,91,0.00,0.00,-72.22,0.000,2,0.000,0.000,63,1929,2191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.69,-243.3,3.4,-8.3,12,132,8.07,2.20,-23.48,0.000,4,0.253,0.052,2073,490,3404,0,0,0,0,0,0,25.93,26.20,26.48
$GC,274,-0.69,-243.3,32.8,-14.3,41,280,0.00,2.00,0.00,0.000,6,0.000,0.030,2065,1873,3405,0,0,0,0,0,0,28.83,26.36,28.83
$GC,597,-0.62,-243.3,89.4,-15.9,62,603,0.12,2.03,0.00,0.000,4,0.155,0.035,2107,481,3405,0,0,0,0,0,0,26.42,26.50,28.83
$GC,660,-0.68,-243.3,94.6,-9.4,65,666,0.00,2.05,0.00,0.000,6,0.000,0.028,2101,1913,3405,0,0,0,0,0,0,28.83,26.54,28.83
$GC,983,-1.00,-243.3,124.3,-11.7,81,989,0.30,2.00,0.00,0.000,4,0.094,0.039,1981,3297,3406,0,0,0,0,0,0,26.55,26.58,28.83
$GC,1061,-1.24,-243.3,131.5,-11.7,84,1070,0.22,2.03,0.00,0.000,6,0.069,0.028,1880,1866,3406,0,0,0,0,0,0,26.61,26.64,28.83
$GC,1366,-1.05,-243.3,205.7,-23.0,100,1373,0.25,1.95,0.00,0.000,4,0.157,0.034,1960,511,3406,0,0,0,0,0,0,26.52,26.65,28.83
$GC,1435,-0.95,-243.3,216.4,-18.1,103,1441,0.15,1.98,0.00,0.000,6,0.143,0.030,1996,1899,3406,0,0,0,0,0,0,26.56,26.67,28.83
$GC,1754,-0.99,-243.3,250.2,-9.5,119,1759,0.00,2.03,0.00,0.000,4,0.000,0.037,1995,512,3406,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1796,-1.04,-243.3,254.3,-9.4,121,1801,0.00,2.00,0.00,0.000,6,0.000,0.029,1989,1918,3406,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2119,-1.07,-243.3,284.2,-9.0,137,2125,0.10,2.05,0.00,0.000,4,0.108,0.036,1941,512,3405,0,0,0,0,0,0,26.74,26.71,28.83
$GC,2152,-1.10,-243.3,287.0,-9.6,138,2158,0.00,1.98,0.00,0.000,6,0.000,0.030,1930,1898,3405,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2466,-1.03,-243.3,329.7,-12.6,154,2468,0.12,0.00,0.00,0.000,6,0.167,0.000,1965,1898,3404,0,0,0,0,0,0,26.62,28.83,28.83
$GC,2766,-1.03,-243.3,358.8,-9.5,169,2772,0.00,2.03,0.00,0.000,4,0.000,0.038,1965,513,3402,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2793,-1.03,-243.3,361.1,-9.5,170,2799,0.00,2.00,0.00,0.000,6,0.000,0.031,1957,1910,3401,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3110,-1.03,-243.3,394.3,-10.1,186,3115,0.00,2.03,0.00,0.000,4,0.000,0.044,1946,3300,3399,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3162,-1.03,-243.3,398.5,-10.3,188,3167,0.00,2.00,0.00,0.000,6,0.000,0.030,1946,1893,3399,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3473,-1.03,-243.3,432.5,-11.0,204,3479,0.00,2.00,0.00,0.000,4,0.000,0.041,1946,502,3397,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3564,-1.03,-243.3,442.1,-11.8,208,3571,0.12,2.03,0.00,0.000,6,0.161,0.032,1971,1909,3397,0,0,0,0,0,0,26.63,26.76,28.83
$GC,3879,-1.09,-243.3,471.0,-8.1,224,3884,0.00,2.05,0.00,0.000,4,0.000,0.047,1963,3294,3395,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3936,-1.15,-243.3,474.4,-8.0,226,3944,0.00,2.00,0.00,0.000,6,0.000,0.031,1963,1887,3394,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4242,-1.19,-243.3,501.2,-8.5,242,4248,0.12,2.03,0.00,0.000,4,0.099,0.040,1900,501,3391,0,0,0,0,0,0,26.77,26.74,28.83
$GC,4276,-1.19,-243.3,503.9,-9.1,243,4281,0.00,2.03,0.00,0.000,6,0.000,0.034,1891,1897,3390,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4589,-1.11,-243.3,547.5,-13.5,259,4591,0.17,0.00,0.00,0.000,6,0.160,0.000,1941,1897,3388,0,0,0,0,0,0,26.63,28.83,28.83
$GC,4888,-1.11,-243.3,579.0,-10.6,274,4893,0.00,2.08,0.00,0.000,4,0.000,0.049,1932,3292,3386,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4919,-1.11,-243.3,581.2,-10.5,275,4925,0.00,2.00,0.00,0.000,6,0.000,0.033,1932,1902,3386,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5243,-1.11,-243.3,618.7,-11.2,289,5248,0.00,2.05,0.00,0.000,4,0.000,0.044,1932,506,3384,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5278,-1.11,-243.3,622.5,-11.3,290,5283,0.00,2.05,0.00,0.000,6,0.000,0.035,1922,1906,3384,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,5605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5605,begin apogee
$GC,5609,-0.14,0.0,660.1,-11.1,301,5806,0.95,0.00,186.77,1.147,6,0.122,0.000,2249,1784,2409,0,0,0,0,0,0,26.65,28.83,24.08
$STATE,5807,end apogee,CONTROL_FINISHED_OK
$STATE,5807,begin climb
$GC,5809,0.69,243.3,669.7,0.0,307,6017,0.75,2.28,196.98,1.110,4,0.067,0.050,2531,410,1416,0,0,0,0,0,0,25.05,24.82,24.06
