version: 66.11
glider: 129
mission: 4
dive: 416
start: 2 10 113 12 37 41
data:
$ID,129
$MISSION,4
$DIVE,416
$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,-3278.155
$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,71
$R_STBD_OVSHOOT,102
$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
$GPS1,100213,122950,1833.027,12216.881,8,7.7,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-56.8
$GPS2,100213,123715,1833.334,12216.595,12,6.2,31,-2.0
$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,95.7,285355,-15.3,-9.429,-18.41
$D_GRID,229
$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,18,begin dive
$GC,21,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-69.88,0.000,2,0.000,0.000,59,1885,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.4,-5.5,12,141,7.93,2.03,-29.60,0.000,4,0.243,0.044,1968,528,3164,0,0,0,0,0,0,25.03,26.22,26.63
$GC,191,-0.52,-184.9,21.7,-24.9,28,199,0.12,1.95,0.00,0.000,6,0.171,0.022,1991,1897,3165,0,0,0,0,0,0,25.94,26.30,28.83
$GC,509,-0.48,-184.9,90.9,-18.9,50,514,0.00,2.08,0.00,0.000,4,0.000,0.031,1982,3323,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,576,-0.45,-184.9,101.4,-16.4,53,582,0.12,1.98,0.00,0.000,6,0.145,0.020,2016,1896,3165,0,0,0,0,0,0,26.05,26.37,28.83
$GC,896,-0.45,-184.9,137.1,-10.4,69,902,0.00,2.10,0.00,0.000,4,0.000,0.031,2007,3320,3166,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1090,-0.45,-184.9,156.2,-9.3,78,1096,0.00,1.98,0.00,0.000,6,0.000,0.021,2007,1943,3166,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1404,-0.45,-184.9,194.2,-12.8,94,1409,0.00,2.00,0.00,0.000,4,0.000,0.028,2007,532,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1536,-0.45,-184.9,209.2,-11.6,100,1541,0.00,2.00,0.00,0.000,6,0.000,0.020,1997,1951,3166,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,1747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1747,begin apogee
$GC,1754,-0.17,0.0,230.4,-9.3,111,1902,0.30,0.00,139.73,0.774,6,0.116,0.000,2100,1953,2409,0,0,0,0,0,0,25.94,28.83,24.20
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1903,begin climb
$GC,1906,0.58,184.9,235.0,0.0,118,2056,0.68,2.15,140.48,0.765,4,0.089,0.028,2350,510,1653,0,0,0,0,0,0,25.64,25.72,24.32
$GC,2084,0.65,286.2,228.2,6.0,127,2169,0.00,2.00,78.55,0.753,6,0.000,0.018,2351,1929,1241,0,0,0,0,0,0,28.83,26.10,24.37
$GC,2479,0.73,403.8,203.4,5.4,147,2582,0.12,2.03,93.78,0.751,4,0.090,0.029,2420,3260,761,0,0,0,0,0,0,26.37,25.72,24.32
$GC,2632,0.76,407.6,190.3,9.3,154,2645,0.00,1.95,4.53,0.524,6,0.000,0.021,2426,1902,746,0,0,0,0,0,0,28.83,26.16,24.33
$GC,2943,0.78,412.5,161.5,9.3,170,2954,0.00,2.05,5.28,0.565,4,0.000,0.032,2426,514,727,0,0,0,0,0,0,28.83,26.17,24.39
$GC,2992,0.81,412.5,157.3,9.6,172,2997,0.00,1.95,0.00,0.000,6,0.000,0.018,2426,1916,726,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3311,0.84,412.5,126.2,9.9,188,3316,0.00,1.95,0.00,0.000,4,0.000,0.029,2426,3261,724,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3358,0.86,412.5,121.6,10.2,190,3364,0.00,1.95,0.00,0.000,6,0.000,0.021,2426,1892,725,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3678,0.91,441.9,93.9,8.4,206,3711,0.00,2.08,25.00,0.686,4,0.000,0.032,2426,523,607,0,0,0,0,0,0,28.83,25.95,24.32
$GC,3835,0.99,520.7,84.0,6.7,213,3905,0.15,1.92,63.33,0.686,6,0.079,0.018,2501,1920,286,0,0,0,0,0,0,26.22,26.35,24.30
$GC,4225,1.04,570.2,49.4,7.7,233,4247,0.00,2.03,15.23,0.623,4,0.000,0.029,2501,3258,209,0,0,0,0,0,0,28.83,26.08,24.42
$GC,4335,1.08,582.6,39.9,9.0,243,4342,0.00,1.92,0.00,0.000,6,0.000,0.021,2507,1881,209,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4644,1.11,582.6,12.7,10.2,286,4650,0.00,1.98,0.00,0.000,4,0.000,0.033,2514,514,208,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4726,1.16,622.1,5.4,8.1,301,4734,0.00,1.88,0.00,0.000,6,0.000,0.018,2515,1896,208,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,4758,end climb,SURFACE_DEPTH_REACHED
$STATE,4758,begin surface coast
$FINISH,1.1,1.022281
$STATE,4782,end surface coast,CONTROL_FINISHED_OK
$STATE,4783,begin surface
$SM_CCo,4859,0.00,0.000,0,0,208,539.91
$SM_GC,1.79,6.22,0.00,0.00,0.038,0.000,0.000,58,1911,208,-6.46,-0.40,539.91,0,0,0,0,0,0,26.20,28.83,28.83
$IRIDIUM_FIX,1825.94,12215.02,100213,111159
$TT8_MAMPS,0.023968,0.023968
$HUMID,54.33
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3860704
$24V_AH,24.2,85.468
$10V_AH,9.6,56.388
$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,15.650,43.925,565.875,0.000,0.000,0.000,0.000,241.525,0.000,0.000,33.519,925.140,2523.992,538.227,1091.427,230.382,0.000,1307.133,0.000,790.351,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,43.605,774.180,0.000,0.000,0.000,0.000,124.695,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4806.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.941,0.000,0.000,0.000
$MEM,308668
$DATA_FILE_SIZE,10105,311
$CAP_FILE_SIZE,76153,0
$CFSIZE,260034560,209956864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.655,321.8,1
$GPS,100213,135931,1834.715,12216.055,12,1.6,12,-2.1