version: 66.11
glider: 129
mission: 4
dive: 500
start: 2 28 113 15 23 54
data:
$ID,129
$MISSION,4
$DIVE,500
$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,-6
$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,-3411.283
$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,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,64
$R_STBD_OVSHOOT,78
$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,0.0020000001
$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,20
$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
$GPS1,280213,151236,2000.029,12420.640,26,1.1,26,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-66.8
$GPS2,280213,152325,1959.990,12420.539,15,1.2,15,-2.5
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,MID
$TGT_LATLONG,1808.000,12333.000
$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,199.4,223646,-15.3,-9.429,-18.41
$D_GRID,5604
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.96,-184.9,0.0,0.0,0,69,0.00,0.00,-46.03,0.000,2,0.000,0.000,56,1916,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.96,-184.9,3.2,-3.3,8,129,7.40,2.12,-39.08,0.000,4,0.238,0.046,1846,516,3165,0,0,0,0,0,0,24.89,25.71,26.45
$GC,332,-0.96,-184.9,80.1,-33.8,37,337,0.00,2.05,0.00,0.000,6,0.000,0.023,1837,1907,3165,0,0,0,0,0,0,28.83,25.88,28.83
$GC,655,-0.96,-184.9,178.1,-27.0,53,661,0.00,2.05,0.00,0.000,4,0.000,0.030,1837,517,3166,0,0,0,0,0,0,28.83,25.67,28.83
$GC,714,-0.96,-184.9,190.6,-27.0,55,721,0.00,2.05,0.00,0.000,6,0.000,0.022,1827,1946,3166,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1019,-0.96,-184.9,286.6,-29.6,71,1024,0.00,2.10,0.00,0.000,4,0.000,0.031,1826,529,3166,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1227,-0.96,-184.9,343.8,-27.2,81,1233,0.15,2.05,0.00,0.000,6,0.185,0.022,1852,1927,3167,0,0,0,0,0,0,25.21,25.89,28.83
$GC,1551,-0.96,-184.9,417.3,-22.3,97,1557,0.00,2.10,0.00,0.000,4,0.000,0.029,1852,525,3167,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1635,-0.96,-184.9,436.1,-22.4,101,1642,0.00,2.05,0.00,0.000,6,0.000,0.021,1844,1945,3166,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1960,-0.96,-184.9,504.7,-20.6,117,1965,0.00,2.12,0.00,0.000,4,0.000,0.031,1843,531,3166,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2089,-0.96,-184.9,529.6,-20.2,123,2095,0.00,2.03,0.00,0.000,6,0.000,0.022,1833,1923,3165,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2408,-0.96,-184.9,595.9,-20.1,139,2414,0.00,2.10,0.00,0.000,4,0.000,0.031,1833,530,3164,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2456,-0.96,-184.9,602.5,-19.7,141,2462,0.00,2.05,0.00,0.000,6,0.000,0.023,1823,1935,3164,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2776,-0.96,-184.9,669.4,-20.3,152,2783,0.00,2.12,0.00,0.000,4,0.000,0.031,1823,520,3162,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2907,-0.96,-184.9,695.9,-21.0,156,2913,0.15,2.05,0.00,0.000,6,0.181,0.022,1849,1929,3161,0,0,0,0,0,0,25.20,25.89,28.83
$GC,3239,-0.96,-184.9,754.9,-17.7,167,3246,0.00,2.12,0.00,0.000,4,0.000,0.032,1849,533,3159,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3384,-0.96,-184.9,777.3,-17.4,171,3390,0.00,2.05,0.00,0.000,6,0.000,0.024,1841,1927,3157,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3699,-0.96,-184.9,832.9,-16.4,182,3705,0.00,2.10,0.00,0.000,4,0.000,0.031,1841,534,3155,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3757,-0.96,-184.9,838.7,-16.2,183,3764,0.00,2.05,0.00,0.000,6,0.000,0.024,1831,1921,3154,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4064,-0.96,-184.9,891.3,-15.4,194,4070,0.00,2.10,0.00,0.000,4,0.000,0.032,1831,532,3152,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4143,-0.96,-184.9,902.2,-16.2,196,4149,0.12,2.08,0.00,0.000,6,0.182,0.024,1850,1934,3152,0,0,0,0,0,0,25.28,25.82,28.83
