version: 66.11
glider: 129
mission: 4
dive: 417
start: 2 10 113 14 7 2
data:
$ID,129
$MISSION,4
$DIVE,417
$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,-3279.4131
$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,83
$R_STBD_OVSHOOT,107
$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
$GPS1,100213,135931,1834.715,12216.055,12,1.6,12,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-55.0
$GPS2,100213,140636,1834.999,12215.797,29,1.7,29,-2.1
$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,96.5,284381,-15.3,-9.429,-18.41
$D_GRID,236
$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,21,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-69.85,0.000,2,0.000,0.000,53,1908,1882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.2,-5.1,12,141,7.82,2.05,-30.65,0.000,4,0.239,0.044,1966,541,3165,0,0,0,0,0,0,25.02,26.22,26.63
$GC,225,-0.51,-184.9,31.8,-31.6,32,232,0.12,1.92,0.00,0.000,6,0.177,0.021,1988,1898,3165,0,0,0,0,0,0,25.94,26.32,28.83
$GC,532,-0.48,-184.9,98.7,-15.3,51,538,0.00,2.05,0.00,0.000,4,0.000,0.031,1979,3322,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,544,-0.45,-184.9,98.7,-15.3,51,550,0.12,1.98,0.00,0.000,6,0.132,0.019,2017,1898,3165,0,0,0,0,0,0,26.10,26.37,28.83
$GC,859,-0.45,-184.9,130.7,-8.9,67,864,0.00,1.92,0.00,0.000,4,0.000,0.028,2017,550,3166,0,0,0,0,0,0,28.83,26.29,28.83
$GC,912,-0.45,-184.9,135.0,-9.5,69,918,0.00,1.95,0.00,0.000,6,0.000,0.019,2009,1944,3166,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1226,-0.45,-184.9,170.5,-11.1,85,1231,0.00,1.98,0.00,0.000,4,0.000,0.031,1998,3299,3166,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1278,-0.45,-184.9,175.2,-11.0,87,1285,0.00,1.92,0.00,0.000,6,0.000,0.020,1998,1926,3166,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1594,-0.45,-184.9,206.9,-9.4,103,1599,0.00,2.00,0.00,0.000,4,0.000,0.028,1998,533,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1652,-0.45,-184.9,211.3,-9.9,105,1659,0.00,1.95,0.00,0.000,6,0.000,0.019,1989,1928,3165,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,1897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1897,begin apogee
$GC,1903,-0.17,0.0,238.1,-11.1,118,2053,0.32,0.00,140.10,0.789,6,0.116,0.000,2100,1929,2409,0,0,0,0,0,0,25.92,28.83,24.17
$STATE,2055,end apogee,CONTROL_FINISHED_OK
$STATE,2055,begin climb
$GC,2057,0.58,184.9,245.7,0.0,125,2211,0.68,2.05,141.15,0.780,4,0.088,0.030,2343,3279,1654,0,0,0,0,0,0,25.66,25.71,24.31
$GC,2229,0.67,332.2,242.6,4.4,134,2353,0.00,1.98,114.65,0.772,6,0.000,0.021,2351,1910,1054,0,0,0,0,0,0,28.83,26.04,24.35
$GC,2674,0.74,335.9,207.2,9.3,156,2685,0.12,2.08,3.88,0.501,4,0.095,0.030,2416,3295,1039,0,0,0,0,0,0,26.35,26.21,24.32
$GC,2713,0.80,335.9,204.2,10.1,157,2721,0.00,2.00,0.00,0.000,6,0.000,0.021,2423,1894,1039,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3019,0.82,339.2,171.5,9.3,173,3030,0.00,2.08,4.15,0.527,4,0.000,0.032,2426,512,1026,0,0,0,0,0,0,28.83,26.18,24.35
$GC,3073,0.84,344.4,167.4,9.2,175,3085,0.00,1.98,6.30,0.621,6,0.000,0.018,2426,1924,1004,0,0,0,0,0,0,28.83,26.38,24.32
$GC,3384,0.87,391.1,139.9,7.8,191,3428,0.00,2.05,39.00,0.741,4,0.000,0.030,2426,3262,815,0,0,0,0,0,0,28.83,25.82,24.21
$GC,3457,0.90,413.4,134.4,8.7,194,3486,0.00,1.98,19.98,0.709,6,0.000,0.021,2426,1892,723,0,0,0,0,0,0,28.83,26.10,24.27
$GC,3786,0.95,455.9,104.0,8.0,211,3827,0.12,2.12,35.00,0.711,4,0.095,0.032,2503,510,550,0,0,0,0,0,0,26.36,25.86,24.34
$GC,3981,0.97,455.9,83.7,9.6,220,3987,0.00,1.95,0.00,0.000,6,0.000,0.018,2502,1901,547,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4297,1.02,517.7,56.4,7.3,236,4356,0.00,2.08,49.17,0.670,4,0.000,0.029,2503,3266,298,0,0,0,0,0,0,28.83,25.81,24.34
$GC,4452,1.05,517.7,42.4,10.1,247,4457,0.00,1.95,0.00,0.000,6,0.000,0.021,2508,1895,296,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4763,1.08,517.7,11.8,10.4,290,4769,0.00,2.03,0.00,0.000,4,0.000,0.032,2518,513,296,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4841,1.11,517.7,5.5,10.1,304,4848,0.00,1.92,0.00,0.000,6,0.000,0.018,2518,1922,296,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,4873,end climb,SURFACE_DEPTH_REACHED
$STATE,4873,begin surface coast
$FINISH,1.0,1.022336
$STATE,4896,end surface coast,CONTROL_FINISHED_OK
$STATE,4896,begin surface
$SM_CCo,4973,0.00,0.000,0,0,296,518.32
$SM_GC,1.85,6.30,0.00,0.00,0.042,0.000,0.000,48,1938,296,-6.48,0.37,518.32,0,0,0,0,0,0,26.20,28.83,28.83
$IRIDIUM_FIX,1828.22,12216.24,100213,121246
$TT8_MAMPS,0.023968,0.023968
$HUMID,55.11
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3860320
$24V_AH,24.2,85.593
$10V_AH,9.6,56.452
$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,15.625,47.950,553.375,0.000,0.000,0.000,0.000,220.225,0.000,0.000,30.464,891.637,2705.500,537.637,1030.430,236.996,0.000,1277.526,0.000,755.943,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,43.605,789.480,0.000,0.000,0.000,0.000,126.990,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.523,0.000,0.000,0.000
$MEM,308652
$DATA_FILE_SIZE,10099,314
$CAP_FILE_SIZE,76984,0
$CFSIZE,260034560,209903616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.687,309.6,1
$GPS,100213,153103,1836.224,12215.248,8,3.1,27,-2.1