version: 66.11
glider: 129
mission: 4
dive: 250
start: 1 3 113 14 49 34
data:
$ID,129
$MISSION,4
$DIVE,250
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,-2969.5718
$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,175
$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,77
$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,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,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
$GPS1,030113,144207,1829.634,12219.403,12,2.0,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-56.9
$GPS2,030113,144907,1829.751,12219.345,15,1.6,15,-2.0
$SPEED_LIMITS,0.147,0.266
$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,346.5,6091,-14.2,-8.462,-17.62
$D_GRID,293
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,0.0,0.0,0,85,0.00,0.00,-64.75,0.000,2,0.000,0.000,61,1896,1775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.54,-175.2,3.2,-4.8,11,138,7.72,2.12,-32.62,0.000,4,0.239,0.047,1970,3306,3124,0,0,0,0,0,0,25.37,26.20,26.60
$GC,207,-0.49,-175.2,28.1,-25.5,31,213,0.12,1.95,0.00,0.000,6,0.163,0.022,2003,1909,3124,0,0,0,0,0,0,25.98,26.34,28.83
$GC,521,-0.44,-175.2,92.5,-18.7,51,527,0.00,2.05,0.00,0.000,4,0.000,0.032,1994,3313,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,714,-0.42,-175.2,118.8,-13.7,60,720,0.00,1.92,0.00,0.000,6,0.000,0.021,1994,1923,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1027,-0.40,-175.2,165.0,-13.0,76,1033,0.12,2.00,0.00,0.000,4,0.148,0.028,2035,534,3126,0,0,0,0,0,0,26.25,26.38,28.83
$GC,1071,-0.38,-175.2,169.7,-11.7,78,1076,0.00,1.95,0.00,0.000,6,0.000,0.021,2028,1921,3127,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1393,-0.38,-175.2,201.9,-10.3,94,1399,0.00,2.00,0.00,0.000,4,0.000,0.030,2028,548,3128,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1445,-0.38,-175.2,206.4,-10.5,96,1451,0.00,1.92,0.00,0.000,6,0.000,0.021,2019,1932,3127,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1759,-0.38,-175.2,240.0,-9.7,112,1764,0.00,2.00,0.00,0.000,4,0.000,0.034,2009,3299,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1785,-0.38,-175.2,242.1,-9.3,113,1790,0.00,1.90,0.00,0.000,6,0.000,0.021,2009,1924,3126,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2102,-0.38,-175.2,272.6,-10.1,129,2109,0.00,2.03,0.00,0.000,4,0.000,0.031,2009,515,3123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2236,-0.38,-175.2,286.3,-11.0,135,2242,0.12,2.00,0.00,0.000,6,0.148,0.021,2037,1924,3125,0,0,0,0,0,0,26.15,26.45,28.83
$STATE,2307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2307,begin apogee
$GC,2313,-0.17,0.0,293.6,-8.7,139,2451,0.17,0.00,131.12,0.852,6,0.122,0.000,2101,1924,2409,0,0,0,0,0,0,26.20,28.83,24.37
$STATE,2453,end apogee,CONTROL_FINISHED_OK
$STATE,2453,begin climb
$GC,2456,0.54,175.2,300.4,0.0,146,2600,0.68,2.20,134.32,0.835,4,0.092,0.032,2333,527,1692,0,0,0,0,0,0,25.43,25.38,24.33
$GC,2634,0.61,279.0,295.2,5.1,155,2723,0.00,2.00,80.72,0.820,6,0.000,0.020,2333,1910,1271,0,0,0,0,0,0,28.83,25.84,24.32
$GC,3036,0.68,377.3,273.3,5.3,175,3121,0.12,2.08,78.45,0.822,4,0.094,0.031,2397,3279,869,0,0,0,0,0,0,26.35,25.53,24.53
$GC,3190,0.70,377.3,260.6,9.3,182,3195,0.00,1.98,0.00,0.000,6,0.000,0.023,2400,1905,866,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3503,0.72,382.0,235.0,8.3,198,3510,0.00,0.00,4.60,0.586,6,0.000,0.000,2399,1905,851,0,0,0,0,0,0,28.83,28.83,24.68
$GC,3803,0.74,382.0,207.9,8.6,213,3809,0.00,2.03,0.00,0.000,4,0.000,0.030,2400,3279,849,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3876,0.75,382.0,202.3,8.6,216,3881,0.00,1.98,0.00,0.000,6,0.000,0.024,2400,1900,848,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4189,0.79,436.7,178.3,6.7,232,4242,0.00,2.15,44.67,0.789,4,0.000,0.034,2400,513,628,0,0,0,0,0,0,28.83,25.76,24.66
$GC,4276,0.84,489.2,172.7,6.8,236,4324,0.00,2.00,42.58,0.772,6,0.000,0.019,2399,1920,414,0,0,0,0,0,0,28.83,26.06,24.55
$GC,4633,0.90,520.8,148.9,7.4,254,4664,0.12,2.05,25.38,0.747,4,0.095,0.030,2468,3266,284,0,0,0,0,0,0,26.36,25.95,24.84
$GC,4702,0.92,520.8,140.8,11.4,257,4708,0.00,1.98,0.00,0.000,6,0.000,0.023,2468,1898,284,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5021,0.92,520.8,97.7,12.8,273,5026,0.00,2.03,0.00,0.000,4,0.000,0.034,2468,515,283,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5073,0.93,520.8,92.7,12.3,275,5079,0.00,1.92,0.00,0.000,6,0.000,0.018,2468,1895,282,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5388,0.98,569.0,62.0,6.9,291,5408,0.00,2.12,14.75,0.664,4,0.000,0.033,2465,510,211,0,0,0,0,0,0,28.83,26.18,24.94
$GC,5445,1.03,641.5,59.4,6.1,293,5454,0.00,1.95,0.08,0.183,6,0.000,0.018,2468,1911,210,0,0,0,0,0,0,28.83,26.33,26.03
$GC,5752,1.09,687.3,35.2,7.0,318,5758,0.12,2.05,0.00,0.000,4,0.091,0.030,2538,508,209,0,0,0,0,0,0,26.44,26.34,28.83
$GC,5790,1.11,687.3,32.0,8.6,321,5798,0.00,1.92,0.00,0.000,6,0.000,0.018,2538,1883,209,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,6030,end climb,SURFACE_DEPTH_REACHED
$STATE,6030,begin surface coast
$FINISH,1.2,1.022090
$STATE,6051,end surface coast,CONTROL_FINISHED_OK
$STATE,6051,begin surface
$SM_CCo,6127,0.00,0.000,0,0,210,539.41
$SM_GC,1.56,6.30,0.00,0.00,0.041,0.000,0.000,56,1887,210,-6.47,-1.10,539.41,0,0,0,0,0,0,26.33,28.83,28.83
$IRIDIUM_FIX,1821.40,12218.86,030113,121220
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.71
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3924384
$24V_AH,24.3,49.761
$10V_AH,9.9,35.008
$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,15.625,56.275,556.675,0.000,0.000,0.000,0.000,260.300,0.000,0.000,15.926,1106.243,3497.718,565.339,1193.003,192.324,0.000,1392.163,0.000,881.281,0.000,0.539,0.000
$DEVICE_MAMPS,239.445,46.665,852.210,0.000,0.000,0.000,0.000,127.755,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6069.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.800,0.000,0.000,0.000
$MEM,308648
$DATA_FILE_SIZE,13444,368
$CAP_FILE_SIZE,88876,0
$CFSIZE,260034560,226693120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248,151.9,1
$GPS,030113,163259,1829.719,12219.431,39,1.3,40,-2.0