version: 66.11
glider: 129
mission: 4
dive: 413
start: 2 10 113 8 16 34
data:
$ID,129
$MISSION,4
$DIVE,413
$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,-13
$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,-3272.6936
$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,63
$R_STBD_OVSHOOT,100
$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,21.5
$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
$GPS1,100213,080800,1829.882,12219.722,41,1.1,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-59.7
$GPS2,100213,081607,1830.186,12219.464,14,1.0,14,-2.0
$SPEED_LIMITS,0.163,0.283
$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,279.8,5920,-15.3,-9.429,-18.41
$D_GRID,314
$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,-184.9,0.0,0.0,0,87,0.00,0.00,-64.82,0.000,2,0.000,0.000,46,1926,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-4.9,11,140,8.00,2.03,-34.53,0.000,4,0.237,0.042,1955,3288,3163,0,0,0,0,0,0,24.68,26.08,26.58
$GC,250,-0.53,-184.9,38.8,-28.4,36,256,0.12,1.98,0.00,0.000,6,0.159,0.022,1985,1897,3163,0,0,0,0,0,0,25.87,26.25,28.83
$GC,564,-0.50,-184.9,100.0,-19.5,54,569,0.00,1.98,0.00,0.000,4,0.000,0.030,1988,530,3164,0,0,0,0,0,0,28.83,26.18,28.83
$GC,797,-0.47,-184.9,137.5,-19.1,65,804,0.00,1.92,0.00,0.000,6,0.000,0.021,1979,1904,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1112,-0.45,-184.9,183.2,-13.3,81,1118,0.12,1.98,0.00,0.000,4,0.148,0.026,2021,538,3165,0,0,0,0,0,0,26.14,26.20,28.83
$GC,1252,-0.46,-184.9,197.3,-10.4,87,1259,0.00,1.98,0.00,0.000,6,0.000,0.020,2013,1935,3165,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1558,-0.46,-184.9,224.6,-8.7,103,1565,0.00,2.05,0.00,0.000,4,0.000,0.029,2012,532,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1587,-0.46,-184.9,227.3,-9.1,104,1593,0.00,1.95,0.00,0.000,6,0.000,0.021,2003,1918,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1907,-0.46,-184.9,261.3,-10.7,120,1912,0.00,2.03,0.00,0.000,4,0.000,0.028,2003,541,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1959,-0.46,-184.9,266.1,-10.7,122,1965,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1928,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2273,-0.46,-184.9,303.3,-10.9,138,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1928,3162,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2390,begin apogee
$GC,2397,-0.17,0.0,314.9,-9.7,144,2548,0.32,0.00,142.48,0.864,6,0.114,0.000,2106,1928,2409,0,0,0,0,0,0,25.81,28.83,23.89
$STATE,2549,end apogee,CONTROL_FINISHED_OK
$STATE,2549,begin climb
$GC,2553,0.58,184.9,320.5,0.0,151,2708,0.68,2.10,143.90,0.848,4,0.087,0.031,2346,3284,1654,0,0,0,0,0,0,25.48,25.51,24.03
$GC,2726,0.66,308.6,316.0,5.2,160,2830,0.00,2.03,97.68,0.837,6,0.000,0.021,2354,1894,1151,0,0,0,0,0,0,28.83,25.88,24.07
$GC,3141,0.75,438.6,292.3,5.0,181,3257,0.12,2.08,106.05,0.838,4,0.094,0.031,2426,520,619,0,0,0,0,0,0,26.32,25.53,24.06
$GC,3300,0.77,438.6,279.1,9.7,188,3307,0.00,2.00,0.00,0.000,6,0.000,0.019,2426,1917,618,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3606,0.79,438.6,244.5,11.2,204,3611,0.00,2.03,0.00,0.000,4,0.000,0.032,2426,3288,616,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3630,0.81,438.6,241.6,11.4,205,3635,0.00,2.03,0.00,0.000,6,0.000,0.023,2426,1896,613,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3954,0.84,438.6,204.7,11.3,221,3959,0.00,2.03,0.00,0.000,4,0.000,0.033,2426,511,613,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4012,0.86,438.6,199.6,11.3,223,4019,0.00,1.98,0.00,0.000,6,0.000,0.019,2426,1904,615,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4318,0.89,438.6,167.1,9.8,239,4323,0.00,2.10,0.00,0.000,4,0.000,0.032,2426,500,613,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4365,0.92,447.6,163.2,9.1,241,4382,0.00,2.00,7.47,0.676,6,0.000,0.019,2426,1914,585,0,0,0,0,0,0,28.83,26.34,24.23
$GC,4682,0.97,478.8,136.1,8.4,257,4713,0.15,0.00,27.52,0.750,6,0.085,0.000,2496,1921,457,0,0,0,0,0,0,26.33,28.83,24.13
$GC,5002,0.97,478.8,95.5,12.1,273,5009,0.00,2.08,0.00,0.000,4,0.000,0.032,2504,508,453,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5118,0.99,478.8,83.8,11.9,278,5123,0.00,1.98,0.00,0.000,6,0.000,0.019,2502,1921,453,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5431,1.01,478.8,51.9,9.8,294,5436,0.00,2.10,0.00,0.000,4,0.000,0.031,2513,499,452,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5449,1.03,478.8,51.9,9.8,294,5456,0.00,1.98,0.00,0.000,6,0.000,0.019,2514,1905,452,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5755,1.05,478.8,17.9,10.1,331,5762,0.00,2.05,0.00,0.000,4,0.000,0.032,2520,508,453,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5847,1.07,478.8,8.8,10.7,348,5854,0.00,1.95,0.00,0.000,6,0.000,0.020,2520,1892,455,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,5921,end climb,SURFACE_DEPTH_REACHED
$STATE,5921,begin surface coast
$FINISH,1.1,1.022315
$STATE,5942,end surface coast,CONTROL_FINISHED_OK
$STATE,5942,begin surface
$SM_CCo,6019,0.00,0.000,0,0,453,479.81
$SM_GC,1.84,6.30,0.00,0.00,0.039,0.000,0.000,48,1906,453,-6.48,-0.48,479.81,0,0,0,0,0,0,26.14,28.83,28.83
$IRIDIUM_FIX,1821.40,12222.00,100213,050541
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.21
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3861856
$24V_AH,23.9,85.099
$10V_AH,9.8,56.210
$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,15.825,52.325,525.100,0.000,0.000,0.000,0.000,286.175,0.000,0.000,15.116,1082.514,3428.512,529.411,1201.464,262.889,0.000,1380.193,0.000,875.752,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,42.075,863.685,0.000,0.000,0.000,0.000,126.990,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5971.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.980,0.000,0.000,0.000
$MEM,308668
$DATA_FILE_SIZE,13492,366
$CAP_FILE_SIZE,86847,0
$CFSIZE,260034560,210092032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,327.6,1
$GPS,100213,095742,1830.977,12218.382,8,1.3,9,-2.0