$GC,4466,-0.96,-184.9,951.4,-14.7,207,4471,0.00,2.15,0.00,0.000,4,0.000,0.032,1849,531,3149,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4548,-0.96,-184.9,962.1,-15.4,209,4554,0.00,2.05,0.00,0.000,6,0.000,0.024,1841,1924,3148,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,4710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4710,begin apogee
$GC,4717,-0.19,0.0,990.9,-15.9,215,4883,0.82,0.00,155.07,1.396,6,0.140,0.000,2089,1925,2410,0,0,0,0,0,0,23.91,28.83,22.68
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4888,0.96,184.9,996.5,0.0,220,5076,1.12,2.40,171.40,1.342,4,0.083,0.034,2462,3286,1653,0,0,0,0,0,0,24.01,23.06,21.73
$GC,5114,0.96,184.9,977.9,11.9,228,5119,0.00,2.22,0.00,0.000,6,0.000,0.027,2472,1916,1650,0,0,0,0,0,0,28.83,24.03,28.83
$GC,5447,0.96,184.9,933.2,12.8,239,5453,0.00,2.10,0.00,0.000,4,0.000,0.034,2472,3289,1646,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5505,0.96,184.9,928.0,13.0,240,5512,0.00,2.10,0.00,0.000,6,0.000,0.027,2482,1883,1645,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5811,0.96,184.9,884.8,13.2,251,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1883,1642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6112,0.96,184.9,843.3,13.9,261,6118,0.00,2.15,0.00,0.000,4,0.000,0.034,2482,3291,1641,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6248,0.96,184.9,824.5,14.9,265,6253,0.00,2.08,0.00,0.000,6,0.000,0.027,2492,1899,1641,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6572,0.96,184.9,775.0,15.1,276,6579,0.00,2.12,0.00,0.000,4,0.000,0.033,2492,3287,1640,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6611,0.96,184.9,769.3,15.3,277,6617,0.15,2.10,0.00,0.000,6,0.186,0.027,2465,1887,1639,0,0,0,0,0,0,25.08,25.73,28.83
$GC,6943,0.96,184.9,722.5,14.4,288,6949,0.00,2.15,0.00,0.000,4,0.000,0.033,2465,3288,1639,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7026,0.96,184.9,712.1,15.1,290,7031,0.00,2.08,0.00,0.000,6,0.000,0.028,2475,1892,1638,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7341,0.96,184.9,667.2,12.4,301,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1892,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7640,0.96,184.9,630.7,12.4,311,7647,0.00,2.17,0.00,0.000,4,0.000,0.033,2475,3291,1637,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7780,0.96,184.9,614.7,12.8,315,7785,0.00,2.08,0.00,0.000,6,0.000,0.027,2484,1898,1637,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8091,0.96,184.9,575.1,12.9,329,8096,0.00,2.15,0.00,0.000,4,0.000,0.033,2489,3291,1636,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8124,0.96,184.9,571.7,13.2,330,8129,0.00,2.08,0.00,0.000,6,0.000,0.027,2494,1895,1636,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8437,0.96,184.9,528.3,13.8,346,8443,0.00,2.15,0.00,0.000,4,0.000,0.033,2494,3286,1635,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8521,0.96,184.9,515.9,14.7,350,8527,0.15,2.10,0.00,0.000,6,0.174,0.027,2464,1896,1635,0,0,0,0,0,0,25.02,25.65,28.83
$GC,8846,0.96,184.9,476.9,11.3,366,8851,0.00,2.15,0.00,0.000,4,0.000,0.033,2466,3286,1635,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8873,0.96,184.9,474.1,11.5,367,8878,0.00,2.08,0.00,0.000,6,0.000,0.027,2476,1891,1635,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9191,0.96,184.9,435.9,11.6,383,9197,0.00,2.12,0.00,0.000,4,0.000,0.036,2485,504,1635,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9225,0.96,184.9,432.9,11.6,384,9230,0.00,2.08,0.00,0.000,6,0.000,0.023,2485,1918,1634,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9538,0.96,184.9,390.9,13.3,400,9544,0.00,2.08,0.00,0.000,4,0.000,0.034,2486,3287,1635,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9622,0.96,184.9,379.0,14.2,404,9627,0.00,2.08,0.00,0.000,6,0.000,0.026,2495,1896,1635,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9945,0.96,184.9,339.2,11.3,420,9950,0.00,2.10,0.00,0.000,4,0.000,0.031,2495,3281,1635,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10030,0.96,184.9,329.7,11.4,424,10036,0.15,2.08,0.00,0.000,6,0.171,0.026,2467,1895,1635,0,0,0,0,0,0,25.03,25.65,28.83
