version: 66.11
glider: 129
mission: 4
dive: 418
start: 2 10 113 15 38 15
data:
$ID,129
$MISSION,4
$DIVE,418
$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,-3280.6682
$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,75
$R_STBD_OVSHOOT,116
$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
$GPS1,100213,153103,1836.224,12215.248,8,3.1,27,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-58.7
$GPS2,100213,153749,1836.473,12214.965,15,1.3,15,-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,97.1,283716,-15.3,-9.429,-18.41
$D_GRID,276
$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,-64.50,0.000,2,0.000,0.000,46,1926,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-4.5,11,140,7.88,2.08,-32.67,0.000,4,0.239,0.043,1966,532,3165,0,0,0,0,0,0,25.08,26.23,26.63
$GC,181,-0.51,-184.9,21.5,-32.3,26,188,0.12,1.92,0.00,0.000,6,0.172,0.020,1989,1904,3164,0,0,0,0,0,0,25.94,26.32,28.83
$GC,506,-0.49,-184.9,88.8,-11.3,48,511,0.00,2.03,0.00,0.000,4,0.000,0.031,1979,3300,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,525,-0.46,-184.9,88.8,-11.3,48,532,0.12,1.92,0.00,0.000,6,0.134,0.019,2014,1894,3165,0,0,0,0,0,0,26.09,26.37,28.83
$GC,829,-0.46,-184.9,124.7,-11.8,64,835,0.00,1.90,0.00,0.000,4,0.000,0.029,2021,553,3166,0,0,0,0,0,0,28.83,26.27,28.83
$GC,888,-0.46,-184.9,129.8,-11.3,66,894,0.00,1.92,0.00,0.000,6,0.000,0.019,2009,1924,3166,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1193,-0.46,-184.9,163.2,-10.2,82,1198,0.00,1.98,0.00,0.000,4,0.000,0.031,1998,3302,3166,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1226,-0.46,-184.9,165.6,-10.0,83,1231,0.00,1.92,0.00,0.000,6,0.000,0.020,1999,1924,3166,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1539,-0.46,-184.9,203.8,-12.0,99,1545,0.00,1.95,0.00,0.000,4,0.000,0.028,1998,549,3166,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1592,-0.46,-184.9,209.3,-12.0,101,1598,0.00,1.95,0.00,0.000,6,0.000,0.019,1989,1931,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1905,-0.46,-184.9,249.8,-13.6,117,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1931,3164,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2163,begin apogee
$GC,2170,-0.17,0.0,277.5,-9.9,130,2320,0.32,0.00,140.98,0.831,6,0.116,0.000,2101,1931,2409,0,0,0,0,0,0,25.91,28.83,24.09
$STATE,2322,end apogee,CONTROL_FINISHED_OK
$STATE,2322,begin climb
$GC,2325,0.58,184.9,282.7,0.0,137,2478,0.68,2.00,142.10,0.813,4,0.088,0.028,2343,3279,1653,0,0,0,0,0,0,25.64,25.68,24.24
$GC,2495,0.65,289.7,276.2,5.8,146,2585,0.00,1.98,81.97,0.799,6,0.000,0.021,2352,1908,1229,0,0,0,0,0,0,28.83,26.01,24.27
$GC,2894,0.71,293.7,241.0,9.3,166,2905,0.12,2.05,4.28,0.549,4,0.096,0.028,2422,3283,1211,0,0,0,0,0,0,26.36,26.20,24.34
$GC,2975,0.73,293.7,233.6,11.0,169,2983,0.12,1.98,0.00,0.000,6,0.164,0.021,2393,1905,1211,0,0,0,0,0,0,26.01,26.34,28.83
$GC,3279,0.75,294.0,202.0,9.4,185,3284,0.00,2.05,0.00,0.000,4,0.000,0.031,2402,507,1209,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3344,0.77,294.0,195.8,9.7,188,3349,0.00,1.98,0.00,0.000,6,0.000,0.018,2402,1903,1207,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3668,0.79,304.7,164.4,9.1,204,3683,0.00,2.10,9.98,0.711,4,0.000,0.030,2402,3285,1166,0,0,0,0,0,0,28.83,26.08,24.24
$GC,3821,0.81,304.7,149.4,10.1,211,3827,0.00,2.00,0.00,0.000,6,0.000,0.021,2409,1883,1165,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4137,0.83,324.2,121.7,8.8,227,4161,0.00,2.03,17.35,0.731,4,0.000,0.032,2416,511,1087,0,0,0,0,0,0,28.83,26.01,24.30
$GC,4208,0.86,338.1,116.0,9.0,230,4229,0.00,1.98,12.85,0.702,6,0.000,0.018,2417,1904,1031,0,0,0,0,0,0,28.83,26.28,24.34
$GC,4542,0.94,460.3,89.5,5.2,247,4648,0.12,2.12,98.85,0.722,4,0.092,0.029,2484,3277,532,0,0,0,0,0,0,26.37,25.68,24.20
$GC,4783,0.98,478.4,75.8,8.8,258,4804,0.00,1.98,15.32,0.658,6,0.000,0.022,2489,1903,459,0,0,0,0,0,0,28.83,26.26,24.41
$GC,5113,1.05,566.7,47.3,6.4,277,5169,0.00,2.12,47.97,0.664,4,0.000,0.033,2495,517,211,0,0,0,0,0,0,28.83,25.80,24.37
$GC,5220,1.13,658.8,41.0,6.3,287,5225,0.00,2.00,0.00,0.000,6,0.000,0.018,2495,1924,210,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5530,1.17,658.8,18.2,9.9,324,5537,0.12,2.10,0.00,0.000,4,0.090,0.029,2570,503,209,0,0,0,0,0,0,26.37,26.23,28.83
$GC,5556,1.19,663.6,15.9,9.3,328,5563,0.00,1.92,0.00,0.000,6,0.000,0.018,2570,1895,209,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,5650,end climb,SURFACE_DEPTH_REACHED
$STATE,5651,begin surface coast
$FINISH,0.8,1.012868
$STATE,5662,end surface coast,CONTROL_FINISHED_OK
$STATE,5662,begin surface
$SM_CCo,5739,0.00,0.000,0,0,208,539.91
$SM_GC,1.70,6.50,0.00,0.00,0.047,0.000,0.000,62,1910,208,-6.47,-0.40,539.91,0,0,0,0,0,0,26.12,28.83,28.83
$IRIDIUM_FIX,1825.94,12218.16,100213,141437
$TT8_MAMPS,0.024717,0.024717
$HUMID,55.71
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3859936
$24V_AH,24.1,85.724
$10V_AH,9.7,56.521
$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,16.125,51.950,571.650,0.000,0.000,0.000,0.000,216.875,0.000,0.000,15.929,1002.925,3252.661,548.041,1095.544,250.123,0.000,1327.607,0.000,836.209,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,42.840,830.790,0.000,0.000,0.000,0.000,127.755,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5688.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.738,0.000,0.000,0.000
$MEM,308656
$DATA_FILE_SIZE,13454,348
$CAP_FILE_SIZE,84078,0
$CFSIZE,260034560,209838080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.471,316.8,1
$GPS,100213,171448,1837.585,12214.919,8,1.4,14,-2.1