$GC,6053,0.33,243.3,648.7,18.1,315,6061,0.45,2.15,0.00,0.000,6,0.190,0.034,2410,1805,1412,0,0,0,0,0,0,25.26,25.44,28.83
$GC,6370,0.21,243.3,589.9,16.5,327,6376,0.12,2.10,0.00,0.000,4,0.198,0.044,2374,3207,1407,0,0,0,0,0,0,26.08,26.20,28.83
$GC,6544,0.13,243.3,564.8,15.0,335,6550,0.15,2.10,0.00,0.000,6,0.184,0.037,2344,1798,1407,0,0,0,0,0,0,26.22,26.35,28.83
$GC,6857,0.13,243.3,527.3,10.8,351,6862,0.00,2.12,0.00,0.000,4,0.000,0.047,2344,3198,1405,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6964,0.10,243.3,516.0,11.0,356,6970,0.00,2.08,0.00,0.000,6,0.000,0.037,2352,1792,1405,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7282,0.06,243.3,483.2,10.1,372,7287,0.00,2.10,0.00,0.000,4,0.000,0.046,2352,3200,1404,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7408,0.02,243.3,469.7,11.1,378,7413,0.20,2.08,0.00,0.000,6,0.168,0.037,2306,1793,1403,0,0,0,0,0,0,26.46,26.60,28.83
$GC,7726,0.15,320.8,444.6,7.9,394,7796,0.12,2.25,62.08,1.024,4,0.104,0.046,2362,3201,1101,0,0,0,0,0,0,26.62,25.29,24.57
$GC,7902,0.15,320.8,424.2,13.5,402,7910,0.00,2.10,0.00,0.000,6,0.000,0.037,2370,1805,1097,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8208,0.15,320.8,378.0,14.7,418,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1804,1097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8509,0.15,320.8,337.8,12.7,433,8514,0.00,2.12,0.00,0.000,4,0.000,0.045,2370,3209,1094,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8611,0.15,320.8,324.5,13.1,438,8616,0.00,2.10,0.00,0.000,6,0.000,0.038,2379,1792,1094,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8933,0.15,320.8,286.2,11.3,454,8938,0.00,2.12,0.00,0.000,4,0.000,0.045,2378,3203,1093,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8999,0.15,320.8,278.7,11.9,457,9005,0.12,2.08,0.00,0.000,6,0.176,0.038,2354,1796,1093,0,0,0,0,0,0,26.46,26.58,28.83
$GC,9318,0.25,369.4,249.6,8.7,473,9363,0.00,2.17,39.67,0.875,4,0.000,0.047,2363,391,902,0,0,0,0,0,0,28.83,25.77,25.11
$GC,9415,0.37,419.9,242.4,8.6,477,9463,0.17,2.10,41.17,0.851,6,0.083,0.032,2432,1808,697,0,0,0,0,0,0,25.96,26.00,24.67
$GC,9761,0.34,419.9,191.2,14.6,495,9768,0.00,2.08,0.00,0.000,4,0.000,0.044,2432,3201,692,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9953,0.34,419.9,166.7,12.6,504,9958,0.00,2.08,0.00,0.000,6,0.000,0.036,2438,1799,692,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10265,0.34,419.9,124.6,13.0,520,10270,0.00,2.08,0.00,0.000,4,0.000,0.041,2438,3199,691,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10401,0.34,419.9,109.2,12.5,526,10409,0.12,2.05,0.00,0.000,6,0.160,0.034,2411,1794,692,0,0,0,0,0,0,26.39,26.51,28.83
$GC,10708,0.60,544.0,84.6,6.6,542,10809,0.20,2.22,90.93,0.717,4,0.075,0.045,2514,400,210,0,0,0,0,0,0,26.57,25.29,24.73
$GC,10851,0.60,544.0,64.8,14.5,549,10856,0.00,2.10,0.00,0.000,6,0.000,0.030,2513,1803,210,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11158,0.60,544.0,16.9,15.5,579,11164,0.00,2.08,0.00,0.000,4,0.000,0.039,2514,3204,209,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11260,end climb,SURFACE_DEPTH_REACHED
$STATE,11260,begin surface coast
$FINISH,0.1,1.012742
$STATE,11275,end surface coast,CONTROL_FINISHED_OK
$STATE,11275,begin surface
$SM_CCo,11351,0.00,0.000,0,0,208,540.15
$SM_GC,0.85,6.25,1.95,0.00,0.042,0.031,0.000,61,1897,208,-6.90,1.61,540.15,0,0,0,0,0,0,26.32,26.34,28.83
$IRIDIUM_FIX,1745.10,12435.41,041112,060657
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.60
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,4017216
$24V_AH,24.1,1.059
$10V_AH,10.4,1.179
$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,19.400,103.450,617.600,0.000,0.000,0.000,0.000,256.975,0.000,0.000,15.436,1952.556,7156.593,667.858,1842.985,131.928,0.000,1810.283,0.000,1487.353,0.000,0.541,0.000
$DEVICE_MAMPS,253.215,74.205,1147.500,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11304.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.571,0.000,0.000,0.000
$MEM,327500
$DATA_FILE_SIZE,23441,602
$CAP_FILE_SIZE,144417,0
$CFSIZE,260034560,252973056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.313, 63.6,1
$GPS,041112,133626,1750.802,12439.359,34,1.4,34,-2.0