$GC,10354,0.96,184.9,297.6,10.9,440,10360,0.00,2.12,0.00,0.000,4,0.000,0.032,2467,3280,1635,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10407,0.96,184.9,292.2,11.6,442,10412,0.00,2.08,0.00,0.000,6,0.000,0.026,2476,1894,1635,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10721,0.96,184.9,258.1,9.5,458,10727,0.00,2.12,0.00,0.000,4,0.000,0.036,2485,504,1635,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10774,0.98,193.8,254.1,9.1,460,10786,0.00,2.03,5.05,0.680,6,0.000,0.022,2485,1903,1621,0,0,0,0,0,0,28.83,25.81,24.05
$GC,11085,0.98,193.8,224.9,9.9,476,11091,0.00,2.08,0.00,0.000,4,0.000,0.031,2485,3281,1621,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11129,0.98,193.8,220.3,10.2,478,11134,0.00,2.08,0.00,0.000,6,0.000,0.026,2495,1887,1621,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11453,0.98,193.8,182.3,11.9,494,11458,0.00,2.10,0.00,0.000,4,0.000,0.035,2505,506,1621,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11500,0.98,193.8,177.0,12.1,496,11506,0.12,2.05,0.00,0.000,6,0.156,0.021,2474,1918,1620,0,0,0,0,0,0,25.37,25.84,28.83
$GC,11820,1.03,219.0,147.1,8.6,512,11849,0.00,2.05,23.25,0.771,4,0.000,0.030,2473,3274,1517,0,0,0,0,0,0,28.83,25.37,24.22
$GC,12026,1.03,219.0,126.7,10.1,522,12031,0.00,2.05,0.00,0.000,6,0.000,0.025,2480,1896,1516,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12349,1.03,219.0,93.5,9.7,538,12355,0.00,2.10,0.00,0.000,4,0.000,0.034,2490,509,1514,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12404,1.06,233.9,89.7,8.9,540,12424,0.00,2.00,13.57,0.696,6,0.000,0.021,2490,1897,1456,0,0,0,0,0,0,28.83,25.90,24.38
$GC,12739,1.12,266.8,64.1,8.3,557,12772,0.00,2.08,28.10,0.702,4,0.000,0.029,2490,3285,1320,0,0,0,0,0,0,28.83,25.59,24.34
$GC,13003,1.15,283.1,41.5,8.9,574,13025,0.00,2.05,14.70,0.656,6,0.000,0.025,2499,1897,1253,0,0,0,0,0,0,28.83,25.86,24.39
$GC,13327,1.19,300.3,14.1,8.8,618,13341,0.12,0.00,7.95,0.082,6,0.097,0.000,2561,1897,1183,0,0,0,0,0,0,26.08,28.83,25.21
$STATE,13428,end climb,SURFACE_DEPTH_REACHED
$STATE,13428,begin surface coast
$FINISH,1.2,1.006886
$STATE,13440,end surface coast,CONTROL_FINISHED_OK
$STATE,13440,begin surface
$SM_CCo,13458,43.45,0.053,0,0,777,400.08
$SM_GC,2.02,6.72,0.00,43.45,0.050,0.000,0.053,63,1895,777,-6.46,-0.85,400.08,0,0,0,0,0,0,25.46,28.83,25.58
$IRIDIUM_FIX,1955.00,12420.23,280213,111144
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.70
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3828448
$24V_AH,21.7,103.416
$10V_AH,9.6,66.735
$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,17.200,125.700,419.100,43.450,0.000,0.000,0.000,362.700,0.000,0.000,16.626,2265.979,8671.087,578.318,2136.262,498.677,0.000,1920.624,0.000,1737.753,0.000,0.540,0.000
$DEVICE_MAMPS,237.915,45.900,1396.125,52.785,0.000,0.000,0.000,126.990,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13470.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.244,0.000,0.000,0.000
$MEM,328840
$DATA_FILE_SIZE,23420,639
$CAP_FILE_SIZE,158882,0
$CFSIZE,260034560,201650176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,229.6,1
$GPS,280213,191005,1957.436,12419.749,24,1.7,24,-2.5